CN116729363A

CN116729363A - Automatic parking method, device, electronic equipment and computer readable storage medium

Info

Publication number: CN116729363A
Application number: CN202210204753.9A
Authority: CN
Inventors: 张芳
Original assignee: WM Smart Mobility Shanghai Co Ltd
Current assignee: WM Smart Mobility Shanghai Co Ltd
Priority date: 2022-03-03
Filing date: 2022-03-03
Publication date: 2023-09-12

Abstract

The application provides an automatic parking method, an automatic parking device, electronic equipment and a computer readable storage medium, and relates to the field of automation. The method comprises the following steps: determining the position of a target empty parking space; if it is determined that a candidate vehicle running in the same direction exists behind the target vehicle, controlling the target vehicle to rub the target empty parking space in a head warehouse-in mode; when the position of the target vehicle at the target empty parking space does not meet the preset condition after the pre-set number of times of kneading is determined, if no candidate vehicle exists at the target empty parking space, the target vehicle is controlled to knead the target empty parking space in a tail warehousing mode until the position of the target vehicle at the target empty parking space meets the preset condition. The application realizes flexible scheduling of parking strategies when the parking space is tense, so that the vehicle can park in a short time.

Description

Automatic parking method, device, electronic equipment and computer readable storage medium

Technical Field

The application relates to the technical field of automation, in particular to an automatic parking method, an automatic parking device, electronic equipment and a computer readable storage medium.

Background

The parking space and the road scene of the current parking area are complex, in the case, the existing parking strategy can release the parking space which can be parked after the parking space is required to be driven, traffic jam of a driving lane can be possibly caused, and meanwhile, the driving of a rear vehicle is easily influenced due to long parking time; meanwhile, when the parking system releases the parking space, a certain time is required to be spent, and the vehicle can be parked in the parking space by the rear vehicle in advance, so that the candidate parking space of the current vehicle is lost, and further the user experience is poor.

Disclosure of Invention

The embodiment of the application provides a method and a device for automatic parking, electronic equipment and a computer readable storage medium. The technical scheme is as follows:

according to an aspect of an embodiment of the present application, there is provided a method of automatic parking, the method including:

determining the position of a target empty parking space;

if it is determined that a candidate vehicle running in the same direction exists behind the target vehicle, controlling the target vehicle to rub the target empty parking space in a head warehouse-in mode;

when the fact that the position of the target vehicle at the target empty parking space does not meet the preset condition after the fact that the vehicle is subjected to the warehouse kneading for the preset times is determined, if the candidate vehicle does not exist beside the target empty parking space, the target vehicle is controlled to carry out warehouse kneading on the target empty parking space in a tail warehouse-in mode until the position of the target vehicle at the target empty parking space meets the preset condition.

In one possible implementation manner, before the controlling the target vehicle to knead the target empty parking space in a head warehouse entry manner, the method includes:

and responding to triggering the first control, determining that the target vehicle rubs the target empty parking space in a head warehouse-in mode.

In one possible implementation manner, after determining that the position of the target vehicle in the target empty parking space does not meet the preset condition after performing the preset number of times of kneading, the method further includes:

and if the candidate vehicles exist on the road beside the target empty parking space, displaying the prompting information of manual library kneading after the preset time.

In one possible implementation manner, after determining that the candidate vehicle running in the same direction is behind the target vehicle, the method includes:

responding to triggering of a first control, and obtaining the target parking space length of the target empty parking space;

and according to the size relation between the length of the target parking space and the preset length, kneading the target empty parking space in a head warehouse-in or tail warehouse-in mode until the position of the target vehicle in the target empty parking space meets the preset condition.

In one possible implementation manner, if it is determined that the candidate vehicle running in the same direction does not exist behind the target vehicle, acquiring a target parking space length of the target parking space;

In another possible implementation manner, the kneading the target empty parking space in a head-in-warehouse or tail-in-warehouse mode according to the size relationship between the target parking space length and the preset length until the position of the target vehicle in the target empty parking space meets the preset condition includes:

if the length of the target parking space is smaller than the preset length, the target vehicle is controlled to knead the target empty parking space in a tail warehousing mode until the position of the target vehicle in the target empty parking space meets preset conditions.

In another possible implementation manner, the kneading the target empty parking space in a head-in or tail-in manner according to the size relationship between the target parking space length and the preset length until the position of the target vehicle in the target empty parking space meets the preset condition, further includes:

if the parking space length of the target empty parking space is not smaller than the preset length, the target vehicle is controlled to knead the target empty parking space in a head warehouse-in mode until the position of the target vehicle in the target empty parking space meets the preset condition.

According to another aspect of an embodiment of the present application, there is provided an apparatus for automatic parking, the apparatus including:

the determining module is used for determining the position of the target empty parking space;

the first control module is used for controlling the target vehicle to rub the target empty parking space in a head warehouse-in mode if the candidate vehicle running in the same direction exists behind the target vehicle;

and the second control module is used for controlling the target vehicle to rub the target empty parking space in a tail warehouse entering mode until the position of the target vehicle in the target empty parking space meets the preset condition if the candidate vehicle does not exist beside the target empty parking space after the fact that the target vehicle rubs the target empty parking space for the preset times is determined.

According to another aspect of an embodiment of the present application, there is provided an electronic device including a memory, a processor, and a computer program stored on the memory, the processor executing the computer program to implement the steps of any one of the auto-park methods.

According to a further aspect of embodiments of the present application, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the auto-park method of any one of the claims.

The technical scheme provided by the embodiment of the application has the beneficial effects that: when the parking space is tense, the parking strategy is flexibly scheduled, so that the vehicle can park in a short time.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that are required to be used in the description of the embodiments of the present application will be briefly described below.

Fig. 1 is a schematic diagram of installation of a device for implementing an automatic parking system according to an embodiment of the present application;

fig. 2 is a schematic flow chart of an automatic parking method according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of an automatic parking device according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of an electronic device for automatic parking according to an embodiment of the present application.

Detailed Description

Embodiments of the present application are described below with reference to the drawings in the present application. It should be understood that the embodiments described below with reference to the drawings are exemplary descriptions for explaining the technical solutions of the embodiments of the present application, and the technical solutions of the embodiments of the present application are not limited.

As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and "comprising," when used in this specification, specify the presence of stated features, information, data, steps, operations, elements, and/or components, but do not preclude the presence or addition of other features, information, data, steps, operations, elements, components, and/or groups thereof, all of which may be included in the present specification. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. The term "and/or" as used herein indicates that at least one of the items defined by the term, e.g., "a and/or B" may be implemented as "a", or as "B", or as "a and B".

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail with reference to the accompanying drawings.

The existing full-automatic parking technology is basically based on ultrasonic waves or images as an automatic parking system, and the scheme based on ultrasonic waves is more because the cameras are severely affected by weather such as illumination and the like, and the factors such as cost and technical bottlenecks are added. However, the scene coverage rate based on pure ultrasonic waves has a plurality of limitations, so that the automatic parking system based on fusion of the ultrasonic waves and the cameras is mostly used in the market at present. However, the space size and road scene of the existing parking space are complex, the probability that the horizontal parking space is complex and difficult to park into the automatic parking space is relatively high compared with the probability of drivers, and in fact, the automatic parking technology is used for a plurality of places with poor experience on the horizontal parking space. For example: 1) The parking space which can be parked can be released after the vehicle runs through the parking space, traffic jam of a driving lane can be caused, and the parking time is long, so that the driving of the vehicle behind the driving lane is influenced. 2) The parking process is longer, and when the system does not release the parking space yet, the parking space can be lost by the rear vehicle to get on the front.

The application provides an automatic parking method, an automatic parking device, electronic equipment and a computer readable storage medium, and aims to solve the technical problems existing in the prior art.

The technical solutions of the embodiments of the present application and technical effects produced by the technical solutions of the present application are described below by describing several exemplary embodiments. It should be noted that the following embodiments may be referred to, or combined with each other, and the description will not be repeated for the same terms, similar features, similar implementation steps, and the like in different embodiments.

Fig. 1 is a schematic diagram of installation of an apparatus for implementing an automatic parking system according to an embodiment of the present application, where the apparatus may include 4 looking-around cameras for obstacle detection, 8 ultrasonic probes for obstacle detection by a user, 4 ultrasonic probes (long distance) for parking space detection and obstacle detection, and 1 an automatic parking system host, where the two ultrasonic probes are used for calculating a distance between an ultrasonic sensor and an obstacle, searching for a parking space, planning a trajectory, steering control, vehicle speed control, brake control, and the like.

Specifically, in the embodiment of the present application, S1/S6/S7/S12 in fig. 1 may be an ultrasonic remote probe, the detection distance may be 4.5m, and the installation height may be 500mm, where the detection distance is installed on the front, rear, left and right sides;

S2/S3/S4/S5/S8/S9/S10/S11 is an ultrasonic probe, the detection distance can be 2.2m, and the ultrasonic probe can be arranged in front and back directions according to the installation requirement of a reversing radar system;

C1/C2/C3/C4 is a looking-around camera, the pixels of the camera can be 200 ten thousand pixels, the effective output can be 1080P, and the detectable distance is at least 8m;

the installation position and the attribute value of the specific device are not particularly limited, so long as the automatic parking system is enabled to operate normally.

Based on the above embodiments, as an alternative embodiment, in the present application, the automatic parking system may include 12 ultrasonic probes, 4 looking around cameras, an automatic parking host, an electric power steering, a vehicle body stabilization system, an electronic parking system, a vehicle controller, an instrument, a combination switch, a rotation angle sensor, and other related systems may communicate with the automatic parking host through private communication, and other related systems may communicate with the automatic parking system host through CAN.

Based on the above embodiments, as an alternative embodiment, in the present application, the ultrasonic probe may generate a square wave signal, drive the ultrasonic probe to transmit an ultrasonic pulse signal through the amplifying circuit, measure and receive the ultrasonic wave by the ultrasonic probe after the ultrasonic wave is transmitted through the obstacle, and perform temperature compensation according to the current temperature after the MCU detects the echo, and calculate the obstacle distance through the formula d=1/2 Ct (c=343 m/s (20 ℃)).

Based on the above embodiments, as an optional embodiment, in the present application, the looking-around camera may be a wide-angle fish-eye camera, and the image algorithm may be used to calculate and capture the parking space information and the surrounding environment information in real time. The ultrasonic detection device can accurately identify the length, depth, lane lines, types of obstacles around the parking space and the like by detecting and identifying the obstacles (such as short objects, moving objects and the like) which cannot be detected by ultrasonic waves.

Based on the above embodiments, as an alternative embodiment, the host computer of the automatic parking system monitors the obstacle information around the vehicle through the front left/right probes, searches for the parking space information, and when the space is detected, the space detected by the sensor simulates the parking space information, determines whether the space range of the parking space is a qualified parking space (horizontal parking space length: vehicle length+1m; vertical parking space width: vehicle width+0.8m), based on the automatic parking system integrated with the camera, can integrate the obstacle information detected by the camera, performs track planning calculation, and sends instructions such as steering angle, parking distance, driver prompt information, and the like to the related system.

On the basis of the above embodiments, as an alternative embodiment, in the present application, the electric power steering is used to execute a steering angle and a steering angle acceleration request sent by the automatic parking host, control the steering wheel to steer to the angle of the automatic parking host instruction, if the EPS fails or the driver intervenes in parking, the reason for exiting the control needs to be fed back to the APA; the vehicle body stabilizing system can be used for sending torque increasing, torque reducing and gear shifting requests to the whole vehicle controller when receiving signals such as braking distance, braking highest speed limit and gear shifting requests sent by the automatic parking host machine and whether the signals can be spanned or not sent by the automatic parking system, and feeding back the current wheel speed, the current vehicle speed and the like. The whole vehicle controller can be used for receiving torque increase, torque reduction, gear shift requests sent by the vehicle body stabilizing system, responding to torque increase and decrease in real time, gear switching and the like. The electronic parking may be used for a set-up release request sent by the body stabilization system when parking is completed or the parking system is exited. The instrument can be used for displaying prompt characters and animation in the parking process, and the alarm sound of a buzzer and the like

An embodiment of the present application provides a method for automatic parking, as shown in fig. 2, the method may include:

s201, determining the position of the target empty parking space.

In the embodiment of the application, the position of the target empty parking space in the current parking area can be determined through an automatic parking system host, a looking-around camera, an ultrasonic probe and the like which are arranged on the target vehicle.

And S202, if the fact that the candidate vehicles running in the same direction exist behind the target vehicle is determined, controlling the target vehicle to rub the target empty parking space in a head warehouse-in mode.

In the embodiment of the application, if the target vehicle is determined to be a candidate vehicle which runs in the same direction behind the current driving vehicle of the user, the target vehicle can be controlled to rub the target empty parking space in a head warehouse-in mode, so that the rear vehicle can normally pass, or the current empty parking space is prevented from being preempted by the rear vehicle.

And S203, when the position of the target vehicle at the target empty parking space does not meet the preset condition after the pre-set number of times of kneading is determined, if the candidate vehicle does not exist beside the target empty parking space, the target vehicle is controlled to knead the target empty parking space in a tail warehousing mode until the position of the target vehicle at the target empty parking space meets the preset condition.

In the embodiment of the application, if the current target vehicle does not park successfully when the vehicle is parked for a certain number of times, namely, the position of the target vehicle in the target empty parking space accords with a preset condition, whether the candidate vehicle running in the same direction or in the opposite direction exists beside the target empty parking space is further judged, if the candidate vehicle does not exist, the target vehicle is controlled to leave the current target empty parking space, and the vehicle is parked to the target empty parking space in a tail parking mode until the vehicle is parked successfully.

Further, before the controlling the target vehicle to knead the target empty parking space in a head warehouse-in manner, the method may include:

In embodiments of the present application, the automated parking system may provide the user with options to turn on or off various functions, such as a "main road first" option. If the candidate vehicles running in the same direction behind the target vehicle are identified through cameras or other devices on the target vehicle, whether the user opens the main road priority is further judged, if the user opens the option, the system can knead the target empty parking space in a vehicle head warehouse-in mode, and then vacates a main road, so that the vehicles behind pass preferentially.

Specifically, after determining that the position of the target vehicle in the target empty parking space does not meet the preset condition after performing the pre-set number of times of kneading, the method may further include:

In the embodiment of the application, if the candidate vehicles running in the same direction or in opposite directions exist on the road beside the target empty parking place through the equipment such as the camera and the like mounted on the vehicle, the prompt information of needing manual operation is prompted to the user currently driving the vehicle after a certain time, so that the user can manually knead the garage, and the parking time is further saved.

Further, after determining that the candidate vehicle running in the same direction exists behind the target vehicle, the method may include:

and responding to triggering of the first control, and acquiring the target parking space length of the target empty parking space.

In embodiments of the present application, the automated parking system may provide the user with options to turn on or off various functions, such as a "main road first" option. If the candidate vehicle running in the same direction behind the target vehicle is identified through a camera or other equipment on the target vehicle, whether the user starts the main road priority or not is further judged, and if the user closes the option, the target parking space length of the target empty parking space is obtained.

According to the embodiment of the application, according to the acquired size relation between the length of the parking space of the target parking space and the preset length, the fact that the parking space is kneaded towards the target empty parking space in a head-to-tail warehouse entering mode is determined, specifically, if the length of the parking space is judged to be greater than the preset length, the vehicle is controlled to knead towards the target empty parking space in a head-to-head mode until the position of the target vehicle in the target garage meets preset conditions, namely parking is completed; if the parking space length is not greater than the preset length, the vehicle is controlled to knead the target empty parking space in a head mode until the position of the target vehicle in the target garage meets the preset condition, and the parking is completed.

Further, if it is determined that the candidate vehicle running in the same direction does not exist behind the target vehicle, acquiring a target parking space length of the target parking space; and according to the size relation between the length of the target parking space and the preset length, kneading the target empty parking space in a head warehouse-in or tail warehouse-in mode until the position of the target vehicle in the target empty parking space meets the preset condition.

In the embodiment of the application, if it is determined that the candidate vehicle running in the same direction does not exist behind the target vehicle, the target parking space length of the target parking space can be obtained, and according to the size relationship between the target parking space length and the preset length, the vehicle head or the vehicle tail is decided to be put in storage to the target empty parking space, and the vehicle is rolled until the position of the target vehicle in the target empty parking space meets the preset condition, namely the vehicle is successfully parked.

Specifically, the kneading the target empty parking space in a vehicle head warehouse entry or a vehicle tail warehouse entry mode according to the size relationship between the target parking space length and the preset length until the position of the target vehicle in the target empty parking space meets the preset condition may include:

if the length of the target parking space is smaller than the preset length, the target vehicle is controlled to rub against the target empty parking space in a tail warehousing mode until the position of the target vehicle in the target empty parking space meets preset conditions.

In the embodiment of the application, if the length of the target parking space of the target empty parking space is determined to be smaller than the preset length, the failure is easy to cause or the time of a driver is delayed when the vehicle head is put in storage, so that the vehicle head is put in storage until the position of the target vehicle in the target empty parking space meets the preset condition, namely the vehicle is successfully parked.

Further, if the parking space length of the target empty parking space is not smaller than the preset length, the target vehicle is controlled to knead the target empty parking space in a head warehouse-in mode until the position of the target vehicle in the target empty parking space meets preset conditions.

In the embodiment of the application, if the length of the target parking space of the target empty parking space is not less than the preset length, the target empty parking space can be rubbed into the garage by adopting a tail garage entering mode until the position of the target vehicle in the target empty parking space meets the preset condition, namely the parking is successful. By directly warehousing in a vehicle head mode, the parking time of a driver can be saved.

An embodiment of the present application provides an automatic parking apparatus, as shown in fig. 3, the parking apparatus 30 may include: a determination module 301, a first control module 302, and a second control module 303, wherein,

the determining module 301 is configured to determine a position of the target empty parking space.

And the first control module 302 is configured to control the target vehicle to perform garage kneading on the target empty parking space in a vehicle head warehouse-in manner if it is determined that a candidate vehicle running in the same direction exists behind the target vehicle.

And the second control module 303 is configured to, when it is determined that the position of the target vehicle at the target empty parking space does not meet the preset condition after the number of times of kneading is performed, control the target vehicle to knead the target empty parking space in a tail warehouse entry manner if the candidate vehicle does not exist beside the target empty parking space until the position of the target vehicle at the target empty parking space meets the preset condition.

Further, compared with the related art, it is possible to realize: when the parking space is tense, the parking strategy is flexibly scheduled, so that the vehicle can park in a short time.

The automatic parking device of the present embodiment may perform the steps of the automatic parking method according to the foregoing embodiment of the present application, and the implementation principle is similar, and will not be described herein.

The device of the embodiment of the present application may perform the method provided by the embodiment of the present application, and its implementation principle is similar, and actions performed by each module in the device of the embodiment of the present application correspond to steps in the method of the embodiment of the present application, and detailed functional descriptions of each module of the device may be referred to the descriptions in the corresponding methods shown in the foregoing, which are not repeated herein.

The embodiment of the application provides electronic equipment, which comprises a memory, a processor and a computer program stored on the memory, wherein the processor executes the computer program to realize the steps of an automatic parking method, and compared with the related technology, the method can realize the following steps: when the parking space is tense, the parking strategy is flexibly scheduled, so that the vehicle can park in a short time.

In an alternative embodiment, an electronic device is provided, as shown in fig. 4, the electronic device 4000 shown in fig. 4 includes: a processor 4001 and a memory 4003. Wherein the processor 4001 is coupled to the memory 4003, such as via a bus 4002. Optionally, the electronic device 4000 may further comprise a transceiver 4004, the transceiver 4004 may be used for data interaction between the electronic device and other electronic devices, such as transmission of data and/or reception of data, etc. It should be noted that, in practical applications, the transceiver 4004 is not limited to one, and the structure of the electronic device 4000 is not limited to the embodiment of the present application.

The processor 4001 may be a CPU (Central Processing Unit ), general purpose processor, DSP (Digital Signal Processor, data signal processor), ASIC (Application Specific Integrated Circuit ), FPGA (Field Programmable Gate Array, field programmable gate array) or other programmable logic device, transistor logic device, hardware components, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules and circuits described in connection with this disclosure. The processor 4001 may also be a combination that implements computing functionality, e.g., comprising one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

Bus 4002 may include a path to transfer information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus or an EISA (Extended Industry Standard Architecture ) bus, or the like. The bus 4002 can be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in fig. 4, but not only one bus or one type of bus.

Memory 4003 may be, but is not limited to, ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, RAM (Random Access Memory ) or other type of dynamic storage device that can store information and instructions, EEPROM (Electrically Erasable Programmable Read Only Memory ), CD-ROM (Compact Disc Read Only Memory, compact disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, blu-ray discs, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium that can be used to carry or store a computer program and that can be Read by a computer.

The memory 4003 is used for storing a computer program for executing an embodiment of the present application, and is controlled to be executed by the processor 4001. The processor 4001 is configured to execute a computer program stored in the memory 4003 to realize the steps shown in the foregoing method embodiment.

Embodiments of the present application provide a computer readable storage medium having a computer program stored thereon, which when executed by a processor, implements the steps of the foregoing method embodiments and corresponding content.

The embodiment of the application also provides a computer program product, which comprises a computer program, wherein the computer program can realize the steps and corresponding contents of the embodiment of the method when being executed by a processor.

The terms "first," "second," "third," "fourth," "1," "2," and the like in the description and in the claims and in the above figures, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate, such that the embodiments of the application described herein may be implemented in other sequences than those illustrated or otherwise described.

It should be understood that, although various operation steps are indicated by arrows in the flowcharts of the embodiments of the present application, the order in which these steps are implemented is not limited to the order indicated by the arrows. In some implementations of embodiments of the application, the implementation steps in the flowcharts may be performed in other orders as desired, unless explicitly stated herein. Furthermore, some or all of the steps in the flowcharts may include multiple sub-steps or multiple stages based on the actual implementation scenario. Some or all of these sub-steps or phases may be performed at the same time, or each of these sub-steps or phases may be performed at different times, respectively. In the case of different execution time, the execution sequence of the sub-steps or stages can be flexibly configured according to the requirement, which is not limited by the embodiment of the present application.

The foregoing is merely an optional implementation manner of some of the implementation scenarios of the present application, and it should be noted that, for those skilled in the art, other similar implementation manners based on the technical ideas of the present application are adopted without departing from the technical ideas of the scheme of the present application, and the implementation manner is also within the protection scope of the embodiments of the present application.

Claims

1. A method of automatic parking, comprising:

determining the position of a target empty parking space;

2. The method according to claim 1, wherein before the target vehicle is controlled to be rolled into the target empty parking space in a head-in manner, the method comprises:

3. The method according to claim 1, wherein after determining that the position of the target vehicle in the target empty space does not meet the preset condition after performing the kneading for the preset number of times, further comprising:

4. The method according to claim 1, wherein after determining that there is a candidate vehicle traveling in the same direction behind the target vehicle, comprising:

5. The method of claim 1, wherein if it is determined that the candidate vehicle is not present behind the target vehicle, obtaining a target space length for the target space;

6. The method according to claim 4 or 5, wherein the step of kneading the target empty space in a head-in or tail-in manner according to the size relationship between the target space length and the preset length until the position of the target vehicle in the target empty space meets the preset condition comprises:

7. The method according to claim 4 or 5, wherein the step of kneading the target empty space in a head-in or tail-in manner according to the size relationship between the target space length and the preset length until the position of the target vehicle in the target empty space meets the preset condition further comprises:

8. An automatic parking apparatus, comprising:

9. An electronic device comprising a memory, a processor and a computer program stored on the memory, characterized in that the processor executes the computer program to implement the steps of the auto-park method of any of claims 1-7.

10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, carries out the steps of the auto-parking method according to any one of claims 1-7.