CN115352434A

CN115352434A - Automatic parking method, automatic parking device, vehicle, and storage medium

Info

Publication number: CN115352434A
Application number: CN202210966681.1A
Authority: CN
Inventors: 张惠根; 于江; 马祖国; 辜世英; 黄荣立
Original assignee: Zhejiang Geely Holding Group Co Ltd; Zhejiang Liankong Technologies Co Ltd
Current assignee: Zhejiang Geely Holding Group Co Ltd; Zhejiang Liankong Technologies Co Ltd
Priority date: 2022-08-12
Filing date: 2022-08-12
Publication date: 2022-11-18

Abstract

The invention discloses an automatic parking method which comprises the steps of monitoring the running speed of a vehicle, acquiring the state of a movable part of the vehicle under the condition that the current running speed is larger than zero and smaller than a speed threshold value, and activating the automatic parking function of the vehicle under the condition that the state of the movable part is a preset state. According to the automatic parking method, the automatic parking device and the vehicle, the running speed of the vehicle and the state of the movable part are monitored, and the automatic parking function of the vehicle is activated under the conditions that the current running speed of the vehicle is smaller than the speed threshold value and the movable part is in the preset state, so that the vehicle can actively control the automatic parking function, and the risks of vehicle sliding and the like are avoided.

Description

Automatic parking method, automatic parking device, vehicle, and storage medium

Technical Field

The present invention relates to the field of automotive technologies, and in particular, to an automatic parking method, an automatic parking device, a vehicle, and a storage medium.

Background

With the continuous development of new energy automobiles and automatic driving technologies, many automobiles are equipped with an automatic parking function and are triggered by means of gear information or brake pressure thresholds and the like. However, when the driver does not operate according to the associated trigger logic, the automobile may run into unexpected risks such as rolling.

Disclosure of Invention

The invention provides an automatic parking method, an automatic parking device, a vehicle and a storage medium.

The automatic parking method according to the embodiment of the present application includes:

monitoring the running speed of the vehicle;

acquiring the state of a movable part of the vehicle under the condition that the current running speed is greater than zero and less than a speed threshold value;

activating an automatic parking function of the vehicle when the state of the movable part is a preset state; or

Starting timing under the condition that the current running speed is zero;

and activating the automatic parking function of the vehicle under the condition that the timing duration is greater than the preset duration.

According to the automatic parking method, the automatic parking device and the vehicle, the running speed of the vehicle and the state of the movable part are monitored, and the automatic parking function of the vehicle is activated under the conditions that the current running speed of the vehicle is smaller than the speed threshold value and the movable part is in the preset state, so that the vehicle can actively control the automatic parking function, and the risks of vehicle sliding and the like are avoided.

In some embodiments, the movable component includes a door, and activating an automatic parking function of the vehicle when the state of the movable component is a preset state includes:

and activating the automatic parking function of the vehicle when the door body is in an open state.

In some embodiments, the door body includes a door, an engine compartment door, and a trunk compartment door, and the activating an automatic parking function of the vehicle in a state where the door body is opened includes:

activating an automatic parking function of the vehicle in a state where any one of the door, the engine compartment door, and the trunk compartment door is open.

In some embodiments, the movable component comprises a main driving belt, and the activating the automatic parking function of the vehicle in the case that the state of the movable component is a preset state comprises:

activating an automatic park function of the vehicle while the primary driving seatbelt is in an unfastened state.

In some embodiments, after activating the automatic parking function of the vehicle, the automatic parking method further comprises:

and sending out a reminding of parking of the vehicle.

In some embodiments, the alert includes at least one of a light above the main drive, a status icon on an instrument panel, a voice prompt of a human-computer interaction system, and a push notification of a vehicle-bound smart terminal.

In some embodiments, the monitoring the travel speed of the vehicle comprises:

acquiring the rotating speed of the wheel;

and calculating the running speed of the vehicle according to the rotating speed of the wheels.

The automatic parking device of the embodiment of the application comprises:

the monitoring module is used for monitoring the running speed of the vehicle;

the acquiring module is used for acquiring the state of a movable part of the vehicle under the condition that the current running speed is greater than zero and less than a speed threshold;

and the activating module is used for activating the automatic parking function of the vehicle under the condition that the state of the movable part is a preset state.

The vehicle according to the embodiment of the present application includes a memory and a controller configured to execute a computer program stored in the memory to implement the automatic parking method according to any one of the embodiments described above.

The non-transitory computer-readable storage medium of the present embodiment stores a computer program that, when executed by one or more processors, implements the automatic parking method of any of the above embodiments.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic flow diagram of an automatic parking method in accordance with an embodiment of the present invention;

FIG. 2 is a schematic structural view of an automatic parking apparatus according to an embodiment of the present invention;

FIG. 3 is a schematic plan view of a vehicle according to an embodiment of the present invention;

FIG. 4 is a schematic plan view of a vehicle with certain movable components of an embodiment of the present invention in a preset configuration;

fig. 5 is a schematic structural view of an automatic parking apparatus according to an embodiment of the present invention;

fig. 6 is a flowchart illustrating an automatic parking method according to an embodiment of the present invention.

Description of the main element symbols: the automatic parking device 100; a monitoring module 10; an acquisition module 20; an activation module 30; a controller 200; a memory 300; a vehicle 1000; a door body state acquisition module 21; a door state acquisition module 210; an engine bay door acquisition module 220; a trunk door acquisition module 230; a primary driving belt acquisition module 240; a front nacelle cover 400; a timing module 40; a reminder module 50.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature "on," "above" and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.

Referring to fig. 1, an automatic parking method according to an embodiment of the present application includes:

s10, monitoring the running speed of the vehicle 1000;

s20, acquiring the states of movable parts of the vehicle 1000 under the condition that the current running speed is greater than zero and less than a speed threshold;

and S30, activating the automatic parking function of the vehicle 1000 when the state of the movable part is a preset state. Or the like, or, alternatively,

s40, starting timing under the condition that the current running speed is zero;

and S50, activating the automatic parking function of the vehicle 1000 under the condition that the timing duration is greater than the preset duration.

Alternatively, the automatic parking method according to the embodiment of the present application may implement steps S10, S20, and S30, or implement steps S10, S40, and S50.

Referring to fig. 2, the automatic parking apparatus 100 according to the embodiment of the present application includes a monitoring module 10, an obtaining module 20, and an activating module 30. The monitoring module 10 is used for monitoring the running speed of the vehicle 1000; the acquiring module 20 is used for acquiring the states of movable parts of the vehicle 1000 when the current running speed is greater than zero and less than a speed threshold; the activating module 30 is used for activating an automatic parking function of the vehicle 1000 when the state of the movable component is a preset state.

Referring to fig. 3, a vehicle 1000 according to an embodiment of the present disclosure includes a memory 300 and a controller 200, and the controller 200 is configured to execute a calculation program stored in the memory 300 to implement an automatic parking method according to any one of the embodiments. In other words, the controller 200 is configured to monitor the traveling speed of the vehicle 1000, and to acquire the state of the movable component of the vehicle 1000 in a case where the current traveling speed is greater than zero and less than a speed threshold; and for activating an automatic parking function of the vehicle 1000 in a case where the state of the movable parts is a preset state.

Referring to fig. 2, in some embodiments, the automatic parking apparatus 100 further includes a timing module 40, where the timing module 40 is configured to start timing when the current driving speed is zero, and is configured to activate an automatic parking function of the vehicle 1000 when a timing duration is greater than a preset duration.

Referring to fig. 3, in some embodiments, the controller 200 is further configured to start timing when the current driving speed is zero, and to activate an automatic parking function of the vehicle 1000 when the timed period is greater than a preset period.

In the automatic parking method, the automatic parking device 100 and the vehicle 1000 according to the embodiment of the present application, the automatic parking function of the vehicle 1000 is activated by monitoring the traveling speed of the vehicle 1000 and the state of the movable component, and when the current traveling speed of the vehicle 1000 is less than the speed threshold and the movable component is in the preset state, the vehicle 1000 may actively control the automatic parking function, thereby avoiding the risk of the vehicle 1000 such as rolling.

Specifically, in step S10, the running speed of the vehicle 1000 may be obtained by the monitoring module 10 monitoring the rotation speed of the wheel, for example, when the monitoring module 10 monitors that the rotation speed of the wheel is zero, the running speed of the vehicle 1000 is known to be zero. On the other hand, the running speed of the vehicle 1000 can be determined by acquiring data of a transmission input shaft rotation speed sensor, and the running speed of the vehicle 1000 can also be determined by acquiring data of an output shaft rotation speed sensor.

In step S20, the threshold value of the speed may be a risk threshold value in a high-risk rolling scene. Such as the speed, may be the speed at which the vehicle 1000 is stopped at a grade for an initial period of time.

The vehicle 1000 may be a new energy vehicle, a fuel vehicle, a hybrid vehicle, or the like. The vehicle 1000 includes an Electronic Stability Controller (ESC) of the vehicle, a status acquisition system of movable parts of the vehicle 1000, and a bus of the vehicle 1000.

The ESC System is used for analyzing the driving state information of the vehicle 1000 transmitted from the sensors of the vehicle 1000, and then sending a deviation rectifying command to an Anti-Lock Brake System (ABS), an Electronic Brake force Distribution (EBD), and the like, so as to help the vehicle 1000 maintain dynamic balance. AUTO HOLD (AUTO HOLD) is an extended function of the ESC system, controlled by ESC system components.

The movable component state acquisition system is used to acquire movable component state information of vehicle 1000, such as an open/close state of a door body of vehicle 1000, a use state of a seat belt of vehicle 1000, and the like. The movable component state acquisition system acquires the state of the movable component through sensors provided at various places of the vehicle 1000. For example, when the door of vehicle 1000 is not closed, the state information of the door is fed back to the movable component state acquisition system in the form of an electrical signal by a sensor provided in the door.

The bus of the vehicle 1000 is used for collecting all state information of the vehicle 1000, and common data (such as engine speed, wheel speed, throttle pedal position and the like) of the vehicle 1000 are shared all over the vehicle.

In one embodiment, to avoid the risk of the passengers getting off the vehicle quickly during the side parking of the vehicle 1000, the speed threshold may be set to 4km/h, i.e. when the driving speed of the vehicle 1000 is less than 4km/h, the controller 200 may continuously monitor the state of the vehicle 1000 through the ESC system to activate the automatic parking function at any time.

The movable component may be any component of the vehicle 1000 that reflects a risk that the vehicle 1000 may roll, and the controller 200 may acquire the state of the movable component through a movable component state acquisition system of the vehicle 1000.

For example, when the controller 200 acquires that the movable parts are in the preset state through the bus of the vehicle 1000, the controller 200 activates the automatic parking function of the vehicle 1000 through the activation module 30. The controller 200 sends out corresponding control signals (e.g., control current, control voltage, etc.) according to the calculation program stored in the memory 300.

Further, the activation module 30 transmits a control signal containing automatic parking information to an ESC system of the vehicle 1000, and the ESC system controls the brake to complete the parking of the vehicle 1000.

In one embodiment, compared with the conventional manual parking, the automatic parking is more prone to wear of parts after being used for a long time, and many scenes that stay for a short time and are not needed to be parked automatically, such as avoidance during meeting, can occur in the daily use process, and on the other hand, in the scenes of backing up and the like, if no preset time length is set, the automatic parking device 100 can block the normal operation of a user, so that the user experience is affected. The use experience of a user can be guaranteed while the service life of the automatic parking device 100 is prolonged by setting a reasonable preset duration.

The timing module 40 may include a control clock timing circuit for calculating the duration of zero speed of the vehicle 1000 and a timing clock, which may be any commercially available general purpose timing clock that supports timing functions.

In step S40, when the monitoring module 10 monitors that the running speed of the vehicle is zero, the controller 200 outputs a corresponding control signal (such as a control current, a control voltage, etc.) according to the calculation program stored in the memory 300, and controls the clock timing circuit to start timing.

In step S50, when the single accumulated value of the timer clock reaches a preset value, the clock timing circuit is controlled to output a corresponding electrical signal by closing the circuit, so that the activation module 30 transmits a control signal containing automatic parking information to the ESC system of the vehicle 1000, and the ESC system immediately controls the brake to complete the parking of the vehicle 1000.

In one embodiment, the preset value is 10s, and when the single accumulated value of the timer clock reaches 10s, the activation module 30 transmits a control signal containing automatic parking information to the ESC system of the vehicle 1000, and the ESC system controls the brake to complete the parking of the vehicle 1000.

Referring to fig. 1 to 4, in some embodiments, the movable component includes a door, and in a case that a state of the movable component is a preset state, an automatic parking function of the vehicle 1000 is activated (step S30), including:

when the door body is in the open state, the automatic parking function of the vehicle 1000 is activated.

Referring to fig. 1-4, in some embodiments, the activation module 30 is further configured to activate an automatic parking function of the vehicle 1000 when the door is in an open state.

Referring to fig. 1-4, in some embodiments, the controller 200 is further configured to activate an automatic parking function of the vehicle 1000 when the door is in an open state.

In this way, automatic parking apparatus 100 can determine whether or not the automatic parking function of vehicle 1000 is activated based on the open/close state of the door.

Specifically, the acquiring module 20 may include a door state acquiring module 21, and when the monitoring module 10 monitors that the running speed of the vehicle 1000 is greater than zero and less than a speed threshold, the door state acquiring module 21 acquires the opening and closing state of the door through a movable part state acquiring system.

When the door is in an open state, the controller 200 sends out a corresponding control signal (such as a control current, a control voltage, etc.) according to a calculation program stored in the memory 300. Further, the activation module 30 transmits a control signal containing automatic parking information to the ESC system of the vehicle 1000, and the ESC system controls the brake to complete the parking of the vehicle 1000.

Referring to fig. 3, 4 and 5, in some embodiments, the door body includes a door, an engine compartment door and a trunk compartment door, and the automatic parking function of the vehicle 1000 is activated when the door body is in an open state, and includes:

in a state where any one of the door, the engine compartment door, and the trunk door is opened, the automatic parking function of the vehicle 1000 is activated.

Referring to fig. 3, 4 and 5, in some embodiments, the activation module 30 is further configured to activate an automatic parking function of the vehicle 1000 when any one of the door, the engine compartment door and the trunk compartment door is in an open state.

Referring to fig. 3, 4 and 5, in some embodiments, the controller 200 is further configured to activate an automatic parking function of the vehicle 1000 in a state where any one of the door, the engine compartment door and the trunk compartment door is opened.

In this way, automatic parking apparatus 100 can determine whether or not the automatic parking function of vehicle 1000 is activated, based on the open/close state of any of the door bodies.

Specifically, the door body state acquiring module 21 may include a door state acquiring module 210, an engine compartment door acquiring module 220, and a trunk compartment door acquiring module 230.

When the monitoring module 10 monitors that the traveling speed of the vehicle 1000 is greater than zero and less than the speed threshold, the door state acquiring module 210, the engine compartment door acquiring module 220, and the trunk compartment door acquiring module 230 acquire the open and closed states of the door, the engine compartment door, and the trunk compartment door through the movable component state acquiring system, respectively.

When any one of the door, the engine compartment door, and the trunk door is in an open state (as shown in fig. 4, the front compartment cover 400 is in a state), the controller 200 outputs a corresponding control signal (such as a control current, a control voltage, etc.) according to a calculation program stored in the memory 300, and further, the activation module 30 transmits the control signal containing the automatic parking information to the ESC system of the vehicle 1000, and the ESC system controls the brake to complete the parking of the vehicle 1000.

In some embodiments, the movable component includes a main driving belt, and in the case where the state of the movable component is a preset state, the automatic parking function of the vehicle 1000 is activated (step S30), including:

in a state where the main driving belt is unfastened, the automatic parking function of the vehicle 1000 is activated.

In some embodiments, the activation module 30 is further configured to activate an auto park function of the vehicle 1000 while the primary driving belt is in an unfastened condition.

In some embodiments, the controller 200 is also configured to activate an automatic park function of the vehicle 1000 while the primary driver seat belt is in an unfastened condition.

In this way, the automatic parking device 100 can determine whether or not the automatic parking function of the vehicle 1000 is activated according to the wearing state of the driver seat belt.

Specifically, the acquiring module 20 may include a main driving belt acquiring module 240, and when the monitoring module 10 monitors that the running speed of the vehicle is greater than zero and less than the speed threshold, the main driving belt acquiring module 240 acquires the wearing state of the main driving belt through the movable component state acquiring system.

In one embodiment, when the primary driving seat belt is in an unfastened state, that is, when the primary driving seat belt is not inserted into the seat belt slot, the controller 200 sends out corresponding control signals (such as control current, control voltage, etc.) according to the calculation program stored in the memory 300, and further, the activation module 30 transmits the control signals containing the automatic parking information to the ESC system of the vehicle 1000, and the ESC system then controls the brake to complete the parking of the vehicle 1000.

Referring to fig. 6, in some embodiments, after activating the automatic parking function of the vehicle 1000, the automatic parking method further includes:

and S60, sending out a vehicle 1000 parking prompt.

Referring to fig. 2, in some embodiments, the automatic parking device 100 further includes a reminder module 50, and the reminder module 50 is configured to issue a reminder to park the vehicle 1000.

Referring to fig. 3, in some embodiments, the controller 200 is configured to issue a reminder that the vehicle 1000 is parked.

In this way, the automatic parking apparatus 100 may alert the driver that the vehicle 1000 is currently parked automatically, thereby preventing the driver from performing redundant manual parking operation without knowing that the vehicle 1000 is in the automatic parking state.

Specifically, in step S60, the automatic parking apparatus 100 may include a reminder module 50, where the reminder module 50 is configured to receive the activation signal output from the activation module 30 in the controller 200 and convert the activation signal into a reminder signal, and the reminder signal is configured to remind the driver that the vehicle 1000 is automatically parked.

Referring to fig. 6, in some embodiments, the alert includes at least one of a light above the main drive, a status icon on the dashboard, a voice prompt of the human-computer interaction system, and a push notification of the intelligent terminal to which the vehicle 1000 is bound.

In this way, the reminding module 50 can remind the driver that the vehicle 1000 is automatically parked through the components of the vehicle 1000 or the intelligent terminal to which the vehicle 1000 is bound.

Specifically, the reminder may include light above the main driver, a status icon on the dashboard, a voice prompt of the human-computer interaction system, a push notification of an intelligent terminal (e.g., a smartphone) bound to the vehicle 1000, and the like. For example, after the vehicle 1000 completes automatic parking, the human-computer interaction system issues a voice prompt "please note, automatic parking is activated".

Referring to fig. 1 and 2, in some embodiments, monitoring the driving speed of the vehicle 1000 (step S10) includes:

acquiring the rotating speed of a wheel;

the running speed of the vehicle 1000 is calculated from the rotational speeds of the wheels.

Referring to fig. 1 and 2, in some embodiments, the obtaining module 20 is configured to obtain a rotation speed of a wheel, and calculate a running speed of the vehicle 1000 according to the rotation speed of the wheel.

Referring to fig. 1 and 2, in some embodiments, the controller 200 is configured to obtain the rotation speed of the wheel, and calculate the running speed of the vehicle 1000 according to the rotation speed of the wheel.

In this way, the rotation speed of the wheels can be monitored to be used as an indirect determination basis for the running speed of the vehicle 1000.

Specifically, the rotational speed information of the wheel may be acquired through a bus of the vehicle 1000, for example, the acquisition module 20 transmits a rotational speed signal in which the rotational speed information of the wheel is stored to the memory 300, codes of a conversion relationship between the rotational speed of the wheel and the running speed of the vehicle 1000 are preset in the memory 300, and the controller 200 executes a calculation program stored in the memory 300 to calculate the running speed of the vehicle 1000 from the rotational speed of the wheel.

The non-transitory computer-readable storage medium storing the computer program according to the embodiment of the present application realizes the control method according to any one of the above embodiments when the computer program is executed by one or more processors. In particular, the processor may perform any of the steps of the control method.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the embodiments of the present application includes additional implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.

The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processing module-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a random access memory 300 (RAM), a read-only memory 300 (ROM), an erasable programmable read-only memory 300 (EPROM or flash memory 300), an optical fiber device, and a portable compact disc read-only memory 300 (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in the computer memory 300.

The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

It should be understood that portions of the embodiments of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory 300 and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory 300, a magnetic or optical disk, etc.

In the description herein, references to the description of the terms "one embodiment," "certain embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An automatic parking method, characterized by comprising:

monitoring the running speed of the vehicle;

Starting timing under the condition that the current running speed is zero;

2. The automatic parking method according to claim 1, wherein the movable component includes a door body, and activating an automatic parking function of the vehicle when the state of the movable component is a preset state includes:

3. The automatic parking method according to claim 2, wherein the door body includes a door, an engine compartment door, and a trunk compartment door, and the activating of the automatic parking function of the vehicle in the state where the door body is opened includes:

4. The automatic parking method according to claim 1, wherein the movable component includes a main driving belt, and the activating of the automatic parking function of the vehicle in the case where the state of the movable component is a preset state includes:

activating an automatic park function of the vehicle while the primary driving harness is in an unfastened state.

5. The automatic parking method of claim 1, wherein after activating an automatic parking function of the vehicle, the automatic parking method further comprises:

and sending out the vehicle parking reminding.

6. The automatic parking method according to claim 5, wherein the prompt comprises at least one of a light above a main driver, a status icon on an instrument panel, a voice prompt of a human-computer interaction system, and a push notification of a vehicle-bound intelligent terminal.

7. The automatic parking method according to claim 1, wherein the monitoring of the traveling speed of the vehicle includes:

acquiring the rotating speed of the wheel;

8. An automatic parking device characterized by comprising:

the monitoring module is used for monitoring the running speed of the vehicle;

9. A vehicle comprising a memory and a controller for executing a computer program stored in the memory to implement the automatic parking method of any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium storing a computer program, wherein the computer program, when executed by one or more processors, implements the control method of any one of claims 1-7.