RU2793737C1 - Smart parking method and devices for its implementation - Google Patents

Abstract

FIELD: smart car parking.

SUBSTANCE: smart parking device includes a first confirmation module, a second confirmation module, a send module, and a control module. The first module is designed to select the final trajectory for car parking from a previously saved trajectory. The second module is designed to determine the closest end point to the car on the final trajectory for car parking. The send module is designed to send a reminder to the driver of the car about the need to move the car to the end point, if the relative position of the car and the end point meets the proximity condition. The control module is designed to control the process of car parking, performed along the final parking trajectory starting from the end point after the car reaches this point.

EFFECT: possibility of automatic parking is achieved, which makes it possible to reduce the duration of driving and increase comfort during parking.

13 cl, 10 dwg

Description

The content of claiming the right of priority for the invention named "Intelligent parking method and device for its implementation", the application for which was filed with the PRC Patent Office on November 29, 2019 under the number 201911206097.0, is given in this patent application in full by citation.

Technical area

The present invention relates to the field of automotive industry, in particular, the method of intelligent parking and devices for its implementation.

Prior Art

With the development of the automotive industry, more and more attention has been paid to automatic driving (autopilot) technologies, which provide for the presence of automatic parking in cars.

Currently, the processes for performing the automatic parking function proceed as follows: the driver drives the car to a place located in front of the parking space and close to it, and manually activates the automatic parking system, after which the car is automatically parked, performing certain reverse maneuvers in automatic mode. However, due to the excessively short distance controlled by the automatic parking system, the driver has to make many maneuvers in order for the car to be automatically parked, which leads to an increase in driving time and a decrease in comfort during parking.

Short review

In view of the foregoing, the aim of the present invention is to present a new smart parking method and devices for its implementation, which will overcome the shortcomings that exist in existing technologies due to the excessively short distance over which the control of the automatic parking system is carried out, such as the need to make many maneuvers for automatic parking. parking, a relatively long driving time and reduced comfort during parking.

In order to achieve the above goal, the technical solution that is the subject of the present disclosure is implemented as follows:

On the one hand, a smart parking method applicable to cars is presented, including:

the final trajectory for parking the car, selected from at least one previously stored trajectory;

An end point on said final path for parking a car, set as closest to said car;

A reminder to move the vehicle to said end point, sent to the driver of said vehicle if the relative position of said vehicle and said end point meets the proximity condition;

The actual parking of the vehicle, performed along said final parking trajectory starting from said end point after said vehicle reaches this point.

Further, the step preceding the step in which a selection is made from at least one previously stored trajectory of the final trajectory for parking the car includes, among others, the following steps:

Production of a large number of images of a moving car upon receipt of a command to learn trajectories;

Determination of the trajectory of movement of at least one characteristic object located in the area of movement of the car, on the mentioned images of a moving car;

Determination of the final trajectory of the parking of the car in accordance with each of the mentioned trajectories of movement;

Saving information about the said final parking trajectory.

Further, a reminder of the need to move the car to the mentioned end point, sent to the driver of the mentioned car, if the relative position of the mentioned car and the mentioned end point meets the proximity condition, contains:

Information about the actual distance between the current location of said vehicle and said end point;

First display distance information of said actual distance in a first direction, the first direction being the tangent direction of said end parking path at said end point;

Information about the second display distance of said actual distance in a second direction, said second direction being perpendicular to said first;

Information about the heading angle between the current direction of motion of said vehicle and said first direction;

If said first distance is less than or equal to the first predetermined value, or said second distance is less than or equal to the second predetermined value, or said heading angle is less than or equal to the third predetermined value, i.e. if at least one of these three conditions is met, then a reminder message is sent to the driver of said vehicle to drive to said end point.

Further, the step preceding the step when said vehicle reaches said end point and begins to park along said final parking path starting from said end point includes, among other things, the following steps:

Sending a message with a reminder to slow down the car at the mentioned end point;

Said step, when said vehicle reaches said end point and starts to park along said final parking path starting from said end point, includes:

Parking along said final parking path starting from said end point, when the vehicle reaches said end point and its speed is determined to be zero.

Further, the step of determining the end point closest to said vehicle on said final path for parking the vehicle includes:

Checking vehicle parameters, which include at least one of the following parameters: tire pressure, door condition and rear-view mirror condition;

Determining the closest end point to said car on said final trajectory for car parking if said car parameters meet the given conditions.

Compared with current technologies, the smart parking method of the present disclosure has the following advantages:

According to this embodiment of the present disclosure, the car, in response to the incoming parking command, selects from at least one previously stored trajectory the final trajectory for parking and determines the end point closest to the car on this trajectory. If the relative position of the car and the end point meets the condition of proximity, i.e. when the vehicle is in the area adjacent to the final parking path, the vehicle reaches the end point and starts to park along the final parking path from that end point. Thus, it is enough for the driver to drive to the area adjacent to the final parking path so that the car can be parked using the intelligent parking system. According to this embodiment of the present disclosure, a car can be parked in a smart parking manner from a further distance, and the driver does not need to drive up to and close to a place in front of and close to the parking space to start automatic parking. This feature frees the driver from the need to make many maneuvers in order for the car to be automatically parked, reduces driving time and improves comfort during parking.

Another object of the present disclosure is to present a device for implementing a smart parking method, including:

The first confirmation module for selecting from at least one previously stored path of the final path for parking the car;

A second confirmation module for determining the closest end point to said vehicle on said final trajectory for parking the vehicle;

A sending module for sending a reminder to the driver of said vehicle to move the vehicle to said end point if the relative position of said vehicle and said end point meets a proximity condition;

A control module for controlling the process of parking a car along said final parking trajectory starting from said end point after said car reaches this point.

Further, the device includes, among other things:

A photography module designed to produce a large number of images of a moving car when a command is received to learn trajectories;

A third confirmation module for confirming the trajectory of at least one characteristic object located in the driving area of the vehicle in said images of the moving vehicle;

A fourth confirmation module for confirming the final parking path of the vehicle in accordance with each of said driving paths;

A memory module designed to store information about said final parking trajectory.

Further, said sending module includes:

The first confirmation submodule for determining the actual distance between the current location of said vehicle and said endpoint.

A second confirmation submodule for determining a first display distance of said actual distance in a first direction, the first direction being the direction of the tangent of said end parking path at said end point.

A third confirmation submodule for determining a second display distance of said actual distance in a second direction, said second direction being perpendicular to said first.

The fourth confirmation submodule, designed to determine the heading angle between the current direction of motion of the said vehicle and the said first direction.

A sending submodule designed to send a reminder message to the driver of said vehicle to reach said end point if said first distance is less than or equal to the first given value, or said second distance is less than or equal to the second given value, or said heading angle is less than or equal to the third given value, i.e. if at least one of these three conditions is satisfied.

Further, said device includes, but is not limited to:

An output module designed to display a reminder to slow down the car at the mentioned end point.

Said control module includes:

The first control submodule designed to control the parking process performed along the said final parking trajectory starting from the said end point, when the car reaches the said end point and its speed is determined to be zero.

Further, the second validation module includes:

A measurement submodule designed to check vehicle parameters, which include at least one of the following parameters: tire pressure, door status, and rear-view mirror status.

The fifth sub-module of confirmation, designed to determine the closest end point to the mentioned car on the mentioned trajectory for parking the car, if the mentioned parameters of the car meet the given conditions.

The mentioned devices for implementing the smart parking method have the same advantages over existing technologies as the above-described smart parking method itself, and therefore they will not be discussed in detail in the future.

The foregoing is only a brief overview of the technical solutions offered by this disclosure. In order to more widely disclose the essence of the technical methods presented by this disclosure, and in accordance with the instructions to implement it, as well as to explain and make more understandable features, advantages and one of the above and other purposes of this disclosure, specific examples are given below. its implementation.

Explanations for illustrations

In order to clarify the technical solutions offered by examples of implementation of this disclosure or existing technologies, the following is a summary of the illustrations used to describe examples of implementation of this disclosure or existing technologies, and it is obvious that the following illustrations refer to examples of implementation of the present disclosure and can serve as a basis for obtaining other illustrations by ordinary technical workers in this area without creative work.

The illustrations that form part of this disclosure are used to facilitate understanding of the essence of the disclosure presented in the application, and the illustrated examples of implementation and textual explanations for them serve to interpret this disclosure and do not impose unnecessary restrictions on it. The following are explanations of the accompanying illustrations:

On FIG. 1 is a flow diagram of the smart parking method proposed by Embodiment 1 of the present disclosure;

On FIG. 2 is a flow diagram of the smart parking method proposed by Embodiment 2 of the present disclosure;

On FIG. 3 is a view of the interface of the smart parking system of Embodiment 2 of the present disclosure;

On FIG. 4 is a block diagram of the vehicle proposed by Embodiment 2 of the present disclosure;

On FIG. 5 is a schematic representation of the area proposed by embodiment 2 of the present disclosure, showing the current location of the vehicle and the end point;

On FIG. 6 is a schematic representation of the remote playback model parking command transmission process of Embodiment 2 of the present disclosure;

On FIG. 7 is a design drawing of a device for implementing the smart parking method proposed by Embodiment 3 of the present disclosure;

On FIG. 8 is a design drawing of a device for implementing the smart parking method proposed by Embodiment 4 of the present disclosure;

On FIG. 9 schematically depicts the structure of the computing and processing equipment used to implement the method presented in the present disclosure; And

On FIG. 10 is a schematic representation of a memory module used to store or carry the program codes needed to implement the method of the present disclosure.

Detailed description

In order to disclose the essence of the above problems, technical solutions and advantages of the present disclosure, the following is a full and detailed description of the technical solutions applicable to the exemplary embodiments of the invention, using illustrations in the form of drawings. However, the following examples of implementation of the disclosure cover only a part, and not the entire scope of its application. All other ways of implementing the disclosure, obtained by ordinary technical workers in this field on the basis of the examples given in this application without creative work, are objects of patent rights and are subject to protection within the framework of this application.

It should be noted that in the absence of contradictions, the examples of implementation of the disclosure presented in this application, and their characteristic features can be mutually combined.

Below, on examples of implementation with illustrations in the form of the accompanying drawings, a detailed description of the present disclosure is given.

Implementation example 1

On FIG. 1 is a flow diagram of the smart parking method proposed by Embodiment 1 of the present disclosure. The presented smart parking method is applicable to automobiles, and as seen in FIG. 1, includes:

Step 101: Selecting from at least one previously stored path the final path for parking the car.

According to this embodiment of the present disclosure, a car can display a smart parking control interface in which a user can select a smart parking option and issue a parking command. At least one parking path is pre-stored in the vehicle, and upon receipt of a parking command, the vehicle selects from such pre-stored paths the final parking path, which can either be selected by the user in the displayed smart parking control interface or determined by the vehicle by automatically negotiating its current location and nearest parking trajectory.

Step 102: Determine the closest end point to the car on the final path for parking the car.

According to this example implementation of the present disclosure, the car can determine the distance from each point on the final parking path to the car, and the point corresponding to the minimum of all such distance values is the final one.

Step 103: Sending a reminder to the driver of the car to move the car to the end point if the relative position of the car and the end point meets the proximity condition.

According to this embodiment of the present disclosure, if the relative position of the car and the end point meets the proximity condition, which indicates that the car is close to the final parking path, then a reminder message is sent to the car driver to move the car to the end point.

Step 104: Controlling the process of parking the car along the final parking path from the end point after the car reaches the given point.

According to this embodiment of the present disclosure, when the vehicle reaches the end point, it may start to park along the final parking path from that point until it reaches the very end of the parking path and completes the automatic parking process.

According to this embodiment of the present disclosure, the car selects from at least one previously stored trajectory the final trajectory for parking and determines the end point closest to the car on this trajectory. If the relative position of the car and the end point meets the condition of proximity, i.e. when the car is in the area adjacent to the final parking path, a reminder message is sent to the car driver to move the car to the mentioned end point, and when the car reaches this point, it starts to park along the final parking path from the end point. Thus, it is enough for the driver to drive to the area adjacent to the final parking path so that the car can be parked using the intelligent parking system. According to this embodiment of the present disclosure, a car can be parked in a smart parking manner from a further distance, and the driver does not need to drive up to and close to a place in front of and close to the parking space to start automatic parking. This feature frees the driver from the need to make many maneuvers in order for the car to be automatically parked, reduces driving time and improves comfort during parking.

Implementation example 2

On FIG. 2 is a flow diagram of the smart parking method proposed by Embodiment 2 of the present disclosure. The presented smart parking method is applicable to automobiles, and as seen in FIG. 2, includes:

Step 201: Producing a large number of images of a moving car when a command is received to learn the trajectories.

According to this embodiment of the present disclosure, the user can click on the "Learning Paths" option in the smart parking control interface and command the paths to be taught. When the vehicle receives a command to learn trajectories, it launches its own system of all-round visibility (Around View Monitor, AVM) and, using the ultrasonic radar and the all-round camera available in this system, produces many images of a moving vehicle, on which surrounding objects can be photographed, present on the road while the vehicle is in motion, such as fixed parking signs, parking lot markings, or fixed structures.

For example, in FIG. 3 is a view of the interface of the smart parking system proposed by Embodiment 2 of the present disclosure. As seen in FIG. 3, in the interface of the smart parking system 30, there is a "Trajectory learning" option 301, when pressed by the user, the car can produce a plurality of images of the moving self through the surround camera.

Optionally, shown in Fig. 4, the block diagram of the vehicle of Embodiment 2 of the present disclosure includes: a sensor 401 composed of an ultrasonic sensor in the ultrasonic radar and an image sensor in the surround camera, mainly for collecting information about the environment around the vehicle. The vehicle can, through the sensor 401, obtain various images of the moving self.

Optionally, as seen in Fig. 4, the vehicle system is also equipped with a display unit 402 used for displaying interfaces, i. e. through the display unit 402, it is possible to carry out the steps in which the intelligent parking control interface is to be displayed.

Optionally, before step 201 is performed, the vehicle may measure environmental parameters.

According to this embodiment of the present disclosure, such environmental parameters include training environment parameters and parking lot environment parameters, including the above-mentioned training environment parameters include the degree of illumination in the environment, and parking lot environment parameters include information about whether the environment is one of the following types of spaces: enclosed parking space, high-density neighborhood, or corporate area.

In addition, the car can analyze the images produced by the all-round camera with which it is equipped to obtain parameters of the situation in the parking lot and, by means of a light sensor with which it is equipped, obtain information about the degree of illumination.

Then, when the environment parameters meet the conditions set for the area around the parking path, step 201 is executed. be that the environment does not meet the criteria for learning the trajectory, as a result of which the latter is not possible.

According to this embodiment of the present disclosure, the conditions specified for the area around the parking path include illumination above 800 lux (Lux) and an environment that is one of the following types of spaces: an enclosed parking space, a high-density neighborhood, or a corporate area.

In addition to the above, on the one hand, if the illuminance is higher than 800 lux (Lux), this means that the space is sufficiently illuminated and the parameters of the moving car images produced by the surround view camera, such as brightness and contrast ratio, are optimal, which is favorable for conducting image analysis of the car moving itself and ensures the applicability of the image data. On the other hand, if the environment is one of the following types of spaces: a closed parking space, a high-density neighborhood, or a corporate area, then there are many characteristic objects in such an environment that can serve as landmarks, such as signs installed in fixed places parking, marking parking spaces, etc. Such landmarks allow detecting the motion paths of even more characteristic objects in order to extract accurate vehicle motion paths from them and generate accurate vehicle parking paths.

Optionally, as seen in Fig. 4, the vehicle system also includes an Auto Parking Assist Electronic Control Unit (APA ECU) 403 connected to the sensor 401 and constituting the central system M together with the sensors 401, and the APA ECU 403 has a recognition algorithm image used to drive the sensor 401 and compute information on the images produced by the sensor 401 to obtain processed and sorted information about the environment around the car. The APA ECU 403 can be used to check the environmental parameters. In addition, the display unit 402 is connected to the central system M.

Optionally, if during the production of a large number of images of a moving car, provided in step 201, it is found that a person has performed certain emergency operations, then first of all, photographing is suspended, then, when a signal is received that the error has been eliminated, the driver is reminded about the need to return to the place where photographing was suspended and instruct the vehicle to resume this process.

For example, when the user slows down and puts the car into Parking (P), the surround view camera temporarily stops taking pictures, and the smart parking control interface 30 can display error information, which can be as follows: “The car has been put into parking mode by the user P, the process of learning trajectories has been suspended! When the user shifts the vehicle into forward gear (Drive, D), i.e. when the vehicle receives a signal that the error has been resolved, the driver is reminded to return to the location where photography was paused and instruct the vehicle to resume the process.

Another example: when a user in emergency mode gives way to pedestrians, i.e. an inflection point appears, the surround view camera temporarily stops taking pictures, and an error information may be displayed on the smart parking control interface 30, which may look like this: “A knee point has appeared on the trajectory of the user’s car, the process of learning the trajectories is suspended!” When the user shifts the vehicle into forward gear (Drive, D), i.e. when the vehicle receives a signal that the error has been resolved, the driver is reminded to return to the location where photography was paused and instruct the vehicle to resume the process.

According to this embodiment of the present disclosure, after the vehicle reaches the destination, the user can click and select "Complete Learning" from the pop-up window in the smart parking control interface 30.

Step 202: Confirming the movement path of at least one characteristic object located in the driving area of the vehicle in the images of the moving vehicle.

According to this embodiment of the present disclosure, objects in the driving area of the vehicle that are the most visible among others, and objects with a fixed location, such as parking signs, parking space markings, etc., can be considered as characteristic objects. The vehicle can, through Simultaneous Localization And Mapping (SLAM) algorithms, determine the trajectory of at least one characteristic object in a plurality of images of a moving vehicle.

Specifically, the SLAM algorithm consists mainly of two stages: the initial stage and the final stage. At the initial stage, visual odometry (VO) is carried out, by which, on the basis of neighboring images of a moving vehicle, the trajectory of the movement of the surround view camera is determined and initial values are provided to the final stage.

Including the visual odometer recognizes characteristic points (characteristic objects) on numerous images of a moving car and matches the characteristic points on each image of a moving car. Each characteristic point on the images of a moving car consists of key points (Key point) and descriptors (Descriptor). A key point refers to the position of a given feature point on a given image of a moving vehicle, with some key points having at least one of the following types of data: direction data and size data. A descriptor is usually understood as a vector that describes image elements around a key point in a preconfiguration way. As a rule, descriptors are designed on the basis that outwardly similar characteristic points should have similar descriptors, therefore, in order to recognize two characteristic points as coinciding with each other during the matching process, it is sufficient that the distance between the descriptors of these two characteristic points in the vector space was close. Thus, the process of recognizing, coordinating and extracting motion trajectories may include:

Step 2021: Find image elements with feature points in moving car images and extract key points from moving car images.

Step 2022: Calculate feature point descriptors based on key point location information;

Step 2023: Matching the descriptors of at least one feature point of the vehicle driving area in the moving car images based on the feature point descriptors.

Step 2024: registering the location information of the successfully matched descriptors and associating this location information according to the time sequence to obtain the trajectory of at least one characteristic point of the vehicle area in the images of the moving vehicle.

For example, consider oriented FAST and rotated BRIEF (Oriented FAST and Rotated BRIEF, ORB). ORB feature points do not change as the camera moves, rotates, or changes in illumination levels, while using the feature extraction algorithm from the accelerated segment test (Features From Accelerated Segment Test, FAST) key points are quickly extracted from images of a moving car, which are called FAST points , then using binary robust independent elementary features (BRIEF) descriptors, ORB feature points are described, descriptors of at least one feature point of the vehicle movement area are matched on images of a moving car, location information of successfully matched descriptors is registered, and this location information is linked in accordance with with a time sequence to obtain the trajectory of at least one characteristic ORB point on images of a moving vehicle.

Optionally, as seen in Fig. 4, the vehicle may perform the above step 202 via the APA ECU 403.

Step 203: Determining the final car parking path according to each of the driving paths.

Optionally, the sequence of the above step 203 may include the following action: determine by the SLAM algorithms the final trajectory for parking the car in accordance with each trajectory.

According to this example implementation of the present disclosure, the car can first, at the end stage of the SLAM algorithm, in accordance with each motion trajectory, optimize it, then, at the end stage of the SLAM algorithm, map each optimized trajectory and distance from the surround camera, and ultimately determine the final trajectory for car parking.

Optionally, as seen in Fig. 4, the vehicle may perform the above step 203 via the APA ECU 403.

Step 204: storing information about the final trajectory of the parking of the car.

According to this embodiment of the present disclosure, the vehicle saves all key points and descriptors corresponding to feature points on the aforementioned final parking path, as well as images of the start and end points of this path, into a point cloud library on a map generated by SLAM algorithms.

Optionally, as seen in Fig. 4, the vehicle may perform the above step 204 via the APA ECU 403.

Step 205: Selecting from at least one pre-stored trajectory of the final trajectory for car parking.

According to this example implementation of the present disclosure, the sequence of performing the above step 205 may include the following actions:

Step 2051: Displaying the interface of the smart parking system with images of the start and end points of each parking path.

According to this embodiment of the present disclosure, a smart parking control interface can be displayed in a car, which has images of the start and end points of each parking path, giving the user a visual representation of which place corresponds to which path to park the car.

For example, as seen in FIG. 3, in the intelligent parking control interface 30, there are buttons "Route 1" 302 and "Route 2" 303, and the option "Route 1" 302 contains the image of the starting point of this parking path A and the image of the end point B, and "Route 2" 303 is a picture of the starting point of this parking path C and a picture of the end point D.

Step 2052: Receiving a parking command at the smart parking system interface.

According to this embodiment of the present disclosure, the smart parking control interface has an option to play a parking trajectory, which, when selected by the user, is commanded to park.

Optionally, as seen in Fig. 4, the vehicle may perform the above step 206 via the APA ECU 403.

Step 2053: Selecting from at least one previously stored trajectory of the final trajectory for car parking.

According to this embodiment of the present disclosure, after the user selects the option to play the parking path, the smart parking control interface displays the option "Park along this route" in front of the start and end points of each parking path. The user can press the "Park along this route" button opposite the parking path he needs and thereby select the final path for parking his car.

For example, as seen in FIG. 3, in the smart parking control interface 30, there is a "Park this route" button 304, before clicking which the user can select the most appropriate of the trajectories for parking the car according to the images of their start and end points, and after such a trajectory is selected, click the option “Park along this route”, and the selected trajectory will become the final parking trajectory.

Further, as seen in Fig. 3, the smart parking control interface 30 also has a Delete Route button 305, by clicking which the user can delete a particular parking path.

Optionally, as seen in Fig. 4, the vehicle may perform the above step 205 via the display unit 402 and the APA ECU 403.

Optionally, if the information about the location of the point on the final parking path is information provided by the Global Positioning System (GPS), then this means that the car has GPS positioning enabled, and the car has again arrived at a place located near the point on the final parking path, positioned by the GPS system. At the same time, if the vehicle speed is lower than the set one, this final parking path will be automatically matched with the current location of the vehicle, and a reminder will be displayed on the smart parking management interface, which may look like this: “Pre-stored vehicle paths have been detected near you , keep driving at low speed!” and the target vehicle speed can be 20 km/h. This disclosure is not intended to be limiting in this respect.

Optionally, as seen in Fig. 4, the system of the vehicle in question includes a GPS system 404 connected to the central system M for determining and controlling the location. The vehicle may, through the GPS 404, perform the negotiation step using the navigator.

Step 206: determining the closest end point to the car on the final path for parking the car.

According to this example implementation of the present disclosure, the sequence of performing the above step 206 may include the following actions:

Step 2061: Check vehicle parameters that include at least one of the following: tire pressure, door status, and rear view mirror status.

According to this example implementation of the present disclosure, in order to improve the level of safety while driving, it is necessary to measure the parameters of the car, which include tire pressure and the condition of the doors, rear-view mirrors, all-round cameras.

Optionally, as seen in Fig. 4, the system of the vehicle in question includes, among other things, an electronic control unit with a Body Control Module (BCM) 405 connected to the central system M and intended primarily to send messages about the results of checking the condition of the car doors and monitoring the condition of car door locks In addition, the BCM 405 can be used to check the condition of the vehicle's doors.

Step 2062: Determine the closest end point to the car on the final trajectory for parking the car if the car parameters meet the specified conditions.

According to this embodiment of the present disclosure, the tire pressure must be less than or equal to 1.8 Pa (Pa), the doors must be in the closed state, and the rear-view mirror in the expanded state. In addition, the closed part of the all-round camera should be less than or equal to 30%. With respect to the set value of tire pressure and the degree of closure of the surround view camera, the present disclosure does not place any restrictions.

In addition, the vehicle can, by calculation and comparison, determine the closest end point to the vehicle on the final parking path. If there is more than one such point, then based on the vehicle's current direction of travel and environmental parameters, the single endpoint that is closest to the vehicle must be determined.

Optionally, if the vehicle parameters do not meet the specified conditions, then error information is displayed.

For example, if the tire pressure is higher than 1.8 Pa, then the error information will be as follows: “Tire pressure is too high, automatic parking cannot continue!” If the car doors are open, then the error information will be as follows: "Doors open, unable to continue auto-parking!" If the rearview mirror is in the folded state, then the error information will be as follows: “Rearview mirror folded, unable to continue auto parking!” If the closed area of the surround camera is more than 30%, then the error information will be as follows: "The surround camera is closed, it is impossible to continue automatic parking!"

Optionally, as seen in Fig. 4, the system of the vehicle in question also includes an Electronic Stability Program (ESP) 406 connected to the central system M and is primarily responsible for communicating vehicle distance data and actuating the steering wheel. Thus, the vehicle can, via ESP 406, perform step 206 and determine the closest end point to the vehicle on the final parking path.

Step 207: Sending a reminder to the driver of the car to move the car to the end point if the relative position of the car and the end point meets the proximity condition.

According to this example implementation of the present disclosure, the sequence of performing the above step 207 may include the following actions:

Step 2071: Determine the actual distance between the vehicle's current location and the end point.

According to this example implementation of the present disclosure, such an actual distance may be the length of a straight line connecting the current location of the vehicle and the end point.

On FIG. 5 is a schematic representation of the section proposed by embodiment 2 of the present disclosure, which indicates the current location of the vehicle and the end point, and, as seen in FIG. 5, the actual distance between the current location of the car 501 and the end point 502 is indicated by the letter "D".

Optionally, as seen in Fig. 4, the vehicle may perform the above step 2071 via the APA ECU 403.

Step 2072: determining the first display distance of the actual distance in the first direction, with the first direction being the direction of the tangent end parking path at the end point.

For example, as seen in FIG. 5, if the first direction X is the tangent direction of the parking end path S at the end point 502, then the first display distance of the actual distance D in the first direction X is indicated as seen in FIG. 5, "L1".

Optionally, as seen in Fig. 4, the vehicle may perform the above step 2072 via the APA ECU 403.

Step 2073: determining the second distance to display the actual distance in the second direction, with the second direction perpendicular to the first.

For example, if, as seen in Fig. 5, the second Y direction is perpendicular to the first X direction, the second display distance of the actual distance D in the second Y direction is indicated as seen in FIG. 5, "L2".

Optionally, as seen in Fig. 4, the vehicle may perform the above step 2073 via the APA ECU 403.

Step 2074: Determine the heading angle between the current vehicle direction and the first direction.

For example, as seen in FIG. 5, the heading angle Q is the angle between the current driving direction of the vehicle E and the first direction X.

Optionally, as seen in Fig. 4, the system of the vehicle in question also includes an Electric Power Steering (EPS) 407 system connected to the M central system and primarily for actuating the steering wheel and reporting steering angle data to the APA ECU 403. Thus, the vehicle may, through the EPS 407, perform step 2074 determining the heading angle between the vehicle's current direction of travel and the first direction.

Step 2075: Sending a reminder message to the vehicle driver to reach the end point if the first distance is less than or equal to the first predetermined value, or the second distance is less than or equal to the second predetermined value, or the heading angle is less than or equal to the third predetermined value, i.e. if at least one of these three conditions is satisfied.

According to this embodiment of the present disclosure, the first set value may be less than a few hundred meters away from the final trajectory, the second set value may be 50 cm, and the third set value may be 5 degrees. In this regard, this disclosure does not place any restrictions. If the first distance is less than or equal to the first predetermined value, or the second distance is less than or equal to the second predetermined value, or the heading angle is less than or equal to the third predetermined value, i.e. if the car's current location satisfies at least one of these three conditions, the smart parking management interface displays a reminder to the driver to move the car to the destination. Such a reminder might look like this: "To reach the end point, drive straight ahead at low speed for 100 meters." The text content of the reminder is not restricted in any way by this disclosure.

Optionally, as seen in Fig. 4, the vehicle may perform the above step 2075 via the APA ECU 403.

Step 208: Controlling the process of parking the car along the final parking path from the end point after the car reaches this point.

According to this example implementation of the present disclosure, the sequence of performing the above step 208 may include the following actions:

Step 2081: Display a reminder to brake the car at the end point.

According to this embodiment of the present disclosure, such a reminder is displayed by the car in the smart parking control interface and serves to instruct the user to brake the car at the end point. Such a reminder might look like this: "To ensure safety during automatic parking, apply the brakes."

Optionally, as seen in Fig. 4, the system of the vehicle in question also includes a transmission control unit (TCU) 408 connected to the central system M and primarily for reporting current gear information and shifting to the APA ECU 403. Thus, the vehicle may, via the TCU 408, perform step 2081, i. e. brake after a reminder to brake at the end point is displayed.

Step 2082: control of the parking process performed along the final parking path starting from the end point, when the car reaches the end point and its speed is determined to be zero.

In addition, at zero speed, the car can safely perform automatic parking.

Optionally, the sequence of the above step 2082 may include the following actions:

First, when the car reaches the end point and its speed is determined to be zero, a reminder is displayed to select the parking mode.

According to this embodiment of the present disclosure, when the car reaches the end point and its speed is determined to be zero, a reminder is displayed on the smart car parking control interface to select a parking mode, which parking mode may include a playback model inside the car and remote playback model.

Secondly, in the parking mode selected by the car, its parking is performed along the final parking path.

According to this embodiment of the present disclosure, the model of reproduction inside the car is understood as such a model when the state of the car is controlled by the user located inside the passenger compartment, while parking is performed along the final trajectory for parking, and after the completion of the parking process, the user is left to perform some finishing actions for the car, such as shutting down and blocking the engine. The remote playback model is understood as such a model when the user can, after getting out of the car, contact with it and control the process of its parking along the final parking path using the Bluetooth key, and after the completion of the parking process, the user can remotely turn off and block the car engine.

Optionally, as seen in Fig. 4, the system of the vehicle in question also includes a Passive Entry Passive Start (PEPS) system 409 connected to the central M system and interacting with the BCM 405. The PEPS 409 system is primarily responsible for controlling switching in the power supply, ignition and starting the engine, monitoring the anti-theft system, as well as receiving and executing key commands. Thus, by means of the PEPS 409 system, it is possible to turn off and block the car engine.

Optionally, as seen in Fig. 4, the system of the vehicle in question also includes a Bluetooth module 410 and a Bluetooth dongle 411. The Bluetooth dongle may be a mobile terminal key, the Bluetooth module 410 is connected to the central system M, and the Bluetooth dongle 411 is connected to the Bluetooth module 410 The role of Bluetooth module 410 is mainly to provide an interaction environment in which information messages are received and sent to said mobile terminal, and the role of Bluetooth key 411 is to send lock or unlock signals, as well as send parking commands. . In addition, information is exchanged between the Bluetooth dongle 411 and the PEPS 409 system. Thus, if the remote playback model is selected, parking can be performed by Bluetooth module 410, Bluetooth dongle 411 and APA ECU 403.

For example, in FIG. 6 is a schematic representation of the remote playback model parking command transmission process proposed by Embodiment 2 of the present disclosure. As shown in FIG. 6, if the remote playback model is selected by the user 601, the remote control parking mode selection signal is input to the Head Unit (HU) system 602 and further transmitted by the multimedia monitor 602 to the Highly Automated Parking (HAP) system 603 , after which the automated parking system 603 sends a request to the Bluetooth module (BTM) 604 to perform parking with remote control, while the user 601 opens the Bluetooth application (Application, APP) 605 on his mobile terminal device, which, together with The Bluetooth module 604 issues a connection and authentication request, the Bluetooth module 604 sends a response to the Bluetooth application 605 with a notification of successful authentication and the automated parking system 603 information about connecting the Bluetooth application 605, after which the automated parking system 603 requests the Bluetooth module 604 permission to start parking, the Bluetooth module 604 sends a command to the Bluetooth application 605 to send a message to the parking management interface, the Bluetooth application 605 sends a response to the Bluetooth module 604 that the message has already been transmitted to the parking management interface, the user 601 continuously slips touching the screen of the mobile phone, the Bluetooth application 605 informs the Bluetooth module 604 that the user continuously swipes the screen of the mobile phone, the Bluetooth module 604 informs the automated parking system 603 of the user's activity monitoring information, the automated parking system 603 informs the Bluetooth module 604 about readiness for automatic parking, the Bluetooth module 604 sends a notification to the Bluetooth application 605 to enter the interface in which the parking process is displayed, the automated parking system 603 begins to park the car along the final parking path, and when parking is completed, the automated parking system 603 reports The Bluetooth module 604 about the successful entry into the parking space, the Bluetooth module 604 sends a request to the Bluetooth application to switch to the interface that displays the successful parking result, and asks the user to confirm the engine is turned off, the user 601 sends a confirmation to the Bluetooth application 605 engine shutdown, the Bluetooth application 605 commands the Bluetooth module 604 to stop the engine, the Bluetooth module 604 commands the car to stop the engine, raise the windows and lock the doors.

Optionally, as seen in Fig. 4, the vehicle may perform the above step 2082 via the APA ECU 403.

Step 2083: stop the movement of the car in cases where, during its parking along the final trajectory of the parking, starting from the end point, signals about the performance of emergency operations by a person are received.

In this exemplary embodiment of the present disclosure, a human emergency operation may refer to a user braking a vehicle. In this regard, this disclosure does not place any restrictions.

Optionally, as seen in Fig. 4, the sensors include the seat belt sensor and the driver's seat occupancy sensor, which are mainly used to report the status of the user inside the vehicle to the APA ECU 403 for analysis and determination of the user's intent. In this regard, the vehicle may perform the above-described step 2083 through the sensor 401 and stop when signals are received that a person has performed emergency operations.

Step 2084: Resuming the parking process on the final parking path after signaling that the error has been resolved.

For example, when the user brakes and puts the car in P mode, the car should stop, and the error information may be displayed on the smart parking control interface 30, which may be as follows: “The car has been put by the user in P mode, it is impossible to continue automatic parking! » When the user shifts the vehicle into forward gear (Drive, D), i.e. when the vehicle receives a signal that the error has been cleared, it returns to the place where it was suspended and resumes the parking process along the final path for parking the vehicle.

Optionally, when a signal is received that an error has not been resolved, information about the error is displayed.

For example, when an error occurs as a result of decelerating and placing the vehicle in P mode, the error information may be displayed as follows: "The vehicle has been put into P mode by the user, automatic parking cannot continue!"

Optionally, as seen in Fig. 4, the vehicle may perform the above step 2084 via the APA ECU 403.

Optionally, as seen in Fig. 4, the system of the car in question includes an Embedded Controller (EC) 412 connected to the central system M and mainly designed to perform the function of independent control of certain elements.

According to this embodiment of the present disclosure, when a trajectory learning command is received in a car, a large number of images of a moving car are produced and the trajectory of at least one characteristic object located in the area of the car is determined on the images of the moving car, then in accordance with each of the trajectories movement, the final trajectory of the car parking is determined and information about it is stored. In this way, the driver can learn the paths, store information about multiple parking paths in the car's memory, and apply the automated parking function in different places with different situations. Further, the car selects from at least one previously stored trajectory the final trajectory for parking and determines the end point on this trajectory closest to the car. If the relative position of the car and the end point meets the condition of proximity, i.e. when the car is in the area adjacent to the final parking path, a reminder message is sent to the car driver to move the car to the mentioned end point, and when the car reaches this point, it starts to park along the final parking path from the end point. Thus, it is enough for the driver to drive to the area adjacent to the final parking path so that the car can be parked using the intelligent parking system. According to this embodiment of the present disclosure, a car can be parked in a smart parking manner from a further distance, and the driver does not need to drive up to and close to a place in front of and close to the parking space to start automatic parking. This feature frees the driver from the need to make many maneuvers in order for the car to be automatically parked, reduces driving time and improves comfort during parking.

Implementation example 3

On FIG. 7 is a design drawing of a device for implementing the smart parking method proposed by Embodiment 3 of the present disclosure. This device for implementing the smart parking method 700 includes:

The first confirmation module 701 for selecting from at least one previously stored path of the final path for parking the car;

A second acknowledgment module 702 for determining the closest end point to the vehicle on the final trajectory for parking the vehicle;

A sending module 703 for sending a reminder to the driver of the car to move the car to the end point if the relative position of the car and the end point meets the proximity condition;

A control module 704 for controlling the process of parking the vehicle along the final parking path from the end point after the vehicle reaches that point.

Specific ways of implementing each of the modules presented in this implementation example of the present disclosure are detailed in the description section of the smart parking method, and therefore they will not be discussed in further detail.

According to this embodiment of the present disclosure, the car selects from at least one pre-stored trajectory the final trajectory for parking by means of the first confirmation module, and determines the end point closest to the car on this trajectory by means of the second confirmation module. Then, if the relative position of the car and the end point meets the proximity condition, i.e. when the car is in the area adjacent to the final parking trajectory, a message is sent to the car driver via the sending module to remind the car to move to the mentioned end point, and when the car reaches this point, it starts to park under the action of the control module along the final trajectory for parking with the final points. Thus, it is enough for the driver to drive to the area adjacent to the final parking path so that the car can be parked using the intelligent parking system. According to this embodiment of the present disclosure, a car can be parked in a smart parking manner from a further distance, and the driver does not need to drive up to and close to a place in front of and close to the parking space to start automatic parking. This feature frees the driver from the need to make many maneuvers in order for the car to be automatically parked, reduces driving time and improves comfort during parking.

Implementation example 4

On FIG. 8 is a design drawing of a device for implementing the smart parking method proposed by Embodiment 4 of the present disclosure. This device for implementing the smart parking method 800 includes:

The first confirmation module 801 for selecting from at least one previously stored path of the final path for parking the car;

A second acknowledgment module 802 for determining the closest end point to the vehicle on the final trajectory for parking the vehicle;

Sending module 803 for sending a reminder to the driver of the car to move the car to the end point if the relative position of the car and the end point meets the proximity condition;

A control module 804 for controlling the process of parking the car along the final parking path starting from the end point after the car reaches that point.

Optionally, as seen in Fig. 8, the presented device for implementing the smart parking method 800 includes, among other things:

A photography module 805 for producing a large number of images of a moving vehicle when a trajectory learning command is received;

A third validation module 806 for detecting the trajectory of at least one characteristic object located in the driving area of the car in the images of the moving car;

A fourth confirmation module 807 for determining the final parking path of the car according to each of the driving paths;

Memory module 808, designed to store the final trajectory of the parking lot.

Optionally, as seen in Fig. 8, 803 send module includes:

The first confirmation sub-module 8031, designed to determine the actual distance between the current location of the car and the end point;

A second confirmation sub-module 8032 for determining a first actual distance display distance in a first direction, the first direction being the tangent direction of the end parking path at the end point;

A third confirmation sub-module 8033 for determining a second actual distance display distance in a second direction, the second direction being perpendicular to the first;

A fourth confirmation sub-module 8034 for determining the heading angle between the current vehicle direction and the first direction;

Send submodule 8035, designed to send a reminder message to the driver of the car about the need to reach the end point, if the first distance is less than or equal to the first specified value, or the second distance is less than or equal to the second specified value, or the heading angle is less than or equal to the third specified value, t .e. if at least one of these three conditions is satisfied.

Optionally, as seen in Fig. 8, the presented device for implementing the smart parking method 800 includes, among other things:

Output module 809 for outputting a reminder to brake the car at the end point;

The 804 control module includes:

The first control sub-module 8041 for controlling the parking process performed along the final parking path starting from the end point, when the car reaches the end point and its speed is determined to be zero.

Optionally, as seen in Fig. 8, the second confirmation module 802 includes:

Measurement sub-module 8021, designed to check vehicle parameters, which include at least one of the following parameters: tire pressure, door status and rear-view mirror status;

The fifth confirmation sub-module 8022, designed to determine the closest end point to the car on the trajectory for parking the car, if the parameters of the car meet the specified conditions.

Specific ways of implementing each of the modules presented in this implementation example of the present disclosure are detailed in the description section of the smart parking method, and therefore they will not be discussed in further detail.

According to this embodiment of the present disclosure, when a trajectory learning command is received in a car, a large number of images of a moving car are produced by the photography module, and the trajectory of at least one characteristic object located in the car’s driving area is determined by the third confirmation module in the images of the moving car, then, according to each of the driving paths, the final parking path of the car is determined by the fourth confirmation module, and finally, information about the final parking path is stored by the memory module. In this way, the driver can store information about multiple parking paths in the vehicle's memory by teaching the paths and apply the automated parking function in different places with different situations. Further, by means of the first confirmation module, the car selects from at least one previously stored trajectory the final trajectory for parking and, by means of the second confirmation module, determines the end point closest to the car on this trajectory. Then, if the relative position of the car and the end point meets the proximity condition, i.e. when the car is in the area adjacent to the final parking path, a message is sent to the driver of the car through the sending module to remind the need to move the car to the mentioned end point, and when the car reaches this point, it starts to park under the control of the control module along the final trajectory for parking with the final points. Thus, it is enough for the driver to drive to the area adjacent to the final parking path so that the car can be parked using the intelligent parking system. According to this embodiment of the present disclosure, a car can be parked in a smart parking manner from a further distance, and the driver does not need to drive up to and close to a place in front of and close to the parking space to start automatic parking. This feature frees the driver from the need to make many maneuvers in order for the car to be automatically parked, reduces driving time and improves comfort during parking.

The above examples are examples of the best applications of the present disclosure, but do not set any boundaries in its implementation. Any changes, adequate replacements or improvements made to this disclosure without violating its main idea and principles are subject to patent rights and are subject to protection within the scope of this application.

The above examples of device implementations serve only as a means of illustration, and the separation of elements described as separate parts can mean both physical and non-physical separation, elements that serve to display blocks can be both physical and non-physical blocks, those. elements can be located in one place, or they can be distributed over different network blocks. The tasks posed by this example implementation of the disclosure may be performed using all or part of the modules selected in accordance with the actual needs of the implementer. Technicians in the field can understand and implement these examples without creative effort.

Examples of implementation of various parts of the present disclosure may be implemented through hardware or software modules operating in one or more processors, or both simultaneously. Technicians in the art should understand that all or part of the functions of all or part of the elements of the computing and processing equipment presented in the exemplary implementation of the present disclosure may in practice be performed by microprocessors or digital signal processors (DSPs). In addition, programs (eg, computer programs and their products) of all or part of the equipment or devices used to implement the tool described in this application may also be implemented within the scope of this disclosure. Such programs for implementing the present disclosure may be stored in a machine-readable medium or be in the form of one or more signals that can be downloaded from Internet sites, provided on signal carriers, or in any other form.

For example, in FIG. 9 shows a computer processing equipment by which the means of the present disclosure is implemented. Conventionally, such computing processing equipment consists of a processor 1010 and a computer program or machine readable medium in the form of a storage device 1020. The storage device 1020 may be an electronic storage device such as a flash memory, EEPROM (Electrically Erasable Reprogrammable Read Only Memory), EPROM (semiconductor programming memory), hard disk or ROM (read only memory). Memory 1020 has space 1030 for storing program codes 1031 used to implement any of the steps of using the tool described above. For example, the space 1030 for the accumulation of program codes may contain program codes 1031 used to implement each step of applying the proposed tool. These program codes may be read or entered from one or more computer program products into one or more computer program products, which include program code media such as hard disks, compact discs (CDs), memory cards, or magnetic disks. The most commonly used as such a computer program product is the portable or fixed storage unit illustrated in FIG. 10. Such a storage unit may have the same storage segment or space similar to storage 1020 in the computing processing equipment shown in FIG. 9. Program codes can be compressed accordingly. Typically, the storage units comprise machine readable codes 1031', ie codes readable by processors like processor 1010. In processing these codes, the computing/processing equipment implements all the steps of applying the means described above.

The expressions "an implementation example" or "one or more implementation examples" appearing in the text mean that the specific features, structures, or characteristics collected in the description of the example/examples are combined into at least one implementation of the present disclosure. In addition, you should pay attention to the fact that the expression "in an implementation example" occurring in the text does not mean that there is only one such example and that it is the same example in each case.

This application provides many specific details, however, it is acceptable if the applications of the objects of the present disclosure will be implemented without taking into account such details. In order not to complicate the process of understanding the contents of the present application, in the examples of implementation of the disclosure presented therein, well-known methods, structures and technologies are not given in detail.

None of the referential symbols enclosed in brackets in the claims should be used as criteria for establishing restrictions in relation to it. The expression "consist of" or "comprise" does not exclude the possibility of the existence of components or operations other than those listed in the Claims. The naming of one or another component in the singular does not mean at all that other similar components no longer exist. The present disclosure may be implemented by hardware with various components and a computer with a suitable programming language. The various installations listed in the claims may be represented by the same apparatus. The expressions "first", "second", "third", etc. do not indicate any sequence. Such expressions can be understood as denominations.

Finally, it should be noted that these examples of implementation serve only to describe the technical solutions presented in this disclosure, and do not place any restrictions on them. Although the above examples of implementation give a detailed description of the present disclosure, ordinary technical workers in this field should understand that they can make certain changes to the technical solutions presented in the above examples of implementation, or to adequately replace part of the technical features, if with such changes or replacements the essence does not disappear and there is no going beyond those technical solutions that offer examples of the implementation of the disclosure given in this patent application.

Claims (58)

1. The method of intelligent parking, characterized in that it is applied to cars and includes: an end vehicle parking path selected from at least one previously stored path; an end point on said final trajectory for parking the vehicle, set as closest to said vehicle; a reminder to move the vehicle to said end point sent to the driver of said vehicle if the relative position of said vehicle and said end point meets the proximity condition; actual parking of the vehicle, performed along said final parking trajectory starting from said end point after said vehicle reaches this point. 2. The method according to claim 1, characterized in that the step preceding the step of selecting from at least one previously stored trajectory of the final trajectory for parking the car includes, among other things, the following actions: production of a large number of images of a moving car upon receipt of a command to learn trajectories; determining the trajectory of movement of at least one characteristic object located in the area of the movement of the car, on the mentioned images of the moving car; determining the final trajectory of the parking of the car in accordance with each of the mentioned trajectories; maintaining said final parking trajectory. 3. The method according to claim 2, characterized in that the stage at which the trajectory of movement of at least one characteristic object located in the area of the movement of the car is determined on the mentioned images of the moving car, also includes the following actions: searching said moving car images for feature dot image elements and extracting key points from said moving car images; calculating descriptors of said feature points based on location information of said key points; matching descriptors of at least one characteristic point of the area of movement of the car on the mentioned images of the moving car based on the mentioned descriptors of the mentioned characteristic points; registering the location information of the successfully matched descriptors; and linking said location information in accordance with the time sequence to obtain a trajectory of at least one characteristic point of the vehicle section in said images of the moving vehicle. 4. The method according to claim. 2, characterized in that the stage at which the final trajectory for parking the car is selected from at least one previously stored trajectory, includes the following steps: displaying the interface of the smart parking system with images of the start and end points of each parking path; receiving a parking command in the intelligent parking system interface; selecting a final path for parking the vehicle from at least one previously stored path; 5. The method according to claim 1, characterized in that the reminder of the need to move the car to the said end point, sent to the driver of the said car, if the relative position of the said car and the said end point meets the proximity condition, contains: information about the actual distance between the current location of said vehicle and said end point; first display distance information of said actual distance in a first direction, the first direction being a tangent direction of said end parking path at said end point; information about a second display distance of said actual distance in a second direction, said second direction being perpendicular to said first; information about the heading angle between the current direction of motion of said vehicle and said first direction; if said first distance is less than or equal to the first predetermined value, or said second distance is less than or equal to the second predetermined value, or said heading angle is less than or equal to the third predetermined value, i.e. if at least one of these three conditions is met, then a reminder message is sent to the driver of said vehicle to drive to said end point. 6. The method according to claim 1, characterized in that the step preceding the step when said car reaches the said end point and begins to park along the said final parking path from the said end point, includes, among other things, the following actions: sending a reminder message to slow down the vehicle at said end point; said step, when said vehicle reaches said end point and starts to park along said final parking path from said end point, includes: parking along said final parking path from said end point, when the vehicle reaches said end point and its speed is determined to be zero. 7. The method according to claim. 1, characterized in that the step at which the closest end point to the said car on the said final trajectory for parking the car is determined, includes: checking vehicle parameters, which include at least one of the following parameters: tire pressure, door condition, and rear-view mirror condition; determining the closest end point to said car on said final trajectory for parking the car, if said car parameters meet the given conditions. 8. A device for implementing the smart parking method, characterized in that it includes: a first confirmation module for selecting from at least one previously stored path the final path for parking the vehicle; a second confirmation module for determining the closest end point to said vehicle on said final trajectory for parking the vehicle; a sending module for sending a reminder to a driver of said vehicle to move the vehicle to said end point if the relative position of said vehicle and said end point meets a proximity condition; a control module for controlling the process of parking the vehicle along said final parking path starting from said end point after said vehicle reaches that point. 9. The device according to claim 8, characterized in that it includes, among other things: a photography module for producing a plurality of images of a moving vehicle when a trajectory learning command is received; a third validation module for determining the trajectory of at least one characteristic object located in the driving area of the vehicle in said images of the vehicle in motion; a fourth confirmation module for determining the final parking path of the vehicle according to each of said paths; a memory module for storing information about said final parking trajectory. 10. The device according to claim 8, characterized in that said sending module includes: a first confirmation submodule for determining the actual distance between said vehicle's current location and said end point; a second confirmation submodule for determining a first display distance of said actual distance in a first direction, the first direction being a tangent direction of said end parking path at said end point; a third confirmation submodule for determining a second display distance of said actual distance in a second direction, said second direction being perpendicular to said first; a fourth confirmation sub-module for determining a heading angle between the current direction of movement of said vehicle and said first direction; a sending submodule designed to send a reminder message to the driver of said vehicle to reach said end point if said first distance is less than or equal to the first given value, or said second distance is less than or equal to the second given value, or said heading angle is less than or equal to the third given value, i.e. if at least one of these three conditions is satisfied. 11. The device according to claim 8, characterized in that it includes, among other things: an output module for outputting a reminder to brake the vehicle at said end point; said control module includes: the first control submodule for controlling the parking process performed along said final parking path starting from said end point, when the vehicle reaches said end point and its speed is determined to be zero. 12. The device according to claim 8, characterized in that the second confirmation module includes: a measurement sub-module for checking vehicle parameters, which include at least one of the following parameters: tire pressure, door status, and rear-view mirror status; a fifth confirmation sub-module for determining the closest end point to said car on said final trajectory for parking the car if said car parameters meet the given conditions. 13. Computing and processing equipment, characterized in that it includes: a storage device that stores machine-readable codes; one or more processors, during the processing of machine-readable codes, by which or by which the computing processing equipment implements the smart parking method referred to in any one of paragraphs. 1-7.

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