WO2023044749A1 - 一种自动代客泊车方法及装置 - Google Patents

一种自动代客泊车方法及装置 Download PDF

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Publication number
WO2023044749A1
WO2023044749A1 PCT/CN2021/120299 CN2021120299W WO2023044749A1 WO 2023044749 A1 WO2023044749 A1 WO 2023044749A1 CN 2021120299 W CN2021120299 W CN 2021120299W WO 2023044749 A1 WO2023044749 A1 WO 2023044749A1
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WO
WIPO (PCT)
Prior art keywords
parking
parking space
target
user
vehicle
Prior art date
Application number
PCT/CN2021/120299
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English (en)
French (fr)
Inventor
施畅
胡文潇
李强
Original Assignee
华为技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to PCT/CN2021/120299 priority Critical patent/WO2023044749A1/zh
Priority to CN202180008609.1A priority patent/CN116194348A/zh
Publication of WO2023044749A1 publication Critical patent/WO2023044749A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3679—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities
    • G01C21/3685—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities the POI's being parking facilities
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G08G1/144—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces on portable or mobile units, e.g. personal digital assistant [PDA]

Definitions

  • the present application relates to the technical field of intelligent driving, in particular to an automatic valet parking method and device.
  • Automated Valet Parking is an automatic driving technology, which means that after the vehicle arrives at a certain place (such as a park, residential area or shopping mall, etc.), the user can get off the vehicle, and the vehicle can automatically find a parking space and park automatically. car, thereby helping users park their vehicles in parking spaces, saving users time in finding parking spaces and parking.
  • the user needs to park the vehicle at a specific location in the parking lot that supports AVP, then the user gets off the vehicle, turns on the mobile phone and activates AVP to park the vehicle, and the parking space is automatically assigned by the system.
  • This method requires the parking lot to be equipped with sensors and other equipment, which is costly and limited in applicable scenarios; in addition, the user cannot choose the parking space independently, and the user needs to park the vehicle at a specific location, and the flexibility and autonomy of the user's parking are limited. There is a lack of sense of security and control over the parking process, which affects the user experience.
  • an embodiment of the present application provides an automatic valet parking method, the method comprising: when it is detected that the self-vehicle enters the target area, displaying the parking space information in the target area; displaying the parking The car route; the parking route includes the route from the position of the self-vehicle to the target parking space in the target area; the self-car is controlled to perform automatic valet parking according to the parking route.
  • the self-car when the self-car is detected to enter the target area, the information of the parking spaces in the target area is automatically displayed, so that the user can choose the target parking space independently, and the user does not need to drive the self-car to a specific location, and the user does not need to get out of the car , so as to form a smooth connection with the current driving state of the own car, which improves the flexibility and autonomy of the user's parking.
  • the range is wide, and at the same time, the user can monitor the parking process, which improves the user's sense of security and control, and improves the user experience.
  • the parking spaces in the target area include: bookmarked parking spaces and/or recommended parking spaces.
  • the saved parking spaces are the parking spaces collected by the user according to their own preferences, and the recommended parking spaces are the parking spaces selected based on the user's parking habits.
  • the user is more likely to choose the saved parking spaces or recommended
  • the parking space is used as the parking space for this parking; in this way, when the self-vehicle is detected to enter the target area, the automatic valet parking system automatically displays the information of the stored parking spaces and/or the information of the recommended parking spaces in the target area, thereby The user can conveniently and quickly select the parking space that he wants to park, which improves the user experience.
  • the displaying the parking route includes: responding to the user being in the target area The operation of selecting the target parking space in the internal parking space displays the parking route.
  • the parking route is displayed for the user to view.
  • the displaying the information of parking spaces in the target area includes: displaying the A list of parking spaces in the target area, each parking space in the list is sorted according to the corresponding priority.
  • a parking space with a higher priority indicates that the user is more likely to select the target parking space; the parking space with a higher priority is displayed in the list first, so that the user can view it more easily, and the efficiency of selecting the target parking space is improved.
  • the displaying information about parking spaces in the target area includes: displaying the The distribution map of the parking spaces in the target area, and the parking spaces corresponding to different priorities are represented by different icons.
  • a parking space with a higher priority indicates that the user is more likely to choose the target parking space; a more obvious icon can be used to indicate a parking space with a higher priority in the distribution map, so that the user can easily see it, and the selection target is improved.
  • the efficiency of parking spaces at the same time, users can view the information of parking spaces more intuitively through the distribution map.
  • the saved parking spaces include: at least one of the default parking spaces, exclusive parking spaces, or non-exclusive parking spaces One item; wherein, the priority corresponding to the default parking space, the exclusive parking space, and the non-exclusive parking space decreases in turn.
  • the default parking space generally the possibility of being occupied is not high, and users usually consider parking their own cars in the default parking space, so the priority of the default parking space is set as the highest priority;
  • the private parking space is occupied, or there is no private parking space of the user in the target area, the user usually considers parking in the exclusive parking space, so the priority of the exclusive parking space is set as the secondary priority;
  • non-exclusive parking spaces Since vehicles entering the target area can be parked in non-exclusive parking spaces, there is a high probability that non-exclusive parking spaces will be occupied by other vehicles; therefore, the priority of non-exclusive parking spaces is set to the lowest priority.
  • the method further includes: when it is detected that the own vehicle is parked in the target parking space, Judging whether the target parking space is a reserved parking space; if the target parking space is an uncollected parking space, then send a prompt message to the user whether to collect the target parking space; or, in response to the user selecting the parking space in the target area.
  • the operation of the target parking space is determined to determine whether the target parking space is a reserved parking space; if the target parking space is an uncollected parking space, a prompt message is sent to the user whether to bookmark the target parking space.
  • the user is provided with the function of collecting parking spaces to improve user experience.
  • the method further includes: in response to the user confirming the operation of saving the target parking space, displaying the edited page; in response to the user's operation of editing the parking space type and/or parking space name, mark the target parking space as a favorite parking space; wherein, the parking space type includes any one of default, exclusive, and non-exclusive.
  • the method further includes: acquiring the location information of the own vehicle; The position information of the vehicle and the position information of the boundary of the target area are used to detect whether the own vehicle enters the target area.
  • the own vehicle drives without navigation; or, the own vehicle follows the navigation route driving, and the destination corresponding to the navigation route is a location in the target area other than the parking spaces in the target area.
  • the self-car is controlled to perform automatic valet parking according to the parking route , including: in response to an automatic valet parking instruction issued by a user, controlling the self-vehicle to perform automatic valet parking according to the parking route.
  • the automatic valet parking is determined by the user independently, which improves the user's sense of security and control, and improves the user experience.
  • the method further includes: when detecting that the target parking space is occupied, In this case, search for a free parking space; if a free parking space is found, automatically park in the free parking space, and send the location information of the free parking space to the user; otherwise, send a prompt message to the user to take over the vehicle; When the target parking space is occupied, a prompt message to take over the vehicle is sent to the user.
  • the target parking space may be a recommended parking space or a non-exclusive parking space.
  • Recommended parking spaces or non-exclusive parking spaces are usually public parking spaces, which have a high probability of being occupied by other cars; In the case of occupancy, the self-car automatically performs roaming parking and searches for vacant parking spaces without the need for the user to make decisions, saving the user's energy and time, and improving the user experience.
  • the target parking space can be a default parking space or an exclusive parking space.
  • the default parking space and the exclusive parking space are usually the user's private parking spaces, which are usually not occupied; for the default parking space or the exclusive parking space, precise parking can be used
  • the strategy that is, when the default parking space or exclusive parking space is occupied, a prompt message is sent to the user to take over the vehicle, and the user decides independently, which improves the user's autonomy and sense of control in parking, and improves the user experience.
  • the method further includes: acquiring the information of vacant parking spaces in the target area Information; when it is detected that the target parking space is occupied, determine the optimal vacant parking space among the vacant parking spaces, and control the own vehicle to park in the optimal vacant parking space.
  • the user's parking habits it is possible to determine an idle parking space that conforms to the user's parking habits as the optimal idle parking space; control the self-car to park in the optimal idle parking space, thereby improving user experience.
  • the embodiment of the present application provides an automatic valet parking method, the method includes: when detecting that the navigation destination searched by the user is within the target area, sending a notification to the user whether to select a parking space Prompt information; in response to the user confirming the operation of selecting a parking space, display the information of the parking space in the target area; in response to the user's operation of selecting a target parking space in the parking space in the target area, display a navigation route; the navigation route includes The route from the vehicle position to the target parking space; when the vehicle is detected to enter the target area, the vehicle is controlled to perform automatic valet parking according to the navigation route.
  • a prompt message is sent to the user whether to select a parking space; in response to the user confirming the operation of selecting a parking space, the information of the parking spaces in the target area is displayed , so that the user can independently select the target parking space; in response to the user’s operation of selecting the target parking space in the target area, the navigation route is displayed; when it is detected that the self-vehicle enters the target area, the user does not need to re-select the target parking space, and does not need to re-select the target parking space.
  • the parking spaces in the target area include: bookmarked parking spaces and/or recommended parking spaces.
  • the recommended parking spaces are the parking spaces selected based on the user's parking habits. Compared with other parking spaces in the target area, the user is more likely to choose the stored parking spaces or The recommended parking space is used as the parking space for this parking; in this way, when the self-vehicle is detected to enter the target area, the automatic valet parking system automatically displays the information of the saved parking spaces and/or the information of the recommended parking spaces in the target area, In this way, the user can conveniently and quickly select the desired parking space, which improves the user experience.
  • the displaying information about parking spaces in the target area includes: displaying the The distribution map of the parking spaces in the target area, and the parking spaces corresponding to different priorities are represented by different icons.
  • a parking space with a higher priority indicates that the user is more likely to choose the target parking space; a more obvious icon can be used to indicate a parking space with a higher priority in the distribution map, so that the user can easily see it, and the selection target is improved.
  • the efficiency of parking spaces at the same time, users can view the information of parking spaces more intuitively through the distribution map.
  • the displaying information about parking spaces in the target area includes: displaying the A list of parking spaces in the target area, each parking space in the list is sorted according to the corresponding priority.
  • a parking space with a higher priority indicates that the user is more likely to select the target parking space; the parking space with a higher priority is displayed in the list first, so that the user can view it more easily, and the efficiency of selecting the target parking space is improved.
  • the saved parking spaces include: at least one of the default parking spaces, exclusive parking spaces, or non-exclusive parking spaces One item; wherein, the priority corresponding to the default parking space, the exclusive parking space, and the non-exclusive parking space decreases in turn.
  • the default parking space generally the possibility of being occupied is not high, and users usually consider parking their own cars in the default parking space, so the priority of the default parking space is set as the highest priority;
  • the private parking space is occupied, or there is no private parking space of the user in the target area, the user usually considers parking in the exclusive parking space, so the priority of the exclusive parking space is set as the secondary priority;
  • non-exclusive parking spaces Since vehicles entering the target area can be parked in non-exclusive parking spaces, there is a high probability that non-exclusive parking spaces will be occupied by other vehicles; therefore, the priority of non-exclusive parking spaces is set to the lowest priority.
  • the method further includes: upon detecting that the own vehicle is parked in the target parking space In the case of , judge whether the target parking space is a reserved parking space; if the target parking space is an unbooked parking space, then send a prompt message to the user whether to bookmark the target parking space; or, in response to the user being in the target area
  • the operation of selecting the target parking space among the parking spaces determines whether the target parking space is a bookmarked parking space; if the target parking space is an unbooked parking space, a prompt message is sent to the user whether to bookmark the target parking space.
  • the user is provided with the function of collecting parking spaces to improve user experience.
  • the method further includes: displaying an editing page in response to the user confirming the operation of saving the target parking space ; In response to the user's operation of editing the parking space type and/or parking space name, mark the target parking space as a favorite parking space; wherein, the parking space type includes any one of default, exclusive, and non-exclusive.
  • the method further includes: acquiring the location information of the own vehicle; and the location information of the boundary of the target area, and detect whether the own vehicle enters the target area.
  • the method further includes: when it is detected that the target parking space is occupied, searching for a free parking space; if a free parking space is found, automatically park in the free parking space, and send the location information of the free parking space to the user; otherwise, send a prompt message to the user to take over the vehicle; or, when the target parking space is detected In the case of occupancy, a prompt message is sent to the user to take over the vehicle.
  • the target parking space may be a recommended parking space or a non-exclusive parking space.
  • Recommended parking spaces or non-exclusive parking spaces are usually public parking spaces, which have a high probability of being occupied by other cars; In the case of occupancy, the self-car automatically performs roaming parking and searches for vacant parking spaces without the need for the user to make decisions, saving the user's energy and time, and improving the user experience.
  • the target parking space can be a default parking space or an exclusive parking space.
  • the default parking space and the exclusive parking space are usually the user's private parking spaces, which are usually not occupied; for the default parking space or the exclusive parking space, precise parking can be used
  • the strategy that is, when the default parking space or exclusive parking space is occupied, a prompt message is sent to the user to take over the vehicle, and the user decides independently, which improves the user's autonomy and sense of control in parking, and improves the user experience.
  • the method further includes: acquiring information about free parking spaces in the target area; When the target parking space is occupied, determine an optimal free parking space among the free parking spaces, and control the own vehicle to park in the optimal free parking space.
  • the user's parking habits it is possible to determine an idle parking space that conforms to the user's parking habits as the optimal idle parking space; control the self-car to park in the optimal idle parking space, thereby improving user experience.
  • an embodiment of the present application provides an automatic valet parking device, the device comprising: a first display module, configured to display the target area when the vehicle is detected to drive into the target area The information of the internal parking space; the second display module is used to display the parking route; the parking route includes the route from the position of the vehicle to the target parking space in the target area; the control module is used to control the vehicle to park according to the Route for automated valet parking.
  • the parking spaces in the target area include: bookmarked parking spaces and/or recommended parking spaces.
  • the second display module is further configured to: respond to the user in the The operation of selecting the target parking space among the parking spaces in the target area displays the parking route.
  • the first display module is further configured to: display A list of parking spaces, in which each parking space is sorted according to the corresponding priority.
  • the first display module is further configured to: display The distribution map of parking spaces, and the parking spaces corresponding to different priorities are represented by different icons.
  • the saved parking spaces include: at least one of the default parking spaces, exclusive parking spaces, or non-exclusive parking spaces One item; wherein, the priority corresponding to the default parking space, the exclusive parking space, and the non-exclusive parking space decreases in turn.
  • the device further includes: a prompt module, configured to In the case of a parking space, it is judged whether the target parking space is a stored parking space; if the target parking space is an uncollected parking space, a prompt message is sent to the user whether to store the target parking space; or, in response to the user being in the target area
  • the operation of selecting the target parking space among the internal parking spaces determines whether the target parking space is a reserved parking space; if the target parking space is an uncollected parking space, a prompt message is sent to the user whether to bookmark the target parking space.
  • the device further includes: a storing module, configured to store the target parking space in response to user confirmation operation, the edit page is displayed; in response to the user’s operation of editing the parking space type and/or parking space name, the target parking space is marked as a favorite parking space; wherein, the parking space type includes: default, exclusive, non-exclusive any one.
  • the device further includes: a detection module, configured to acquire the location information of the own vehicle ; Detecting whether the own vehicle enters the target area according to the position information of the own vehicle and the position information of the boundary of the target area.
  • the own vehicle drives without navigation; or, the own vehicle follows the navigation route driving, and the destination corresponding to the navigation route is a location in the target area other than the parking spaces in the target area.
  • control module is further configured to: respond to the automatic valet sent by the user The parking instruction controls the self-vehicle to perform automatic valet parking according to the parking route.
  • control module is further configured to: upon detecting the target parking space In the case of being occupied, search for a free parking space; if a free parking space is found, automatically park in the free parking space, and send the location information of the free parking space to the user; otherwise, send a prompt message to the user to take over the vehicle; or, When it is detected that the target parking space is occupied, a prompt message to take over the vehicle is sent to the user.
  • control module is further configured to: acquire the Information about free parking spaces; when it is detected that the target parking space is occupied, determine the optimal free parking space among the free parking spaces, and control the self-car to park in the optimal free parking space.
  • an embodiment of the present application provides an automatic valet parking device, the device includes: a detection module, configured to send a Prompt information on whether to select a parking space; the first display module is used to display the information of the parking spaces in the target area in response to the user confirming the operation of selecting a parking space; the second display module is used to respond to the user in the target area
  • the operation of selecting the target parking space in the internal parking space displays the navigation route; the navigation route includes the route from the position of the own vehicle to the target parking space; the control module is used to control the vehicle when the vehicle enters the target area.
  • the ego car performs automatic valet parking according to the navigation route.
  • the parking spaces in the target area include: bookmarked parking spaces and/or recommended parking spaces.
  • the first display module is further configured to: display The distribution map of parking spaces, and the parking spaces corresponding to different priorities are represented by different icons.
  • the first display module is further configured to: display A list of parking spaces, in which each parking space is sorted according to the corresponding priority.
  • the saved parking spaces include: at least one of the default parking spaces, exclusive parking spaces, or non-exclusive parking spaces One item; wherein, the priority corresponding to the default parking space, the exclusive parking space, and the non-exclusive parking space decreases in turn.
  • the device further includes: a prompt module, configured to In the case of entering the target parking space, it is judged whether the target parking space is a stored parking space; if the target parking space is an uncollected parking space, a prompt message is sent to the user whether to bookmark the target parking space; or, in response to the user’s
  • the operation of selecting the target parking space among the parking spaces in the target area determines whether the target parking space is a bookmarked parking space; if the target parking space is an unbooked parking space, then sends a prompt message to the user whether to bookmark the target parking space.
  • the device further includes: a saving module, configured to respond to the user confirming that the target parking space is stored Operation, display the editing page; in response to the operation of editing the parking space type and/or parking space name by the user, mark the target parking space as a favorite parking space; wherein, the parking space type includes: any of default, exclusive, and non-exclusive one item.
  • the detection module is further configured to: acquire the location information of the own vehicle; The position information of the target area and the position information of the boundary of the target area are used to detect whether the ego vehicle enters the target area.
  • control module is further configured to: when it is detected that the target parking space is occupied , to search for a free parking space; if a free parking space is found, it will automatically park in the free parking space and send the location information of the free parking space to the user; otherwise, it will send a prompt message to the user to take over the vehicle; or, when the parking space is detected When the target parking space is occupied, a prompt message is sent to the user to take over the vehicle.
  • control module is further configured to: obtain information about vacant parking spaces in the target area; When it is detected that the target parking space is occupied, an optimal free parking space among the free parking spaces is determined, and the vehicle is controlled to park in the optimal free parking space.
  • an embodiment of the present application provides an automatic valet parking device, including: a processor; a display for displaying a human-computer interaction interface; a memory for storing instructions executable by the processor; wherein, the The processor is configured to implement the above-mentioned first aspect or the automatic valet parking method in various possible implementation manners of the first aspect, or implement the above-mentioned second aspect or various possible implementation manners of the second aspect when executing the instructions.
  • the automatic valet parking method in the implementation.
  • an embodiment of the present application provides an automatic valet parking system, and the automatic valet parking system includes the automatic valet parking device of the third aspect, the fourth aspect or the fifth aspect.
  • an embodiment of the present application provides a vehicle, the vehicle comprising the automatic valet parking device of the third, fourth, or fifth aspect above, or the automatic valet parking system of the sixth aspect above.
  • the embodiments of the present application provide a non-volatile computer-readable storage medium on which computer program instructions are stored, and it is characterized in that, when the computer program instructions are executed by a processor, the above-mentioned first aspect is realized Or the automatic valet parking method in various possible implementation manners of the first aspect, or realize the above-mentioned second aspect or the automatic valet parking method in various possible implementation manners of the second aspect.
  • the embodiments of the present application provide a computer program product containing instructions.
  • FIG. 1 shows a schematic diagram of an application scenario of an automatic valet parking method according to an embodiment of the present application
  • FIG. 2 shows a schematic structural diagram of an automatic valet parking system according to an embodiment of the present application
  • Fig. 3 shows a flow chart of an automatic valet parking method according to an embodiment of the present application
  • Fig. 4 shows a schematic diagram of an automatic valet parking interactive interface according to an embodiment of the present application
  • Fig. 5 shows a schematic diagram of another automatic valet parking interactive interface according to an embodiment of the present application
  • Fig. 6 shows a schematic diagram of another automatic valet parking interactive interface according to an embodiment of the present application.
  • Fig. 7 shows a schematic diagram of another automatic valet parking interactive interface according to an embodiment of the present application.
  • Fig. 8 shows a schematic diagram of another automatic valet parking interactive interface according to an embodiment of the present application.
  • Fig. 9 shows a schematic diagram of another automatic valet parking interactive interface according to an embodiment of the present application.
  • Fig. 10 shows a schematic diagram of an interactive interface displaying a real-time image of parking according to an embodiment of the present application
  • Fig. 11 shows a schematic diagram of an interactive interface for storing parking spaces according to an embodiment of the present application
  • Fig. 12 shows a schematic diagram of another interactive interface for storing parking spaces according to an embodiment of the present application
  • Fig. 13 shows a schematic diagram of another automatic valet parking interactive interface according to an embodiment of the present application.
  • Fig. 14 shows a schematic diagram of another automatic valet parking interactive interface according to an embodiment of the present application.
  • Fig. 15 shows a flow chart of another automatic valet parking method according to an embodiment of the present application.
  • Fig. 16 shows a schematic diagram of another automatic valet parking interactive interface according to an embodiment of the present application.
  • Fig. 17 shows a schematic diagram of another automatic valet parking interactive interface according to an embodiment of the present application.
  • Fig. 18 shows a schematic diagram of another automatic valet parking interactive interface according to an embodiment of the present application.
  • Fig. 19 shows a schematic structural diagram of an automatic valet parking device according to an embodiment of the present application.
  • Fig. 20 shows a schematic structural diagram of another automatic valet parking device according to an embodiment of the present application.
  • Fig. 21 shows a schematic structural diagram of another automatic valet parking device according to an embodiment of the present application.
  • Fig. 1 shows a schematic diagram of an application scenario of an automatic valet parking method according to an embodiment of the present application.
  • this scene can include: own car 101, other cars 102, road 103, parking lot 104, wherein, can include a plurality of parking spaces P1, P2...PN in the parking lot 104, N is a positive integer;
  • the car 101 and other cars 102 are running on the road 103 , the arrow in FIG. 1 shows the traveling direction of the own car 101 , and the own car 101 enters the parking lot 104 from the road 103 .
  • the road 103 can be a public road
  • the parking lot 104 can be an above-ground parking lot, an underground parking lot, a three-dimensional parking lot or a roadside parking lot, etc. other than the public road; for example, it can be a residential area, a business district, an office Park and other parking lots.
  • the parking spaces in the parking lot 104 can be parking spaces with lines drawn on the road surface, space parking spaces without lines or parking spots, etc.; based on the shape of the parking spaces, the parking spaces in the parking lot 104 can include vertical parking spaces, diagonal parking spaces or horizontal parking spaces, etc. .
  • FIG. 1 Only one vehicle, one other vehicle, and one parking lot are shown in FIG. 1 above. It should be understood that this does not limit the type and quantity of vehicles and parking lots in the application scenario.
  • the application scenarios described in the embodiments of the present application are to illustrate the technical solutions of the embodiments of the present application more clearly, and do not constitute limitations on the technical solutions provided by the embodiments of the present application. Those skilled in the art know that for other similar or For the emergence of new application scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.
  • the self-vehicle 101 may be configured with an automatic valet parking system, so as to realize the automatic valet parking function.
  • FIG. 2 shows a schematic diagram of the architecture of an automatic valet parking system according to an embodiment of the present application; as shown in FIG. , the control module 204, and the interaction module 205.
  • the perception module 201 can be used to collect the surrounding environment data of the self-vehicle 101, so as to perceive the relevant information in the surrounding environment of the own vehicle 101, for example, it can perceive the lane lines, parking spaces, pedestrians, other cars, obstacles, etc. in the environment. information.
  • the perception module 201 may include one or more sensors installed around the ego vehicle 101 , such as cameras, millimeter wave radar, laser radar, ultrasonic radar and other sensors.
  • the positioning module 202 can be used to provide the location information of the own vehicle 101 , and can also provide the attitude information of the own vehicle 101 .
  • the positioning module 202 may include a satellite navigation system (Global Navigation Satellite System, GNSS), an inertial navigation system (Inertial Navigation System, INS), etc.
  • the GNSS may include a BeiDou Navigation Satellite System (BeiDou Navigation Satellite System, BDS) , Global Positioning System (Global Positioning System, GPS), GLONASS (GLONASS) satellite navigation system, Galileo (GALILEO) satellite navigation system, etc.
  • the INS may include one or more of an inertial measuring unit (Inertial measuring unit, IMU), an odometer (ODOM), an accelerometer, a gyroscope, etc., and may be used to determine the position information and attitude information of the ego vehicle 101 .
  • the positioning module 202 may combine the above-mentioned perception module 201
  • the calculation module 203 can be used to process various data related to the automatic valet parking function, and is responsible for decision-making and regulation related to the automatic valet parking function.
  • the calculation module 203 can be integrated in the automatic driving system of the self-vehicle 101 or an advanced driver assistant system (Advanced Driver Assistant Systems, ADAS) or a vehicle-mounted central processing system, etc., and the calculation module 203 can also be deployed on a cloud device, through
  • the wireless communication technology realizes data communication with the perception module 201, the positioning module 202, the control module 204, the interaction module 205, and so on.
  • the control module 204 can be used to control the execution equipment related to the automatic valet parking function on the self-vehicle 101, such as the steering system, braking system, accelerator, etc., so that the decision-making and regulatory results of the calculation module 203 can be effectively implemented.
  • the control module 204 may include a plurality of controllers, which are respectively used to control the corresponding executive devices on the ego vehicle 101, for example, the steering controller is used to control the steering system, the brake controller is used to control the braking system, and the accelerator control The controller is used to control the throttle, etc.; it can also include an integrated controller to control multiple executive devices.
  • the interaction module 205 can be used to provide information to the user and receive instructions from the user.
  • the interaction module 205 can provide the user with information related to the automatic valet parking function through visual icons, voice broadcasts and other means.
  • the interaction module 205 can be a vehicle-mounted display system, for example, a human machine interface (human machine interface, HMI) that can be configured for the self-vehicle 101, and a user in the cockpit of the self-vehicle 101 can receive automatic valet parking through the HMI.
  • HMI human machine interface
  • Function-related information can also perform operations such as selecting a parking space and issuing instructions, thereby realizing interactive functions related to automatic valet parking;
  • the interactive module 205 can also be a
  • the display system for example, the display of the mobile terminal can provide the user with a human-computer interaction interface, the mobile terminal can realize data communication with the computing module 203 through wireless communication technology, the user who is located in the cockpit of the self-vehicle 101 or not in the cockpit can use the mobile terminal Receive information related to the automatic valet parking function, and perform operations such as selecting a parking space and issuing instructions, thereby realizing interactive functions related to automatic valet parking.
  • the automatic valet parking system 200 can also include a communication module 206, which can be used for communication between the self-car 101 and other devices, wherein the other devices can include mobile terminals, cloud devices, other cars 102, and devices in the parking lot 104 Wait, you can communicate with anything via 2G/3G/4G/5G, Bluetooth, FM (frequency modulation, FM), wireless local area networks (WLAN), long time evolution (LTE), cars (vehicle to everything, V2X), vehicle-to-vehicle communication (Vehicle to Vehicle, V2V), long-term evolution-vehicle (long time evolution vehicle, LTE-V) and other wireless communication connections.
  • the ego vehicle 101 may communicate with a server of the parking lot 104 or with a cloud device, so as to obtain information about vacant parking spaces in the parking lot 104 .
  • the aforementioned perception module 201 , positioning module 202 , calculation module 203 , control module 204 , interaction module 205 and other modules operate in coordination with each other, thereby realizing the automatic valet parking function.
  • the own vehicle 101 is traveling in the direction indicated by the arrow in FIG. After the parking lot 104, an interactive interface containing parking space information in the parking lot 104 is presented by the interactive module 205, so that the user can select the parking space that the user wants to park in;
  • Module 203 the calculation module 203 plans the parking route that makes the self-car 101 drive to the parking space selected by the user, and displays the parking route to the user through the interaction module 205;
  • the interaction module 205 receives the user's automatic valet parking command and inform the calculation module 203;
  • the calculation module 203 generates a control command through the control module 204 to control the execution equipment of the vehicle 101, so that the vehicle 101 drives to the parking space selected by the user according to the above parking route, and automatically parks in the parking space, thereby realizing Automatic valet parking;
  • the perception module 201 sends the perceptual information about the surrounding environment of the own vehicle 101 to the calculation module 203, so that the calculation module 203 can adjust the speed of the own
  • the interaction module 205 when the user sets the parking lot 104 as the navigation destination, the interaction module 205 presents to the user an interactive interface that includes parking space information in the parking lot 104, and the interaction module 205 receives an instruction from the user to select a parking space and informs the user of the parking space selected by the user.
  • the calculation module 203 plans the navigation route that makes the self-car 101 travel to the parking space selected by the user; the self-car 101 can drive according to the navigation route through manual driving or automatic driving mode; the positioning module 202 uses the position information of the self-car 101
  • the calculation module 203 determines that the vehicle 101 has entered the parking lot 104 according to the position information of the vehicle 101
  • the calculation module 203 generates a control command through the control module 204 to control the execution equipment of the vehicle 101, so that the vehicle 101 Drive to the parking space selected by the user according to the navigation route, and automatically park in the parking space, thereby realizing automatic valet parking
  • the perception module 201 sends the relevant information in the surrounding environment of the self-vehicle 101 perceived To the calculation module 203, so that the calculation module 203 adjusts the speed, posture, etc. of the vehicle 101 through the control module 204.
  • Fig. 3 shows a flowchart of an automatic valet parking method according to an embodiment of the present application.
  • the method may be executed by the ego vehicle 101 in FIG. 1 or the automatic valet parking system 200 in FIG. 2 or one or more modules in the automatic valet parking system 200, as shown in FIG. 3 ,
  • the method may include the steps of:
  • Step 301 when it is detected that the own vehicle enters the target area, display the information of the parking spaces in the target area.
  • the target area may include: shopping malls, residential areas, parks, roadsides or buildings and other areas with above-ground or underground parking spaces.
  • the target area may be the parking lot 104 in FIG. 1 above.
  • the embodiment of the present application provides two ways of detecting whether the ego vehicle has driven into the target area.
  • the automatic valet parking system can obtain the location information of the own vehicle; according to the location information of the own vehicle and the location information of the boundary of the target area, detect whether the own vehicle enters the target area.
  • the boundary of the target area can be marked in advance by an electronic fence (also known as a geo-fence); taking the target area as the parking lot 104 in the above-mentioned Figure 1 as an example, the boundary of the parking lot 104 can be marked in advance by an electronic fence.
  • the automatic valet parking system can obtain the position information of the own car at each moment, and detect whether the own car enters the parking lot 104 according to the position information of the own car at adjacent moments and the position information of the electronic fence; If the position of the own vehicle is within the electronic fence at the current moment, and the position of the own vehicle was outside the electronic fence at the previous moment, it is detected that the own vehicle enters the parking lot 104 .
  • the automatic valet parking system can receive external information, and then detect whether the own vehicle has entered the target area based on the received information.
  • the system can perceive the environmental information at the entrance of the parking lot 104, such as the parking lot entrance sign, the barrier of the parking lot, etc.; when the automatic valet parking system receives the broadcast information, according to the unique identifier in the broadcast information, it can It is judged that the broadcast information is sent by the server of the parking lot 104; at the same time, combined with the perceived environment information at the entrance of the parking lot 104, it is determined that the vehicle enters the parking lot 104.
  • the server of the parking lot 104 can notify that the own car has entered the parking lot 104, and the own car determines that the own car has entered the parking lot 104 according to the received notification information.
  • the self-vehicle can be in various driving states.
  • the self-vehicle can be driven without navigation.
  • the user can drive the self-vehicle autonomously.
  • the own vehicle can drive according to the navigation route, for example, the user can drive the own vehicle according to the navigation route, and the own vehicle can also drive according to the navigation route in an automatic driving mode; and the destination corresponding to the navigation route is the 1.
  • the automatic valet parking system automatically displays the information of the parking spaces in the target area, so that the user can choose the parking space he wants to park on his own. parking space.
  • the user does not need to drive the car to a specific location, and the user does not need to get off the car, thereby forming a smooth connection with the current driving state of the car and improving the user experience.
  • the parking spaces in the target area can include: marked parking spaces, unmarked parking spaces, etc.; Fixed position, shape and size, etc.; unmarked parking spaces indicate that there is no parking area (or parking point) delineated by parking circles on the road surface, and the position, shape or size of unmarked parking spaces are usually not fixed, for example, for the road surface
  • the parking lot can include multiple unmarked parking spaces.
  • the parking area between vehicles parked side by side in the parking lot can be used as an unmarked parking space. It is understandable that the The position, shape, and size of unmarked parking spaces are determined by the positions, parking directions, and distances between vehicles parked side by side.
  • the parking spaces in the target area may include: bookmarked parking spaces and/or recommended parking spaces.
  • the bookmarked parking spaces and recommended parking spaces may be marked parking spaces.
  • the bookmarked parking spaces represent the parking spaces in the target area that have been bookmarked by the user, and the number of bookmarked parking spaces may be one or more.
  • the favorited parking spaces may include: at least one of a default parking space, an exclusive parking space or a public parking space; when a user collects a parking space, he may mark the favorite parking space as a default parking space, an exclusive parking space or a public parking space;
  • the default parking space is usually the user's private parking space, for example, it can be a designated parking space in the user's residential area, it can be the designated parking space of the user's company, etc.
  • the exclusive parking space is usually a parking space that will not be occupied, or the user's private parking space;
  • Non-exclusive parking spaces are usually public parking spaces; for example, the number of default parking spaces may be one, and the number of exclusive parking spaces or non-exclusive parking spaces may be multiple.
  • the recommended parking space refers to the parking spaces in the target area screened out according to the user's parking habits.
  • the number of recommended parking spaces can be one or more; If you like the parking spaces near the exit, you can filter out the parking spaces near the exit in the target area as the recommended parking spaces; you can also filter according to the user's favorite parking spaces, if the user likes vertical parking spaces, you can filter out the vertical parking spaces in the target area as recommendations Parking space; it can also be screened according to the size of the parking space selected by the user. If the user likes a larger parking space, the larger parking space in the target area can be selected as the recommended parking space; the target can also be screened out according to the number of times the user parks in each parking space.
  • the parking space that the user parks the most times in the area is used as the recommended parking space; it can also be filtered according to the time when the user parks each parking space, and the parking space that the user has parked in the target area in the most recent period can be selected as the recommended parking space; it is understandable that automatic valet parking
  • the car system can combine one or more parking habits of the user to filter out recommended parking spaces.
  • the automatic valet parking system can display the saved parking spaces, and can also display the saved parking spaces and recommended parking spaces; The system can display recommended parking spaces.
  • the saved parking spaces are the parking spaces that users have collected according to their own preferences
  • the recommended parking spaces are those selected based on the user's parking habits.
  • the automatic valet parking system automatically displays the information of the saved parking spaces and/or the information of the recommended parking spaces in the target area, so that the user can conveniently Quickly select the parking space you want to park, which improves the user experience.
  • the information of the parking space in the target area may include one or more of the name, number, position, shape, size and other information of the parking space in the target area.
  • the information of the parking spaces in the target area can be pre-stored in the automatic valet parking system, or the automatic valet parking system can obtain the information of the parking spaces in the target area from a server in the target area or from a cloud device, or automatically valet The parking system can obtain the information of the parking spaces in the target area according to the perceived data of the surrounding environment of the own vehicle.
  • Step 302 display the parking route.
  • the parking route includes a route from the vehicle position to the target parking space in the target area.
  • the parking route is displayed.
  • the target parking space may be a marked parking space.
  • the user can view the parking space information in the target area displayed by the above-mentioned automatic valet parking system, and can select a favorite parking space in the target area as the target parking space by clicking, voice, gesture, physical button, etc.
  • the user can select the parking space as the target parking space by clicking the area or icon corresponding to a certain parking space displayed in the interactive interface; A certain parking space in the target area is taken as the target parking space.
  • the automatic valet parking system After the automatic valet parking system receives the user's operation to select the target parking space, it can determine the target parking space that the user expects to park in, and then can plan the distance from the vehicle's position to the target parking space based on the location information of the vehicle and the location information of the target parking space. The parking route of the target parking space, and display the parking route on the interactive interface for the user to view.
  • the automatic valet parking system can plan in advance from the self-car location to the default parking space according to the location of the self-car and the location of the default parking space.
  • the parking route of the parking space so that after receiving the user's instruction to use the default parking space as the target parking space, the parking route is directly displayed, reducing delay and improving user experience.
  • the automatic valet parking system can periodically update the parking route according to the latest location information of the self-car, and display the latest Parking directions.
  • the user can change the selected target parking spaces through clicks, voice, gestures, physical buttons, etc., and the automatic valet parking system Position information and the position information of the changed target parking space, plan the parking route from the vehicle position to the changed target parking space, and display the parking route on the interactive interface; in this way, in response to the user's operation of changing the target parking space , the automatic valet parking system can display different parking routes, the user can refer to the displayed different parking routes, and independently select the optimal parking space as the final target parking space, for example, the user can select the shortest parking route
  • the corresponding parking space is the final target parking space, so as to meet the needs of users.
  • the automatic valet parking system can obtain the location information of the target parking space, the layout of the roads in the target area, the length and width of the road and other information based on the electronic map of the target area, so as to plan the route from the vehicle position to the target parking space.
  • the parking route Exemplarily, the automatic valet parking system may pre-store an electronic map of the target area, or the automatic valet parking system may obtain the electronic map of the target area from a server in the target area or from a cloud device, or , the automatic valet parking system can construct an electronic map of the target area based on the data of the perceived surrounding environment of the ego vehicle.
  • the automatic valet parking system can determine the target parking space in the target area and display the parking route.
  • the target parking space may be an unmarked parking space.
  • the automatic valet parking system can determine the available unmarked parking spaces in the target area through the perceived surrounding environment information, and then independently determine the target parking space, and plan from the vehicle position to the target parking space parking route.
  • the available unlabeled parking spaces represent the unlabeled parking spaces whose size meets the parking requirements of the self-car.
  • the automatic valet parking system may filter out the optimal unmarked parking space as the target parking space according to the user's parking habits.
  • Step 303 controlling the own vehicle to perform automatic valet parking according to the parking route.
  • the automatic valet parking system may control the own vehicle to perform automatic valet parking according to the above parking route.
  • the automatic valet parking system controls the self-vehicle to perform automatic valet parking according to a parking route in response to an automatic valet parking instruction issued by a user.
  • the automatic valet parking system may prompt the user whether to start automatic valet parking by means of at least one of text, voice, color, icon flashing or vibration.
  • the user can trigger the automatic valet parking command by clicking, voice, gesture, physical button, etc.
  • the user can start the virtual button to trigger the automatic valet parking command; you can also trigger the automatic valet parking command through the physical buttons in your car; you can also start the automatic valet parking through voice instructions; or you can also trigger the automatic valet through specific gestures parking order.
  • the automatic valet parking system After receiving the automatic valet parking instruction triggered by the user, the automatic valet parking system can control the self-vehicle to perform automatic valet parking according to the above parking route in response to the automatic valet parking instruction. It is understandable Yes, if the user changes the target parking space, the parking route is the route from the car location to the last target parking space selected by the user.
  • the automatic valet parking system can control the self-vehicle to drive near the target parking space, and automatically park into the target parking space, thereby completing automatic valet parking.
  • the automatic valet parking system can adjust the speed, attitude, etc. Park into the target parking space.
  • the user can view the information of the parking spaces in the target area, select the target parking space, Check the parking route or trigger an automatic valet parking command; the user can also get off the car anytime and anywhere, view the information of the parking spaces in the target area through a mobile terminal, select a target parking space, view the parking route or trigger an automatic valet parking command. Therefore, the restriction on the flexibility and autonomy of the user's parking is greatly reduced, and the user experience is improved.
  • the information of the parking spaces in the target area is automatically displayed, so that the user can independently select the target parking space, and the user does not need to drive the self-car to a specific location, and the user does not need to get off the car. car, so as to form a smooth connection with the current driving state of the own car, which improves the flexibility and autonomy of the user's parking.
  • the parking spaces in the target area may include: bookmarked parking spaces and/or recommended parking spaces, and users can conveniently and quickly select the target parking spaces they want to park according to the information of various parking spaces in the target area to meet user needs.
  • the self-car can independently complete the planning of parking route, automatic valet parking, etc., reducing the hardware requirements for the target area.
  • the range is wide, and at the same time, the user can monitor the parking process, which improves the user's sense of security and control, and improves the user experience.
  • displaying the information of the parking spaces in the target area may include displaying a list of parking spaces in the target area, and the parking spaces in the list are sorted according to their corresponding priorities. Among them, the parking space with higher priority indicates that the user is more likely to select the target parking space; the parking space with higher priority is displayed in the list first, so that the user can view it more easily, and the efficiency of selecting the target parking space is improved.
  • the number of parking spaces displayed in the list is less than a preset threshold, so that the user can select the target parking space more conveniently and quickly.
  • the favorite parking spaces are the parking spaces that users have collected according to their own preferences. Users will most likely choose the favorite parking spaces as the target parking spaces; Efficiency of the parking spaces; for example, when there are multiple stored parking spaces, each stored parking space is sorted according to the corresponding priority.
  • the priorities of default parking spaces, exclusive parking spaces, and public parking spaces decrease in order.
  • the default parking space Generally, the possibility of being occupied is not high, and users usually consider parking their own cars in the default parking space. Therefore, the priority of the default parking space is set to the highest priority, and the default parking space can be ranked at the top of the list. It is the easiest to be viewed by the user and convenient for the user to choose.
  • Exclusive parking space Usually when the user's private parking space is occupied or there is no user's private parking space in the target area, the user usually considers parking in the exclusive parking space, so the priority of the exclusive parking space is set as the second priority Level, the exclusive parking spaces can be arranged below the default parking spaces in the list, which is convenient for users to choose when the default parking spaces are not available.
  • Non-exclusive parking spaces Since all vehicles entering the target area can be parked in non-exclusive parking spaces, there is a high probability that non-exclusive parking spaces will be occupied by other vehicles; therefore, the priority of non-exclusive parking spaces is set to the lowest priority.
  • Exclusive parking spaces can be arranged below the default parking spaces and non-exclusive parking spaces in the list. It is convenient for users to choose when there are no default parking spaces and exclusive parking spaces, or the default parking spaces and exclusive parking spaces are not available.
  • the parking spaces that best meet the user's parking habits can be arranged at the front of the same type of parking spaces.
  • each recommended parking space is sorted according to the corresponding priority ;
  • the priority corresponding to each recommended parking space can be determined based on the relative degree of the user's various parking habits, for example, combined with the user's historical parking data, it can be known that the user prefers the parking space near the exit compared to the vertical parking space, then The priority of the recommended parking spaces screened out based on the parking space position is higher than that of the recommended parking spaces screened out by the parking space shape.
  • the list may include bookmarked parking spaces and recommended parking spaces; users are more likely to choose bookmarked parking spaces as the target parking space than recommended parking spaces, so the priority of bookmarked parking spaces can be preset higher than that of recommended parking spaces Level, the favorite parking spaces in the list are arranged above the recommended parking spaces.
  • FIG. 4 shows a schematic diagram of an automatic valet parking interactive interface according to an embodiment of the present application.
  • the user can autonomously drive his car into the target area.
  • the HMI displays an interactive interface 400; as shown in Figure 4, the interactive interface 400 can include: a display area 401, a display area 402, wherein, the display area 401 can display the speed of the vehicle (vehicle speed in Figure 4 is 18km/ h), the gear position of the car (such as the parking gear P, the reverse gear R, the neutral gear N, the forward gear D, the current gear position of the own car is D in Figure 4), the surrounding environment of the own car, the identification of the own car and other information.
  • vehicle speed in Figure 4 is 18km/ h
  • the gear position of the car such as the parking gear P, the reverse gear R, the neutral gear N, the forward gear D, the current gear position of the own car is D in Figure 4
  • the surrounding environment of the own car the identification of the own car and other information.
  • the display area 402 can display information such as the electronic map, the location of the vehicle, and the parking space list; wherein, the parking space list includes three favorite parking spaces P1, P2, and P3, wherein P1 is the default parking space, P2 is the exclusive parking space, and P3 is the non-exclusive parking space.
  • Exclusive parking spaces display the location points corresponding to each parking space in the parking space list on the electronic map, where P1 is located in Building 5, P2 is located in Building 5, and P3 is located in Building 9; for example, it can also be displayed in the parking space list
  • the location information corresponding to each parking space, and the distance between each parking space and the vehicle (not shown in the figure); the user can quickly check the parking space information through the parking space list.
  • the user can also view the information of P1, P2, and P3 more comprehensively, or the information of other parking spaces in the target area, by performing operations such as zooming in and zooming out on the electronic map.
  • Fig. 5 shows a schematic diagram of another automatic valet parking interactive interface according to an embodiment of the present application.
  • the self-vehicle can drive into the target area according to the navigation route, and the navigation end point is a place other than the parking space in the target area;
  • the HMI displays an interactive interface 500; as shown in FIG. Area 401 is the same.
  • the display area 502 can display information such as the navigation page, the position of the vehicle, the parking space list, the navigation status table (including navigation remaining time, remaining distance and other information); wherein, the information of the parking spaces displayed in the parking space list can refer to the above-mentioned interactive interface 400; You can quickly check the parking space information through the parking space list, or you can view more comprehensive parking space information by zooming in and out on the electronic map.
  • displaying the information of the parking spaces in the target area may include: displaying a distribution map of the parking spaces in the target area, and parking spaces corresponding to different priorities are represented by different icons.
  • the specific description of the priority corresponding to each type of parking space can refer to the previous article; the higher the priority of the parking space, the more likely the user is to choose the target parking space; the more obvious icons can be used to indicate the higher priority in the distribution map. This makes it easier for the user to view and improves the efficiency of selecting the target parking space; at the same time, the user can view the information of the parking space more intuitively through the distribution map.
  • the distribution diagram of the parking spaces can be an electronic map of the target area, and the icons can include patterns, brightness, colors, etc.
  • different patterns can be used in the distribution diagram of the parking spaces to represent parking spaces with different priorities, for example , the default parking spaces can be displayed with one pattern, and the exclusive parking spaces can be displayed with another pattern; for example, the same color can be used, and different color depths can be used to represent parking spaces with different priorities.
  • darker gray can be used to represent The default parking space uses lighter gray to indicate the exclusive parking space, and the darker the color, the higher the priority corresponding to the parking space.
  • the distribution map may only display the information of the bookmarked parking spaces or the information of the recommended parking spaces, or may display the information of the bookmarked parking spaces and the information of the recommended parking spaces, and may also display the information of other parking spaces in the target area. It can be understood that, compared with the reserved parking spaces or recommended parking spaces, other parking spaces have the lowest priority.
  • FIG. 6 shows a schematic diagram of another automatic valet parking interactive interface according to an embodiment of the present application.
  • the HMI displays an interactive interface 600 ;
  • the interactive interface 600 may include: a display area 601 and a display area 602 , wherein, the display content of the display area 601 may refer to the display area 401 in FIG. 4 above.
  • the display area 602 can display information such as the distribution map of the parking spaces and the position of the vehicle; wherein, the distribution map of the parking spaces can include multiple parking spaces, wherein the default parking space P1, the exclusive parking space P2, the non-exclusive parking space P3 and other parking spaces are respectively used Different patterns are represented.
  • the user can intuitively see the favorite parking spaces and/or recommended parking spaces in the distribution map, as well as the position of each parking space in the distribution map.
  • the location information of each parking space and the distance between each parking space and the own vehicle may also be marked near each parking space icon (not shown in the figure).
  • the user can check the parking space information through the parking space list in the above-mentioned interactive interface (such as the interactive interface 400 or the interactive interface 500), or the parking space map (such as the interactive interface 600), and select the parking space that the user wants to park as the target parking space, responding After the user selects the target parking space, the automatic valet parking system plans a parking route, and the HMI displays the parking route.
  • the interactive interface such as the interactive interface 400 or the interactive interface 500
  • the parking space map such as the interactive interface 600
  • FIG. 7 shows a schematic diagram of another automatic valet parking interactive interface according to an embodiment of the present application, wherein FIG. 7(a) is In the above-mentioned interactive interface 400 in FIG. 4, the user clicks on the area corresponding to P1 in the parking space list in the interactive interface 400, and selects P1 as the target parking space.
  • the HMI displays the interactive interface 700; as shown in FIG.
  • the interactive interface 700 may include: a display area 701 and a display area 702, wherein, the display content of the display area 701 may refer to the display area 401 in the above-mentioned FIG. and other information, wherein, in the list of parking spaces, the target parking space currently selected by the user (that is, the parking space P1 in Figure 7(b)) is displayed in a highlighted form; The route of parking space P1.
  • the user can change the target parking space by clicking the area corresponding to P2 or P3 in the parking space list, and correspondingly, the display area 702 can display the parking route from the vehicle position to the parking space P2 or P3 (not shown in the figure), Users can refer to each parking route and independently choose the parking space that best meets the user's needs as the target parking space.
  • the automatic valet parking system navigates according to the parking route and displays the navigation screen, and then the user can trigger the automatic valet parking command, and the automatic valet parking system controls the vehicle to drive according to the navigation When it is near the target parking space, it will automatically park into the target parking space.
  • FIG. 8 shows a schematic diagram of another automatic valet parking interactive interface according to an embodiment of the present application.
  • FIG. 8(a) is the above-mentioned FIG. 7( b)
  • the HMI displays the interactive interface 800; as shown in Figure 8(b), the interactive interface 800 It may include: a display area 801 and a display area 802, wherein, in addition to the content displayed in the display area 701 in FIG.
  • the display area 802 can display a navigation screen and a status table, which can include: status icons of automatic valet parking, navigation remaining distance, navigation remaining time, estimated time of arrival, etc.
  • Fig. 9 shows a schematic diagram of another automatic valet parking interactive interface according to an embodiment of the present application.
  • Fig. 9(a) is the interactive interface 800 in Fig. 8(b) above, and the user can double-click the function button in the interactive interface 800 "Double-click the button to start automatic valet parking", in response to the above-mentioned double-click operation of the user, the HMI displays an interactive interface 900; as shown in Figure 9(b), the interactive interface 900 may include: a display area 901, a display area 902, wherein, The display area 901 can display the self-vehicle cruise interface; the display area 902 can display the navigation screen, and the status icon of the automatic valet parking in the status bar is highlighted to indicate that it is currently in the automatic valet parking state.
  • the user can trigger the automatic valet parking instruction autonomously, and the automatic valet parking system responds to the instruction to perform automatic valet parking, and the user can view the relevant screens and information during the automatic valet parking process through the HMI.
  • FIG. 10 shows a schematic diagram of an interactive interface displaying a real-time image of parking according to an embodiment of the present application.
  • the display area 1002 can display pictures such as parking space position information, panoramic view, and blind spot view , wherein the panoramic view and the blind spot view may be real-time images collected by a camera of the own vehicle or the like.
  • the interactive interface in the embodiment of the present application is only an example, and different interactive interfaces or display areas can be divided into different interactive interfaces or display areas in actual applications, and each interactive interface or display area can display more or less information, such as ,
  • the interactive interface may also include an area for displaying environmental information such as temperature, air conditioner, and volume in the vehicle.
  • the parking space in the target area (such as the favorite parking spaces P1, P2, P3) is provided to the user.
  • information for the user to independently select the target parking space and in response to the user's selection of the target parking space and the triggering of the automatic valet parking operation, the parking route is automatically planned to realize automatic valet parking;
  • the displayed interactive interface monitors the parking process, which improves the user's sense of security and control, and improves the user experience.
  • the user can bookmark parking spaces according to his or her preferences in the following two scenarios.
  • Scenario 1 The user can save the parking space after the car is parked in the parking space.
  • the target parking space when it is detected that the self-car is parked in the target parking space, it is judged whether the target parking space is a bookmarked parking space; if the target parking space is an unbooked parking space, a prompt is sent to the user whether to bookmark the target parking space information.
  • the automatic valet parking system can detect whether the own car is parked in the target parking space through the perceived data of the surrounding environment of the own car. When the target parking space is detected, it can be confirmed that the own car has been parked in the target parking space; furthermore, the automatic valet parking system can search the target parking space in the list of favorite parking spaces. If the target parking space is not found, it means that the target parking space is not favorited. parking space, the automatic valet parking system can prompt the user whether to set the target parking space as a favorite parking space through at least one of text, voice, color, icon flashing or vibration; Provide the function of collecting parking spaces to improve user experience.
  • an edit page is displayed; in response to the user's operation of editing the parking space type and/or parking space name, the target parking space is marked as a favorite parking space; wherein, the parking space type Can include any one of default, exclusive, and non-exclusive.
  • the user wants to bookmark the above-mentioned parking space parked by his own car, he can confirm the favorite parking space by clicking, voice, gesture, physical button, etc., and trigger the bookmarking parking space instruction.
  • the virtual button of the parking space triggers the command to save the parking space; you can also trigger the command to save the parking space through the physical button in the car; you can also indicate the parking space to save by voice; or you can trigger the command to save the parking space through a specific gesture.
  • the automatic valet parking system After the automatic valet parking system receives the instruction of the favorite parking space triggered by the user, it will display the edit page so that the user can personalize the information such as the type of parking space and the name of the parking space. For example, if the target parking space is a private parking space, the user can set the The target parking space is set as the default parking space, or it can be set as an exclusive parking space; if the target parking space is a public parking space close to the exit that the user likes, then the target parking space can be set as a non-exclusive parking space, or it can be set as the default parking space.
  • FIG. 11 shows a schematic diagram of an interactive interface for collecting parking spaces according to an embodiment of the present application.
  • the display area 1101 can display the gear position of the own car, the structural information of the own car (such as door locks, hood, charging port, trunk, etc.); the display area 1102 can display the position of the own car, electronic map, collection reminder information, Favorite button, etc.
  • the automatic valet parking system detects that the self-vehicle has parked in a parking space, and judges that the current parking space is an unbooked parking space.
  • the display area 1102 may display a prompt message of "new parking space found".
  • the HMI displays an interactive interface 1200, as shown in Figure 11(b), the interactive interface 1200 may include: a display area 1201, a display area 1202, wherein the display area 1201 is the same as that shown in Figure 11 ( In a), the display area 1101 is the same; the display area 1202 can display information such as bookmark edit page and vehicle location.
  • the user can enter the name of the parking space, and can also edit the type of parking space.
  • the user can click the "Default” button to set the parking space as the default parking space, and click the “Exclusive” button to set the parking space as an exclusive parking space , if the "Default” and “Exclusive” buttons are not clicked, the parking space can be set as a non-exclusive parking space; after the setting is completed, the user can click the "Save” button to mark the parking space as a favorite parking space, and Store the information edited by the user in the automated valet parking system.
  • Scenario 2 The user can save the parking space when selecting the target parking space.
  • the target parking space in response to the user's operation of selecting a target parking space among the parking spaces in the target area, it is judged whether the target parking space is a bookmarked parking space; The prompt information of the parking space.
  • the ego vehicle can be in the automatic driving state, and the automatic valet parking system can search for the target parking space in the list of favorite parking spaces after receiving the instruction from the user to select the target parking space. If the target parking space is not found, it means that the If the target parking space is an unbooked parking space, the user will be prompted whether to set the target parking space as a favorite parking space.
  • the prompt method refer to the relevant introduction above; thus providing the user with the function of saving the parking space and improving user experience.
  • an editing page is displayed; in response to the user's operation of editing the parking space type and/or the name of the parking space, the target parking space is marked as a bookmarked parking space.
  • FIG. 12 shows a schematic diagram of another interactive interface for collecting parking spaces according to an embodiment of the present application.
  • FIG. 12(a) shows the above-mentioned interactive interface 600.
  • the user clicks on the distribution diagram to select an icon corresponding to a parking space.
  • the automatic valet parking system judges that the parking space is an uncollected parking space, and the HMI displays an interactive interface 1300, as shown in FIG.
  • the display area 1301 is the same as the display area 601 in the interactive interface 600; the display area 1302 can display the location of the vehicle, the location of the parking space, the distribution map of the parking spaces, and display the prompt information of "found a new parking space", etc., if the user wishes to bookmark the parking space , you can click the "Favorite" button.
  • the HMI displays an interactive interface 1400.
  • the display area 601 in 600 is the same; the display area 1402 can display favorite editing pages, vehicle location, parking space location, parking space distribution map, etc.
  • the content included in the bookmark editing page and the editing process can refer to the relevant introduction about the display area 1202 above, and will not be repeated here.
  • the user can use the interactive interface shown in Figure 11 above when the vehicle is parked in the parking space, or, when the user selects the target parking space, through the interactive interface shown in Figure 12 above, the operation of saving the parking space can be performed, and the Edit the name of the favorite parking space, whether it is default, whether it is exclusive, etc., to realize personalized collection.
  • the target parking space may be occupied by other vehicles
  • different processing strategies may be adopted based on the type of the target parking space when the target parking space is occupied.
  • the automatic valet parking system can detect whether the target parking space is occupied through the data of the surrounding environment of the ego car.
  • search for a free parking space when it is detected that the target parking space is occupied, search for a free parking space; if a free parking space is found, automatically park in the free parking space, and send the location information of the free parking space to the user; otherwise , to send a prompt message to the user to take over the vehicle.
  • the target parking space may be a recommended parking space or a non-exclusive parking space.
  • Recommended parking spaces or non-exclusive parking spaces are usually public parking spaces, which have a high probability of being occupied by other cars; In the case of occupancy, the self-vehicle will automatically perform roaming parking without the user's decision-making, which saves the user's energy and time, and improves the user experience.
  • the automatic valet parking system can control the self-car to enter the area roaming state, that is, control the self-car to roam in a certain area near the target parking space, and during the roaming process, according to the perceived According to the data of the surrounding environment of the vehicle, search for free parking spaces in the area; if a free parking space is found, the automatic valet parking system controls the self-car to automatically park in the free parking space, and informs the user of the location of the free parking space after the parking is completed information; if no free parking space is found during the roaming process, the automatic valet parking system will prompt the user to take over the vehicle; the prompt method can refer to the relevant introduction above.
  • FIG. 13 shows a schematic diagram of another automatic valet parking interactive interface according to an embodiment of the present application.
  • the automatic valet parking system detects When the target parking space is occupied, roaming parking is automatically performed, and the mobile terminal displays an interactive interface 1500, as shown in Figure 13(a), the interactive interface 1500 can display the location of the own vehicle, the electronic map, the location of the target parking space, and the current state information of the own vehicle ("Looking for a parking space" in the figure); if a free parking space is found, the automatic valet parking system controls the self-car to automatically park into the free parking space, and displays an interactive interface 1600 on the mobile terminal, as shown in Figure 13(b) As shown, the interactive interface 1600 can display the status information of the own car ("parking completed" in the figure), the current position information of the own car parked in the parking space, and the prompt information of whether to lock the car; if no free parking space is found, then The automatic valet parking system controls the vehicle
  • a prompt message to take over the vehicle is sent to the user.
  • the target parking space can be a default parking space or an exclusive parking space.
  • the default parking space and the exclusive parking space are usually the user's private parking spaces, and are usually not occupied; for the default parking space or the exclusive parking space, precise parking can be used Strategy, that is, when the default parking space or exclusive parking space is occupied, the user makes independent decisions, which improves the user's parking autonomy and sense of control, and improves the user experience.
  • the automatic valet parking system can control the self-vehicle to park or roam, and prompt the user to take over the vehicle.
  • the prompt method refer to the relevant introduction above. If the user triggers an instruction to perform roaming parking, the vehicle is controlled to perform roaming parking.
  • the process of roaming parking can refer to the relevant introduction above, and will not be repeated here.
  • Fig. 14 shows a schematic diagram of another automatic valet parking interactive interface according to an embodiment of the present application.
  • the automatic valet parking system detects that the target parking space is occupied, the automatic valet parking system stops the original parking process, and moves
  • the terminal displays an interactive interface 1800, as shown in Figure 14, the interactive interface 1800 can display the location of the own vehicle, the electronic map, the location of the target parking space, and the current state information of the own vehicle ("parking has been exited" in the figure); it can also display prompts page, the prompt page can display the prompt information of "the parking space is occupied", as well as the function button of roaming parking and the function button of taking over the vehicle. The user can trigger the corresponding function by clicking the function button.
  • the automatic valet parking system can acquire the information of the free parking spaces in the target area; when detecting that the target parking spaces are occupied, determine the optimal free parking space among the free parking spaces, and control the automatic The car is parked in the optimal free parking space.
  • the automatic valet parking system can obtain the information of free parking spaces in the target area from the server in the target area or from the cloud device, or the automatic valet parking system can obtain the target parking space based on the data of the perceived surrounding environment of the vehicle.
  • Information on available parking spaces in the area may include information such as the name, number, position, shape or size of the vacant parking space.
  • the automatic valet parking system when the automatic valet parking system detects that the target parking space is occupied, it can determine the free parking space that conforms to the user's parking habits as the optimal free parking space according to the user's parking habits.
  • parking space the vertical free parking space can be selected as the optimal free parking space according to the shape of the free parking space; for another example, according to the position information of the free parking space and the position information of the target parking space, it can be determined that the free parking space closest to the target parking space is the optimal Idle parking space: It is also possible to determine that the free parking space closest to the elevator entrance or exit is the optimal free parking space according to the position information of the free parking space and the position information of the elevator entrance or the exit. After determining the optimal vacant parking space, the automatic valet parking system controls the self-vehicle to park in the optimal vacant parking space.
  • the automatic valet parking system can judge whether the optimal free parking space is a reserved parking space; Send out a prompt message whether to set the optimal free parking space as a favorite parking space.
  • the specific process of collecting parking spaces can refer to the above, and will not be repeated here.
  • the automatic calling function can be triggered to control the vehicle to automatically drive to the boarding position specified by the user; wherein, the realization principle and process of the automatic calling function , you can refer to the previous introduction about automatic valet parking.
  • the following describes the automatic valet parking method in the embodiment of the present application by taking the user selecting a target parking space when setting a navigation destination as an example.
  • Fig. 15 shows a flowchart of another automatic valet parking method according to an embodiment of the present application.
  • the method can be executed by the vehicle 101 in FIG. 1 or the automatic valet parking system 200 in FIG. 2 or an internal module in the automatic valet parking system 200.
  • the method can include the following steps:
  • Step 1501 when it is detected that the navigation destination searched by the user is within the target area, send a prompt message to the user whether to select a parking space.
  • the automatic valet parking system can obtain the location information of the target area based on the electronic map, as well as the location information of the navigation destination input by the user through manual or voice; The location information of the navigation destination and the location information of the target area are used to detect whether the navigation destination searched by the user is within the target area.
  • the automatic valet parking system may pre-store an electronic map of the target area, and may also obtain the electronic map of the target area from a cloud device.
  • the electronic map of the target area may also include information on parking spaces in the target area.
  • the automatic valet parking system detects the navigation When the destination is within the target area, the user is prompted whether to select a parking space, so that the user can directly select the parking space that the user wants to park as the navigation destination.
  • the automatic valet parking system may prompt the user whether to select a parking space by means of at least one of text, voice, color, icon flashing or vibration.
  • Step 1502 in response to the user confirming the operation of selecting a parking space, display the information of the parking spaces in the target area.
  • the parking spaces in the target area may include: bookmarked parking spaces and/or recommended parking spaces.
  • Favorite parking spaces include: at least one of the default parking spaces, exclusive parking spaces or non-exclusive parking spaces;
  • the user can trigger an instruction to select a parking space by clicking, voice, gesture, physical button, etc.
  • the automatic valet parking system can display information about the parking spaces in the target area.
  • the specific introduction of the parking spaces in the target area, the information of the parking spaces in the target area, the favorite parking spaces, the recommended parking spaces, the default parking spaces, the exclusive parking spaces or the non-exclusive parking spaces can refer to the above, and will not be repeated here.
  • Step 1503 in response to the user's operation of selecting a target parking space in the target area, display a navigation route; wherein, the navigation route may include a route from the vehicle position to the target parking space.
  • step 302 in FIG. 3 For a possible implementation manner of this step, reference may be made to the related introduction of step 302 in FIG. 3 above, which will not be repeated here.
  • Step 1504 when it is detected that the own vehicle enters the target area, control the own vehicle to perform automatic valet parking according to the navigation route.
  • step 301 For the specific process of detecting the vehicle entering the target area in this step, please refer to the relevant introduction of step 301 in Figure 3 above.
  • step 303 For the specific process of controlling the vehicle to perform automatic valet parking according to the navigation route, please refer to the relevant introduction of step 303 in Figure 3 above introduction, and will not be repeated here.
  • the automatic valet parking system can acquire the location information of the own vehicle; and detect whether the own vehicle enters the target area according to the location information of the own vehicle and the location information of the boundary of the target area.
  • the own vehicle when the own vehicle enters the target area, the own vehicle can be in various driving states.
  • the own vehicle can drive into the target area according to the above-mentioned navigation route in the manual driving state, and can also follow the above-mentioned navigation in the automatic driving mode.
  • the route enters the target area.
  • the automatic valet parking system detects that the self-vehicle enters the target area according to the navigation route in the manual driving state, it can send a prompt message to the user whether to start automatic valet parking, and respond to the user's
  • the automatic valet parking command controls the self-vehicle to continue to perform automatic valet parking according to the above navigation route.
  • the automatic valet parking system when the automatic valet parking system detects that the self-driving car enters the target area according to the navigation route in the automatic driving mode, it can automatically activate the automatic valet parking function, and control the self-car to continue to perform automatic parking according to the above-mentioned navigation route. Valet Parking.
  • a prompt message is sent to the user whether to select a parking space; in response to the user confirming the operation of selecting a parking space, the parking space in the target area is displayed.
  • the parking spaces in the target area can include: favorite parking spaces and/or recommended parking spaces, and the user can conveniently and quickly select the desired parking space according to the information of various parking spaces in the target area
  • the target parking space meets the needs of users.
  • the navigation route is displayed; when the self-vehicle is detected to enter the target area, the user can directly follow the navigation route without re-selecting the target parking space or re-planning the route.
  • Carry out automatic valet parking which is convenient and fast, improves user experience, and reduces hardware requirements for the target area, and has a wide range of applications; in addition, the user does not need to drive the car to a specific location in the target area, and the user does not need to get out of the car.
  • the parking process is smoothly connected with the current driving state of the self-vehicle, which improves the flexibility of the user's parking.
  • the user can monitor the parking process, which improves the user's sense of security and control, and improves the user experience.
  • displaying the information of the parking spaces in the target area may include: displaying a distribution map of the parking spaces in the target area, and parking spaces corresponding to different priorities are represented by different icons. Among them, the priority corresponding to the default parking space, exclusive parking space, and non-exclusive parking space decreases in turn.
  • displaying the information of the parking spaces in the target area may include: displaying a distribution map of the parking spaces in the target area, and parking spaces corresponding to different priorities are represented by different icons. Among them, the priority corresponding to the default parking space, exclusive parking space, and non-exclusive parking space decreases in turn.
  • displaying information about parking spaces in the target area may include: displaying a list of parking spaces in the target area, and each parking space in the list is sorted according to a corresponding priority.
  • FIG. 16 shows a schematic diagram of another automatic valet parking interactive interface according to an embodiment of the present application.
  • the HMI displays an interactive interface 1900, as shown in FIG. 16(a)
  • the interactive interface 1900 may include: a display area 1901 and a display area 1902, wherein the display area 1901 may display an icon of automatic driving, and the display area 1902 may display an input box of a navigation destination and an address information column, through which the user may input Navigation destination, when the automatic valet parking system detects that the navigation destination input by the user is in the target area, a "P" indicator icon will be displayed in the address information column of the target area to indicate that the target area can be used for automatic valet parking .
  • the HMI displays an interactive interface 2000.
  • the display area 2002 can display the distribution map of the parking spaces in the target area; among them, the default parking spaces P1, exclusive parking spaces P2, non-exclusive parking spaces P3 and other parking spaces are represented by different patterns; the user can click on the parking spaces in the distribution map Corresponding icons, select P1, P2, P3 or any other parking space as the navigation destination.
  • the automatic valet parking system After the automatic valet parking system receives the user's operation of selecting the navigation destination in the parking space in the target area, it can plan the navigation route according to the location information of the vehicle and the location information of the navigation destination, and the HMI displays an interactive interface 2100, as shown in the figure
  • the interactive interface 2100 may include: a display area 2101 and a display area 2102, wherein the display area 2101 may display an icon of automatic driving, and the display area 2102 may display a distribution map of parking spaces in the target area and an information column, information The column includes the information of the currently selected parking space (such as name, location, etc.), and also includes navigation function buttons and route function buttons.
  • the user can view the navigation route by clicking the route function button, and the user can also view the navigation route by clicking the navigation function button. interface.
  • the ego vehicle can drive according to the above-mentioned navigation route, and drive into the target area.
  • Fig. 17 shows a schematic diagram of another automatic valet parking interactive interface according to an embodiment of the present application.
  • the self-vehicle can drive into the target area according to the above-mentioned navigation route in the manual driving state.
  • the HMI displays the interactive interface 2200, as shown in Figure 17(a), the content displayed on the interactive interface 2200 can refer to the interactive interface 800 in Figure 8(b) above, and the user can double-click the function button in the interactive interface 2200 "Double-click the button to start automatic valet parking", in response to the above-mentioned double-click operation of the user, the automatic valet parking system controls the vehicle to continue driving according to the navigation route, and the HMI displays an interactive interface 2300; as shown in Figure 17(b), the interactive The content displayed on the interface 2300 may refer to the above-mentioned interactive interface 900 in FIG. 9( b ), through which the user may view relevant images and information during the automatic valet parking process.
  • FIG. 18 shows a schematic diagram of another automatic valet parking interactive interface according to an embodiment of the present application.
  • the self-vehicle can drive according to the above-mentioned navigation route in the automatic driving mode, and the HMI displays an interactive interface 2400, as shown in FIG.
  • the interactive interface 2400 may include: a display area 2401 and a display area 2402, wherein the display area 2401 displays a cruise screen, and the display area 2402 displays a navigation screen and a status table, and the icon "smart navigation and driving" in the status table is highlighted to indicate
  • the automatic driving mode when the automatic valet parking system detects that the self-vehicle enters the target area, the automatic valet parking function is automatically activated, and the HMI displays an interactive interface 2500, as shown in Figure 18(b), the interactive interface
  • the content displayed at 2500 may refer to the above-mentioned interactive interface 900 in FIG. 9( b ), where information such as an electronic map of the target area may be displayed on the interactive interface 2500 .
  • the automatic valet parking system controls the self-vehicle to perform automatic valet parking according to the navigation route, and the parking process can refer to the relevant expressions above, and will not be repeated here.
  • the operation of saving the parking space can be performed.
  • the target parking space in response to the user's operation of selecting the target parking space among the parking spaces in the target area, it is judged whether the target parking space is a favorite parking space;
  • the prompt information of the parking space in response to the user's operation of selecting the target parking space among the parking spaces in the target area, it is judged whether the target parking space is a favorite parking space;
  • the prompt information of the parking space in response to the user's operation of selecting the target parking space among the parking spaces in the target area, it is judged whether the target parking space is a favorite parking space;
  • the prompt information of the parking space for a specific description of this implementation manner, reference may be made to the previous relevant expressions, and details are not repeated here.
  • the information bar may also include a favorite function button, which can be displayed in the information bar when the user selects other parking spaces in the parking space map as the navigation destination.
  • the collection function button is used to remind the user that the parking space is an uncollected parking space and can be collected; further, the user can click the function button to enter the editing interface of the favorite parking space, thereby editing the parking space information.
  • an edit page is displayed; in response to the user's operation of editing the type of parking space and/or the name of the parking space, the target parking space is marked as a favorite parking space; wherein, the type of parking space Including: any one of default, exclusive, and non-exclusive.
  • the target parking space may be occupied by other vehicles
  • different processing strategies may be adopted based on the type of the target parking space when the target parking space is occupied.
  • the information of free parking spaces in the target area is obtained; when the target parking space is detected to be occupied, the optimal free parking space among the free parking spaces is determined, and the self-car is controlled to park in the optimal free parking space .
  • embodiments of the present application further provide an automatic valet parking device, which is used to implement the technical solutions described in the above method embodiments.
  • an automatic valet parking device which is used to implement the technical solutions described in the above method embodiments.
  • the above steps shown in FIG. 3 or FIG. 15 may be performed.
  • Fig. 19 shows a schematic structural diagram of an automatic valet parking device according to an embodiment of the present application; as shown in Fig. 19, the device may include: a first display module 1911, configured to In the case of the target area, display the information of the parking spaces in the target area; the second display module 1912 is used to display the parking route; the parking route includes the route from the vehicle position to the target parking space in the target area; the second A control module 1913, used to control the self-vehicle to perform automatic valet parking according to the parking route.
  • a first display module 1911 configured to In the case of the target area, display the information of the parking spaces in the target area
  • the second display module 1912 is used to display the parking route
  • the parking route includes the route from the vehicle position to the target parking space in the target area
  • the second A control module 1913 used to control the self-vehicle to perform automatic valet parking according to the parking route.
  • the parking spaces in the target area include: bookmarked parking spaces and/or recommended parking spaces.
  • the second display module 1912 is further configured to: display the parking route in response to the user's operation of selecting the target parking space among the parking spaces in the target area.
  • the first display module 1911 is further configured to: display a list of parking spaces in the target area, and in the list, each parking space is sorted according to a corresponding priority.
  • the first display module 1911 is further configured to: display a distribution map of parking spaces in the target area, and corresponding to parking spaces with different priorities are represented by different icons.
  • the saved parking spaces include: at least one of a default parking space, an exclusive parking space, or a non-exclusive parking space; wherein, the default parking space, the exclusive parking space, the non-exclusive parking space The priority corresponding to the parking space decreases in order.
  • the device further includes: a prompt module, configured to determine whether the target parking space is a reserved parking space when the own vehicle is detected to be parked in the target parking space; If the parking space is an uncollected parking space, then send a prompt message to the user whether to collect the target parking space; or, in response to the user’s operation of selecting the target parking space in the parking space in the target area, determine whether the target parking space is a collection Parking space; if the target parking space is an unbooked parking space, then send a prompt message to the user whether to bookmark the target parking space.
  • a prompt module configured to determine whether the target parking space is a reserved parking space when the own vehicle is detected to be parked in the target parking space; If the parking space is an uncollected parking space, then send a prompt message to the user whether to collect the target parking space; or, in response to the user’s operation of selecting the target parking space in the parking space in the target area, determine whether the target parking space is a collection Parking space; if the target parking space is an unbook
  • the device further includes: a bookmarking module, configured to display an edit page in response to the user's operation of confirming to bookmark the target parking space; in response to the user's operation of editing the parking space type and/or parking space name, Marking the target parking space as a favorite parking space; wherein, the type of the parking space includes any one of default, exclusive, and non-exclusive.
  • a bookmarking module configured to display an edit page in response to the user's operation of confirming to bookmark the target parking space; in response to the user's operation of editing the parking space type and/or parking space name, Marking the target parking space as a favorite parking space; wherein, the type of the parking space includes any one of default, exclusive, and non-exclusive.
  • the device further includes: a detection module, configured to acquire the position information of the own vehicle; and detect whether the own vehicle is Drive into the target area.
  • a detection module configured to acquire the position information of the own vehicle; and detect whether the own vehicle is Drive into the target area.
  • the ego vehicle drives without navigation; or, the ego vehicle drives according to a navigation route, and the destination corresponding to the navigation route is within the target area, within the target area Locations other than parking spaces.
  • the first control module 1913 is further configured to: in response to an automatic valet parking instruction issued by a user, control the own vehicle to perform automatic valet parking according to the parking route.
  • the first control module 1913 is further configured to: when it is detected that the target parking space is occupied, search for a free parking space; if a free parking space is found, automatically park in the If there is an empty parking space, send the location information of the free parking space to the user; otherwise, send a prompt message to the user to take over the vehicle; or, if it is detected that the target parking space is occupied, send a prompt message to the user to take over the vehicle.
  • the first control module 1913 is further configured to: obtain information about vacant parking spaces in the target area; determine that the vacant parking spaces are occupied when the target parking spaces are detected to be occupied. The optimal vacant parking space in the parking space, and control the own vehicle to park in the optimal vacant parking space.
  • Fig. 20 shows a schematic structural diagram of another automatic valet parking device according to an embodiment of the present application.
  • the third display module 2012 is used to display the information of the parking space in the target area in response to the user confirming the operation of selecting the parking space;
  • the fourth The display module 2013 is used to display the navigation route in response to the user's operation of selecting a target parking space in the parking space in the target area;
  • the navigation route includes a route from the vehicle position to the target parking space;
  • the second control module 2014 uses When it is detected that the self-vehicle enters the target area, the self-vehicle is controlled to perform automatic valet parking according to the navigation route.
  • the parking spaces in the target area include: bookmarked parking spaces and/or recommended parking spaces.
  • the third display module 2012 is further configured to: display a distribution map of parking spaces in the target area, and corresponding to parking spaces with different priorities are represented by different icons.
  • the third display module 2012 is further configured to: display a list of parking spaces in the target area, and in the list, each parking space is sorted according to a corresponding priority.
  • the saved parking spaces include: at least one of a default parking space, an exclusive parking space, or a non-exclusive parking space; wherein, the default parking space, the exclusive parking space, the non-exclusive parking space The priority corresponding to the parking space decreases in turn.
  • the device further includes: a prompt module, configured to determine whether the target parking space is a reserved parking space when the own vehicle is detected to be parked in the target parking space; If the parking space is an uncollected parking space, then send a prompt message to the user whether to collect the target parking space; or, in response to the user’s operation of selecting the target parking space in the parking space in the target area, determine whether the target parking space is a collection Parking space; if the target parking space is an unbooked parking space, then send a prompt message to the user whether to bookmark the target parking space.
  • a prompt module configured to determine whether the target parking space is a reserved parking space when the own vehicle is detected to be parked in the target parking space; If the parking space is an uncollected parking space, then send a prompt message to the user whether to collect the target parking space; or, in response to the user’s operation of selecting the target parking space in the parking space in the target area, determine whether the target parking space is a collection Parking space; if the target parking space is an unbook
  • the device further includes: a bookmarking module, configured to display an edit page in response to the user's operation of confirming to bookmark the target parking space; in response to the user's operation of editing the parking space type and/or parking space name, Marking the target parking space as a favorite parking space; wherein, the type of the parking space includes any one of default, exclusive, and non-exclusive.
  • a bookmarking module configured to display an edit page in response to the user's operation of confirming to bookmark the target parking space; in response to the user's operation of editing the parking space type and/or parking space name, Marking the target parking space as a favorite parking space; wherein, the type of the parking space includes any one of default, exclusive, and non-exclusive.
  • the detection module 2011 is further configured to: obtain the position information of the own vehicle; detect whether the own vehicle is driving according to the position information of the own vehicle and the position information of the boundary of the target area into the target area.
  • the second control module 2014 is further configured to: when it is detected that the target parking space is occupied, search for a free parking space; if a free parking space is found, automatically park in the If there is an empty parking space, send the location information of the free parking space to the user; otherwise, send a prompt message to the user to take over the vehicle; or, if it is detected that the target parking space is occupied, send a prompt message to the user to take over the vehicle.
  • the second control module 2014 is further configured to: acquire information about vacant parking spaces in the target area; determine that the vacant parking spaces are The optimal vacant parking space in the parking space, and control the own vehicle to park in the optimal vacant parking space.
  • each module of the automatic valet parking device is only a division of logical functions, and may be fully or partially integrated into one physical entity or physically separated during actual implementation.
  • these modules can all be implemented in the form of software through scheduling of processing elements; they can also be implemented in the form of hardware; some modules can also be implemented in the form of processing element scheduling software, and some modules can be implemented in the form of hardware.
  • An embodiment of the present application provides an automatic valet parking device, including: a processor and a memory for storing processor-executable instructions; wherein, the processor is configured to implement the above-mentioned automatic valet parking parking method.
  • a display for displaying a human-computer interaction interface may also be included.
  • FIG. 21 shows a schematic structural diagram of another automatic valet parking device according to an embodiment of the present application.
  • the automatic valet parking device may include: at least one processor 2101, a communication line 2102, Memory 2103 and at least one communication interface 2104.
  • the processor 2101 can be a general-purpose central processing unit (central processing unit, CPU), a microprocessor, a specific application integrated circuit (application-specific integrated circuit, ASIC), or one or more devices used to control the program execution of the application program integrated circuit.
  • CPU central processing unit
  • ASIC application-specific integrated circuit
  • Communications link 2102 may include a pathway for passing information between the components described above.
  • the communication interface 2104 uses any device such as a transceiver for communicating with other devices or communication networks, such as Ethernet, RAN, wireless local area networks (wireless local area networks, WLAN) and so on.
  • a transceiver for communicating with other devices or communication networks, such as Ethernet, RAN, wireless local area networks (wireless local area networks, WLAN) and so on.
  • the memory 2103 may be a read-only memory (read-only memory, ROM) or other types of static storage devices that can store static information and instructions, random access memory (random access memory, RAM) or other types that can store information and instructions It can also be an electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or can be used to carry or store desired program code in the form of instructions or data structures and can be programmed by a computer Any other medium accessed, but not limited to.
  • EEPROM electrically erasable programmable read-only memory
  • CD-ROM compact disc read-only memory
  • optical disc storage including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.
  • magnetic disk storage media or other magnetic storage devices or can be used to carry or store
  • the memory may exist independently and be connected to the processor through the communication line 2102 . Memory can also be integrated with the processor.
  • the memory provided by the embodiment of the present application can generally be non-volatile.
  • the memory 2103 is used to store computer-executed instructions for implementing the solution of the present application, and the execution is controlled by the processor 2101 .
  • the processor 2101 is configured to execute computer-executed instructions stored in the memory 2103, so as to implement the methods provided in the above-mentioned embodiments of the present application. Exemplarily, the above steps shown in FIG. 3 or FIG. 15 can be implemented.
  • the computer-executed instructions in the embodiments of the present application may also be referred to as application program codes, which is not specifically limited in the embodiments of the present application.
  • the processor 2101 may include one or more CPUs, such as CPU0 and CPU1 in FIG. 21 .
  • the automatic valet parking device may include multiple processors, such as processor 2101 and processor 2107 in FIG. 21 .
  • processors may be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor.
  • a processor herein may refer to one or more devices, circuits, and/or processing cores for processing data (eg, computer program instructions).
  • the automatic valet parking device may further include an output device 2105 and an input device 2106 .
  • the output device 2105 is in communication with the processor 2101 and can display information in a variety of ways.
  • the output device 2105 may be a liquid crystal display (liquid crystal display, LCD), a light emitting diode (light emitting diode, LED) display device, a cathode ray tube (cathode ray tube, CRT) display device, or a projector (projector) wait.
  • the input device 2106 communicates with the processor 2101 and can receive user input in various ways.
  • the input device 2106 may be a mouse, a keyboard, a touch screen device, or a sensory device, among others.
  • the automatic valet parking device may be a vehicle with automatic valet parking function, or other components with automatic valet parking function.
  • the automatic valet parking device includes but is not limited to: vehicle terminal, vehicle controller, vehicle module, vehicle module, vehicle parts, vehicle chip, vehicle unit, vehicle sensor, the vehicle can pass through the vehicle terminal, vehicle controller, vehicle The module, the vehicle-mounted module, the vehicle-mounted component, the vehicle-mounted chip, the vehicle-mounted unit, and the vehicle-mounted sensor implement the automatic valet parking method provided by the above-mentioned embodiments of the present application.
  • the automatic valet parking device can also be an intelligent terminal with automatic valet parking function other than the vehicle, or be installed on an intelligent terminal with automatic valet parking function other than the vehicle in, or set in the components of the smart terminal.
  • the smart terminal may be other terminal devices such as smart transportation equipment, smart home equipment, robots, and drones.
  • the smart driving device includes but is not limited to a smart terminal or a controller, chip, sensor, and other components in the smart terminal.
  • the automatic valet parking device may be a general-purpose device or a special-purpose device.
  • the automatic valet parking device can also be a desktop computer, a portable computer, a network server, a cloud server, a palm computer (personal digital assistant, PDA), a mobile phone, a tablet computer, a wireless terminal device, an embedded device or other devices with Devices that process functions.
  • PDA personal digital assistant
  • An embodiment of the present application further provides an automatic valet parking system, and the automatic valet parking system includes at least one automatic valet parking device mentioned in the above-mentioned embodiments of the present application.
  • the automatic valet parking device shown in FIG. 19 or FIG. 20 may be included.
  • An embodiment of the present application further provides a vehicle, the vehicle includes at least one automatic valet parking device or automatic valet parking system mentioned in the above embodiments of the present application.
  • An embodiment of the present application provides a non-volatile computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the foregoing method is implemented. Exemplarily, the above method shown in FIG. 3 or FIG. 15 may be implemented.
  • An embodiment of the present application provides a computer program product, including computer-readable codes, or a non-volatile computer-readable storage medium bearing computer-readable codes, when the computer-readable codes are stored in a processor of an electronic device When running in the electronic device, the processor in the electronic device executes the above method. Exemplarily, the above method shown in FIG. 3 or FIG. 15 may be implemented.
  • a computer readable storage medium may be a tangible device that can retain and store instructions for use by an instruction execution device.
  • a computer readable storage medium may be, for example, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing.
  • Non-exhaustive list of computer-readable storage media include: portable computer disk, hard disk, random access memory (Random Access Memory, RAM), read only memory (Read Only Memory, ROM), erasable Electrically Programmable Read-Only-Memory (EPROM or flash memory), Static Random-Access Memory (Static Random-Access Memory, SRAM), Portable Compression Disk Read-Only Memory (Compact Disc Read-Only Memory, CD -ROM), Digital Video Disc (DVD), memory sticks, floppy disks, mechanically encoded devices such as punched cards or raised structures in grooves with instructions stored thereon, and any suitable combination of the foregoing .
  • RAM Random Access Memory
  • ROM read only memory
  • EPROM or flash memory erasable Electrically Programmable Read-Only-Memory
  • Static Random-Access Memory SRAM
  • Portable Compression Disk Read-Only Memory Compact Disc Read-Only Memory
  • CD -ROM Compact Disc Read-Only Memory
  • DVD Digital Video Disc
  • Computer readable program instructions or codes described herein may be downloaded from a computer readable storage medium to a respective computing/processing device, or downloaded to an external computer or external storage device over a network, such as the Internet, local area network, wide area network, and/or wireless network.
  • the network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers.
  • a network adapter card or a network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing/processing device .
  • Computer program instructions for performing the operations of the present application may be assembly instructions, instruction set architecture (Instruction Set Architecture, ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or in one or more source or object code written in any combination of programming languages, including object-oriented programming languages—such as Smalltalk, C++, etc., and conventional procedural programming languages—such as the “C” language or similar programming languages.
  • Computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server implement.
  • the remote computer can be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or it can be connected to an external computer such as use an Internet service provider to connect via the Internet).
  • electronic circuits such as programmable logic circuits, field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or programmable logic arrays (Programmable Logic Array, PLA), the electronic circuit can execute computer-readable program instructions, thereby realizing various aspects of the present application.
  • These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine such that when executed by the processor of the computer or other programmable data processing apparatus , producing an apparatus for realizing the functions/actions specified in one or more blocks in the flowchart and/or block diagram.
  • These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause computers, programmable data processing devices and/or other devices to work in a specific way, so that the computer-readable medium storing instructions includes An article of manufacture comprising instructions for implementing various aspects of the functions/acts specified in one or more blocks in flowcharts and/or block diagrams.
  • each block in a flowchart or block diagram may represent a module, a portion of a program segment, or an instruction that includes one or more Executable instructions.
  • the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block in the block diagrams and/or flowcharts, and combinations of blocks in the block diagrams and/or flowcharts can be implemented with hardware (such as circuits or ASIC (Application Specific Integrated Circuit, application-specific integrated circuit)), or can be implemented with a combination of hardware and software, such as firmware.
  • hardware such as circuits or ASIC (Application Specific Integrated Circuit, application-specific integrated circuit)
  • firmware such as firmware

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Abstract

一种自动代客泊车方法及装置，方法包括：在检测到自车驶入目标区域的情况下，显示目标区域内车位的信息（301）；显示泊车路线；泊车路线包括自车位置到目标区域内目标车位的路线（302）；控制自车按照泊车路线进行自动代客泊车（303）。该方法提高了用户泊车的灵活度和自主性，提升了用户体验；自车可以自主完成规划泊车路线、自动代客泊车等工作，降低了对目标区域的硬件要求。

Description

一种自动代客泊车方法及装置 技术领域
本申请涉及智能驾驶技术领域，尤其涉及一种自动代客泊车方法及装置。
背景技术
自动代客泊车(Automated Valet Parking，AVP)是一种自动驾驶技术，指车辆到达某一场所(如园区、居民区或者商场等)后，用户可以下车，车辆可以自动寻找车位并自动泊车，从而帮助用户将车辆泊入车位，节省了用户寻找车位和泊车的时间。
现有实现AVP的方式中，用户需将车辆停到支持AVP的停车场的特定位置，然后用户下车，打开手机启动AVP进行泊车，其中，泊入的车位由系统自动分配。该方式需要停车场配置有传感器等设备，成本高，适用场景受限；此外，用户无法自主选择泊车的车位，且用户需要将车辆停到特定位置，用户泊车的灵活度和自主性受限，对泊车过程缺乏安全感和掌控感，影响了用户体验。
发明内容
有鉴于此，提出了一种自动代客泊车方法、装置、存储介质及计算机程序产品。
第一方面，本申请的实施例提供了一种自动代客泊车方法，所述方法包括：在检测到自车驶入目标区域的情况下，显示所述目标区域内车位的信息；显示泊车路线；所述泊车路线包括自车位置到所述目标区域内目标车位的路线；控制自车按照所述泊车路线进行自动代客泊车。
基于上述技术方案，在检测到自车驶入目标区域的情况下，自动显示目标区域内车位的信息，以便用户自主选择目标车位，且用户无需将自车驾驶到特定位置，用户也可以不下车，从而与自车当前的驾驶状态形成顺畅衔接，提高了用户泊车的灵活度和自主性。显示泊车路线，并控制自车按照泊车路线进行自动代客泊车；这样，自车可以自主完成规划泊车路线、自动代客泊车等工作，降低了对目标区域的硬件要求，适用范围广，同时，用户可以对泊车过程进行监控，提高了用户的安全感和掌控感，提升了用户体验。
根据第一方面，在所述第一方面的第一种可能的实现方式中，所述目标区域内车位包括：已收藏车位和/或推荐车位。
基于上述技术方案，已收藏车位为用户根据自己喜好收藏的车位，推荐车位为基于用户的泊车习惯筛选出的车位，相对于目标区域内的其他车位，用户更有可能选择已收藏车位或推荐车位作为本次泊车的车位；这样，在检测到自车驶入目标区域的情况下，自动代客泊车系统自动显示目标区域内的已收藏车位的信息和/或推荐车位的信息，从而使用户可以方便快捷地选择到想要停泊的车位，提高了用户体验。
根据第一方面或第一方面的第一种可能的实现方式，在所述第一方面的第二种可能 的实现方式中，所述显示泊车路线，包括:响应于用户在所述目标区域内车位中选择所述目标车位的操作，显示所述泊车路线。
基于上述技术方案，基于用户自主选择到想要停泊的车位，显示该泊车路线，以便用户查看。
根据第一方面或第一方面的上述各种可能的实现方式，在所述第一方面的第三种可能的实现方式中，所述显示所述目标区域内车位的信息，包括：显示所述目标区域内车位的列表，在所述列表中各车位按照对应的优先级依次排序。
基于上述技术方案，优先级越高的车位表示用户越有可能选择为目标车位；通过列表优先显示优先级较高的车位，以便用户更加容易查看到，提高了选择目标车位的效率。
根据第一方面或上述第一方面的各种可能的实现方式，在所述第一方面的第四种可能的实现方式中，所述显示所述目标区域内车位的信息，包括：显示所述目标区域内车位的分布图，且对应于不同优先级的车位以不同的图标表示。
基于上述技术方案，优先级越高的车位表示用户越有可能选择为目标车位；可以通过较为明显的图标在分布图中表示优先级较高的车位，以便用户更加容易查看到，提高了选择目标车位的效率；同时，用户可以通过分布图更加直观地查看车位的信息。
根据上述第一方面的各种可能的实现方式，在所述第一方面的第五种可能的实现方式中，所述已收藏车位包括：默认车位、专享车位或非专享车位中的至少一项；其中，所述默认车位、所述专享车位、所述非专享车位对应的优先级依次降低。
基于上述技术方案，默认车位：一般被占用的可能性不高，用户通常会考虑将自车停在默认车位，因此，将默认车位的优先级设为最高优先级；专享车位：通常在用户的私人车位被占用，或者目标区域没有用户的私人车位的情况下，用户通常会考虑将车位停在专享车位，因此，将专享车位的优先级设为次优先级；非专享车位：由于驶入目标区域的车辆均可以停在非专享车位，非专享车位有较大概率被他车占用；因此，将非专享车位的优先级设为最低优先级。
根据上述第一方面的各种可能的实现方式，在所述第一方面的第六种可能的实现方式中，所述方法还包括：在检测到自车泊入所述目标车位的情况下，判断所述目标车位是否为已收藏车位；若所述目标车位为未收藏车位，则向用户发出是否收藏所述目标车位的提示信息；或者，响应于用户在所述目标区域内车位中选择所述目标车位的操作，判断所述目标车位是否为已收藏车位；若所述目标车位为未收藏车位，则向用户发出是否收藏所述目标车位的提示信息。
基于上述技术方案，为用户提供收藏车位的功能，提高用户体验。
根据上述第一方面的第六种可能的实现方式，在所述第一方面的第七种可能的实现方式中，所述方法还包括：响应于用户确认收藏所述目标车位的操作，显示编辑页面；响应于用户编辑车位类型和/或车位名称的操作，将所述目标车位标注为已收藏车位；其中，所述车位类型包括：默认、专享、非专享中的任意一项。
基于上述技术方案，用户确认收藏目标车位时，显示编辑页面，以便用户对所收藏车位的名称、是否默认、是否专享等信息进行编辑，实现个性化收藏。
根据第一方面或上述第一方面的各种可能的实现方式，在所述第一方面的第八种 可能的实现方式中，所述方法还包括：获取自车的位置信息；根据所述自车的位置信息及所述目标区域的边界的位置信息，检测自车是否驶入所述目标区域。
基于上述技术方案，根据自车的位置信息及目标区域的边界的位置信息，可以方便快捷地检测自车是否驶入目标区域。
根据第一方面或上述第一方面的各种可能的实现方式，在所述第一方面的第九种可能的实现方式中，自车在未开导航情况下驾驶；或者，自车按照导航路线驾驶，且所述导航路线对应的目的地为所述目标区域内的、所述目标区域内车位以外的地点。
根据第一方面或上述第一方面的各种可能的实现方式，在所述第一方面的第十种可能的实现方式中，所述控制自车按照所述泊车路线进行自动代客泊车，包括：响应于用户发出的自动代客泊车指令，控制自车按照所述泊车路线进行自动代客泊车。
基于上述技术方案，由用户自主决策自动代客泊车，提高了用户的安全感和掌控感，提升了用户体验。
根据第一方面或上述第一方面的各种可能的实现方式，在所述第一方面的第十一种可能的实现方式中，所述方法还包括：在检测到所述目标车位被占用的情况下，搜索空闲车位；若搜索到空闲车位，则自动泊入所述空闲车位，并向用户发出所述空闲车位的位置信息；否则，向用户发出接管车辆的提示信息；或者，在检测到所述目标车位被占用的情况下，向用户发出接管车辆的提示信息。
作为一个示例，目标车位可以为推荐车位或非专享车位。推荐车位或非专享车位通常为公共车位，有较大概率被他车占用；因此，针对推荐车位或非专享车位，可以采用区域泊车的策略，即在推荐车位或非专享车位被占用的情况下，自车自动进行漫游泊车，搜索空闲车位，无需用户进行决策，节省了用户精力和时间，提高了用户体验。作为另一个示例，目标车位可以为默认车位或专享车位，默认车位及专享车位通常为用户的私人车位，通常情况下不会被占用；针对默认车位或专享车位，可以采用精准泊车的策略，即在默认车位或专享车位被占用的情况下，向用户发出接管车辆的提示信息，由用户自主决策，提高用户泊车的自主性及对掌控感，提升了用户体验。
根据第一方面或上述第一方面的各种可能的实现方式，在所述第一方面的第十二种可能的实现方式中，所述方法还包括：获取所述目标区域内的空闲车位的信息；在检测到所述目标车位被占用的情况下，确定所述空闲车位中的最优空闲车位，并控制自车泊入所述最优空闲车位。
在一些示例中，可以根据用户泊车习惯等，确定符合用户泊车习惯的空闲车位为最优空闲车位；控制自车泊入该最优空闲车位，从而提高用户体验。
第二方面，本申请的实施例提供了一种自动代客泊车方法，所述方法包括：在检测到用户搜索的导航目的地在目标区域内的情况下，向用户发出是否进行车位选择的提示信息；响应于用户确认进行车位选择的操作，显示所述目标区域内车位的信息；响应于用户在所述目标区域内车位中选择目标车位的操作，显示导航路线；所述导航路线包括自车位置到所述目标车位的路线；在检测到自车驶入所述目标区域的情况下，控制自车按照所述导航路线进行自动代客泊车。
基于上述技术方案，在检测到用户搜索的导航目的地在目标区域内的情况下，向用户发出是否进行车位选择的提示信息；响应于用户确认进行车位选择的操作，显示目 标区域内车位的信息，以便用户自主选择目标车位；响应于用户在目标区域内车位中选择目标车位的操作，显示导航路线；在检测到自车驶入目标区域的情况下，无需用户重新选择目标车位，也无需重新规划路线，可以直接按照导航路线进行自动代客泊车，方便快捷，提高了用户体验，且降低了对目标区域的硬件要求，适用范围广；此外，用户无需将自车驾驶到目标区域的特定位置，用户也可以不下车，且泊车过程与自车当前的驾驶状态形成顺畅衔接，提高了用户泊车的灵活度，同时，用户可以对泊车过程进行监控，提高了用户的安全感和掌控感，提升了用户体验。
根据第二方面，在所述第二方面的第一种可能的实现方式中，所述目标区域内车位包括：已收藏车位和/或推荐车位。
基于上述技术方案，由于已收藏车位为用户根据自己喜好收藏的车位，推荐车位为基于用户的泊车习惯筛选出的车位，相对于目标区域内的其他车位，用户更有可能选择已收藏车位或推荐车位作为本次泊车的车位；这样，在检测到自车驶入目标区域的情况下，自动代客泊车系统自动显示目标区域内的已收藏车位的信息和/或推荐车位的信息，从而使用户可以方便快捷地选择到想要停泊的车位，提高了用户体验。
根据第二方面或第二方面的第一种可能的实现方式，在所述第二方面的第二种可能的实现方式中，所述显示所述目标区域内车位的信息，包括：显示所述目标区域内车位的分布图，且对应于不同优先级的车位以不同的图标表示。
基于上述技术方案，优先级越高的车位表示用户越有可能选择为目标车位；可以通过较为明显的图标在分布图中表示优先级较高的车位，以便用户更加容易查看到，提高了选择目标车位的效率；同时，用户可以通过分布图更加直观地查看车位的信息。
根据第二方面或上述第二方面的各种可能的实现方式，在所述第二方面的第三种可能的实现方式中，所述显示所述目标区域内车位的信息，包括：显示所述目标区域内车位的列表，在所述列表中各车位按照对应的优先级依次排序。
基于上述技术方案，优先级越高的车位表示用户越有可能选择为目标车位；通过列表优先显示优先级较高的车位，以便用户更加容易查看到，提高了选择目标车位的效率。
根据上述第二方面的各种可能的实现方式，在所述第二方面的第四种可能的实现方式中，所述已收藏车位包括：默认车位、专享车位或非专享车位中的至少一项；其中，所述默认车位、所述专享车位、所述非专享车位对应的优先级依次降低。
基于上述技术方案，默认车位：一般被占用的可能性不高，用户通常会考虑将自车停在默认车位，因此，将默认车位的优先级设为最高优先级；专享车位：通常在用户的私人车位被占用，或者目标区域没有用户的私人车位的情况下，用户通常会考虑将车位停在专享车位，因此，将专享车位的优先级设为次优先级；非专享车位：由于驶入目标区域的车辆均可以停在非专享车位，非专享车位有较大概率被他车占用；因此，将非专享车位的优先级设为最低优先级。
根据第二方面或上述第二方面的各种可能的实现方式，在所述第二方面的第五种可能的实现方式中，所述方法还包括：在检测到自车泊入所述目标车位的情况下，判断所述目标车位是否为已收藏车位；若所述目标车位为未收藏车位，则向用户发出是否收藏所述目标车位的提示信息；或者，响应于用户在所述目标区域内车位中选择所 述目标车位的操作，判断所述目标车位是否为已收藏车位；若所述目标车位为未收藏车位，则向用户发出是否收藏所述目标车位的提示信息。
基于上述技术方案，为用户提供收藏车位的功能，提高用户体验。
根据第二方面的第五种可能的实现方式，在所述第二方面的第六种可能的实现方式中，所述方法还包括：响应于用户确认收藏所述目标车位的操作，显示编辑页面；响应于用户编辑车位类型和/或车位名称的操作，将所述目标车位标注为已收藏车位；其中，所述车位类型包括：默认、专享、非专享中的任意一项。
基于上述技术方案，用户确认收藏目标车位时，显示编辑页面，以便用户对所收藏车位的名称、是否默认、是否专享等信息进行编辑，实现个性化收藏。
根据上述第二方面的各种可能的实现方式，在所述第二方面的第七种可能的实现方式中，所述方法还包括：获取自车的位置信息；根据所述自车的位置信息及所述目标区域的边界的位置信息，检测自车是否驶入所述目标区域。
基于上述技术方案，根据自车的位置信息及目标区域的边界的位置信息，可以方便快捷地检测自车是否驶入目标区域。
根据上述第二方面的各种可能的实现方式，在所述第二方面的第八种可能的实现方式中，所述方法还包括：在检测到所述目标车位被占用的情况下，搜索空闲车位；若搜索到空闲车位，则自动泊入所述空闲车位，并向用户发出所述空闲车位的位置信息；否则，向用户发出接管车辆的提示信息；或者，在检测到所述目标车位被占用的情况下，向用户发出接管车辆的提示信息。
作为一个示例，目标车位可以为推荐车位或非专享车位。推荐车位或非专享车位通常为公共车位，有较大概率被他车占用；因此，针对推荐车位或非专享车位，可以采用区域泊车的策略，即在推荐车位或非专享车位被占用的情况下，自车自动进行漫游泊车，搜索空闲车位，无需用户进行决策，节省了用户精力和时间，提高了用户体验。作为另一个示例，目标车位可以为默认车位或专享车位，默认车位及专享车位通常为用户的私人车位，通常情况下不会被占用；针对默认车位或专享车位，可以采用精准泊车的策略，即在默认车位或专享车位被占用的情况下，向用户发出接管车辆的提示信息，由用户自主决策，提高用户泊车的自主性及对掌控感，提升了用户体验。
根据上述第二方面的各种可能的实现方式，在所述第二方面的第九种可能的实现方式中，所述方法还包括：获取所述目标区域内的空闲车位的信息；在检测到所述目标车位被占用的情况下，确定所述空闲车位中的最优空闲车位，并控制自车泊入所述最优空闲车位。
在一些示例中，可以根据用户泊车习惯等，确定符合用户泊车习惯的空闲车位为最优空闲车位；控制自车泊入该最优空闲车位，从而提高用户体验。
第三方面，本申请的实施例提供了一种自动代客泊车装置，所述装置包括：第一显示模块，用于在检测到自车驶入目标区域的情况下，显示所述目标区域内车位的信息；第二显示模块，用于显示泊车路线；所述泊车路线包括自车位置到所述目标区域内目标车位的路线；控制模块，用于控制自车按照所述泊车路线进行自动代客泊车。
根据第三方面，在所述第三方面的第一种可能的实现方式中，所述目标区域内车位包括：已收藏车位和/或推荐车位。
根据第三方面或第三方面的第一种可能的实现方式，在所述第三方面的第二种可能的实现方式中，所述第二显示模块，还用于:响应于用户在所述目标区域内车位中选择所述目标车位的操作，显示所述泊车路线。
根据第三方面或第三方面的上述各种可能的实现方式，在所述第三方面的第三种可能的实现方式中，所述第一显示模块，还用于：显示所述目标区域内车位的列表，在所述列表中各车位按照对应的优先级依次排序。
根据第三方面或上述第三方面的各种可能的实现方式，在所述第三方面的第四种可能的实现方式中，所述第一显示模块，还用于：显示所述目标区域内车位的分布图，且对应于不同优先级的车位以不同的图标表示。
根据上述第三方面的各种可能的实现方式，在所述第三方面的第五种可能的实现方式中，所述已收藏车位包括：默认车位、专享车位或非专享车位中的至少一项；其中，所述默认车位、所述专享车位、所述非专享车位对应的优先级依次降低。
根据上述第三方面的各种可能的实现方式，在所述第三方面的第六种可能的实现方式中，所述装置还包括：提示模块，用于在检测到自车泊入所述目标车位的情况下，判断所述目标车位是否为已收藏车位；若所述目标车位为未收藏车位，则向用户发出是否收藏所述目标车位的提示信息；或者，响应于用户在所述目标区域内车位中选择所述目标车位的操作，判断所述目标车位是否为已收藏车位；若所述目标车位为未收藏车位，则向用户发出是否收藏所述目标车位的提示信息。
根据上述第三方面的第六种可能的实现方式，在所述第三方面的第七种可能的实现方式中，所述装置还包括：收藏模块，用于响应于用户确认收藏所述目标车位的操作，显示编辑页面；响应于用户编辑车位类型和/或车位名称的操作，将所述目标车位标注为已收藏车位；其中，所述车位类型包括：默认、专享、非专享中的任意一项。
根据第三方面或上述第三方面的各种可能的实现方式，在所述第三方面的第八种可能的实现方式中，所述装置还包括：检测模块，用于获取自车的位置信息；根据所述自车的位置信息及所述目标区域的边界的位置信息，检测自车是否驶入所述目标区域。
根据第三方面或上述第三方面的各种可能的实现方式，在所述第三方面的第九种可能的实现方式中，自车在未开导航情况下驾驶；或者，自车按照导航路线驾驶，且所述导航路线对应的目的地为所述目标区域内的、所述目标区域内车位以外的地点。
根据第三方面或上述第三方面的各种可能的实现方式，在所述第三方面的第十种可能的实现方式中，所述控制模块，还用于：响应于用户发出的自动代客泊车指令，控制自车按照所述泊车路线进行自动代客泊车。
根据第三方面或上述第三方面的各种可能的实现方式，在所述第三方面的第十一种可能的实现方式中，所述控制模块，还用于：在检测到所述目标车位被占用的情况下，搜索空闲车位；若搜索到空闲车位，则自动泊入所述空闲车位，并向用户发出所述空闲车位的位置信息；否则，向用户发出接管车辆的提示信息；或者，在检测到所述目标车位被占用的情况下，向用户发出接管车辆的提示信息。
根据第三方面或上述第三方面的各种可能的实现方式，在所述第三方面的第十二种可能的实现方式中，所述控制模块，还用于：获取所述目标区域内的空闲车位的信 息；在检测到所述目标车位被占用的情况下，确定所述空闲车位中的最优空闲车位，并控制自车泊入所述最优空闲车位。
第四方面，本申请的实施例提供了一种自动代客泊车装置，所述装置包括：检测模块，用于在检测到用户搜索的导航目的地在目标区域内的情况下，向用户发出是否进行车位选择的提示信息；第一显示模块，用于响应于用户确认进行车位选择的操作，显示所述目标区域内车位的信息；第二显示模块，用于响应于用户在所述目标区域内车位中选择目标车位的操作，显示导航路线；所述导航路线包括自车位置到所述目标车位的路线；控制模块，用于在检测到自车驶入所述目标区域的情况下，控制自车按照所述导航路线进行自动代客泊车。
根据第四方面，在所述第四方面的第一种可能的实现方式中，所述目标区域内车位包括：已收藏车位和/或推荐车位。
根据第四方面或第四方面的第一种可能的实现方式，在所述第四方面的第二种可能的实现方式中，所述第一显示模块，还用于：显示所述目标区域内车位的分布图，且对应于不同优先级的车位以不同的图标表示。
根据第四方面或上述第四方面的各种可能的实现方式，在所述第四方面的第三种可能的实现方式中，所述第一显示模块，还用于：显示所述目标区域内车位的列表，在所述列表中各车位按照对应的优先级依次排序。
根据上述第四方面的各种可能的实现方式，在所述第四方面的第四种可能的实现方式中，所述已收藏车位包括：默认车位、专享车位或非专享车位中的至少一项；其中，所述默认车位、所述专享车位、所述非专享车位对应的优先级依次降低。
根据第四方面或上述第四方面的各种可能的实现方式，在所述第四方面的第五种可能的实现方式中，所述装置还包括：提示模块，用于在检测到自车泊入所述目标车位的情况下，判断所述目标车位是否为已收藏车位；若所述目标车位为未收藏车位，则向用户发出是否收藏所述目标车位的提示信息；或者，响应于用户在所述目标区域内车位中选择所述目标车位的操作，判断所述目标车位是否为已收藏车位；若所述目标车位为未收藏车位，则向用户发出是否收藏所述目标车位的提示信息。
根据第四方面的第五种可能的实现方式，在所述第四方面的第六种可能的实现方式中，所述装置还包括：收藏模块，用于响应于用户确认收藏所述目标车位的操作，显示编辑页面；响应于用户编辑车位类型和/或车位名称的操作，将所述目标车位标注为已收藏车位；其中，所述车位类型包括：默认、专享、非专享中的任意一项。
根据上述第四方面的各种可能的实现方式，在所述第四方面的第七种可能的实现方式中，所述检测模块，还用于：获取自车的位置信息；根据所述自车的位置信息及所述目标区域的边界的位置信息，检测自车是否驶入所述目标区域。
根据上述第四方面的各种可能的实现方式，在所述第四方面的第八种可能的实现方式中，所述控制模块，还用于：在检测到所述目标车位被占用的情况下，搜索空闲车位；若搜索到空闲车位，则自动泊入所述空闲车位，并向用户发出所述空闲车位的位置信息；否则，向用户发出接管车辆的提示信息；或者，在检测到所述目标车位被占用的情况下，向用户发出接管车辆的提示信息。
根据上述第四方面的各种可能的实现方式，在所述第四方面的第九种可能的实现 方式中，所述控制模块，还用于：获取所述目标区域内的空闲车位的信息；在检测到所述目标车位被占用的情况下，确定所述空闲车位中的最优空闲车位，并控制自车泊入所述最优空闲车位。
第五方面，本申请的实施例提供了一种自动代客泊车装置，包括：处理器；用于显示人机交互界面的显示器；用于存储处理器可执行指令的存储器；其中，所述处理器被配置为执行所述指令时实现上述第一方面或者第一方面的各种可能的实现方式中的自动代客泊车方法，或者实现上述第二方面或者第二方面的各种可能的实现方式中的自动代客泊车方法。
第六方面，本申请实施例提供一种自动代客泊车系统，所述自动代客泊车系统，包括上述第三方面、第四方面或第五方面的自动代客泊车装置。
第七方面，本申请实施例提供一种车辆，所述车辆包括上述第三方面、第四方面或第五方面的自动代客泊车装置，或上述第六方面的自动代客泊车系统。
第八方面，本申请的实施例提供了一种非易失性计算机可读存储介质，其上存储有计算机程序指令，其特征在于，所述计算机程序指令被处理器执行时实现上述第一方面或者第一方面的各种可能的实现方式中的自动代客泊车方法，或者实现上述第二方面或者第二方面的各种可能的实现方式中的自动代客泊车方法。
第九方面，本申请的实施例提供了一种包含指令的计算机程序产品，当其在处理器上运行时，上述第一方面或者第一方面的各种可能的实现方式中的自动代客泊车方法，或者实现上述第二方面或者第二方面的各种可能的实现方式中的自动代客泊车方法。
上述第三方面到第九方面及各种可能的实现方式的技术效果，参见上述第一方面及第一方面的各种可能的实现方式，或者第二方面及第二方面的各种可能的实现方式。
附图说明
图1示出根据本申请一实施例的自动代客泊车方法的一种应用场景示意图；
图2示出根据本申请一实施例的一种自动代客泊车系统的架构示意图；
图3示出根据本申请一实施例的一种自动代客泊车方法的流程图；
图4示出根据本申请一实施例的一种自动代客泊车交互界面的示意图；
图5示出根据本申请一实施例的另一种自动代客泊车交互界面的示意图；
图6示出根据本申请一实施例的另一种自动代客泊车交互界面的示意图；
图7示出根据本申请一实施例的另一种自动代客泊车交互界面的示意图；
图8示出根据本申请一实施例的另一种自动代客泊车交互界面的示意图；
图9示出根据本申请一实施例的另一种自动代客泊车交互界面的示意图；
图10示出根据本申请一实施例的一种显示泊车实时画面的交互界面的示意图；
图11示出根据本申请一实施例的一种收藏车位的交互界面的示意图；
图12示出根据本申请一实施例的另一种收藏车位的交互界面的示意图；
图13示出根据本申请一实施例的另一种自动代客泊车交互界面的示意图；
图14示出根据本申请一实施例的另一种自动代客泊车交互界面的示意图；
图15示出根据本申请一实施例的另一种自动代客泊车方法的流程图；
图16示出根据本申请一实施例的另一种自动代客泊车交互界面的示意图；
图17示出根据本申请一实施例的另一种自动代客泊车交互界面的示意图；
图18示出根据本申请一实施例的另一种自动代客泊车交互界面的示意图；
图19示出根据本申请一实施例的一种自动代客泊车装置的结构示意图；
图20示出根据本申请一实施例的另一种自动代客泊车装置的结构示意图；
图21示出根据本申请一实施例的另一种自动代客泊车装置的结构示意图。
具体实施方式
以下将参考附图详细说明本申请的各种示例性实施例、特征和方面。附图中相同的附图标记表示功能相同或相似的元件。尽管在附图中示出了实施例的各种方面，但是除非特别指出，不必按比例绘制附图。
在这里专用的词“示例性”意为“用作例子、实施例或说明性”。这里作为“示例性”所说明的任何实施例不必解释为优于或好于其它实施例。
下面首先对本申请实施例提供的自动代客泊车方法的应用场景进行举例说明。
图1示出根据本申请一实施例的自动代客泊车方法的一种应用场景示意图。如图1所示，该场景中可以包括：自车101，他车102，道路103、停车场104，其中，停车场104中可以包括多个车位P1、P2…PN，N为正整数；自车101及他车102在道路103上行驶，图1中箭头示出了自车101的行驶方向，自车101由道路103驶入停车场104。
示例性地，道路103可以为公共道路，停车场104可以为公共道路以外的地上停车场、地下停车场、立体停车场或者路边停车场等等；例如，可以为居民区、商圈、办公园区等停车场。停车场104中车位可以为在路面画线的车位、非画线的空间车位或可泊车点等等；基于车位形态，停车场104中车位可以包括垂直车位、斜向车位或水平车位等等。
需要说明的是，上述图1中仅以一辆自车、一辆他车、一个停车场示出，应理解，这并不限定应用场景中车辆、停车场的类型及数量等。此外，本申请实施例描述的应用场景是为了更加清楚地说明本申请实施例的技术方案，并不构成对于本申请实施例提供的技术方案的限定，本领域技术人员可知，针对其他相似的或新的应用场景的出现，本申请实施例提供的技术方案对于类似的技术问题，同样适用。
示例性地，自车101可以配置有自动代客泊车系统，从而实现自动代客泊车功能。
图2示出根据本申请一实施例的一种自动代客泊车系统的架构示意图；如图2所示，自动代客泊车系统200可以包括：感知模块201、定位模块202、计算模块203、控制模块204、交互模块205。
其中，感知模块201可以用于采集自车101周边环境数据，以便感知自车101周边环境中的相关信息，例如，可以感知环境中的车道线、车位、行人、他车、障碍物等等相关信息。示例性地，感知模块201可以包括安装在自车101四周的一个或多个传感器，例如摄像头、毫米波雷达、激光雷达、超声波雷达等等传感器。
定位模块202可以用于提供自车101的位置信息，还可以提供自车101的姿态信息。示例性地，定位模块202可以包括卫星导航系统(Global Navigation Satellite  System，GNSS)、惯性导航系统(Inertial Navigation System，INS)等，其中，GNSS可以包括北斗卫星导航系统(BeiDou Navigation Satellite System，BDS)、全球定位系统(Global Positioning System，GPS)、格洛纳斯(GLONASS)卫星导航系统、伽利略(GALILEO)卫星导航系统等中的一种或多种，可以用于确定自车101的位置信息；INS可以包括惯性测量单元(Inertial measuring unit，IMU)、里程计(odometer，ODOM)、加速度计、陀螺仪等中的一种或多种，可以用于确定自车101的位置信息及姿态信息。在一些示例中，定位模块202可以结合上述感知模块201，通过对采集的数据进行融合处理，确定自车101的位置信息及姿态信息。
计算模块203，可以用于处理与自动代客泊车功能相关的各种数据，并负责与自动代客泊车功能相关的决策与规控。示例性地，计算模块203可以集成在自车101的自动驾驶系统或高级驾驶辅助系统(Advanced Driver Assistant Systems，ADAS)或车载中央处理系统等中，计算模块203也可以部署在云端设备上，通过无线通信技术与感知模块201、定位模块202、控制模块204、交互模块205等实现数据通信。
控制模块204可以用于控制自车101上与自动代客泊车功能相关的执行设备，例如转向系统、制动系统、油门等，使得计算模块203的决策和规控结果得到有效执行。示例性地，控制模块204可以包括多个控制器，分别用于控制自车101上对应的各执行设备，例如，转向控制器用于控制转向系统，制动控制器用于控制制动系统，油门控制器用于控制油门等；也可以包括一个集成控制器，用于控制多个执行设备。
交互模块205可以用于向用户提供信息及接收用户的指令，交互模块205可以通过视觉图标、语音播报等方式为用户提供自动代客泊车功能相关的信息。示例性地，交互模块205可以为车载显示系统，例如，可以为自车101配置的人机界面(human machine interface，HMI)，位于自车101座舱内的用户可以通过HMI接收自动代客泊车功能相关的信息，还可以进行选择车位、发出指令等操作，从而实现自动代客泊车相关的交互功能；交互模块205也可以为移动终端(例如智能手机、平板电脑、可穿戴设备等)的显示系统，例如，移动终端的显示器可以向用户提供人机交互界面，移动终端可以通过无线通信技术与计算模块203实现数据通信，位于自车101座舱内或者不在座舱内的用户，可以通过移动终端接收自动代客泊车功能相关的信息，并进行选择车位、发出指令等操作，从而实现自动代客泊车相关的交互功能。
示例性地，自动代客泊车系统200还可以包括通信模块206，可以用于自车101与其他设备通信，其中，其他设备可以包括移动终端、云端设备、他车102、停车场104中设备等等，可以通过2G/3G/4G/5G、蓝牙、调频(frequency modulation，FM)、无线局域网(wireless local area networks，WLAN)、长期演进(long time evolution，LTE)、车与任何事物相通信(vehicle to everything，V2X)、车与车通信(Vehicle to Vehicle，V2V)、长期演进-车辆(long time evolution vehicle，LTE-V)等无线通信连接来实现。例如，自车101可以与停车场104的服务器或者与云端设备进行通信，从而获取停车场104内的空闲车位的信息。
上述感知模块201、定位模块202、计算模块203、控制模块204、交互模块205等等模块相互协调运作，从而实现自动代客泊车功能。
作为一个示例，自车101按照图1中箭头所示方向行驶，定位模块202将自车101 的位置信息发送至计算模块203，计算模块203根据自车101的位置信息，确定自车101驶入停车场104后，通过交互模块205呈现包含停车场104内车位信息的交互界面，以供用户选择想要泊入的车位；交互模块205接收用户选择车位的指令并将用户所选择的车位告知计算模块203，计算模块203规划出使得自车101行驶至用户选择的车位的泊车路线，并通过交互模块205将该泊车路线展示给用户；交互模块205接收到用户开始自动代客泊车的指令并告知计算模块203；计算模块203通过控制模块204生成控制指令控制自车101的执行设备，使得自车101依据上述泊车路线行驶至用户选择的车位，并自动泊入该车位，从而实现自动代客泊车；在上述泊车过程中，感知模块201将感知到的自车101周边环境中的相关信息发送给计算模块203，以便计算模块203通过控制模块204调整自车101的速度、姿态等。
作为另一个示例，用户在设置停车场104为导航目的地时，交互模块205向用户呈现包含停车场104内车位信息的交互界面，交互模块205接收用户选择车位的指令并将用户选择的车位告知计算模块203，计算模块203规划出使得自车101行驶至用户所选择车位的导航路线；自车101可以通过人工驾驶或者自动驾驶模式，按照导航路线行驶；定位模块202将自车101的位置信息发送至计算模块203，计算模块203根据自车101的位置信息，确定自车101驶入停车场104后，计算模块203通过控制模块204生成控制指令控制自车101的执行设备，使得自车101按照导航路线行驶至用户所选择的车位，并自动泊入该车位，从而实现自动代客泊车；在上述泊车过程中，感知模块201将感知到的自车101周边环境中的相关信息发送给计算模块203，以便计算模块203通过控制模块204调整自车101的速度、姿态等。
下面对本申请实施例的一种自动代客泊车方法进行详细说明。
图3示出根据本申请一实施例的一种自动代客泊车方法的流程图。示例性地，该方法可以由上述图1中自车101或图2中的自动代客泊车系统200或自动代客泊车系统200中的一个或多个模块执行，如图3所示，该方法可以包括以下步骤：
步骤301、在检测到自车驶入目标区域的情况下，显示目标区域内车位的信息。
其中，目标区域可以包括：商场、居民区、园区、道路旁或楼房等具有地上或地下车位的区域，例如，目标区域可以为上述图1中停车场104。
本申请实施例提供了两种检测自车自否驶入目标区域的方式。
方式一，自动代客泊车系统可以获取自车的位置信息；根据自车的位置信息及目标区域的边界的位置信息，检测自车是否驶入目标区域。
示例性地，可以预先通过电子围栏(又称地理围栏)标注目标区域的边界；以目标区域为上述图1中停车场104为例，可以预先通过一个电子围栏标注停车场104的边界，在自车行驶过程中，自动代客泊车系统可以获取每一时刻自车的位置信息，并根据相邻时刻自车的位置信息及该电子围栏的位置信息，检测自车是否驶入停车场104；若当前时刻自车的位置位于电子围栏内，且上一时刻自车的位置位于电子围栏外，则检测到自车驶入停车场104。
方式二，自动代客泊车系统可以接收外部信息，进而根据接收到的信息，检测自车是否驶入目标区域。
示例性地，以目标区域为上述图1中停车场104为例，该停车场104的服务器可 以周期性地向外广播信息，该广播信息中包含停车场104的唯一标识；自动代客泊车系统可以感知停车场104入口处的环境信息，例如停车场入口标识、停车场的道闸栏杆等等；当自动代客泊车系统接收到该广播信息时，根据该广播信息中唯一标识，可以判断该广播信息由停车场104的服务器发出；同时，结合感知到的停车场104入口处的环境信息，确定自车驶入停车场104。
示例性地，以目标区域为上述图1中停车场104为例，该停车场104的服务器可以获取停车场入口处图像采集装置拍摄的车辆信息，例如车辆的车牌号等；当图像采集装置拍摄到自车的车牌号时，该停车场104的服务器可以通知自车已经驶入停车场104，自车根据接收到的通知信息，确定自车驶入停车场104。
在自车驶入目标区域时，自车可以处于多种驾驶状态，示例性地，自车可以在未开导航情况下驾驶，例如，用户可以自主驾驶自车。示例性地，自车可以按照导航路线驾驶，例如，用户可以按照该导航路线驾驶自车，自车也可以以自动驾驶模式按照导航路线行驶；且该导航路线对应的目的地为目标区域内的、目标区域内车位以外的地点，以目标区域为上述图1中停车场104为例，用户可以在自车驶入停车场104之前，设置停车场104的内部道路为导航目的地。
考虑到自车驶入目标区域之后，用户具有停车需求，在检测到自车驶入目标区域的情况下，自动代客泊车系统自动显示目标区域内车位的信息，以便用户自主选择想到停泊的车位。同时，用户无需将自车驾驶到特定位置，用户也无需下车，从而与自车当前的驾驶状态形成顺畅衔接，提高了用户体验。
其中，目标区域内车位可以包括：已标注的车位、未标注的车位等等；其中，已标注的车位表示由路面停车线(车位线)所圈定的可泊车区域，已标注的车位通常具有固定的位置、形态及大小等；未标注的车位表示路面没有停车线圈定的可泊车区域(或泊车点)，未标注的车位的位置、形态或大小等通常不固定，例如，针对路面没有停车线的空地型停车场，停车场内可以包括多个未标注的车位，如停车场内并排停放的车辆之间的可泊车区域即可作为未标注的车位，可以理解的是，该未标注的车位的位置、形态及大小等，由并排停放的车辆的位置、停放方向及车辆之间的距离等确定。
示例性地，目标区域内车位可以包括：已收藏车位和/或推荐车位。示例性地，已收藏车位及推荐车位可以为已标注的车位。
其中，已收藏车位表示目标区域内已经被用户收藏的车位，已收藏车位的数量可以为一个或多个。示例性地，已收藏车位可以包括：默认车位、专享车位或公共车位中的至少一项；用户在收藏车位时，可以将所收藏的车位标注为默认车位、专享车位或公共车位；其中，默认车位通常为用户的私人车位，例如，可以为用户居住小区的指定车位，可以为用户公司的指定车位等等；专享车位，通常为不会被占用的车位，或者用户的私人车位；非专享车位，通常为公共车位；示例性地，默认车位的数量可以为一个，专享车位或非专享车位的数量可以为多个。
推荐车位表示根据用户泊车习惯，在所筛选出目标区域内的车位，推荐车位的数量可以为一个或多个；例如，自动代客泊车系统可以根据用户习惯选择的车位位置筛选，若用户喜欢出口附近的车位，则可以筛选出目标区域内靠近出口的车位作为推荐 车位；也可以根据用户习惯喜欢的车位形态筛选，若用户喜欢垂直车位，则可以筛选出目标区域内的垂直车位作为推荐车位；也可以根据用户习惯选择的车位大小筛选，若用户喜欢较大的车位，则可以筛选出目标区域内较大的车位作为推荐车位；还可以根据用户停泊各车位的次数筛选，筛选出目标区域内用户停泊次数最多的车位作为推荐车位；还可以根据用户停泊各车位的时间筛选，筛选出最近一段时间用户在目标区域内泊车的车位作为推荐车位；可以理解的是，自动代客泊车系统可以结合用户的一种或多种泊车习惯，筛选出推荐车位。
示例性地，在存在已收藏车位的情况下，自动代客泊车系统可以显示已收藏车位，还可以显示已收藏车位和推荐车位；在不存在已收藏车位的情况下，自动代客泊车系统可以显示推荐车位。
由于已收藏车位为用户根据自己喜好收藏的车位，推荐车位为基于用户的泊车习惯筛选出的车位，相对于目标区域内的其他车位，用户更有可能选择已收藏车位或推荐车位作为本次泊车的车位；这样，在检测到自车驶入目标区域的情况下，自动代客泊车系统自动显示目标区域内的已收藏车位的信息和/或推荐车位的信息，从而使用户可以方便快捷地选择到想要停泊的车位，提高了用户体验。
示例性地，目标区域内车位的信息可以包括目标区域内车位的名称、编号、位置、形态、大小等信息中的一种或多种。其中，目标区域内车位的信息可以预存在自动代客泊车系统中，或者，自动代客泊车系统可以从目标区域的服务器或者从云端设备获取目标区域内车位的信息，或者，自动代客泊车系统可以根据感知到的自车周围环境的数据得到目标区域内车位的信息。
步骤302、显示泊车路线。
该泊车路线包括自车位置到目标区域内目标车位的路线。
在一种可能的实现方式中，响应于用户在目标区域内车位中选择目标车位的操作，显示泊车路线。示例性地，目标车位可以为已标注的车位。
示例性地，用户可以查看上述自动代客泊车系统显示的目标区域内车位信息，并可以通过点击、语音、手势、物理按键等方式，在目标区域内车位中选择喜欢的车位作为目标车位，例如，用户可以通过点击交互界面中显示的某一车位对应的区域或图标，选择将该车位作为目标车位；用户还可以通过自车中的物理按键、语音指令、手势等操作选择交互界面所显示的目标区域的某一车位作为目标车位。
自动代客泊车系统在接收到用户选择目标车位的操作之后，即可确定用户期望泊入的目标车位，进而可以根据自车的位置信息及目标车位的位置信息，规划出从自车位置到目标车位的泊车路线，并在交互界面上显示该泊车路线，以便用户查看。
示例性地，考虑到默认车位通常为用户的私人车位，最有可能被用户选择为目标车位，自动代客泊车系统可以根据自车位置及默认车位的位置，预先规划从自车位置到默认车位的泊车路线，以便在接收到用户将默认车位作为目标车位的指令后，直接显示该泊车路线，减少延迟，提高用户体验。示例性地，在检测到自车驶入目标区域之后，自动代客泊车系统可以周期性地根据自车的最新位置信息，更新该泊车路线，并在用户选择默认车位时，显示最新的泊车路线。
示例性地，在上述显示的目标区域内车位包括多个车位的情况下，用户可以通过 点击、语音、手势、物理按键等方式变更所选择的目标车位，自动代客泊车系统根据自车的位置信息及变更后的目标车位的位置信息，规划出从自车位置到变更后的目标车位的泊车路线，并在交互界面上显示该泊车路线；这样，响应于用户变更目标车位的操作，自动代客泊车系统可以显示不同的泊车路线，用户可以参考所显示的不同的泊车路线，自主选择最优的车位作为最终的目标车位，例如，用户可以选定最短的泊车路线所对应的车位为最终的目标车位，从而满足用户需求。
示例性地，自动代客泊车系统可以基于目标区域的电子地图，获取目标车位的位置信息、目标区域内道路的布局、道路的长度和宽度等信息，从而规划出从自车位置到目标车位的泊车路线；示例性地，自动代客泊车系统可以预存有目标区域的电子地图，或者，自动代客泊车系统可以从目标区域的服务器或者从云端设备获取目标区域的电子地图，或者，自动代客泊车系统可以根据感知到的自车周围环境的数据构建目标区域的电子地图。
在一种可能的实现方式中，自动代客泊车系统可以确定目标区域内的目标车位，并显示泊车路线。示例性地，目标车位可以为未标注的车位。
若目标区域为空地型停车场，自动代客泊车系统可以通过感知到的周围环境信息，确定目标区域内可用的未标注的车位，进而自主确定目标车位，并规划出自车位置到该目标车位的泊车路线。
其中，可用的未标注的车位表示大小满足自车停车需求的未标注的车位。示例性地，在存在多个可用的未标注的车位时，自动代客泊车系统可以根据用户的泊车习惯筛选出最优的未标注的车位作为目标车位。
步骤303、控制自车按照泊车路线进行自动代客泊车。
在一种可能的实现方式中，自动代客泊车系统在自主确定目标车位之后，可以控制自车按照上述泊车路线进行自动代客泊车。
在一种可能的实现方式中，自动代客泊车系统响应于用户发出的自动代客泊车指令，控制自车按照泊车路线进行自动代客泊车。
示例性地，自动代客泊车系统可以通过文字、语音、颜色、图标闪烁或者震动等中的至少一种方式，提示用户是否开始自动代客泊车。
示例性地，用户在选定目标车位之后，可以通过点击、语音、手势、物理按键等方式，触发自动代客泊车指令，例如，用户可以通过点击交互界面中开始自动代客泊车的虚拟按钮，触发自动代客泊车指令；还可以通过自车中物理按键，触发自动代客泊车指令；也可以通过语音指示开始自动代客泊车；或者，还可以通过特定手势触发自动代客泊车指令。
自动代客泊车系统在接收到用户触发的自动代客泊车指令之后，响应于该自动代客泊车指令，即可控制自车按照上述泊车路线进行自动代客泊车，可以理解的是，若用户变更了目标车位，则该泊车路线为自车位置到用户最后选择的目标车位的路线。
示例性地，自动代客泊车系统可以控制自车行驶至目标车位附近，并自动泊入目标车位，从而完成自动代客泊车。在泊入目标车位的过程中，自动代客泊车系统可以根据感知到的目标车位和周边障碍物的尺寸、位置、距离等信息，调整自车的速度、姿态等，以使自车安全的泊入目标车位。
需要说明的是，在上述自车驶入目标区域到自车泊入目标车位的过程中，用户可以在自车的驾驶座舱中，通过车载HMI等查看目标区域内车位的信息、选择目标车位、查看泊车路线或触发自动代客泊车指令；用户也可以随时随地下车，通过移动终端等查看目标区域内车位的信息、选择目标车位、查看泊车路线或触发自动代客泊车指令。从而大大降低了对用户泊车的灵活度和自主性的限制，提高了用户体验。
本申请实施例中，在检测到自车驶入目标区域的情况下，自动显示目标区域内车位的信息，以便用户自主选择目标车位，且用户无需将自车驾驶到特定位置，用户也可以不下车，从而与自车当前的驾驶状态形成顺畅衔接，提高了用户泊车的灵活度和自主性。在一些示例中，目标区域内车位可以包括：已收藏车位和/或推荐车位，用户可以根据目标区域内多种车位的信息，方便快捷地选择想要停泊的目标车位，满足用户需求。显示泊车路线，并控制自车按照泊车路线进行自动代客泊车；这样，自车可以自主完成规划泊车路线、自动代客泊车等工作，降低了对目标区域的硬件要求，适用范围广，同时，用户可以对泊车过程进行监控，提高了用户的安全感和掌控感，提升了用户体验。
为了便于描述，下面以通过自车的HMI实现自动代客泊车相关的交互功能为例，对本申请实施例的自动代客泊车方法的交互过程进行进一步说明。
在一种可能的实现方式中，显示目标区域内车位的信息可以包括显示目标区域内车位的列表，在列表中各车位按照对应的优先级依次排序。其中，优先级越高的车位表示用户越有可能选择为目标车位；通过列表优先显示优先级较高的车位，以便用户更加容易查看到，提高了选择目标车位的效率。
示例性地，列表中所显示的车位数量小于预设阈值，从而使得用户可以更加方便快捷地选择目标车位。
相对于其他车位，已收藏车位为用户根据自己喜好收藏的车位，用户大概率会选择已收藏车位作为目标车位；在一些示例中，车位列表中可以仅包括已收藏车位，从而进一步提升用户选择目标车位的效率；示例性地，在已收藏车位的数量为多个的情况下，各已收藏车位按照对应的优先级依次排序。
示例性地，默认车位、专享车位、公共车位的优先级依次降低。其中，默认车位：一般被占用的可能性不高，用户通常会考虑将自车停在默认车位，因此，将默认车位的优先级设为最高优先级，默认车位可以排在列表的最上方，最容易被用户查看到，方便用户进行选择。专享车位：通常在用户的私人车位被占用，或者目标区域没有用户的私人车位的情况下，用户通常会考虑将车位停在专享车位，因此，将专享车位的优先级设为次优先级，专享车位可以排在列表中默认车位的下方，在默认车位不可用等情况下，方便用户进行选择。非专享车位：由于驶入目标区域的车辆均可以停在非专享车位，非专享车位有较大概率被他车占用；因此，将非专享车位的优先级设为最低优先级，专享车位可以排在列表中默认车位及非专享车位的下方，在没有默认车位及专享车位，或者默认车位及专享车位均不可用等情况下，方便用户进行选择。
示例性地，在上述专享车位或非专享车位的数量为多个的情况下，可以将最符合用户泊车习惯的车位排在同类型车位的最前方。
在一些示例中，在不存在已收藏车位的情况下，列表中可以仅包括推荐车位，示 例性地，在推荐车位的数量为多个的情况下，各推荐车位的按照对应的优先级依次排序；示例性地，各推荐车位对应的优先级可以基于用户各种泊车习惯的相对程度确定，例如，结合用户历史泊车数据，可知相对于喜欢垂直车位，用户更喜欢靠近出口的车位，则基于车位位置筛选出的推荐车位的优先级要高于车位形态筛选出的推荐车位。
在一些示例中，列表中可以包括已收藏车位及推荐车位；相对于推荐车位，用户更有可能选择已收藏车位作为目标车位，因此，可以预设已收藏车位的优先级高于推荐车位的优先级，在列表中的已收藏车位均排列在推荐车位的上方。
举例来说，图4示出根据本申请一实施例的一种自动代客泊车交互界面的示意图，用户可以自主驾驶自车驶入目标区域，在自动代客泊车系统检测到自车驶入目标区域时，HMI显示交互界面400；如图4所示，交互界面400可以包括：显示区域401、显示区域402，其中，显示区域401可以显示自车的车速(图4中车速为18km/h)、车的档位(如停车挡P、倒车档R、空挡N、前进挡D，图4中自车当前档位为D)、自车周边环境、自车标识等信息。显示区域402可以显示电子地图、自车位置、车位列表等信息；其中，车位列表中包括三个已收藏车位P1、P2、P3，其中，P1为默认车位、P2为专享车位、P3为非专享车位；在电子地图中显示车位列表中各车位对应的位置点，其中，P1位于5号楼，P2位于5号楼，P3位于9号楼；示例性地，还可以在车位列表中显示各车位对应的位置信息、及各车位与自车的距离等(图中未示出)；用户可以通过车位列表快捷地查看车位信息。示例性地，用户还可以通过对电子地图进行放大、缩小等操作，从而更加全面的查看P1、P2、P3的信息，或者目标区域内其他车位的信息。
图5示出根据本申请一实施例的另一种自动代客泊车交互界面的示意图，自车可以按照导航路线行驶进入目标区域，导航终点为目标区域内车位以外的地点；在自动代客泊车系统检测到自车驶入目标区域时，HMI显示交互界面500；如图5所示，交互界面500可以包括：显示区域501、显示区域502，其中，显示区域501与上述图4中显示区域401相同。显示区域502可以显示导航页面、自车位置、车位列表、导航状态表(包括导航剩余时间、剩余距离等信息)等信息；其中，车位列表中显示的车位的信息可参照上述交互界面400；用户可以通过车位列表快捷地查看车位信息，也可以通过对电子地图进行放大、缩小等操作，查看更全面的车位信息。
在一种可能的实现方式中，显示目标区域内车位的信息可以包括：显示目标区域内车位的分布图，且对应于不同优先级的车位以不同的图标表示。
其中，各类型车位对应的优先级的具体描述可参照前文；优先级越高的车位表示用户越有可能选择为目标车位；可以通过较为明显的图标在分布图中表示优先级较高的车位，以便用户更加容易查看到，提高了选择目标车位的效率；同时，用户可以通过分布图更加直观地查看车位的信息。
示例性地，车位的分布图可以为目标区域的电子地图，图标可以包括图案、亮度、颜色等等，示例性地，可以在车位的分布图中利用不同的图案表示不同优先级的车位，例如，默认车位可以用一种图案显示，专享车位可以用另一种图案显示；示例性地，可以利用同一颜色，不同的颜色深度表示不同优先级的车位，例如，可以利用较深的灰色表示默认车位，利用较浅的灰色表示专享车位，其中，颜色越深表示车位对应的 优先级越高。
示例性地，在分布图中可以仅显示已收藏车位的信息或推荐车位的信息，也可以显示已收藏车位的信息及推荐车位信息，还可以显示目标区域内其它车位的信息。可以理解的是，相对于已收藏车位或推荐车位，其它车位的优先级最低。
举例来说，图6示出根据本申请一实施例的另一种自动代客泊车交互界面的示意图，在自动代客泊车系统检测到自车驶入目标区域时，HMI显示交互界面600；如图6所示，交互界面600可以包括：显示区域601、显示区域602，其中，显示区域601显示内容可参照与上述图4中显示区域401。显示区域602可以显示车位的分布图、自车位置等信息；其中，车位的分布图中可以包括多个车位，其中，默认车位P1、专享车位P2、非专享车位P3及其他车位分别用不同的图案表示。用户通过交互界面600可以直观地看到分布图中的已收藏车位和/或推荐车位，以及各车位在分布图中的位置。示例性地，还可以在各车位图标附近标注各车位的位置信息、及各车位与自车的距离等信息(图中未示出)。
进一步地，用户可以通过上述交互界面(如交互界面400或交互界面500)中的车位列表，或者车位图(如交互界面600)查看车位信息，并选择想要泊车的车位作为目标车位，响应于用户选择目标车位的操作，自动代客泊车系统规划出泊车路线，并由HMI显示该泊车路线。
以用户在上述交互界面400中的车位列表中选择目标车位为例，图7示出根据本申请一实施例的另一种自动代客泊车交互界面的示意图，其中，图7(a)为上述图4中交互界面400，用户点击交互界面400中车位列表中P1对应的区域，选择P1作为目标车位，响应于用户的上述点击操作，HMI显示交互界面700；如图7(b)所示，交互界面700可以包括：显示区域701、显示区域702，其中，显示区域701显示内容可参照上述图4中显示区域401；显示区域702可以显示电子地图、自车位置、车位列表、泊车路线等信息，其中，在车位列表中，用户当前所选择的目标车位(即图7(b)中车位P1)以高亮形式显示；泊车路线为自动代客泊车系统规划的自车位置到车位P1的路线。示例性地，用户可以通过点击车位列表中P2或P3对应的区域，变更目标车位，相应的，显示区域702可以显示自车位置到车位P2或P3的泊车路线(图中未示出)，用户可以参考各泊车路线，自主选择最符合用户需求的车位作为目标车位。
进一步地，用户在选择目标车位之后，自动代客泊车系统按照泊车路线导航，并显示导航画面，进而用户可以触发自动代客泊车指令，自动代客泊车系统控制自车根据导航行驶到目标车位附近时，自动泊入目标车位。
以用户选择上述交互界面700中车位P1为目标车位为例，图8示出根据本申请一实施例的另一种自动代客泊车交互界面的示意图，图8(a)为上述图7(b)中交互界面700，用户点击交互界面700中车位P1对应区域中的“开始”按钮，响应于用户的上述点击操作，HMI显示交互界面800；如图8(b)所示，交互界面800可以包括：显示区域801、显示区域802，其中，显示区域801除包括上述图7(b)中显示区域701所显示的内容外，还可显示“双击按钮开始自动代客泊车”的功能按键；显示区域802可以显示导航画面及状态表，状态表中可以包括：自动代客泊车的状态图标、 导航剩余距离、导航剩余时间、预计到达时间等信息，导航画面中可以显示自车位置、目标车位位置、电子地图等信息。
图9示出根据本申请一实施例的另一种自动代客泊车交互界面的示意图，图9(a)为上述图8(b)中交互界面800，用户可以双击交互界面800中功能按键“双击按钮开始自动代客泊车”，响应于用户的上述双击操作，HMI显示交互界面900；如图9(b)所示，交互界面900可以包括：显示区域901、显示区域902，其中，显示区域901可显示自车巡航界面；显示区域902可以显示导航画面，并高亮状态栏中自动代客泊车的状态图标，以表示当前处于自动代客泊车状态。这样，用户可以自主触发自动代客泊车指令，自动代客泊车系统响应于该指令，进行自动代客泊车，用户可以通过HMI查看自动代客泊车过程中的相关画面及信息。
示例性地，在自车自动行驶到目标车位附近，准备泊入目标车位时，HMI可以显示泊车实时画面。图10示出根据本申请一实施例的一种显示泊车实时画面的交互界面的示意图，如图10所示，交互界面1000可以包括：显示区域1001、显示区域1002，其中，显示区域1001可以显示自车的档位、自车周边环境、自车标识、提示信息(即图10中“请注意四周环境安全”)等信息；显示区域1002可以显示车位位置信息、全景视图、盲区视图等画面，其中，全景视图、盲区视图可以为通过自车的摄像头等采集的实时画面。
可以理解的是，本申请实施例中上述交互界面仅为示例，实际应用中可以根据需要划分不同的交互界面或显示区域，各交互界面或显示区域，可以显示更多或更少的信息，例如，交互界面还可以包括显示温度、空调、音量等车内环境信息的区域。
这样，在自动代客泊车系统检测到自车驶入目标区域之后，通过上述图4-图10所示的交互界面，为用户提供目标区域内车位(如已收藏车位P1、P2、P3)的信息，供用户自主选择目标车位，并响应于用户选择目标车位及触发自动代客泊车的操作，自动规划泊车路线，实现自动代客泊车；用户可以通过上述图4-图10所示的交互界面对泊车过程进行监控，提高了用户的安全感和掌控感，提升了用户体验。
下面对用户收藏车位的过程进行详细说明。
示例性地，用户可以在下述两种场景中，根据自己喜好，进行收藏车位的操作。
场景一、用户可以在自车泊入车位之后，进行收藏车位的操作。
在一种可能的实现方式中，在检测到自车泊入目标车位的情况下，判断目标车位是否为已收藏车位；若目标车位为未收藏车位，则向用户发出是否收藏该目标车位的提示信息。
示例性地，自动代客泊车系统可以通过感知到的自车周边环境的数据，检测自车是否泊入目标车位，在检测到自车完全处于目标车位内，且自车为停车挡(P档)时，可以确认检测到自车已经泊入目标车位；进而，自动代客泊车系统可以在已收藏车位名单中搜索目标车位，若未搜索到目标车位，则表示该目标车位为未收藏车位，则自动代客泊车系统可以通过文字、语音、颜色、图标闪烁或者震动等中的至少一种方式提示用户是否将该目标车位设置为收藏车位；从而在保证安全的情况下，为用户提供收藏车位的功能，提高用户体验。
在一种可能的实现方式中，响应于用户确认收藏目标车位的操作，显示编辑页面； 响应于用户编辑车位类型和/或车位名称的操作，将目标车位标注为已收藏车位；其中，车位类型可以包括：默认、专享、非专享中的任意一项。
若用户想要收藏上述自车泊入的车位，则可以通过点击、语音、手势、物理按键等方式，进行确认收藏目标车位的操作，触发收藏车位指令，例如，用户可以通过点击交互界面中收藏车位的虚拟按钮，触发收藏车位指令；还可以通过自车中物理按键，触发收藏车位指令；也可以通过语音指示收藏车位；或者，还可以通过特定手势触发收藏车位指令。
自动代客泊车系统在接收到用户触发的收藏车位的指令之后，显示编辑页面，以便用户对车位类型、车位名称等信息进行个性化设置，例如，若目标车位为私人车位，用户可以将该目标车位设置为默认车位，也可以设置为专享车位；若目标车位为用户喜欢的靠近出口的公共车位，则可以将该目标车位设置为非专享车位，也可以设置为默认车位。
举例来说，图11示出根据本申请一实施例的一种收藏车位的交互界面的示意图，如图11(a)所示，该交互界面1100可以包括：显示区域1101、显示区域1102，其中，显示区域1101可以显示自车的档位、自车的结构信息(如车门锁、引擎盖、充电口、后备箱等标识)；显示区域1102可以显示自车位置、电子地图、收藏提示信息、收藏按键等。自动代客泊车系统检测到自车已经泊入车位，且判断当前车位为未收藏车位，显示区域1102中可以显示“发现新车位”的提示信息，用户希望收藏该车位，则可以点击“收藏”按键，响应于用户的上述点击操作，HMI显示交互界面1200，如图11(b)所示，该交互界面1200可以包括：显示区域1201、显示区域1202，其中，显示区域1201与图11(a)中显示区域1101相同；显示区域1202可以显示收藏编辑页、自车位置等信息。在收藏编辑页中，用户可以输入车位名称，还可以编辑车位类型，例如，用户可以点击“默认”按钮可以将该车位设置为默认车位，点击“专享”按钮将该车位设置为专享车位，若未点击“默认”及“专享”按钮，则可以将该车位设置为非专享车位；在设置完成之后，用户可以点击“保存”按键，从而将该车位标注为已收藏车位，并将用户编辑的信息存储在自动代客泊车系统中。
场景二、用户可以在选择目标车位时，进行收藏车位的操作。
在一种可能的实现方式中，响应于用户在目标区域内车位中选择目标车位的操作，判断该目标车位是否为已收藏车位；若目标车位为未收藏车位，则向用户发出是否收藏该目标车位的提示信息。
示例性地，自车可以处于自动驾驶状态，自动代客泊车系统在接收到用户选择目标车位的指令后，可以在已收藏车位名单中搜索目标车位，若未搜索到目标车位，则表示该目标车位为未收藏车位，则提示用户是否将该目标车位设置为收藏车位，其中，提示方式可参照前文相关介绍；从而为用户提供收藏车位的功能，提高用户体验。
示例性地，响应于用户确认收藏目标车位的操作，显示编辑页面；响应于用户编辑车位类型和/或车位名称的操作，将目标车位标注为已收藏车位。具体实现方式可参照前文相关介绍，此处不再赘述。
举例来说，图12示出根据本申请一实施例的另一种收藏车位的交互界面的示意图，图12(a)所示为上述交互界面600，用户点击分布图选择一个车位对应的图标，响应 于用户的上述点击操作，自动代客泊车系统判断该车位为未收藏车位，HMI显示交互界面1300，如图12(b)所示，该交互界面1300可以包括：显示区域1301、显示区域1302，其中，显示区域1301与交互界面600中显示区域601相同；显示区域1302可以显示自车位置、车位位置、车位分布图、显示“发现新车位”的提示信息等，若用户希望收藏该车位，则可以点击“收藏”按键。响应于用户的点击“收藏”按键的操作，HMI显示交互界面1400，如图12(c)所示，该交互界面1400可以包括：显示区域1401、显示区域1402，其中，显示区域1401与交互界面600中显示区域601相同；显示区域1402可以显示收藏编辑页、自车位置、车位位置、车位分布图等。其中，收藏编辑页所包括的内容及编辑过程可参照前文关于显示区域1202的相关介绍，此处不再赘述。
这样，用户可以在自车泊入车位的情况下通过上述图11所示的交互界面，或者，在用户选择目标车位时，通过上述图12所示的交互界面，进行收藏车位的操作，并对所收藏车位的名称、是否默认、是否专享等信息进行编辑，实现个性化收藏。
进一步地，考虑到目标车位可能被他车占用，在目标车位被占用的情况下，可以基于目标车位的类型，采用不同的处理策略。
示例性地，自车根据泊车路线自动行驶至目标车位附近时，自动代客泊车系统可以通过感知的自车周围环境的数据，检测目标车位是否被占用。
在一种可能的实现方式中，在检测到目标车位被占用的情况下，搜索空闲车位；若搜索到空闲车位，则自动泊入该空闲车位，并向用户发出该空闲车位的位置信息；否则，向用户发出接管车辆的提示信息。
示例性地，目标车位可以为推荐车位或非专享车位。推荐车位或非专享车位通常为公共车位，有较大概率被他车占用；因此，针对推荐车位或非专享车位，可以采用区域泊车的策略，即在推荐车位或非专享车位被占用的情况下，自车自动进行漫游泊车，无需用户进行决策，节省了用户精力和时间，提高了用户体验。
示例性地，自动代客泊车系统可以在检测到目标车位被占用之后，控制自车进入区域漫游状态，即控制自车在目标车位附近一定区域内漫游，并在漫游过程中，根据感知的自车周围环境的数据，搜索该区域内的空闲车位；若搜索到空闲车位，则自动代客泊车系统控制自车自动泊入该空闲车位，泊车完成后，告知用户该空闲车位的位置信息；若漫游过程中，未找到空闲车位，则自动代客泊车系统提示用户接管车辆；其中，提示方式可参照前文相关介绍。
以用户不在驾驶座舱内，通过移动终端对泊车过程进行监控为例，图13示出根据本申请一实施例的另一种自动代客泊车交互界面的示意图，自动代客泊车系统检测到目标车位被占用，自动进行漫游泊车，移动终端显示交互界面1500，如图13(a)所示，交互界面1500可以显示自车位置、电子地图、目标车位位置及当前自车的状态信息(如图中“寻找车位中…”)；若搜索到空闲车位，则自动代客泊车系统控制自车自动泊入该空闲车位，并在移动终端显示交互界面1600，如图13(b)所示，交互界面1600可以显示自车的状态信息(如图中“泊车完成”)、当前自车泊入车位的位置信息、及是否锁车的提示信息；若未搜索到空闲车位，则自动代客泊车系统控制自车进行漫游泊车，并在移动终端显示交互界面1700，如图13(c)所示，交互界面1700 可以显示提示页面，提示页面可以显示“未找到车位，请接管车辆”的提示信息，及靠边停车的功能按钮和接管车辆的功能按钮，用户可以通过点击功能按钮触发相应功能。
在一种可能的实现方式中，在检测到目标车位被占用的情况下，向用户发出接管车辆的提示信息。
示例性地，目标车位可以为默认车位或专享车位，默认车位及专享车位通常为用户的私人车位，通常情况下不会被占用；针对默认车位或专享车位，可以采用精准泊车的策略，即在默认车位或专享车位被占用的情况下，由用户自主决策，提高用户泊车的自主性及对掌控感，提升了用户体验。
示例性地，自动代客泊车系统可以在检测到目标车位被占用之后，控制自车原地停车或进行漫游，并提示用户接管车辆，其中，提示方式可参照前文相关介绍。若用户触发进行漫游泊车的指令，则控制自车进行漫游泊车，漫游泊车的过程可参照前文相关介绍，此处不再赘述。
图14示出根据本申请一实施例的另一种自动代客泊车交互界面的示意图，自动代客泊车系统检测到目标车位被占用，自动代客泊车系统中止原泊车过程，移动终端显示交互界面1800，如图14所示，交互界面1800可以显示自车位置、电子地图、目标车位位置及当前自车的状态信息(如图中“泊车已退出”)；还可以显示提示页面，提示页面可以显示“车位被占用”的提示信息，及漫游泊车的功能按钮和接管车辆的功能按钮，用户可以通过点击功能按钮触发相应功能。
在一种可能的实现方式中，自动代客泊车系统可以获取目标区域内的空闲车位的信息；在检测到目标车位被占用的情况下，确定空闲车位中的最优空闲车位，并控制自车泊入该最优空闲车位。
示例性地，自动代客泊车系统可以从目标区域的服务器或从云端设备获取目标区域内空闲车位的信息，或者，自动代客泊车系统可以根据感知到的自车周围环境的数据得到目标区域内空闲车位的信息。其中，空闲车位的信息可以包括：空闲车位的名称、编号、位置、形态或大小等信息。
示例性地，自动代客泊车系统在检测到目标车位被占用的情况下，可以根据用户泊车习惯等，确定符合用户泊车习惯的空闲车位为最优空闲车位，例如，用户习惯选择垂直车位，则可以根据空闲车位的形态，选择垂直的空闲车位为最优空闲车位；再例如，可以根据空闲车位的位置信息及目标车位的位置信息，确定离目标车位距离最近的空闲车位为最优空闲车位；还可以根据空闲车位的位置信息及电梯口或出口的位置信息，确定离电梯口或出口距离最近的空闲车位为最优空闲车位。在确定最优空闲车位之后，自动代客泊车系统控制自车泊入该最优空闲车位。
进一步地，在检测到自车泊入最优空闲车位的情况下，自动代客泊车系统可以判断最优空闲车位是否为已收藏车位；若最优空闲车位为未收藏车位，则向可以用户发出是否将该最优空闲车位设置为收藏车位的提示信息。收藏车位的具体过程可参照前文，在此不再赘述。
进一步地，在自车泊入目标车位之后，用户需要驾驶自车时，还可以通过触发自动召唤功能，控制自车自动行驶到用户指定的上车位置；其中，自动召唤功能的实现 原理及过程，可参照前文关于自动代客泊车的相关介绍。
下面以用户在设置导航目的地时选择目标车位为例，对本申请实施例中自动代客泊车方法进行说明。
图15示出根据本申请一实施例的另一种自动代客泊车方法的流程图。该方法可以由上述图1中自车101或图2中的自动代客泊车系统200或自动代客泊车系统200中的内部模块执行，如图15所示，该方法可以包括以下步骤：
步骤1501、在检测到用户搜索的导航目的地在目标区域内的情况下，向用户发出是否进行车位选择的提示信息。
其中，目标区域的具体介绍可参照前文，此处不再赘述。
示例性地，自动代客泊车系统可以基于电子地图，获取目标区域的位置信息，以及用户通过手动、语音等方式输入的导航目的地的位置信息；自动代客泊车系统可以根据用户所搜索的导航目的地的位置信息，及目标区域的位置信息，检测用户搜索的导航目的地是否在目标区域内。示例性地，自动代客泊车系统可以预存有目标区域的电子地图，也可以从云端设备获取目标区域的电子地图。
示例性地，目标区域的电子地图中还可以包括目标区域内车位的信息，考虑到自车驶入目标区域之后，用户具有停车需求，因此，自动代客泊车系统在检测到用户搜索的导航目的地在目标区域内的情况下，提示用户是否进行车位选择，以便用户直接选择想到停泊的车位作为导航目的地。
示例性地，自动代客泊车系统可以通过文字、语音、颜色、图标闪烁或者震动等中的至少一种方式，提示用户是否进行车位选择。
步骤1502、响应于用户确认进行车位选择的操作，显示目标区域内车位的信息。示例性地，目标区域内车位可以包括：已收藏车位和/或推荐车位。已收藏车位包括：默认车位、专享车位或非专享车位中的至少一项；
示例性地，用户可以通过点击、语音、手势、物理按键等方式，触发进行车位选择的指令，自动代客泊车系统接收到该指令后，即可显示目标区域内车位的信息。
其中，目标区域内车位、目标区域内车位的信息、已收藏车位、推荐车位、默认车位、专享车位或非专享车位的具体介绍可参照前文，此处不再赘述。
步骤1503、响应于用户在目标区域内车位中选择目标车位的操作，显示导航路线；其中，导航路线可以包括自车位置到目标车位的路线。
该步骤的可能实现方式可参照上述图3中步骤302的相关介绍，此处不再赘述。
步骤1504、在检测到自车驶入目标区域的情况下，控制自车按照导航路线进行自动代客泊车。
该步骤中检测自车驶入目标区域的具体过程可参照前文图3中步骤301的相关介绍，控制自车按照导航路线进行自动代客泊车的具体过程可参照前文图3中步骤303的相关介绍，此处不再赘述。
示例性地，自动代客泊车系统可以获取自车的位置信息；根据自车的位置信息及目标区域的边界的位置信息，检测自车是否驶入目标区域。
示例性地，在自车驶入目标区域时，自车可以处于多种驾驶状态，例如，自车可以在人工驾驶状态按照上述导航路线驶入目标区域，还可以在自动驾驶模式下按照上 述导航路线驶入目标区域。示例性地，自动代客泊车系统在检测到自车在人工驾驶状态按照导航路线驶入目标区域的情况下，可以向用户发出是否开始自动代客泊车的提示信息，响应于用户发出的自动代客泊车指令，控制自车继续按照上述导航路线进行自动代客泊车。
示例性地，自动代客泊车系统在检测到自车以自动驾驶模式按照导航路线驶入目标区域的情况下，可以自动激活自动代客泊车功能，控制自车继续按照上述导航路线进行自动代客泊车。
本申请实施例中，在检测到用户搜索的导航目的地在目标区域内的情况下，向用户发出是否进行车位选择的提示信息；响应于用户确认进行车位选择的操作，显示目标区域内车位的信息，以便用户自主选择目标车位；在一些示例中，目标区域内车位可以包括：已收藏车位和/或推荐车位，用户可以根据目标区域内多种车位的信息，方便快捷地选择想要停泊的目标车位，满足用户需求。响应于用户在目标区域内车位中选择目标车位的操作，显示导航路线；在检测到自车驶入目标区域的情况下，无需用户重新选择目标车位，也无需重新规划路线，可以直接按照导航路线进行自动代客泊车，方便快捷，提高了用户体验，且降低了对目标区域的硬件要求，适用范围广；此外，用户无需将自车驾驶到目标区域的特定位置，用户也可以不下车，且泊车过程与自车当前的驾驶状态形成顺畅衔接，提高了用户泊车的灵活度，同时，用户可以对泊车过程进行监控，提高了用户的安全感和掌控感，提升了用户体验。
下面以通过自车的HMI实现自动代客泊车相关的交互功能为例，对本申请实施例的自动代客泊车方法的交互过程进行进一步说明。
在一种可能的实现方式中，显示目标区域内车位的信息可以包括：显示目标区域内车位的分布图，且对应于不同优先级的车位以不同的图标表示。其中，默认车位、专享车位、非专享车位对应的优先级依次降低。该实现方式的具体描述可参照前文相关表述，此处不再赘述。
在一种可能的实现方式中，显示目标区域内车位的信息，可以包括：显示目标区域内车位的列表，在列表中各车位按照对应的优先级依次排序。该实现方式的具体描述可参照前文相关表述，此处不再赘述。
举例来说，图16示出根据本申请一实施例的另一种自动代客泊车交互界面的示意图，在用户设置导航目的地时，HMI显示交互界面1900，如图16(a)所示，交互界面1900可以包括：显示区域1901、显示区域1902，其中，显示区域1901可以显示自动驾驶的图标，显示区域1902可以显示导航目的地的输入框及地址信息栏，用户可以通过该输入框输入导航目的地，自动代客泊车系统检测到用户输入的导航目的地在目标区域时，在该目标区域地址信息栏中显示“P”指示图标，以表示该目标区域可以进行自动代客泊车。响应于用户点击指示图标“P”的操作，HMI显示交互界面2000，如图16(b)所示，交互界面2000可以包括：显示区域2001、显示区域2002，其中，显示区域2001可以显示自动驾驶的图标，显示区域2002可以显示目标区域内车位的分布图；其中，默认车位P1、专享车位P2、非专享车位P3及其他车位分别用不同的图案表示；用户可以通过点击分布图中车位对应的图标，选择P1、P2、P3或其他任一车位作为导航目的地。自动代客泊车系统接收到用户在目标区域内车位中选择导航目 的地的操作之后，可以根据自车位置信息及该导航目的地的位置信息，规划导航路线，HMI显示交互界面2100，如图16(c)所示，交互界面2100可以包括：显示区域2101、显示区域2102，其中，显示区域2101可以显示自动驾驶的图标，显示区域2102可以显示目标区域内车位的分布图及信息栏，信息栏中包括当前所选车位的信息(如名称、位置等)，还包括导航功能按键、路线功能按键，用户可以通过点击路线功能按键看来导航路线，用户也可以通过点击导航功能按键，查看导航界面。
进一步地，自车可以按照上述导航路线行驶，并驶入目标区域。
图17示出根据本申请一实施例的另一种自动代客泊车交互界面的示意图，自车可以在人工驾驶状态按照上述导航路线驶入目标区域，在自动代客泊车系统检测到自车驶入目标区域时，HMI显示交互界面2200，如图17(a)所示，交互界面2200显示的内容可参照上述图8(b)中交互界面800，用户可以双击交互界面2200中功能按键“双击按钮开始自动代客泊车”，响应于用户的上述双击操作，自动代客泊车系统控制自车按照导航路线继续行驶，HMI显示交互界面2300；如图17(b)所示，交互界面2300显示的内容可参照上述图9(b)中交互界面900，用户可以通过交互界面2300查看自动代客泊车过程中的相关画面及信息。
图18示出根据本申请一实施例的另一种自动代客泊车交互界面的示意图，自车可以在自动驾驶模式下按照上述导航路线行驶，HMI显示交互界面2400，如图18(a)所示，交互界面2400可以包括：显示区域2401、显示区域2402，其中，显示区域2401显示巡航画面，显示区域2402显示导航画面及状态表，状态表中“智能导航驾驶”图标高亮，以表示当前处于自动驾驶模式下，在自动代客泊车系统检测到自车驶入目标区域时，自动激活自动代客泊车功能，HMI显示交互界面2500，如图18(b)所示，交互界面2500显示的内容可参照上述图9(b)中交互界面900，在交互界面2500中可以显示目标区域的电子地图等信息。
进一步地，自动代客泊车系统控制自车按照导航路线进行自动代客泊车，泊车过程可参照前文相关表述，此处不再赘述。
在自车泊入车位之后，或者用户选择目标车位时，可以进行收藏车位的操作。
在一种可能的实现方式中，在检测到自车泊入目标车位的情况下，判断目标车位是否为已收藏车位；若目标车位为未收藏车位，则向用户发出是否收藏所述目标车位的提示信息。该实现方式的具体描述可参照前文相关表述，此处不再赘述。
在一种可能的实现方式中，响应于用户在目标区域内车位中选择所述目标车位的操作，判断目标车位是否为已收藏车位；若目标车位为未收藏车位，则向用户发出是否收藏目标车位的提示信息。该实现方式的具体描述可参照前文相关表述，此处不再赘述。
举例来说，如上述图16(b)所示的交互界面2100中，信息栏中还可以包括收藏功能按键，在用户选择车位图中的其他车位作为导航目的地时，可以在信息拦中显示该收藏功能按键，以提示用户该车位为未收藏车位，可以进行收藏；进一步，用户可以通过点击该功能按键，进入收藏车位的编辑界面，从而编辑车位信息。
在一种可能的实现方式中，响应于用户确认收藏目标车位的操作，显示编辑页面；响应于用户编辑车位类型和/或车位名称的操作，将目标车位标注为已收藏车位；其中， 车位类型包括：默认、专享、非专享中的任意一项。该实现方式的具体描述可参照前文相关表述，此处不再赘述。
进一步地，考虑到目标车位可能被他车占用，在目标车位被占用的情况下，可以基于目标车位的类型，采用不同的处理策略。
在一种可能的实现方式中，在检测到目标车位被占用的情况下，搜索空闲车位；若搜索到空闲车位，则自动泊入空闲车位，并向用户发出空闲车位的位置信息；否则，向用户发出接管车辆的提示信息；或者，在检测到目标车位被占用的情况下，向用户发出接管车辆的提示信息。该实现方式的具体描述可参照前文相关表述，此处不再赘述。
在一种可能的实现方式中，获取目标区域内的空闲车位的信息；在检测到目标车位被占用的情况下，确定空闲车位中的最优空闲车位，并控制自车泊入最优空闲车位。该实现方式的具体描述可参照前文相关表述，此处不再赘述。
基于上述方法实施例的同一发明构思，本申请的实施例还提供了一种自动代客泊车装置，该自动代客泊车装置用于执行上述方法实施例所描述的技术方案。例如，可以执行上述图3或图15所示的各步骤。
图19示出根据本申请一实施例的一种自动代客泊车装置的结构示意图；如图19所示，所述装置可以包括：第一显示模块1911，用于在检测到自车驶入目标区域的情况下，显示所述目标区域内车位的信息；第二显示模块1912，用于显示泊车路线；所述泊车路线包括自车位置到所述目标区域内目标车位的路线；第一控制模块1913，用于控制自车按照所述泊车路线进行自动代客泊车。
在一种可能的实现方式中，所述目标区域内车位包括：已收藏车位和/或推荐车位。
在一种可能的实现方式中，所述第二显示模块1912，还用于:响应于用户在所述目标区域内车位中选择所述目标车位的操作，显示所述泊车路线。
在一种可能的实现方式中，所述第一显示模块1911，还用于：显示所述目标区域内车位的列表，在所述列表中各车位按照对应的优先级依次排序。
在一种可能的实现方式中，所述第一显示模块1911，还用于：显示所述目标区域内车位的分布图，且对应于不同优先级的车位以不同的图标表示。
在一种可能的实现方式中，所述已收藏车位包括：默认车位、专享车位或非专享车位中的至少一项；其中，所述默认车位、所述专享车位、所述非专享车位对应的优先级依次降低。
在一种可能的实现方式中，所述装置还包括：提示模块，用于在检测到自车泊入所述目标车位的情况下，判断所述目标车位是否为已收藏车位；若所述目标车位为未收藏车位，则向用户发出是否收藏所述目标车位的提示信息；或者，响应于用户在所述目标区域内车位中选择所述目标车位的操作，判断所述目标车位是否为已收藏车位；若所述目标车位为未收藏车位，则向用户发出是否收藏所述目标车位的提示信息。
在一种可能的实现方式中，所述装置还包括：收藏模块，用于响应于用户确认收藏所述目标车位的操作，显示编辑页面；响应于用户编辑车位类型和/或车位名称的操作，将所述目标车位标注为已收藏车位；其中，所述车位类型包括：默认、专享、非专享中的任意一项。
在一种可能的实现方式中，所述装置还包括：检测模块，用于获取自车的位置信息；根据所述自车的位置信息及所述目标区域的边界的位置信息，检测自车是否驶入所述目标区域。
在一种可能的实现方式中，自车在未开导航情况下驾驶；或者，自车按照导航路线驾驶，且所述导航路线对应的目的地为所述目标区域内的、所述目标区域内车位以外的地点。
在一种可能的实现方式中，所述第一控制模块1913，还用于：响应于用户发出的自动代客泊车指令，控制自车按照所述泊车路线进行自动代客泊车。
在一种可能的实现方式中，所述第一控制模块1913，还用于：在检测到所述目标车位被占用的情况下，搜索空闲车位；若搜索到空闲车位，则自动泊入所述空闲车位，并向用户发出所述空闲车位的位置信息；否则，向用户发出接管车辆的提示信息；或者，在检测到所述目标车位被占用的情况下，向用户发出接管车辆的提示信息。
在一种可能的实现方式中，所述第一控制模块1913，还用于：获取所述目标区域内的空闲车位的信息；在检测到所述目标车位被占用的情况下，确定所述空闲车位中的最优空闲车位，并控制自车泊入所述最优空闲车位。
图20示出根据本申请一实施例的另一种自动代客泊车装置的结构示意图；如图20所示，所述装置可以包括：检测模块2011，用于在检测到用户搜索的导航目的地在目标区域内的情况下，向用户发出是否进行车位选择的提示信息；第三显示模块2012，用于响应于用户确认进行车位选择的操作，显示所述目标区域内车位的信息；第四显示模块2013，用于响应于用户在所述目标区域内车位中选择目标车位的操作，显示导航路线；所述导航路线包括自车位置到所述目标车位的路线；第二控制模块2014，用于在检测到自车驶入所述目标区域的情况下，控制自车按照所述导航路线进行自动代客泊车。
在一种可能的实现方式中，所述目标区域内车位包括：已收藏车位和/或推荐车位。
在一种可能的实现方式中，所述第三显示模块2012，还用于：显示所述目标区域内车位的分布图，且对应于不同优先级的车位以不同的图标表示。
在一种可能的实现方式中，所述第三显示模块2012，还用于：显示所述目标区域内车位的列表，在所述列表中各车位按照对应的优先级依次排序。
在一种可能的实现方式中，所述已收藏车位包括：默认车位、专享车位或非专享车位中的至少一项；其中，所述默认车位、所述专享车位、所述非专享车位对应的优先级依次降低。
在一种可能的实现方式中，所述装置还包括：提示模块，用于在检测到自车泊入所述目标车位的情况下，判断所述目标车位是否为已收藏车位；若所述目标车位为未收藏车位，则向用户发出是否收藏所述目标车位的提示信息；或者，响应于用户在所述目标区域内车位中选择所述目标车位的操作，判断所述目标车位是否为已收藏车位；若所述目标车位为未收藏车位，则向用户发出是否收藏所述目标车位的提示信息。
在一种可能的实现方式中，所述装置还包括：收藏模块，用于响应于用户确认收藏所述目标车位的操作，显示编辑页面；响应于用户编辑车位类型和/或车位名称的操作，将所述目标车位标注为已收藏车位；其中，所述车位类型包括：默认、专享、非 专享中的任意一项。
在一种可能的实现方式中，所述检测模块2011，还用于：获取自车的位置信息；根据所述自车的位置信息及所述目标区域的边界的位置信息，检测自车是否驶入所述目标区域。
在一种可能的实现方式中，所述第二控制模块2014，还用于：在检测到所述目标车位被占用的情况下，搜索空闲车位；若搜索到空闲车位，则自动泊入所述空闲车位，并向用户发出所述空闲车位的位置信息；否则，向用户发出接管车辆的提示信息；或者，在检测到所述目标车位被占用的情况下，向用户发出接管车辆的提示信息。
在一种可能的实现方式中，所述第二控制模块2014，还用于：获取所述目标区域内的空闲车位的信息；在检测到所述目标车位被占用的情况下，确定所述空闲车位中的最优空闲车位，并控制自车泊入所述最优空闲车位。
上述实施例中，自动代客泊车装置及其各种可能的实现方式的技术效果及具体描述可参见上述自动代客泊车方法，此处不再赘述。
需要说明的是，应理解以上自动代客泊车装置的各个模块的划分仅仅是一种逻辑功能的划分，实际实现时可以全部或部分集成到一个物理实体上，也可以物理上分开。且这些模块可以全部以软件通过处理元件调度的形式实现；也可以全部以硬件的形式实现；还可以部分模块通过处理元件调度软件的形式实现，部分模块通过硬件的形式实现。
本申请的实施例提供了一种自动代客泊车装置，包括：处理器以及用于存储处理器可执行指令的存储器；其中，所述处理器被配置为执行所述指令时实现上述自动代客泊车方法。示例性地，还可以包括用于显示人机交互界面的显示器。
图21示出根据本申请一实施例的另一种自动代客泊车装置的结构示意图，如图21所示，该自动代客泊车装置可以包括：至少一个处理器2101，通信线路2102，存储器2103以及至少一个通信接口2104。
处理器2101可以是一个通用中央处理器(central processing unit，CPU)，微处理器，特定应用集成电路(application-specific integrated circuit，ASIC)，或一个或多个用于控制本申请方案程序执行的集成电路。
通信线路2102可包括一通路，在上述组件之间传送信息。
通信接口2104，使用任何收发器一类的装置，用于与其他设备或通信网络通信，如以太网，RAN，无线局域网(wireless local area networks，WLAN)等。
存储器2103可以是只读存储器(read-only memory，ROM)或可存储静态信息和指令的其他类型的静态存储设备，随机存取存储器(random access memory，RAM)或者可存储信息和指令的其他类型的动态存储设备，也可以是电可擦可编程只读存储器(electrically erasable programmable read-only memory，EEPROM)、只读光盘(compact disc read-only memory，CD-ROM)或其他光盘存储、光碟存储(包括压缩光碟、激光碟、光碟、数字通用光碟、蓝光光碟等)、磁盘存储介质或者其他磁存储设备、或者能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。存储器可以是独立存在，通过通信线路2102与处理器相连接。存储器也可以和处理器集成在一起。本申请实施例提供的存储器通常可以具 有非易失性。其中，存储器2103用于存储执行本申请方案的计算机执行指令，并由处理器2101来控制执行。处理器2101用于执行存储器2103中存储的计算机执行指令，从而实现本申请上述实施例中提供的方法。示例性地，可以实现上述图3或图15所示的各步骤。
可选的，本申请实施例中的计算机执行指令也可以称之为应用程序代码，本申请实施例对此不作具体限定。
示例性地，处理器2101可以包括一个或多个CPU，例如图21中的CPU0和CPU1。
示例性地，自动代客泊车装置可以包括多个处理器，例如图21中的处理器2101和处理器2107。这些处理器中的每一个可以是一个单核(single-CPU)处理器，也可以是一个多核(multi-CPU)处理器。这里的处理器可以指一个或多个设备、电路、和/或用于处理数据(例如计算机程序指令)的处理核。
在具体实现中，作为一种实施例，自动代客泊车装置还可以包括输出设备2105和输入设备2106。输出设备2105和处理器2101通信，可以以多种方式来显示信息。例如，输出设备2105可以是液晶显示器(liquid crystal display，LCD)，发光二级管(light emitting diode，LED)显示设备，阴极射线管(cathode ray tube，CRT)显示设备，或投影仪(projector)等。输入设备2106和处理器2101通信，可以以多种方式接收用户的输入。例如，输入设备2106可以是鼠标、键盘、触摸屏设备或传感设备等。
示例性地，该自动代客泊车装置可以为具有自动代客泊车功能的车辆，或者为具有自动代客泊车功能的其他部件。该自动代客泊车装置包括但不限于：车载终端、车载控制器、车载模块、车载模组、车载部件、车载芯片、车载单元、车载传感器，车辆可通过该车载终端、车载控制器、车载模块、车载模组、车载部件、车载芯片、车载单元、车载传感器，实施上述本申请实施例提供的自动代客泊车方法。
示例性地，该自动代客泊车装置还可以为除了车辆之外的其他具有自动代客泊车功能的智能终端，或设置在除了车辆之外的其他具有自动代客泊车功能的智能终端中，或设置于该智能终端的部件中。该智能终端可以为智能运输设备、智能家居设备、机器人、无人机等其他终端设备。该智能驾驶装置包括但不限于智能终端或智能终端内的控制器、芯片、传感器、以及其他部件等。
示例性地，该自动代客泊车装置可以是一个通用设备或者是一个专用设备。例如，该自动代客泊车装置还可以为台式机、便携式电脑、网络服务器、云服务器、掌上电脑(personal digital assistant，PDA)、移动手机、平板电脑、无线终端设备、嵌入式设备或其他具有处理功能的设备。
本申请实施例还提供一种自动代客泊车系统，所述自动代客泊车系统，包括至少一个本申请上述实施例提到的自动代客泊车装置。示例性地，可以包括上述图19或图20所示的自动代客泊车装置。
本申请实施例还提供一种车辆，所述车辆包括至少一个本申请上述实施例提到的自动代客泊车装置，或自动代客泊车系统。
本申请的实施例提供了一种非易失性计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现上述方法。示例性地，可以实现上述图3或图15所示的方法。
本申请的实施例提供了一种计算机程序产品，包括计算机可读代码，或者承载有计算机可读代码的非易失性计算机可读存储介质，当所述计算机可读代码在电子设备的处理器中运行时，所述电子设备中的处理器执行上述方法。示例性地，可以实现上述图3或图15所示的方法。
计算机可读存储介质可以是可以保持和存储由指令执行设备使用的指令的有形设备。计算机可读存储介质例如可以是――但不限于――电存储设备、磁存储设备、光存储设备、电磁存储设备、半导体存储设备或者上述的任意合适的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：便携式计算机盘、硬盘、随机存取存储器(Random Access Memory，RAM)、只读存储器(Read Only Memory，ROM)、可擦式可编程只读存储器(Electrically Programmable Read-Only-Memory，EPROM或闪存)、静态随机存取存储器(Static Random-Access Memory，SRAM)、便携式压缩盘只读存储器(Compact Disc Read-Only Memory，CD-ROM)、数字多功能盘(Digital Video Disc，DVD)、记忆棒、软盘、机械编码设备、例如其上存储有指令的打孔卡或凹槽内凸起结构、以及上述的任意合适的组合。
这里所描述的计算机可读程序指令或代码可以从计算机可读存储介质下载到各个计算/处理设备，或者通过网络、例如因特网、局域网、广域网和/或无线网下载到外部计算机或外部存储设备。网络可以包括铜传输电缆、光纤传输、无线传输、路由器、防火墙、交换机、网关计算机和/或边缘服务器。每个计算/处理设备中的网络适配卡或者网络接口从网络接收计算机可读程序指令，并转发该计算机可读程序指令，以供存储在各个计算/处理设备中的计算机可读存储介质中。
用于执行本申请操作的计算机程序指令可以是汇编指令、指令集架构(Instruction Set Architecture，ISA)指令、机器指令、机器相关指令、微代码、固件指令、状态设置数据、或者以一种或多种编程语言的任意组合编写的源代码或目标代码，所述编程语言包括面向对象的编程语言—诸如Smalltalk、C++等，以及常规的过程式编程语言—诸如“C”语言或类似的编程语言。计算机可读程序指令可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络—包括局域网(Local Area Network，LAN)或广域网(Wide Area Network，WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。在一些实施例中，通过利用计算机可读程序指令的状态信息来个性化定制电子电路，例如可编程逻辑电路、现场可编程门阵列(Field-Programmable Gate Array，FPGA)或可编程逻辑阵列(Programmable Logic Array，PLA)，该电子电路可以执行计算机可读程序指令，从而实现本申请的各个方面。
这里参照根据本申请实施例的方法、装置(系统)和计算机程序产品的流程图和/或框图描述了本申请的各个方面。应当理解，流程图和/或框图的每个方框以及流程图和/或框图中各方框的组合，都可以由计算机可读程序指令实现。
这些计算机可读程序指令可以提供给通用计算机、专用计算机或其它可编程数据处理装置的处理器，从而生产出一种机器，使得这些指令在通过计算机或其它可编程 数据处理装置的处理器执行时，产生了实现流程图和/或框图中的一个或多个方框中规定的功能/动作的装置。也可以把这些计算机可读程序指令存储在计算机可读存储介质中，这些指令使得计算机、可编程数据处理装置和/或其他设备以特定方式工作，从而，存储有指令的计算机可读介质则包括一个制造品，其包括实现流程图和/或框图中的一个或多个方框中规定的功能/动作的各个方面的指令。
也可以把计算机可读程序指令加载到计算机、其它可编程数据处理装置、或其它设备上，使得在计算机、其它可编程数据处理装置或其它设备上执行一系列操作步骤，以产生计算机实现的过程，从而使得在计算机、其它可编程数据处理装置、或其它设备上执行的指令实现流程图和/或框图中的一个或多个方框中规定的功能/动作。
附图中的流程图和框图显示了根据本申请的多个实施例的装置、系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或指令的一部分，所述模块、程序段或指令的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。
也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行相应的功能或动作的硬件(例如电路或ASIC(Application Specific Integrated Circuit，专用集成电路))来实现，或者可以用硬件和软件的组合，如固件等来实现。
尽管在此结合各实施例对本发明进行了描述，然而，在实施所要求保护的本发明过程中，本领域技术人员通过查看所述附图、公开内容、以及所附权利要求书，可理解并实现所述公开实施例的其它变化。在权利要求中，“包括”(comprising)一词不排除其他组成部分或步骤，“一”或“一个”不排除多个的情况。单个处理器或其它单元可以实现权利要求中列举的若干项功能。相互不同的从属权利要求中记载了某些措施，但这并不表示这些措施不能组合起来产生良好的效果。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。

Claims (28)

  1. 一种自动代客泊车方法，其特征在于，所述方法包括：
    在检测到自车驶入目标区域的情况下，显示所述目标区域内车位的信息；
    显示泊车路线；所述泊车路线包括自车位置到所述目标区域内目标车位的路线；
    控制自车按照所述泊车路线进行自动代客泊车。
  2. 根据权利要求1所述的方法，其特征在于，所述目标区域内车位包括：已收藏车位和/或推荐车位。
  3. 根据权利要求1或2所述的方法，其特征在于，所述显示泊车路线，包括:响应于用户在所述目标区域内车位中选择所述目标车位的操作，显示所述泊车路线。
  4. 根据权利要求1-3中任意一项所述的方法，其特征在于，所述显示所述目标区域内车位的信息，包括：显示所述目标区域内车位的列表，在所述列表中各车位按照对应的优先级依次排序。
  5. 根据权利要求1-4中任意一项所述的方法，其特征在于，所述显示所述目标区域内车位的信息，包括：显示所述目标区域内车位的分布图，且对应于不同优先级的车位以不同的图标表示。
  6. 根据权利要求2-5中任意一项所述的方法，其特征在于，所述已收藏车位包括：默认车位、专享车位或非专享车位中的至少一项；其中，所述默认车位、所述专享车位、所述非专享车位对应的优先级依次降低。
  7. 根据权利要求3-6中任意一项所述的方法，其特征在于，所述方法还包括：
    在检测到自车泊入所述目标车位的情况下，判断所述目标车位是否为已收藏车位；
    若所述目标车位为未收藏车位，则向用户发出是否收藏所述目标车位的提示信息；
    或者，
    响应于用户在所述目标区域内车位中选择所述目标车位的操作，判断所述目标车位是否为已收藏车位；
    若所述目标车位为未收藏车位，则向用户发出是否收藏所述目标车位的提示信息。
  8. 根据权利要求7所述的方法，其特征在于，所述方法还包括：
    响应于用户确认收藏所述目标车位的操作，显示编辑页面；
    响应于用户编辑车位类型和/或车位名称的操作，将所述目标车位标注为已收藏车位；其中，所述车位类型包括：默认、专享、非专享中的任意一项。
  9. 根据权利要求1-8中任意一项所述的方法，其特征在于，所述方法还包括：
    获取自车的位置信息；
    根据所述自车的位置信息及所述目标区域的边界的位置信息，检测自车是否驶入所述目标区域。
  10. 根据权利要求1-9中任意一项所述的方法，其特征在于，自车在未开导航情况下驾驶；或者，自车按照导航路线驾驶，且所述导航路线对应的目的地为所述目标区域内的、所述目标区域内车位以外的地点。
  11. 根据权利要求1-10中任意一项所述的方法，其特征在于，所述控制自车按照所述泊车路线进行自动代客泊车，包括：
    响应于用户发出的自动代客泊车指令，控制自车按照所述泊车路线进行自动代客 泊车。
  12. 根据权利要求1-11中任意一项所述的方法，其特征在于，所述方法还包括：
    在检测到所述目标车位被占用的情况下，搜索空闲车位；
    若搜索到空闲车位，则自动泊入所述空闲车位，并向用户发出所述空闲车位的位置信息；否则，向用户发出接管车辆的提示信息；
    或者，
    在检测到所述目标车位被占用的情况下，向用户发出接管车辆的提示信息。
  13. 根据权利要求1-12中任意一项所述的方法，其特征在于，所述方法还包括：
    获取所述目标区域内的空闲车位的信息；
    在检测到所述目标车位被占用的情况下，确定所述空闲车位中的最优空闲车位，并控制自车泊入所述最优空闲车位。
  14. 一种自动代客泊车方法，其特征在于，所述方法包括：
    在检测到用户搜索的导航目的地在目标区域内的情况下，向用户发出是否进行车位选择的提示信息；
    响应于用户确认进行车位选择的操作，显示所述目标区域内车位的信息；
    响应于用户在所述目标区域内车位中选择目标车位的操作，显示导航路线；所述导航路线包括自车位置到所述目标车位的路线；
    在检测到自车驶入所述目标区域的情况下，控制自车按照所述导航路线进行自动代客泊车。
  15. 根据权利要求14所述的方法，其特征在于，所述目标区域内车位包括：已收藏车位和/或推荐车位。
  16. 根据权利要求14或15所述的方法，其特征在于，所述显示所述目标区域内车位的信息，包括：显示所述目标区域内车位的分布图，且对应于不同优先级的车位以不同的图标表示。
  17. 根据权利要求14-16中任意一项所述的方法，其特征在于，所述显示所述目标区域内车位的信息，包括：显示所述目标区域内车位的列表，在所述列表中各车位按照对应的优先级依次排序。
  18. 根据权利要求15-17中任意一项所述的方法，其特征在于，所述已收藏车位包括：默认车位、专享车位或非专享车位中的至少一项；其中，所述默认车位、所述专享车位、所述非专享车位对应的优先级依次降低。
  19. 根据权利要求14-18中任意一项所述的方法，其特征在于，所述方法还包括：
    在检测到自车泊入所述目标车位的情况下，判断所述目标车位是否为已收藏车位；
    若所述目标车位为未收藏车位，则向用户发出是否收藏所述目标车位的提示信息；
    或者，
    响应于用户在所述目标区域内车位中选择所述目标车位的操作，判断所述目标车位是否为已收藏车位；
    若所述目标车位为未收藏车位，则向用户发出是否收藏所述目标车位的提示信息。
  20. 根据权利要求19所述的方法，其特征在于，所述方法还包括：
    响应于用户确认收藏所述目标车位的操作，显示编辑页面；
    响应于用户编辑车位类型和/或车位名称的操作，将所述目标车位标注为已收藏车位；其中，所述车位类型包括：默认、专享、非专享中的任意一项。
  21. 根据权利要求14-20中任意一项所述的方法，其特征在于，所述方法还包括：
    获取自车的位置信息；
    根据所述自车的位置信息及所述目标区域的边界的位置信息，检测自车是否驶入所述目标区域。
  22. 根据权利要求14-21中任意一项所述的方法，其特征在于，所述方法还包括：
    在检测到所述目标车位被占用的情况下，搜索空闲车位；
    若搜索到空闲车位，则自动泊入所述空闲车位，并向用户发出所述空闲车位的位置信息；否则，向用户发出接管车辆的提示信息；
    或者，
    在检测到所述目标车位被占用的情况下，向用户发出接管车辆的提示信息。
  23. 根据权利要求14-22中任意一项所述的方法，其特征在于，所述方法还包括：
    获取所述目标区域内的空闲车位的信息；
    在检测到所述目标车位被占用的情况下，确定所述空闲车位中的最优空闲车位，并控制自车泊入所述最优空闲车位。
  24. 一种自动代客泊车装置，其特征在于，所述装置包括：
    第一显示模块，用于在检测到自车驶入目标区域的情况下，显示所述目标区域内车位的信息；
    第二显示模块，用于显示泊车路线；所述泊车路线包括自车位置到所述目标区域内目标车位的路线；
    控制模块，用于控制自车按照所述泊车路线进行自动代客泊车。
  25. 一种自动代客泊车装置，其特征在于，所述装置包括：
    提示模块，用于在检测到用户搜索的导航目的地在目标区域内的情况下，向用户发出是否进行车位选择的提示信息；
    第一显示模块，用于响应于用户确认进行车位选择的操作，显示所述目标区域内车位的信息；
    第二显示模块，用于响应于用户在所述目标区域内车位中选择目标车位的操作，显示导航路线；所述导航路线包括自车位置到所述目标车位的路线；
    控制模块，用于在检测到自车驶入所述目标区域的情况下，控制自车按照所述导航路线进行自动代客泊车。
  26. 一种自动代客泊车装置，其特征在于，包括：
    处理器；
    用于显示人机交互界面的显示器；
    用于存储处理器可执行指令的存储器；
    其中，所述处理器被配置为执行所述指令时实现权利要求1-13中任意一项所述的方法，或者实现权利要求14-23中任意一项所述的方法。
  27. 一种非易失性计算机可读存储介质，其上存储有计算机程序指令，其特征在于，所述计算机程序指令被处理器执行时实现权利要求1-13中任意一项所述的方法，或者 实现权利要求14-23中任意一项所述的方法。
  28. 一种计算机程序产品，其特征在于，当所述计算机程序产品在计算机上运行时，使得所述计算机执行权利要求1-13中任意一项所述的方法，或者执行权利要求14-23中任意一项所述的方法。
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