CN114802217B

CN114802217B - Method and device for determining parking mode, storage medium and vehicle

Info

Publication number: CN114802217B
Application number: CN202210623200.7A
Authority: CN
Inventors: 朱兰芹; 刘佳; 周灿; 陈君宇
Original assignee: Xiaomi Automobile Technology Co Ltd
Current assignee: Xiaomi Automobile Technology Co Ltd
Priority date: 2022-06-01
Filing date: 2022-06-01
Publication date: 2023-04-07
Anticipated expiration: 2042-06-01
Also published as: CN114802217A

Abstract

The disclosure relates to the field of automatic driving, in particular to a method, a device, a storage medium and a vehicle for determining a parking mode, wherein the method comprises the following steps: responding to an instruction for determining a parking mode of the vehicle, and determining whether a high-precision map can be acquired; according to the obtaining result, determining a target parking mode of the vehicle, wherein the obtaining result represents whether the high-precision map is obtained or not, the target parking mode comprises a parking mode with a cruise function or a parking mode without the cruise function, different parking modes are automatically selected according to whether the high-precision map can be obtained or not, the driver does not need to judge by himself, and the situation that the driver selects an inapplicable parking mode is avoided.

Description

Method and device for determining parking mode, storage medium and vehicle

Technical Field

The present disclosure relates to the field of automatic driving, and in particular, to a method and an apparatus for determining a parking mode, a storage medium, and a vehicle.

Background

With the development of vehicle technology, the types of parking modes supporting vehicles are increasing. In the related art, when a vehicle needs to be parked, a driver usually needs to judge by himself and select a parking mode manually, so that misjudgment is likely to be caused to the driver with insufficient driving experience, and the parking mode which is not suitable for the current situation of the vehicle is selected.

Disclosure of Invention

To overcome the problems in the related art, the present disclosure provides a method, an apparatus, a storage medium, and a vehicle for determining a parking mode.

According to a first aspect of embodiments of the present disclosure, there is provided a method of determining a parking mode, comprising:

determining whether a high-precision map can be acquired in response to an instruction to determine a parking mode of the vehicle;

and determining a target parking mode of the vehicle according to an acquisition result, wherein the acquisition result represents whether the high-precision map is acquired, and the target parking mode comprises a parking mode with a cruise function or a parking mode without the cruise function.

Optionally, the determining a target parking mode of the vehicle according to the obtained result includes:

under the condition that the obtaining result represents that the high-precision map is obtained, determining that the parking mode with the cruise function is the target parking mode;

and under the condition that the acquisition result represents that the high-precision map is not acquired, determining that the parking mode without the cruise function is the target parking mode.

Optionally, the parking mode with the cruise function includes a memory parking mode and a valet parking mode, and when the obtaining result indicates that the high-precision map is obtained, determining that the parking mode with the cruise function is the target parking mode includes:

acquiring route information under the condition that the acquisition result represents that the high-precision map is acquired;

determining the memory parking mode as the target parking mode if the route information comprises a memory route;

and determining that the valet parking mode is the target parking mode when the route information comprises a global route.

Optionally, when the obtaining result indicates that the high-precision map is obtained, determining that the parking mode with the cruise function is the target parking mode further includes:

and under the condition that the route information comprises the memory route and the global route, determining one of the memory parking mode and the valet parking mode as the target parking mode according to a preset priority condition.

Optionally, the parking mode without the cruise function includes an automatic parking mode and a remote control parking mode, and when the obtaining result indicates that the high-precision map is not obtained, determining that the parking mode without the cruise function is the target parking mode includes:

acquiring the state information and/or parking space information of the vehicle under the condition that the acquisition result represents that the high-precision map is not acquired;

and determining one of the automatic parking mode and the remote control parking mode as the target parking mode according to the state information and/or the parking space information.

Optionally, the state information includes at least two of power state information, gear state information and vehicle speed state information.

Optionally, the method further includes:

generating prompt information of the target parking mode and outputting the prompt information;

and responding to a selection instruction based on the prompt message, and displaying a parking mode without the cruise function under the condition that the selection instruction indicates that the target parking mode is not selected and the target parking mode is a parking mode with the cruise function.

According to a second aspect of the embodiments of the present disclosure, there is provided an apparatus for determining a parking mode, including:

a first response module configured to determine whether a high-precision map can be acquired in response to an instruction to determine a parking mode of a vehicle;

a first determination module configured to determine a target parking mode of the vehicle according to an acquisition result, the acquisition result indicating whether the high-precision map is acquired, the target parking mode including a parking mode with a cruise function or a parking mode without the cruise function.

According to a third aspect of the embodiments of the present disclosure, there is provided an apparatus for determining a parking mode, including:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

According to a fourth aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the method of determining a parking mode provided by the first aspect of the present disclosure.

According to a fifth aspect of an embodiment of the present disclosure, there is provided a vehicle including the apparatus set forth in the third aspect.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: the high-precision map can support the cruise function, so that the vehicle can autonomously cruise to a destination without the need of a driver to follow the vehicle, and automatic parking of the vehicle are further realized; when the high-precision map cannot be acquired, the parking mode without the cruise function is selected as the target parking mode, the driver is required to control the vehicle to travel to the destination, automatic parking and automatic parking of the vehicle are further achieved, different parking modes are automatically selected according to the fact whether the high-precision map can be acquired, the driver does not need to judge by himself, and the situation that the driver selects the inapplicable parking mode is avoided.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a flow chart illustrating a method of determining a parking mode in accordance with an exemplary embodiment.

Fig. 2 is a block diagram illustrating an apparatus for determining a parking mode according to an exemplary embodiment.

FIG. 3 is another block diagram illustrating an apparatus for determining a parking mode in accordance with an exemplary embodiment.

FIG. 4 is a functional block diagram schematic of a vehicle shown in an exemplary embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

It should be noted that all actions of acquiring signals, information or data in the present application are performed under the premise of complying with the corresponding data protection regulation policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.

First, each parking mode supports parking and exiting of a vehicle, and the parking mode according to the present disclosure is explained below by taking parking as an example.

The parking mode is memorized, firstly, the vehicle needs to learn a specific parking route, after the learning of the parking route is completed, the vehicle can autonomously complete the driving of the parking route, namely cruise is carried out according to the parking route, and finally the vehicle is driven to the end point of the parking route to realize the parking of the vehicle without the need of a driver to follow the vehicle.

In the passenger-replacing parking mode, a driver can get off the vehicle at a specific position, for example, the driver can get off the vehicle at an entrance of a parking lot, the vehicle can select a parking route of the vehicle according to some acquired information, and autonomously finish the driving of the parking route, namely, cruise is carried out according to the parking route, and finally the vehicle is driven to the end point of the parking route to realize the parking of the vehicle without the need of the driver to follow the vehicle.

The automatic parking mode is different from the memory parking mode and the valet parking mode, and cannot determine a parking route with a long distance, so that a driver needs to follow the vehicle, and the vehicle can autonomously finish parking after the driver determines that the driver drives to a position near a parking space to be parked.

The remote parking mode, like the automatic parking mode, cannot determine a parking route over a long distance, and after determining that the vehicle is driven to the vicinity of a parking space to be parked, the driver can control the vehicle to drive according to the electronic device in communication with the vehicle to finish the parking of the vehicle.

At present, under the condition that a vehicle supports the four parking modes, when the vehicle needs to park, a driver needs to judge and select the corresponding parking mode by himself to realize the parking and the parking of the vehicle, so that the parking mode selected by the driver is not the parking mode which is most suitable for the current use scene of the vehicle, and the judgment of the parking mode is carried out manually, which is not efficient. In view of this, the present disclosure provides a method, an apparatus, a storage medium, and a vehicle for determining a parking mode, where different parking modes are automatically selected according to whether a high-precision map can be acquired, and a driver does not need to determine the parking modes by himself, so that a situation that the driver selects an unsuitable parking mode is avoided, and then parking in and parking out of the vehicle are achieved more efficiently.

The present disclosure is further explained below with reference to the accompanying drawings.

Fig. 1 is a flowchart illustrating a method of determining a parking mode, which may be used in a terminal, which may be an in-vehicle terminal mounted on a vehicle, according to an exemplary embodiment, and may include the following steps, as shown in fig. 1.

In step S11, it is determined whether a high-precision map can be acquired in response to an instruction to determine the parking mode of the vehicle.

In step S12, a target parking mode of the vehicle is determined according to the acquisition result, and the acquisition result indicates whether a high-precision map is acquired, where the target parking mode includes a parking mode with a cruise function or a parking mode without a cruise function.

In some embodiments, a button may be provided for triggering a response to the instruction to determine the parking mode of the vehicle. For example, the button may be a virtual button disposed on a display screen of the terminal, or may be a physical button disposed on a vehicle, and the embodiment is not limited herein.

In some embodiments, the high-precision map may be stored in the terminal in advance, and the terminal in which the high-precision map is stored in advance can acquire the high-precision map.

In some embodiments, the high-precision map may also be stored in a third-party terminal in advance, the terminal may request the third-party terminal to send the high-precision map, and in the case that the request is successful, it is determined that the terminal can obtain the high-precision map; and determining that the terminal cannot acquire the high-precision map in the case of failure of the request.

Compared with the ordinary map, the high-precision map provides abundant map information, and the fineness of the provided map information is relatively high. Therefore, it is possible to use for automatic driving of the vehicle, i.e., a high-precision map is a condition for realizing the cruise function as the vehicle. The high-precision map can serve navigation of a vehicle, the vehicle can finish autonomous driving according to map information, and certainly, the high-precision map can also serve navigation of a driver, so that the high-precision map can improve driving experience of the driver. The common map can only serve for navigation of a driver, and the driver is required to make more accurate driving judgment by combining map information provided by the common map.

In this embodiment, the cruise function-equipped parking mode requires the use of a high-precision map. On the basis of the foregoing, it is determined whether the target parking mode of the vehicle can be a parking mode with a cruise function, depending on whether a high-accuracy map can be acquired. Specifically, under the condition that the obtained result represents that a high-precision map is obtained, determining a parking mode with a cruise function as a target parking mode; and under the condition that the acquisition result represents that the high-precision map is not acquired, determining the parking mode without the cruise function as a target parking mode.

Among them, the parking mode with the cruise function is more advanced than the parking mode without the cruise function. Specifically, the parking mode with the cruise function can autonomously travel a long distance, such as the distance of a parking route, without the need for a driver to follow the vehicle, and the vehicle can autonomously travel according to a high-precision map in combination with the parking route, where the parking route may be a route from a departure place (e.g., an entrance of a parking lot) to a destination (e.g., a parking space to be parked); the method has the advantages that the method can not automatically run for a long distance in the parking mode without the cruise function, and generally needs a driver to follow the vehicle to the position near a destination, so that the parking mode with the cruise function can be selected under the condition that a high-precision map is obtained, the parking mode without the cruise function can be selected under the condition that the high-precision map is not obtained, and self-adaptive judgment according to the parking mode of the vehicle in a map using scene is realized.

By the method, different parking modes are automatically selected according to the condition whether the high-precision map can be acquired or not, the driver does not need to judge by himself, and the condition that the driver selects the inapplicable parking mode is avoided.

In some embodiments, the cruise-enabled parking mode may include a memory parking mode and a valet parking mode, in which case an appropriate parking mode may be further selected among the cruise-enabled parking modes according to the route information acquired by the terminal.

For example, the route information may include a memory route and a global route. Wherein the memory route refers to a unique path from a departure place to a destination, and the global route refers to a plurality of paths from the departure place to the destination. Determining the memory parking mode as a target parking mode under the condition that the route information comprises the memory route; in a case where the route information includes the global route, the valet parking mode is determined as the target parking mode.

Through the mode, when the parking modes with the cruise function comprise a plurality of modes, the screening condition is further set, namely the target parking mode is selected in the plurality of parking modes in a self-adaptive mode according to the type of the route information, and the condition that a driver selects an inapplicable parking mode is further avoided;

in practical applications, the acquired route information may include both a memory route and a global route, and in this case, one of the memory parking mode and the valet parking mode is determined as the target parking mode according to a preset priority condition.

For example, the preset priority condition may be that the valet parking mode is prioritized, and thus, in a case where the route information includes a memorized route and a global route, the valet parking mode is selected as the target parking mode, so that the vehicle can select an optimal route in the global route and realize parking in and parking out of the vehicle according to the route. In an actual driving scene, multiple driving routes can be generally realized from a departure place to a destination, so that when a global route exists, the selection of a memory parking mode which can only drive according to one driving route is avoided, and a passenger-replacing parking mode corresponding to the global route is selected, so that the vehicle can select an optimal driving route from a plurality of driving routes, and further realize the parking and the parking of the vehicle. For example, the optimal driving route may be the route that is currently least congested, and as such, the efficiency of vehicle parking and exiting may be improved.

For example, the preset priority condition may also be user habit priority, and therefore, in the case that the route information includes a memory route and a global route, a parking mode that the user is accustomed to is selected as the target parking mode, thereby satisfying the personalized demand of the driver. The parking mode to which the user is accustomed may be stored in the terminal in advance, and the information indicating the parking mode to which the user is accustomed stored in the terminal may be read out as necessary, so that the parking mode to which the user is accustomed is selected as the target parking mode when the route information includes the memory route and the global route.

Through the method, under the condition that the optimal parking mode cannot be distinguished according to the type of the route information, the target parking mode is further determined according to the preset priority condition, so that the flexibility of determining the parking mode is improved, and meanwhile, the personalized configuration of a driver to the parking mode can be met.

In addition, when the valet parking mode is determined to be the target parking mode and the vehicle is parked in the parking space, the parking spaces along the way can be released in the driving process according to the parking route, namely the vehicle can be controlled to park in if proper parking spaces exist in the driving process, and the vehicle does not need to drive to the destination (parking space to be parked) according to the route information, so that the valet parking mode has the advantage.

In some embodiments, the parking modes without the cruise function may include an automatic parking mode and a remote controlled parking mode, in which case an appropriate parking mode may be further selected among the parking modes without the cruise function according to the status information and/or the parking space information of the vehicle.

For example, under the condition that the acquisition result represents that the high-precision map is not acquired, acquiring the state information and/or parking space information of the vehicle; and determining one of the automatic parking mode and the remote control parking mode as a target parking mode according to the state information and/or the parking space information.

For example, the status information may include at least two of power status information, gear status information, and vehicle speed status information, and the parking space information may include parking space size information of a parking space corresponding to the vehicle, and may also include parking space size information of a parking space adjacent to the parking space corresponding to the vehicle.

The power state information comprises an OFF mode, an ACC mode and a RUN mode, wherein the OFF mode represents that the whole vehicle is not electrified, and a whole vehicle network (such as a CAN network) is in a dormant state; the ACC mode represents that the whole vehicle is powered on, the whole vehicle network is awakened, and the engine is in an un-started state; the RUN mode indicates that the engine is in a started state.

The gear state information can comprise a D gear, an R gear, an N gear and a P gear, the D gear represents a forward gear, the R gear represents a reverse gear, the N gear represents a neutral gear, and the P gear represents a parking gear.

When the target parking mode is determined according to the power state information and the shift state information, the automatic parking mode may be determined as the target parking mode when the power state information is the RUN mode and the shift state information is the D-shift, the R-shift, or the N-shift. For another example, when the power state information is the RUN mode or the ACC mode and the shift position state information is the P shift position, the remote parking mode is determined as the target parking mode.

Under the condition that a target parking mode is determined according to the parking space size information, when the parking space size is large, the automatic parking mode is determined to be the target parking mode; and when the parking space size is smaller, determining the remote control parking mode as a target parking mode.

In the case where the target parking mode is determined based on the power status information and the vehicle speed status information, the automatic parking mode is determined as the target parking mode in the case where the vehicle speed status information is within a preset vehicle speed range (e.g., 0 km/h-2 km/h) and the power status information is the RUN mode.

And under the condition that the target parking mode is determined according to the power state information, the vehicle speed state information and the gear state information, and under the condition that the vehicle speed state information is within a preset vehicle speed range, the power state information is in an OFF mode, and the gear state information is in a P gear, determining that the remote control parking mode is the target parking mode.

In the case where the target parking mode is determined in combination with the parking space information and the state information, the determination of the automatic parking mode as the target parking mode based on the parking space information and the state information, respectively, of the above example may be combined for determining the automatic parking mode as the target parking mode. For example, taking the combination of the power state information, the shift position state information, and the parking space size as an example, when the power state information is the RUN mode, the shift position state information is the D shift position, the R shift position, or the N shift position, and when the parking space size is large, the automatic parking mode may be determined as the target parking mode.

Through the mode, when the parking modes without the cruise function comprise a plurality of modes, the screening condition is further set, namely the optimal parking mode can be selected from the plurality of parking modes without the cruise function according to the state information and the parking space information of the vehicle, and the condition that the driver selects the inapplicable parking mode is further avoided.

In some embodiments, after determining the target parking mode of the vehicle, a prompt message of the target parking mode may be generated and output to prompt the driver of the target parking mode, and whether to display the parking mode without the cruise function may be determined according to a selection instruction made by the driver based on the prompt message.

Specifically, after a target parking mode of the vehicle is determined, prompt information of the target parking mode is generated and output; and responding to a selection instruction based on the prompt information, and displaying the parking mode without the cruise function under the condition that the selection instruction represents that the target parking mode is not selected and the target parking mode is the parking mode with the cruise function.

The prompt message may be a voice prompt message, the corresponding output mode is a voice output mode, or may be a text prompt message, and the corresponding output mode is a text display mode.

The selection instruction may be a voice instruction or a behavior instruction. For example, when the prompt message is a voice prompt message, the driver may speak a voice command "do not select the target parking mode", that is, a selection command indicating that the driver has made a non-selection of the target parking mode, and when the target parking mode is the parking mode with the cruise function, the parking mode without the cruise function, for example, the automatic parking mode is displayed for the driver to select. For another example, when the prompt message is a text prompt message, the text prompt message may be displayed on a display screen of the terminal, and the driver may make a corresponding behavior command based on the display screen, for example, a virtual button for "confirm" or "cancel" is displayed on the display screen, when the driver selects the virtual button for "cancel", a behavior command indicating that the target parking mode is not selected is made, and when the target parking mode is the parking mode with the cruise function, a parking mode without the cruise function, for example, a remote control parking mode is displayed.

It will be appreciated that with a high accuracy map, a parking mode without cruise functionality may also be selected. Therefore, in the above manner, after the driver is provided with the prompt information about the target parking mode (the parking mode with the cruise function), and in the case that the driver does not select the target parking mode, the driver is provided with the selection of other parking modes without the cruise function, so as to meet the user demand.

As can be seen from the foregoing, the parking in and parking out of the vehicle can be achieved in each parking mode. Therefore, after the target parking mode selected by the driver is determined, whether the vehicle is parked or parked can be determined, and then the vehicle is controlled to park in or out of the parking space according to the target parking mode for controlling the parking out or the target parking mode for parking in.

For example, the manner in which the vehicle is determined to be parked or out may be: determining that the vehicle represents the previous historical parking behavior of the vehicle before starting; and when the historical parking behavior is the parking behavior, determining that the vehicle is parked out, and when the historical parking behavior is the parking out behavior, determining that the vehicle is parked in.

For example, the manner of determining whether the vehicle is parked or out may be: and determining whether the vehicle has the selected parking space currently, wherein the parking space can be understood as the parking space into which the vehicle is to be parked, if the parking space is not selected, the vehicle needs to be parked at the moment, and if the parking space is selected, the vehicle needs to be parked at the moment.

Fig. 2 is a block diagram illustrating an apparatus 200 for determining a parking mode according to an exemplary embodiment. Referring to fig. 2, the apparatus 200 includes a first response module 201 and a first determination module 202.

A first response module 201 configured to determine whether a high-precision map can be acquired in response to an instruction to determine a parking mode of a vehicle;

a first determining module 202, configured to determine a target parking mode of the vehicle according to an acquisition result, where the acquisition result indicates whether the high-precision map is acquired, and the target parking mode includes a parking mode with a cruise function or a parking mode without the cruise function.

Optionally, the first determining module 202 includes:

a first determining sub-module configured to determine a parking mode with the cruise function as the target parking mode if the acquisition result indicates that the high-precision map is acquired;

a second determination sub-module configured to determine a parking mode without the cruise function as the target parking mode, in a case where the acquisition result indicates that the high-precision map is not acquired.

Optionally, the parking mode with the cruise function includes a memory parking mode and a valet parking mode, and the first determining submodule includes:

a first acquisition unit configured to acquire route information in a case where the acquisition result indicates that the high-precision map is acquired;

a first determination unit configured to determine that the memory parking mode is the target parking mode in a case where the route information includes a memory route;

a second determination unit configured to determine that the valet parking mode is the target parking mode in a case where the route information includes a global route.

Optionally, the first determining sub-module further includes:

a third determination unit configured to determine one of the memory parking mode and the valet parking mode as the target parking mode according to a preset priority condition in a case where the route information includes the memory route and the global route. In the alternative,

optionally, the parking mode without the cruise function includes an automatic parking mode and a remote parking mode, and the second determining submodule includes:

the second acquisition unit is configured to acquire the state information and/or parking space information of the vehicle under the condition that the acquisition result indicates that the high-precision map is not acquired;

a fourth determination unit configured to determine one of the automatic parking mode and the remote parking mode as the target parking mode according to the status information and/or the parking space information.

Optionally, the apparatus 200 further comprises:

the generating module is configured to generate prompt information of the target parking mode and output the prompt information;

and the display module is configured to respond to a selection instruction based on the prompt information, and in the case that the selection instruction indicates that the target parking mode is not selected and the target parking mode is a parking mode with a cruise function, display the parking mode without the cruise function.

With regard to the apparatus 200 in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

The present disclosure also provides a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the method of determining a parking mode provided by the present disclosure.

Fig. 3 is a block diagram illustrating an apparatus 300 for determining a parking mode according to an exemplary embodiment. Referring to fig. 3, the apparatus 300 may include one or more of the following components: a processing component 302, a first memory 304, a power component 306, a multimedia component 308, an audio component 310, an input/output interface 312, a sensor component 314, and a communication component 316.

The processing component 302 generally controls overall operation of the device 300, such as operations associated with display, data communication, camera operations, and recording operations. The processing component 302 may include one or more first processors 320 to execute instructions to perform all or a portion of the steps of the method for determining a parking mode described above. Further, the processing component 302 can include one or more modules that facilitate interaction between the processing component 302 and other components. For example, the processing component 302 may include a multimedia module to facilitate interaction between the multimedia component 308 and the processing component 302.

The first memory 304 is configured to store various types of data to support operations at the apparatus 300. Examples of such data include instructions for any application or method operating on device 300, contact data, phonebook data, messages, pictures, videos, and so forth. The first memory 304 may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

The power supply component 306 provides power to the various components of the device 300. The power components 306 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the apparatus 300.

The multimedia component 308 includes a screen that provides an output interface between the device 300 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 308 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the device 300 is in an operation mode, such as a photographing mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

The audio component 310 is configured to output and/or input audio signals. For example, audio component 310 includes a Microphone (MIC) configured to receive external audio signals when apparatus 300 is in an operational mode, such as a recording mode and a speech recognition mode. The received audio signal may further be stored in the first memory 304 or transmitted via the communication component 316. In some embodiments, audio component 310 also includes a speaker for outputting audio signals.

The input/output interface 312 provides an interface between the processing component 302 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.

The sensor assembly 314 includes one or more sensors for providing various aspects of status assessment for the device 300. For example, sensor assembly 314 may detect an open/closed state of device 300, the relative positioning of components, such as a display and keypad of device 300, the change in position of device 300 or a component of device 300, the presence or absence of user contact with device 300, the orientation or acceleration/deceleration of device 300, and the change in temperature of device 300. Sensor assembly 314 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 314 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 314 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 316 is configured to facilitate communication between the apparatus 300 and other devices in a wired or wireless manner. The device 300 may access a wireless network based on a communication standard, such as WiFi,2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 316 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 316 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the apparatus 300 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described method of determining a parking mode.

In the exemplary embodiment, a non-transitory computer-readable storage medium including instructions, such as first memory 304, including instructions executable by first processor 320 of apparatus 300 to perform the above-described method of determining a parking mode is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

The apparatus 300 may be a part of a stand-alone electronic device, besides a stand-alone electronic device, for example, in an embodiment, the apparatus may be an Integrated Circuit (IC) or a chip, where the IC may be one IC or a collection of ICs; the chip may include, but is not limited to, the following categories: a GPU (Graphics Processing Unit), a CPU (Central Processing Unit), an FPGA (Field Programmable Gate Array), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an SOC (System on Chip, SOC, system on Chip, or System on Chip), and the like. The integrated circuit or chip may be configured to execute executable instructions (or code) to implement the method for determining a parking mode. Where the executable instructions may be stored in the integrated circuit or chip or may be retrieved from another apparatus or device, for example where the integrated circuit or chip includes a second processor, a second memory, and an interface for communicating with the other apparatus. The executable instructions may be stored in the second memory, and when executed by the second processor, implement the method for determining a parking mode as described above; alternatively, the integrated circuit or chip may receive executable instructions through the interface and transmit the executable instructions to the second processor for execution, so as to implement the method for determining the parking mode.

Referring to fig. 4, fig. 4 is a functional block diagram of a vehicle 400 according to an exemplary embodiment. The vehicle 400 may be configured in a fully or partially autonomous driving mode. For example, the vehicle 400 may acquire environmental information of its surroundings through the perception system 420 and derive an automatic driving strategy based on an analysis of the surrounding environmental information to implement full automatic driving, or present the analysis results to the user to implement partial automatic driving.

The vehicle 400 may include various subsystems such as an infotainment system 410, a perception system 420, a decision control system 430, a drive system 440, and a computing platform 450. Alternatively, vehicle 400 may include more or fewer subsystems, and each subsystem may include multiple components. In addition, each of the sub-systems and components of the vehicle 400 may be interconnected by wire or wirelessly.

In some embodiments, infotainment system 410 may include a communication system 411, an entertainment system 412, and a navigation system 413.

The communication system 411 may comprise a wireless communication system that may wirelessly communicate with one or more devices, either directly or via a communication network. For example, the wireless communication system may use 3G cellular communication, such as CDMA, EVD0, GSM/GPRS, or 4G cellular communication, such as LTE. Or 5G cellular communication. The wireless communication system may communicate with a Wireless Local Area Network (WLAN) using WiFi. In some embodiments, the wireless communication system may utilize an infrared link, bluetooth, or ZigBee to communicate directly with the device. Other wireless protocols, such as various vehicular communication systems, for example, a wireless communication system may include one or more Dedicated Short Range Communications (DSRC) devices that may include public and/or private data communications between vehicles and/or roadside stations.

The entertainment system 412 may include a display device, a microphone, and a sound, and a user may listen to a radio in the car, play music, based on the entertainment system; or the mobile phone is communicated with the vehicle, screen projection of the mobile phone is realized on the display equipment, the display equipment can be in a touch control type, and a user can operate the display equipment by touching the screen.

In some cases, the user's voice signal may be captured by a microphone and certain controls of the vehicle 400 may be implemented by the user, such as adjusting the temperature in the vehicle, etc., depending on the analysis of the user's voice signal. In other cases, music may be played to the user through a stereo.

The navigation system 413 may include a map service provided by a map provider to provide navigation of the route traveled by the vehicle 400, and the navigation system 413 may be used in conjunction with the global positioning system 421 and the inertial measurement unit 422 of the vehicle. The map service provided by the map provider can be a two-dimensional map or a high-precision map.

The perception system 420 may include several sensors that sense information about the environment surrounding the vehicle 400. For example, the sensing system 420 may include a global positioning system 421 (the global positioning system may be a GPS system, a beidou system, or other positioning system), an inertial measurement unit 422, a laser radar 423, a millimeter wave radar 424, an ultrasonic radar 425, and a camera 426. The sensing system 420 may also include sensors of internal systems of the monitored vehicle 400 (e.g., an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors may be used to detect the object and its corresponding characteristics (position, shape, orientation, velocity, etc.). Such detection and identification is a critical function of the safe operation of the vehicle 400.

Global positioning system 421 is used to estimate the geographic location of vehicle 400.

The inertial measurement unit 422 is used to sense a pose change of the vehicle 400 based on the inertial acceleration. In some embodiments, the inertial measurement unit 422 may be a combination of an accelerometer and a gyroscope.

Lidar 423 utilizes laser light to sense objects in the environment in which vehicle 400 is located. In some embodiments, lidar 423 may include one or more laser sources, laser scanners, and one or more detectors, among other system components.

Millimeter-wave radar 424 utilizes radio signals to sense objects within the surrounding environment of vehicle 400. In some embodiments, in addition to sensing objects, the millimeter-wave radar 424 may also be used to sense the speed and/or heading of objects.

The ultrasonic radar 425 may sense objects around the vehicle 400 using ultrasonic signals.

The camera 426 is used to capture image information of the surrounding environment of the vehicle 400. The camera 426 may include a monocular camera, a binocular camera, a structured light camera, a panoramic camera, and the like, and the image information acquired by the camera 426 may include still images and may also include video stream information.

The decision control system 430 includes a computing system 431 for making analytical decisions based on information obtained by the perception system 420, the decision control system 430 further includes a vehicle control unit 432 for controlling the powertrain of the vehicle 400, and a steering system 433, a throttle 434, and a braking system 435 for controlling the vehicle 400.

The computing system 431 may be operable to process and analyze various information acquired by the perception system 420 in order to identify objects, and/or features in the environment surrounding the vehicle 400. The target may comprise a pedestrian or an animal and the objects and/or features may comprise traffic signals, road boundaries and obstacles. The computing system 431 may use object recognition algorithms, structure From Motion (SFM) algorithms, video tracking, and the like. In some embodiments, the computing system 431 may be used to map an environment, track objects, estimate the speed of objects, and so on. The computing system 431 may analyze the various information obtained and derive a control strategy for the vehicle.

The vehicle control unit 432 may be used to perform coordinated control on the power battery and the engine 441 of the vehicle to improve the power performance of the vehicle 400.

The steering system 433 is operable to adjust the heading of the vehicle 400. For example, in one embodiment, a steering wheel system.

The throttle 434 is used to control the operating speed of the engine 441 and, in turn, the speed of the vehicle 400.

The braking system 435 is used to control the deceleration of the vehicle 400. The braking system 435 may use friction to slow the wheels 444. In some embodiments, the braking system 435 may convert the kinetic energy of the wheels 444 into electrical current. The braking system 435 may take other forms to slow the rotational speed of the wheels 444 to control the speed of the vehicle 400.

The drive system 440 may include components that provide powered motion to the vehicle 400. In one embodiment, drive system 440 may include an engine 441, an energy source 442, a transmission 443, and wheels 444. The engine 441 may be an internal combustion engine, an electric motor, an air compression engine, or other types of engine combinations, such as a hybrid engine consisting of a gasoline engine and an electric motor, a hybrid engine consisting of an internal combustion engine and an air compression engine. The engine 441 converts the energy source 442 into mechanical energy.

Examples of energy source 442 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electrical power. The energy source 442 may also provide energy to other systems of the vehicle 400.

The transmission system 443 may transmit mechanical power from the engine 441 to the wheels 444. The driveline 443 may include a gearbox, a differential, and a driveshaft. In one embodiment, the transmission system 443 may also include other devices, such as clutches. Wherein the drive shaft may include one or more axles that may be coupled to one or more wheels 444.

Some or all of the functions of the vehicle 400 are controlled by the computing platform 450. The computing platform 450 may include at least one third processor 451, and the third processor 451 may execute instructions 453 stored in a non-transitory computer readable medium, such as the third memory 452. In some embodiments, the computing platform 450 may also be a plurality of computing devices that control individual components or subsystems of the vehicle 400 in a distributed manner.

The third processor 451 may be any conventional processor, such as a commercially available CPU. Alternatively, the third processor 451 may also include a processor such as a Graphic Processing Unit (GPU), a Field Programmable Gate Array (FPGA), a System On Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof. Although fig. 4 functionally illustrates a third processor, a third memory, and other elements of the computer in the same block, those of ordinary skill in the art will appreciate that the third processor, computer, or third memory may actually comprise multiple processors, computers, or memories that may or may not be stored within the same physical housing. For example, the third memory may be a hard disk drive or other storage medium located in a different enclosure than the computer. Thus, references to a third processor or computer will be understood to include references to a set of third processors or computers or third memories which may or may not operate in parallel. Rather than using a single third processor to perform the steps described herein, some components, such as the steering component and the retarding component, may each have their own third processor that performs only computations related to the component-specific functions.

In the disclosed embodiment, the third processor 451 may perform the method of determining a parking mode described above.

In various aspects described herein, the third processor 451 may be located remotely from the vehicle and in wireless communication with the vehicle. In other aspects, some of the processes described herein are executed on a third processor disposed within the vehicle while others are executed remotely, including taking the steps necessary to perform a single maneuver.

In some embodiments, the third memory 452 may include instructions 453 (e.g., program logic), the instructions 453 being executable by the third processor 451 to perform various functions of the vehicle 400. The third memory 452 may also contain additional instructions, including instructions to send data to, receive data from, interact with, and/or control one or more of the infotainment system 410, the perception system 420, the decision control system 430, the drive system 440.

In addition to instructions 453, the third memory 452 may also store data such as road maps, route information, the position, direction, speed of the vehicle, and other such vehicle data, among other information. Such information may be used by the vehicle 400 and the computing platform 450 during operation of the vehicle 400 in autonomous, semi-autonomous, and/or manual modes.

Computing platform 450 may control the functions of vehicle 400 based on inputs received from various subsystems, such as drive system 440, perception system 420, and decision control system 430. For example, computing platform 450 may utilize input from decision control system 430 in order to control steering system 433 to avoid obstacles detected by perception system 420. In some embodiments, the computing platform 450 is operable to provide control over many aspects of the vehicle 400 and its subsystems.

Optionally, one or more of these components described above may be mounted or associated separately from the vehicle 400. For example, the third memory 452 may exist partially or completely separate from the vehicle 400. The above components may be communicatively coupled together in a wired and/or wireless manner.

Optionally, the above components are only an example, in an actual application, components in the above modules may be added or deleted according to an actual need, and fig. 4 should not be construed as limiting the embodiment of the present disclosure.

An autonomous automobile traveling on a roadway, such as vehicle 400 above, may identify objects within its surrounding environment to determine an adjustment to the current speed. The object may be another vehicle, a traffic control device, or another type of object. In some examples, each identified object may be considered independently, and based on the respective characteristics of the object, such as its current speed, acceleration, separation from the vehicle, etc., may be used to determine the speed at which the autonomous vehicle is to be adjusted.

Optionally, the vehicle 400 or a sensory and computing device (e.g., computing system 431, computing platform 450) associated with the vehicle 400 may predict behavior of the identified object based on characteristics of the identified object and the state of the surrounding environment (e.g., traffic, rain, ice on the road, etc.). Optionally, each identified object depends on the behavior of each other, so it is also possible to predict the behavior of a single identified object taking all identified objects together into account. The vehicle 400 is able to adjust its speed based on the predicted behavior of the identified object. In other words, the autonomous vehicle is able to determine what steady state the vehicle will need to adjust to (e.g., accelerate, decelerate, or stop) based on the predicted behavior of the object. Other factors may also be considered in this process to determine the speed of the vehicle 400, such as the lateral position of the vehicle 400 in the road being traveled, the curvature of the road, the proximity of static and dynamic objects, and so forth.

In addition to providing instructions to adjust the speed of the autonomous vehicle, the computing device may also provide instructions to modify the steering angle of the vehicle 400 to cause the autonomous vehicle to follow a given trajectory and/or maintain a safe lateral and longitudinal distance from objects in the vicinity of the autonomous vehicle (e.g., vehicles in adjacent lanes on the road).

The vehicle 400 may be any type of vehicle, such as a car, a truck, a motorcycle, a bus, a boat, an airplane, a helicopter, a recreational vehicle, a train, etc., and the disclosed embodiment is not particularly limited.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

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

responding to an instruction for determining a parking mode of a vehicle, and determining whether a high-precision map can be acquired, wherein the map information provided by the high-precision map is more than that provided by a common map;

determining a target parking mode of the vehicle according to an acquisition result, wherein the acquisition result represents whether the high-precision map is acquired or not, and the target parking mode comprises a parking mode with a cruise function or a parking mode without the cruise function;

the determining the target parking mode of the vehicle according to the obtained result comprises the following steps: under the condition that the high-precision map is represented and obtained by the obtained result, determining a parking mode with the cruise function as a target parking mode; determining a parking mode without the cruise function as the target parking mode under the condition that the acquisition result represents that the high-precision map is not acquired;

the parking modes without the cruise function comprise an automatic parking mode and a remote control parking mode, and when the obtaining result indicates that the high-precision map is not obtained, the determining that the parking mode without the cruise function is the target parking mode comprises the following steps: acquiring the state information and/or parking space information of the vehicle under the condition that the acquisition result represents that the high-precision map is not acquired; and determining one of the automatic parking mode and the remote control parking mode as the target parking mode according to the state information and/or the parking space information.

2. The method of claim 1, wherein the cruise function parking modes include a memory parking mode and a valet parking mode,

determining that the parking mode with the cruise function is the target parking mode under the condition that the obtaining result represents that the high-precision map is obtained, wherein the determining comprises the following steps:

determining the memory parking mode as the target parking mode when the route information comprises a memory route;

3. The method according to claim 2, wherein the determining that the parking mode with the cruise function is the target parking mode in the case where the acquisition result indicates that the high-accuracy map is acquired, further comprises:

and under the condition that the route information comprises the memory route and the global route, determining one of the memory parking mode and the passenger parking mode as the target parking mode according to a preset priority condition.

4. The method of claim 1, wherein the status information includes at least two of power status information, gear status information, and vehicle speed status information.

5. The method of claim 1, further comprising:

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

a first determination module configured to determine a target parking mode of the vehicle according to an acquisition result, the acquisition result indicating whether the high-precision map is acquired, the target parking mode including a parking mode with a cruise function or a parking mode without the cruise function;

the first determining module includes: a first determining sub-module configured to determine a parking mode with the cruise function as the target parking mode if the acquisition result indicates that the high-precision map is acquired; a second determination sub-module configured to determine, in a case where the acquisition result indicates that the high-precision map is not acquired, that a parking mode without the cruise function is the target parking mode;

the parking mode without the cruise function includes an automatic parking mode and a remote parking mode, and the second determination submodule includes: the second acquisition unit is configured to acquire the state information and/or parking space information of the vehicle under the condition that the acquisition result represents that the high-precision map is not acquired; a fourth determination unit configured to determine one of the automatic parking mode and the remote parking mode as the target parking mode according to the status information and/or the parking space information.

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

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

the determining a target parking mode of the vehicle according to the obtained result comprises the following steps: under the condition that the obtaining result represents that the high-precision map is obtained, determining that the parking mode with the cruise function is the target parking mode; determining a parking mode without the cruise function as the target parking mode under the condition that the acquisition result represents that the high-precision map is not acquired;

8. A computer readable storage medium having computer program instructions stored thereon which, when executed by a processor, perform the steps of the method of any of claims 1~5.

9. A vehicle comprising the apparatus of claim 7.