WO2024239472A1 - 自动泊车控制方法及其装置、存储介质、电子设备 - Google Patents

自动泊车控制方法及其装置、存储介质、电子设备 Download PDF

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Publication number
WO2024239472A1
WO2024239472A1 PCT/CN2023/115338 CN2023115338W WO2024239472A1 WO 2024239472 A1 WO2024239472 A1 WO 2024239472A1 CN 2023115338 W CN2023115338 W CN 2023115338W WO 2024239472 A1 WO2024239472 A1 WO 2024239472A1
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WIPO (PCT)
Prior art keywords
vehicle
width
parking space
parking
information
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Ceased
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PCT/CN2023/115338
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English (en)
French (fr)
Inventor
吴坚
陈彦
姚昂
曲玲
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Guangzhou Automobile Group Co Ltd
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Guangzhou Automobile Group Co Ltd
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Publication of WO2024239472A1 publication Critical patent/WO2024239472A1/zh
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Classifications

    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention

Definitions

  • the present application relates to the technical field of automatic parking, and in particular to an automatic parking control method and device, storage medium, and electronic device thereof.
  • the purpose of this application is to provide an automatic parking control method and device, a computer-readable storage medium, and an electronic device to improve parking convenience.
  • an embodiment of the present application provides an automatic parking control method, comprising:
  • the vehicle will be controlled to park automatically
  • the vehicle will stop and output a prompt message, wherein the prompt message is used to prompt the user to get off the vehicle in advance.
  • determining the parking space width according to the parking space line information and the vehicle information includes:
  • the width of the parking space is the distance between the vehicles on both sides of the parking space
  • the parking space width is the distance between the parking line on the side without the vehicle and the vehicle body on the side with the vehicle;
  • the width of the parking space is a preset width value.
  • determining the left and right widths of the vehicle to be reserved according to the in-vehicle occupant information includes:
  • determining the front row left width, rear row left width, front row right width, and rear row right width to be reserved according to whether there are passengers and the type of passengers includes:
  • the width to be reserved for that side is determined according to the type of occupant. Different occupant types have different widths to be reserved for that side.
  • the width to be reserved on that side shall be the preset value.
  • the prompt information includes first prompt information and second prompt information, wherein the first prompt information is used to prompt the user that the parking space is small and the user is requested to get off the car in advance; the second prompt information is used to prompt the user that the parking space may be on the line and the user is requested to get off the car in advance;
  • the method specifically comprises:
  • the parking space is determined to be wide; otherwise, the parking space is determined to be not wide and the first prompt information is output;
  • A is the width of the parking space
  • B is the width of the vehicle
  • HL is the width that should be reserved for the left side of the vehicle
  • HR is the width that should be reserved for the right side of the vehicle
  • C1, C2, and C3 are all preset values.
  • the method further includes:
  • the occupant information in the vehicle is re-acquired, and the front row left width, front row right width, rear row left width, and rear row right width to be reserved are re-determined based on the re-acquired occupant information in the vehicle, the left width and right width of the vehicle to be reserved are re-calculated, and whether the parking space is wide is determined based on the re-calculated left width and right width of the vehicle to be reserved and the width of the parking space;
  • the vehicle is controlled to continue automatic parking according to the distance between the vehicle and the vehicle on the left and the distance between the vehicle and the vehicle on the right;
  • the vehicle stops and outputs a third prompt message, and controls the vehicle to continue automatic parking or exit automatic parking in response to a user instruction;
  • the third prompt message is used to prompt that the parking space is narrow and please get off the vehicle carefully after parking;
  • the vehicle stops and outputs a fourth prompt message, and in response to a user instruction, controls the vehicle to continue automatic parking or exit automatic parking; the fourth prompt message is used to prompt that the parking position may be on the line, please confirm parking;
  • the vehicle stops and outputs the fifth prompt information, and controls the vehicle to park in the middle of the parking space; the fifth prompt information is used to prompt that it may not be possible to get off the vehicle after parking.
  • controlling the vehicle to continue automatic parking in response to a user instruction includes:
  • the left and right widths of the vehicle to be reserved are obtained according to the type of occupants, and the distance between the vehicle and the vehicles on both sides is calculated based on the left and right widths of the vehicle to be reserved, the width of the parking space, and the width of the vehicle.
  • the vehicle is then controlled to park in the parking space based on the distance between the vehicle and the vehicles on both sides.
  • the corresponding left and right widths of the vehicle to be reserved are obtained according to the body sizes of the front row occupants, and the distance between the vehicle and the vehicles on both sides is calculated based on the reserved left and right widths of the vehicle, the width of the parking space, and the width of the vehicle, and the vehicle is controlled to park in the parking space based on the distance between the vehicle and the vehicles on both sides.
  • controlling the vehicle to continue automatic parking or exit automatic parking in response to a user instruction includes:
  • the occupant information in the vehicle is re-acquired, and the front row left width, front row right width, rear row left width, and rear row right width to be reserved are re-determined based on the re-acquired occupant information in the vehicle, and the left width and right width of the vehicle to be reserved are recalculated;
  • the distance between the vehicle and the vehicle on that side is determined based on the width of the vehicle on that side that should be reserved, and the vehicle is controlled to park in the parking space based on the distance between the vehicle and the vehicle on that side;
  • the vehicle will stop and output the sixth prompt information, and obtain the user instruction; if the user instruction obtained is to park without crossing the line, the distance between the vehicle and the vehicle on the other side is determined according to the width of the vehicle and the width of the parking space, and the vehicle is controlled to park in the parking space according to the distance between the vehicle and the vehicle on the other side; if the user instruction obtained is to confirm the parking on the line, the distance between the vehicle and the vehicle on the other side is determined according to the width of the vehicle on the side that should be reserved, and the vehicle is controlled to park in the parking space according to the distance between the vehicle and the vehicle on the other side; wherein the sixth prompt information is used to prompt that the parking position may cross the line, please confirm the parking;
  • the distance between the vehicle and the vehicle on the side is determined according to the width of the parking space and the distance between the vehicle on the side of the vehicle and the inner side of the parking space line, and the vehicle is controlled to park in the parking space according to the distance between the vehicle and the vehicle on the side.
  • the embodiment of the present application further provides an automatic parking control device, which is used to implement the automatic parking control method as described above, including:
  • An information acquisition module is used to acquire parking space line information of the parking space and vehicle information on the left and right sides of the parking space, and determine the parking space width according to the parking space line information and vehicle information;
  • a reserved space acquisition module is used to acquire the passenger information in the vehicle and determine the left and right widths of the vehicle to be reserved according to the passenger information in the vehicle;
  • a width determination module used to determine whether the parking space is wide according to the width of the parking space, vehicle information, the left and right widths of the vehicle to be reserved, and the preset width of the vehicle;
  • the first control module is used to control the vehicle to automatically park if the road is wide;
  • the second control module is used for parking the vehicle and outputting a prompt message if the space is not wide enough, wherein the prompt message is used to prompt the user to get off the vehicle in advance.
  • An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the automatic parking control method as described above is implemented.
  • An embodiment of the present application also provides an electronic device, including a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the automatic parking control method as described above when executing the computer program.
  • the embodiment of the present application determines the width of the parking space according to the parking space line information of the parking space to be parked and the vehicle information on the left and right sides of the parking space, and determines the left side width and the right side width of the vehicle to be reserved according to the occupant information in the vehicle.
  • the width of the getting-off space corresponding to different types of occupants (such as the elderly, infants, strong/obese people, thin people, normal fat and thin people, etc.) is different.
  • the parking space to be parked is wide according to the parking space width, vehicle information, the left side width, the right side width and the width of the vehicle. If it is wide, the vehicle is controlled to park automatically.
  • a prompt message is output to prompt the user to get off in advance to avoid the situation where the occupants cannot get off due to the narrow getting-off space in the parking space after the vehicle is parked in the parking space, thereby automatically identifying the user's parking needs and improving parking convenience.
  • FIG. 1 is a flow chart of an automatic parking control method in an embodiment of the present application.
  • FIG. 2 is a schematic diagram of a parking lot scene in an embodiment of the present application.
  • FIG3 is a schematic diagram of parameters such as A, E1, E2, F1, and F2 in an embodiment of the present application.
  • FIG. 4 is a flowchart of automatic parking control in a specific embodiment of the present application.
  • FIG. 5 is a specific flow chart of controlling the vehicle to continue automatic parking in a specific embodiment of the present application.
  • FIG. 6 is a schematic diagram of an automatic parking control device in an embodiment of the present application.
  • An embodiment of the present application proposes an automatic parking control method.
  • the user Before starting the process of the method of this embodiment, the user can set whether to turn on the function of giving priority to users getting off the vehicle outside the parking space.
  • the vehicle executes the method steps of this embodiment, and can identify the current occupant situation and the situation of the parking space to be parked.
  • the vehicle can automatically stop outside the parking space.
  • the method of this embodiment includes the following steps:
  • Step S1 obtaining the parking space line information and the vehicle information on the left and right sides of the parking space, and The width of the parking space is determined based on the vehicle information.
  • the vehicle information on the left and right sides of the parking space includes whether there are vehicles on the left and right sides of the parking space to be parked, and the location information of the vehicle; for example, the parking space line information and vehicle information can be obtained by installing a camera on the vehicle body to capture images of the external environment and performing image recognition on the external environment.
  • Step S2 obtaining the passenger information in the vehicle, and determining the left and right widths of the vehicle to be reserved according to the passenger information in the vehicle.
  • the vehicle occupant information includes whether there are occupants in each seat in the vehicle, and the types of occupants.
  • the types of occupants include but are not limited to the elderly, infants, strong/obese people, thin people, normal fat and thin people, etc.; in the present embodiment, different types of occupants have different requirements for the space for getting off the vehicle. For example, strong/obese people require a wider space for getting off the vehicle than normal fat and thin people and thin people. Therefore, in the present embodiment, different widths of the space for getting off the vehicle are pre-set according to different types of occupants.
  • the width of the left side and the right side of the vehicle to be reserved can be determined according to the vehicle occupant information; for example, the vehicle occupant information can be obtained by installing a camera in the vehicle to capture images inside the vehicle and performing image recognition on the images inside the vehicle.
  • Step S3 determining whether the parking space is wide according to the parking space width, vehicle information, the left and right widths to be reserved for the vehicle, and the preset width of the vehicle.
  • the step mainly calculates whether the width of the left and right sides of the vehicle after the vehicle is parked in the parking space meets the left width and the right width of the vehicle that should be reserved. If not, it is determined that the parking space is not wide. If so, it is determined that the parking space is wide.
  • Step S4 if the road is wide, the vehicle is controlled to park automatically;
  • Step S5 If the road is not wide, the vehicle stops and outputs a prompt message, wherein the prompt message is used to prompt the user to get off the vehicle in advance.
  • the prompt information can be displayed by outputting it to the vehicle computer or the user's mobile terminal (such as a mobile phone), or the vehicle computer can interact with the user through voice to give prompts and receive user instructions, or the user can manually input information through the vehicle computer or the user's mobile terminal to receive user instructions.
  • the prompt method and the method of obtaining user instructions are not limited.
  • the method of this embodiment determines the width of the parking space according to the parking space line information of the parking space to be parked and the vehicle information on the left and right sides of the parking space, and determines the left side width and the right side width of the vehicle to be reserved according to the occupant information in the vehicle.
  • the width of the getting-off space to be reserved for different types of occupants (such as the elderly, infants, strong/obese people, thin people, normal fat and thin people, etc.) is different.
  • the parking space to be parked is wide according to the parking space width, vehicle information, the left side width, the right side width and the width of the vehicle. If it is wide, the vehicle is controlled to park automatically.
  • the vehicle If it is not wide, the vehicle is parked and a prompt message is output to prompt the user to get off in advance to avoid the situation where the occupants cannot get off due to the narrow getting-off space in the parking space after the vehicle is parked in the parking space.
  • the user's parking needs are automatically identified and parking convenience is improved.
  • the step S1 of determining the parking space width according to the parking space line information and the vehicle information specifically includes:
  • the width of the parking space is the distance between the vehicles on both sides of the parking space
  • the parking space width is the distance between the parking line on the side without the vehicle and the vehicle body on the side with the vehicle;
  • the width of the parking space is a preset width value; specifically, the preset width value is, for example, 2, 3 or 4 times the width of the vehicle.
  • the step S2 determines the left and right widths of the vehicle to be reserved according to the in-vehicle occupant information, including:
  • the passenger types include, but are not limited to, one or more of the elderly, infants, obese people, thin people, and people of normal weight.
  • the determining of the front row left width, rear row left width, front row right width, and rear row right width to be reserved according to whether there are passengers and the type of passengers includes:
  • the width to be reserved for that side is determined according to the type of occupant. Different occupant types have different widths to be reserved for that side.
  • the width to be reserved on that side shall be the preset value.
  • the left width of the front row, the left width of the rear row, the right width of the front row, and the right width of the rear row that should be reserved can be determined according to the following (1) to (4);
  • the reserved width HFR of the front row on the right side is set to H1, which can be set to D, and D is a preset value; if there is an infant on the right side of the front row, the reserved width HFR of the front row on the right side is set to H2, which can be set to 0.95*D; if there is an obese person on the right side of the front row, the reserved width HFR of the front row on the right side is set to H3, which can be set to 0.9*D; if there is a normal fat or thin person on the right side of the front row, the reserved width HFR of the front row on the right side is set to H4, which can be set to 0.8*D; if there is a thin person on the right side of the front row, the reserved width HFR of the front row on the right side is set to H5, which can be set to 0.7*D; if there is no one on the right side of the front row, the reserved width HFR of the front row on
  • the reserved width HFL of the front row is set to H1, which can be set to D, where D is a preset value; if there is an infant on the left side of the front row, the reserved width HFL of the front row is set to H2, which can be set to 0.95*D; if there is an obese person on the left side of the front row, the reserved width HFL of the front row is set to H3, which can be set to 0.9*D; if there is a normal fat or thin person on the left side of the front row, the reserved width HFL of the front row is set to H4, which can be set to 0.8*D; if there is a thin person on the left side of the front row, the reserved width HFL of the front row is set to H5, which can be set to 0.7*D; if there is no one on the left side of the front row, the reserved width HFL of the front row is set to H6;
  • the reserved width HRR of the back row on the right side is set to H1, which can be set to D, and D is a preset value; if there is an infant on the right side of the back row, the reserved width HRR of the back row on the right side is set to H2, which can be set to 0.95*D; if there is an obese person on the right side of the back row, the reserved width HRR of the back row on the right side is set to H3, which can be set to 0.9*D; if there is a normal fat or thin person on the right side of the back row, the reserved width HRR of the back row on the right side is set to H4, which can be set to 0.8*D; if there is a thin person on the right side of the back row, the reserved width HRR of the back row on the right side is set to H5, which can be set to 0.7*D; if there is no one on the right side of the back row, the reserved width HRR of the back row on
  • H1 can be set to D, D is the preset value; if there is an infant on the left side of the back row, the reserved left side width HRL of the back row is set to H2, and H2 can be set to 0.95*D; if there is an obese person on the left side of the back row, the reserved left side width HRL of the back row is set to H3, and H3 can be set to 0.9*D; if there is a normal fat or thin person on the left side of the back row, the reserved left side width HRL of the back row is set to H4, and H4 can be set to 0.8*D; if there is a thin person on the left side of the back row, the reserved left side width HRL of the back row is set to H5, and H5 can be set to 0.7*D; if there is no one on the left side of the back row, the reserved left side width HRL of the back row
  • HL max(HFL,HRL)
  • HR max(HFR,HRR)
  • HL the width to be reserved on the left side of the vehicle
  • HR the width to be reserved on the right side of the vehicle.
  • the prompt information includes first prompt information and second prompt information, wherein the first prompt information is used to prompt the user that the parking space is small and the user is requested to get off the car in advance; the second prompt information is used to prompt the user that the parking space may be on the line and the user is requested to get off the car in advance;
  • the parking space is determined to be wide; otherwise, the parking space is determined to be not wide, and the first prompt information is output; it should be noted that when the situation of exceeding the parking space line when parking is not considered, the conditions E1 ⁇ F1 and E2 ⁇ F2 can be ignored, and only (A-B)>HL+HR+C1 is considered, that is, there are vehicles parked on both sides of the parking space, and (A-B)>HL+HR+C1, then the parking space is determined to be wide;
  • A is the width of the parking space
  • B is the width of the vehicle
  • HL is the width of the left side of the vehicle that should be reserved
  • HR is the width of the right side of the vehicle that should be reserved
  • C1, C2, and C3 are all preset values
  • C1 can be set to 25 cm, 30 cm, 35 cm, etc.
  • C2 can be set to 0.5*C1
  • C3 can be set to 0.5*C1
  • the parameter values of C1, C2, and C3 can be customized
  • E1 is the distance between the vehicle and the vehicle on the left
  • E2 is the distance between the vehicle and the vehicle on the right
  • F2 is the distance between the vehicle on the right side of the vehicle and the inner side of the parking space line.
  • the step S4 specifically includes:
  • the vehicle When there are no vehicles on both sides of the parking space, the vehicle is controlled to park in the middle of the parking space according to the current position of the vehicle and the position of the parking space;
  • E1 is the distance between the vehicle and the vehicle on the left
  • E2 is the distance between the vehicle and the vehicle on the right
  • F2 is the distance between the vehicle on the right of the vehicle and the inner side of the parking space line.
  • FIG. 4 is a flow chart of an automatic parking control method in a specific embodiment of the present application.
  • the flow chart shown in FIG. 4 covers the situations of each embodiment described above.
  • the method further includes:
  • Step S51 when there are vehicles parked on both sides of the parking space and a user instruction to continue automatic parking is received, the occupant information in the vehicle is re-acquired, the front row left width, front row right width, rear row left width, and rear row right width to be reserved are re-determined based on the re-acquired occupant information in the vehicle, the left width and right width of the vehicle to be reserved are re-calculated, and whether the parking space is wide is determined based on the re-calculated left width and right width of the vehicle to be reserved and the width of the parking space;
  • a first user instruction is received within a preset first time after the prompt message is output, when the first user instruction is to continue automatic parking and the door is closed, the vehicle is controlled to continue automatic parking; when the first user instruction is to exit automatic parking, the vehicle exits automatic parking and controls the vehicle to park; if the first user instruction is not received within the preset first time after the prompt message is output, and the door is closed, the vehicle is controlled to continue automatic parking; if the first user instruction is not received within a preset second time after the prompt message is output, and the door is not closed, the vehicle exits automatic parking and controls the vehicle to park; wherein, the preset second time is greater than the preset first time, the preset first time is, for example, 1 minute, and the preset second time is, for example, 2 minutes, and the preset second time and the preset first time are parameters that can be customized and adjusted.
  • Step S52 if it is determined that the parking space is wide, the vehicle is controlled to continue automatic parking according to the distance between the vehicle and the vehicle on the left and the distance between the vehicle and the vehicle on the right;
  • E2 min ⁇ HR+(A-B-HL-HR)/2, max ⁇ HR+0.5*C1,F2 ⁇
  • E1 A-B-E2, satisfying E1 ⁇ F1, E2 ⁇ F2 and (A-B)>(HL+HR+C1). It can be understood that E1 and E2 can also be calculated in other ways, which are not limited here.
  • Step S53 if it is determined that the parking space is not wide, and the difference between the width of the parking space and the width of the vehicle satisfies the first preset condition, and the distance between the vehicle and the vehicles on both sides is respectively greater than the distance between the vehicles on the corresponding sides and the inner side of the parking space line, the vehicle stops and outputs a third prompt message, and controls the vehicle to continue automatic parking or exit automatic parking in response to a user instruction; the third prompt message is used to prompt that the parking space is narrow and please get off the vehicle carefully after parking;
  • E2 (A-B-C1)*HFR/(HFL+HFR)+0.5*C1
  • E1 A-B-E2
  • E1 ⁇ F1 and E2 ⁇ F2 if a second user instruction is received after the third prompt information is output, the vehicle is controlled to continue automatic parking or exit automatic parking according to the second user instruction.
  • E1 and E2 can also be calculated in other ways, and the first preset condition can also be set according to actual conditions, which is not limited here.
  • Step S54 if it is determined that the parking space is not wide, and the difference between the width of the parking space and the width of the vehicle satisfies the first preset condition, and any of the distances between the vehicle and the vehicles on both sides is smaller than the distance between the vehicle on the corresponding side and the inner side of the parking space line, the vehicle is parked and a fourth prompt message is output, and the vehicle is controlled to continue automatic parking or exit automatic parking in response to a user instruction; the fourth prompt message is used to prompt that the parking position may be on the line, and please confirm parking;
  • E2 (AB-C1)*HFR/(HFL+HFR)+0.5*C1
  • E1 AB-E2
  • E1 ⁇ F1 or E2 ⁇ F2 if a third user instruction is received after the fourth prompt information is output, the vehicle is controlled to continue automatic parking or exit automatic parking according to the third user instruction.
  • Step S55 otherwise, the vehicle stops and outputs a fifth prompt message, and the vehicle is controlled to park in the middle of the parking space; the fifth prompt message is used to prompt that it may not be possible to get off the vehicle after parking.
  • E1 is the distance between the vehicle and the vehicle on the left
  • E2 is the distance between the vehicle and the vehicle on the right
  • F1 is the distance between the vehicle on the left of the vehicle and the inner side of the parking space line
  • F2 is the distance between the vehicle on the right of the vehicle and the inner side of the parking space line
  • HFL is the left side width of the front row to be reserved
  • HFR is the right side width of the front row to be reserved
  • A is the width of the parking space
  • B is the width of the vehicle
  • HL is the left side width of the vehicle to be reserved
  • HR is the right side width of the vehicle to be reserved
  • C1, C2, C3, and C4 are all preset values
  • the value of C4 is less than 100%, for example but not limited to 80%.
  • controlling the vehicle to continue automatic parking specifically includes:
  • the left and right widths of the vehicle to be reserved are obtained according to the type of occupants, and the distance between the vehicle and the vehicles on both sides is calculated based on the left and right widths of the vehicle to be reserved, the width of the parking space, and the width of the vehicle.
  • the vehicle is then controlled to park in the parking space based on the distance between the vehicle and the vehicles on both sides.
  • the corresponding left and right widths of the vehicle to be reserved are obtained according to the body sizes of the front row occupants, and the distance between the vehicle and the vehicles on both sides is calculated based on the reserved left and right widths of the vehicle, the width of the parking space, and the width of the vehicle, and the vehicle is controlled to park in the parking space based on the distance between the vehicle and the vehicles on both sides.
  • the car will be parked in the middle of the parking space
  • H1, H2, and H6 are all preset values.
  • the method further includes:
  • Step S56 when there is a vehicle only on the left or right side of the parking space and a user instruction to continue automatic parking is received, the occupant information in the vehicle is re-acquired, and the front row left width, front row right width, rear row left width, and rear row right width to be reserved are re-determined based on the re-acquired occupant information in the vehicle, and the left width and right width of the vehicle to be reserved are recalculated;
  • a first user instruction is received within a preset first time after the prompt message is output, when the first user instruction is to continue automatic parking and the door is closed, the vehicle is controlled to continue automatic parking; when the first user instruction is to exit automatic parking, the vehicle exits automatic parking and controls the vehicle to park; if the first user instruction is not received within the preset first time after the prompt message is output, and the door is closed, the vehicle is controlled to continue automatic parking; if the first user instruction is not received within a preset second time after the prompt message is output, and the door is not closed, the vehicle exits automatic parking and controls the vehicle to park; wherein, the preset second time is greater than the preset first time, the preset first time is, for example, 1 minute, and the preset second time is, for example, 2 minutes, and the preset second time and the preset first time are parameters that can be customized and adjusted.
  • Step S57 if there is a person on either side of the front row or the back row, determine the distance between the vehicle and the vehicle on that side according to the width of the vehicle on that side that should be reserved, and control the vehicle to park in the parking space according to the distance between the vehicle and the vehicle on that side;
  • Step S58 if there is someone on either side of the front row or the rear row and the distance between the vehicle on the other side is less than zero, the vehicle stops and outputs the sixth prompt information, and obtains a user instruction; if the user instruction obtained is to park without crossing the line, the distance between the vehicle and the vehicle on the other side is determined according to the width of the vehicle and the width of the parking space, and the vehicle is controlled to park in the parking space according to the distance between the vehicle and the vehicle on the other side; if the user instruction obtained is to confirm parking on the line, the distance between the vehicle and the vehicle on the other side is determined according to the width of the vehicle on the side that should be reserved, and the vehicle is controlled to park in the parking space according to the distance between the vehicle and the vehicle on the other side; wherein the sixth prompt information is used to prompt that the parking position may cross the line, please confirm parking;
  • Step S59 otherwise, determine the distance between the vehicle and the vehicle on the side according to the width of the parking space and the distance between the vehicle on the side of the vehicle and the inner side of the parking space line, and control the vehicle to park in the parking space according to the distance between the vehicle and the vehicle on the side.
  • E1 is the distance between the vehicle and the vehicle on the left
  • E2 is the distance between the vehicle and the vehicle on the right
  • F1 is the distance between the vehicle on the left and the inner side of the parking space line
  • F2 is the distance between the vehicle on the right and the inner side of the parking space line
  • A is the parking space width
  • B is the vehicle width
  • HL is the width to be reserved for the left side of the vehicle
  • HR is the width to be reserved for the right side of the vehicle
  • C1, C2, C3, and H6 are all preset values.
  • FIG5 is a specific flow chart of controlling the vehicle to continue automatic parking in a specific embodiment of the present application.
  • the program can better understand the content of this application for controlling the vehicle to continue automatic parking.
  • Another embodiment of the present application further provides an automatic parking control device, which is used to implement the automatic parking control method described in the above embodiment, including:
  • An information acquisition module is used to acquire parking space line information of the parking space and vehicle information on the left and right sides of the parking space, and determine the parking space width according to the parking space line information and vehicle information;
  • a reserved space acquisition module is used to acquire the passenger information in the vehicle and determine the left and right widths of the vehicle to be reserved according to the passenger information in the vehicle;
  • a width determination module used to determine whether the parking space is wide according to the width of the parking space, vehicle information, the left and right widths of the vehicle to be reserved, and the preset width of the vehicle;
  • the first control module is used to control the vehicle to automatically park if the road is wide;
  • the second control module is used for parking the vehicle and outputting a prompt message if the space is not wide enough, wherein the prompt message is used to prompt the user to get off the vehicle in advance.
  • the apparatus of the above-described embodiment is merely illustrative, wherein the modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place, or may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of the apparatus of the embodiment.
  • the device of the above embodiment corresponds to the method of the above embodiment. Therefore, the part of the device of the above embodiment that is not described in detail can be obtained by referring to the content of the method of the above embodiment, that is, the specific steps recorded in the method of the above embodiment can be understood as the functions that can be achieved by the device of the above embodiment, and will not be repeated here.
  • the device of the above-mentioned embodiment is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Therefore, as another embodiment, the present application also proposes a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the automatic parking control method described in the above-mentioned embodiment are implemented.
  • Another embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the automatic parking control method as described in the above embodiment is implemented.
  • the computer-readable storage medium may include: any entity or recording medium that can carry the computer program instructions, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc.
  • An embodiment of the present application also provides an electronic device, including a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the automatic parking control method described in the above embodiment when executing the computer program.
  • the electronic device may further include a bus connecting different components (including memory and processor).
  • the memory may include a computer-readable medium in the form of a volatile memory, such as a random access memory (RAM) and/or a cache memory.
  • the memory may also include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the various embodiments of the present application.
  • the electronic device may also be connected to one or more external devices (e.g., a keyboard, The electronic device may communicate with any device (such as a pointing device, a display, etc.), one or more devices that enable a user to interact with the electronic device, and/or any device (such as a network card) that enables the electronic device to communicate with one or more other computing devices.
  • Such communication may be performed through an input/output (I/O) interface, and the electronic device may also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN) and/or a public network, such as the Internet) through a network adapter.
  • networks such as a local area network (LAN), a wide area network (WAN) and/or a public network, such as the Internet

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Abstract

一种自动泊车控制方法包括：获取车位的车位线信息以及车位左右两侧的车辆信息，根据车位线信息和车辆信息确定车位宽度（S1）；获取车内乘员信息，根据车内乘员信息确定应预留的本车左侧宽度、本车右侧宽度（S2）；根据车位宽度、车辆信息、本车左侧宽度、本车右侧宽度以及预设的本车宽度确定车位是否宽阔（S3）；若宽阔，则控制本车进行自动泊车（S4）；若不宽阔，则停车并输出提示信息，提示信息用于提示用户提前下车（S5）。该方法避免本车泊入车位后，因车位下车空间狭窄导致乘员无法下车，从而自动识别用户泊车需求以及提高泊车便利性。还公开了一种自动泊车控制装置、计算机可读存储介质和电子设备。

Description

自动泊车控制方法及其装置、存储介质、电子设备
本申请要求于2023年05月23日提交中国专利局，申请号为202310586940.2，发明名称为“自动泊车控制方法及其装置、存储介质、电子设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及自动泊车技术领域，具体涉及自动泊车控制方法及其装置、存储介质、电子设备。
背景技术
当前自动泊车在窄车位泊车时，往往需要驾驶员主动判断识别窄车位后，驾驶员下车然后再打开遥控泊车功能进行泊车，要求驾驶员对车位间距能有相对准确的判断，判断难度较大且相对繁琐。
发明内容
本申请的目的在于提出一种自动泊车控制方法及其装置、计算机可读存储介质、电子设备，以提高泊车便利性。
为实现上述目的，本申请实施例提供一种自动泊车控制方法，包括：
获取车位的车位线信息以及车位左右两侧的车辆信息，根据所述车位线信息和车辆信息确定车位宽度；
获取车内乘员信息，根据所述车内乘员信息确定应预留的本车左侧和右侧宽度；
根据所述车位宽度、车辆信息、应预留的本车左侧和右侧宽度以及预设的本车宽度确定所述车位是否宽阔；
若宽阔，则控制本车进行自动泊车；
若不宽阔，则停车并输出提示信息，所述提示信息用于提示用户提前下车。
在一些具体例子中，所述根据所述车位线信息和车辆信息确定车位宽度，包括：
若所述车位两侧均有车辆，则车位宽度为车位两侧车辆间的距离；
若所述车位存在车位线信息，且所述车位其中一侧有车辆，则车位宽度为无车辆一侧的车位线与有车辆一侧的车身之间的距离；
若所述车位两侧均无车辆，则车位宽度为预设的宽度值。
在一些具体例子中，所述根据所述车内乘员信息确定应预留的本车左侧和右侧宽度，包括：
根据所述车内乘员信息确定前排左侧、后排左侧、前排右侧、后排右侧是否有乘员以及乘员类型，根据是否有乘员以及乘员类型确定应预留的前排左侧宽度、后排左侧宽度、前排右侧 宽度、后排右侧宽度，选择所述前排左侧宽度和后排左侧宽度中较大的一个作为应预留的本车左侧宽度，并选择所述前排右侧宽度和后排右侧宽度中较大的一个作为应预留的本车右侧宽度。
在一些具体例子中，所述根据是否有乘员以及乘员类型确定应预留的前排左侧宽度、后排左侧宽度、前排右侧宽度、后排右侧宽度，包括：
若前排左侧、后排左侧、前排右侧、后排右侧中的任一侧有乘员，则根据乘员类型确定该任一侧对应的应预留的宽度，不同乘员类型对应的该任一侧应预留的宽度不同；
若前排左侧、后排左侧、前排右侧、后排右侧中的任一侧无乘员，则该任一侧应预留的宽度为预设值。
在一些具体例子中，所述提示信息包括第一提示信息和第二提示信息，所述第一提示信息用于提示用户车位狭小，请用户提前下车；所述第二提示信息用于提示用户停车位置可能压线，请用户提前下车；
所述方法，具体包括：
若车位两侧均停有车辆，且(A-B)＞HL+HR+C1，则确定车位宽阔，否则确定车位不宽阔，并输出第一提示信息；
若仅车位左侧有车辆，且(A-B)＞HL+C2，则确定车位宽阔，否则确定车位不宽阔，并输出第二提示信息；
若仅车位右侧有车辆，且(A-B)＞HR+C3，则确定车位宽阔，否则确定车位不宽阔，并输出第二提示信息；
若车位两侧均没有车辆，确定所述车位宽阔；
其中，A为车位宽度，B为本车宽度，HL为应预留的本车左侧宽度，HR为应预留的本车右侧宽度，C1、C2、C3均为预设的值。
在一些具体例子中，所述输出提示信息后，还包括：
当车位两侧均停有车辆且接收继续自动泊车的用户指令时，重新获取车内乘员信息，根据重新获取的车内乘员信息重新确定应预留的前排左侧宽度、前排右侧宽度、后排左侧宽度、后排右侧宽度，重新计算应预留的本车左侧宽度和本车右侧宽度，并根据重新计算的应预留的本车左侧宽度和本车右侧宽度以及所述车位宽度确定所述车位是否宽阔；
若确定车位宽阔，则根据本车与左侧车辆的间距和本车与右侧车辆的间距控制本车继续自动泊车；
若确定车位不宽阔，且车位宽度和本车宽度之差满足第一预设条件，本车与两侧车辆的间距分别大于对应侧车辆与车位线内侧间距，则停车并输出第三提示信息，并响应于用户指令控制本车继续自动泊车或退出自动泊车；所述第三提示信息用于提示停车位置狭窄，停车完成后请小心下车；
若确定车位不宽阔，且车位宽度和本车宽度之差满足第一预设条件，本车与两侧车辆的间距中的任一个小于对应侧车辆与车位线内侧间距，则停车并输出第四提示信息，并响应于用户指令控制本车继续自动泊车或退出自动泊车；所述第四提示信息用于提示停车位置可能压线，请确认停车；
否则，则停车并输出第五提示信息，并控制本车泊车至车位中间位置；所述第五提示信息用于提示停车后可能无法下车。
在一些具体例子中，响应于用户指令控制本车继续自动泊车，包括：
若前排左侧或前排右侧有老人或婴幼儿，则根据乘员类型获取对应的应预留的本车左侧宽度和本车右侧宽度，并根据应预留的本车左侧宽度、本车右侧宽度、车位宽度、本车宽度计算本车与两侧车辆的间距，并根据本车与两侧车辆的间距控制本车泊车至车位；
若前排左侧和前排右侧均有人但非老人或者婴幼儿，则根据前排乘员体型获取对应的应预留的本车左侧宽度和本车右侧宽度，并根据应预留的本车左侧宽度、本车右侧宽度、车位宽度、本车宽度计算本车与两侧车辆的间距，并根据本车与两侧车辆的间距控制本车泊车至车位。
在一些具体例子中，响应于用户指令控制本车继续自动泊车或退出自动泊车，包括：
当仅车位左侧或右侧有车辆且接收到继续自动泊车的用户指令时，重新获取车内乘员信息，根据重新获取的车内乘员信息重新确定应预留的前排左侧宽度、前排右侧宽度、后排左侧宽度、后排右侧宽度，并重新计算应预留的本车左侧宽度和本车右侧宽度；
若前排或后排任一侧有人，则根据应预留的本车该侧宽度确定本车与该侧车辆的间距，并根据该本车与该侧车辆的间距控制本车泊车至车位；
若前排或后排任一侧有人且为本车与另一侧车辆的间距小于零，则停车并输出第六提示信息，并获取用户指令；若获取的该用户指令为不压线停车，则根据本车宽度、车位宽度确定本车与该侧车辆的间距，并根据该本车与该侧车辆的间距控制本车泊车至车位；若获取的该用户指令为确认压线停车，则根据应预留的本车该侧宽度确定本车与该侧车辆的间距，并根据该本车与该侧车辆的间距控制本车泊车至车位；其中，所述第六提示信息用于提示停车位置可能压线，请确认停车；
否则，根据车位宽度和本车该侧车辆与车位线内侧间距确定本车与该侧车辆的间距，并根据该本车与该侧车辆的间距控制本车泊车至车位。
本申请实施例还提供一种自动泊车控制装置，用于实现如上所述的自动泊车控制方法，包括：
信息获取模块，用于获取车位的车位线信息以及车位左右两侧的车辆信息，根据所述车位线信息和车辆信息确定车位宽度；
预留空间获取模块，用于获取车内乘员信息，根据所述车内乘员信息确定应预留的本车左侧和右侧宽度；
宽窄确定模块，用于根据所述车位宽度、车辆信息、应预留的本车左侧和右侧宽度以及预设的本车宽度确定所述车位是否宽阔；
第一控制模块，用于若宽阔，则控制本车进行自动泊车；
第二控制模块，用于若不宽阔，则停车并输出提示信息，所述提示信息用于提示用户提前下车。
本申请实施例还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时，实现如上所述的自动泊车控制方法。
本申请实施例还提供一种电子设备，包括处理器、存储器以及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如上所述的自动泊车控制方法。
本申请实施例至少具有以下有益效果：
本申请实施例通过根据要泊入的车位的车位线信息以及车位左右两侧的车辆信息确定车位宽度，并根据车内乘员信息确定应预留的本车左侧宽度、本车右侧宽度，不同类型乘员(例如老人、婴幼儿、壮硕/肥胖人员、偏瘦人员、正常胖瘦人员等)所对应应预留的下车空间的宽度不同，在将本车泊入车位之前，根据所述车位宽度、车辆信息、本车左侧宽度、本车右侧宽度以及本车宽度确定要泊入的车位是否宽阔，若宽阔，则控制本车进行自动泊车，若不宽阔，则停车，并输出提示信息提示用户提前下车，避免本车泊入车位后，因车位下车空间狭窄导致乘员无法下车，从而自动识别用户泊车需求以及提高泊车便利性。
本申请实施例的其它特征和优点将在随后的说明书中阐述。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例中一种自动泊车控制方法的流程图。
图2为本申请实施例中停车场车位场景示意图。
图3为本申请实施例中A、E1、E2、F1、F2等参数的示意图。
图4本申请的一个具体实施例中自动泊车控制流程图。
图5为本申请的一个具体实施例中控制本车继续自动泊车的具体流程图
图6为本申请实施例中一种自动泊车控制装置的示意图。
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。另外，为了更好的说明本申请，在下文的具体实施例中给出了众多的具体细节。本领域技术人员应当理解，没有某些具体细节，本申请同样可以实施。在一些实例中，对于本领域技术人员熟知的手段未作详细描述，以便于凸显本申请的主旨。
本申请的一个实施例提出一种自动泊车控制方法，在开始本实施例方法的流程之前，用户可以设置是否开启车位外用户优先下车功能，当开启车位外用户优先下车功能后，车辆执行本实施例的方法步骤，能够识别当前乘员情况以及要泊入的车位的情况，自动泊车时如识别到对于老人、婴幼儿以及壮硕/肥胖人员无法在目标停车位便利下车时，能够自动在车位外停下车辆。
参阅图1，本实施例方法包括以下步骤：
步骤S1，获取车位的车位线信息以及车位左右两侧的车辆信息，根据所述车位线信息和车 辆信息确定车位宽度。
具体而言，所述车位左右两侧的车辆信息包括要泊入的车位的左右两侧是否存在车辆，以及车辆的位置信息；举例而言，可以通过在本车车身安装摄像头采集车外环境图像，并对车外环境进行图像识别来得到所述车位线信息和车辆信息。
步骤S2，获取车内乘员信息，根据所述车内乘员信息确定应预留的本车左侧和右侧宽度。
具体而言，所述车内乘员信息包括车内各个座位是否有乘员乘坐，以及乘坐的乘员的类型，乘员的类型包括但不限于是老人、婴幼儿、壮硕/肥胖人员、偏瘦人员、正常胖瘦人员等；在本实施例中，不同类型的乘员对于下车空间有不同的要求，例如，壮硕/肥胖人员相对于正常胖瘦人员、偏瘦人员而言，需要更宽阔的下车空间，因此，本实施例中根据不同类型的乘员预先设定了不同的应预留的下车空间宽度，基于此可以根据所述车内乘员信息确定应预留的本车左侧宽度、本车右侧宽度；举例而言，可以通过在本车车内安装摄像头采集车内图像，并对车内图像进行图像识别来得到所述车内乘员信息。
步骤S3，根据所述车位宽度、车辆信息、应预留的本车左侧和右侧宽度以及预设的本车宽度确定所述车位是否宽阔。
具体而言，步骤中主要通过计算本车泊入车位后，本车左右两侧的宽度是否满足应预留的本车左侧宽度、本车右侧宽度，如果不满足，则确定车位不宽阔，如果满足，则确定车位宽阔。
步骤S4，若宽阔，则控制本车进行自动泊车；
步骤S5，若不宽阔，则停车并输出提示信息，所述提示信息用于提示用户提前下车。
具体而言，步骤中可以通过将所述提示信息输出至车机或用户移动终端(例如手机)进行展示，也可以通过车机与用户进行语音交互的方式进行提示和接收用户指令，也可以通过车机或用户移动终端，用户手动输入信息的方式接收用户指令，本实施例中不对提示方式以及用户指令获取方式进行限定。
本实施例的方法通过根据要泊入的车位的车位线信息以及车位左右两侧的车辆信息确定车位宽度，并根据车内乘员信息确定应预留的本车左侧宽度、本车右侧宽度，不同类型乘员(例如老人、婴幼儿、壮硕/肥胖人员、偏瘦人员、正常胖瘦人员等)所对应的应预留的下车空间的宽度不同，在将本车泊入车位之前，根据所述车位宽度、车辆信息、本车左侧宽度、本车右侧宽度以及本车宽度确定要泊入的车位是否宽阔，若宽阔，则控制本车进行自动泊车，若不宽阔，则停车，并输出提示信息提示用户提前下车，避免本车泊入车位后，因车位下车空间狭窄导致乘员无法下车，从而自动识别用户泊车需求以及提高泊车便利性。
在一些实施例中，参阅图2～3，所述步骤S1中根据所述车位线信息和车辆信息确定车位宽度，具体包括：
若所述车位两侧均有车辆，则车位宽度为车位两侧车辆间的距离；
若所述车位存在车位线信息，且所述车位其中一侧有车辆，则车位宽度为无车辆一侧的车位线与有车辆一侧的车身之间的距离；
若所述车位两侧均无车辆，则车位宽度为预设的宽度值；具体而言，所述预设的宽度值例如是本车车宽的2、3或4倍。
在一些实施例中，所述步骤S2中根据所述车内乘员信息确定应预留的本车左侧和右侧宽度，包括：
根据所述车内乘员信息确定前排左侧(驾驶员座位)、后排左侧、前排右侧(副驾驶座位)、后排右侧是否有乘员以及乘员类型，根据是否有乘员以及乘员类型确定应预留的前排左侧宽度、后排左侧宽度、前排右侧宽度、后排右侧宽度，选择所述前排左侧宽度和后排左侧宽度中较大的一个作为应预留的本车左侧宽度，并选择所述前排右侧宽度和后排右侧宽度中较大的一个作为应预留的本车右侧宽度。
具体而言，所述乘员类型包括但不限于老人、婴儿、肥胖人员、偏瘦人员、正常胖瘦人员中的一种或多种。
在一些实施例中，所述根据是否有乘员以及乘员类型确定应预留的前排左侧宽度、后排左侧宽度、前排右侧宽度、后排右侧宽度，包括：
若前排左侧、后排左侧、前排右侧、后排右侧中的任一侧有乘员，则根据乘员类型确定该任一侧对应的应预留的宽度，不同乘员类型对应的该任一侧应预留的宽度不同；
若前排左侧、后排左侧、前排右侧、后排右侧中的任一侧无乘员，则该任一侧应预留的宽度为预设值。
具体而言，可以根据以下(1)～(4)确定应预留的前排左侧宽度、后排左侧宽度、前排右侧宽度、后排右侧宽度；
(1)若前排右侧有老人，则设置应预留的前排右侧宽度HFR为H1，H1可以设置为D，D为预设值；若前排右侧有婴幼儿，则设置应预留的前排右侧宽度HFR为H2，H2可以设置为0.95*D；若前排右侧有肥胖人员，则设置应预留的前排右侧宽度HFR为H3，H3可以设置为0.9*D；若前排右侧有正常胖瘦人员，则设置应预留的前排右侧宽度HFR为H4，H4可以设置为0.8*D；若前排右侧有偏瘦人员，则设置应预留的前排右侧宽度HFR为H5，H5可以设置为0.7*D；若前排右侧无人，则设置应预留的前排右侧宽度HFR为H6；
(2)若前排左侧有老人，则设置应预留的前排左侧宽度HFL为H1，H1可以设置为D，D为预设值；若前排左侧有婴幼儿，则设置应预留的前排左侧宽度HFL为H2，H2可以设置为0.95*D；若前排左侧有肥胖人员，则设置应预留的前排左侧宽度HFL为H3，H3可以设置为0.9*D；若前排左侧有正常胖瘦人员，则设置应预留的前排左侧宽度HFL为H4，H4可以设置为0.8*D；若前排左侧有偏瘦人员，则设置应预留的前排左侧宽度HFL为H5，H5可以设置为0.7*D；若前排左侧无人，则设置应预留的前排左侧宽度HFL为H6；
(3)若后排右侧有老人，则设置应预留的后排右侧宽度HRR为H1，H1可以设置为D，D为预设值；若后排右侧有婴幼儿，则设置应预留的后排右侧宽度HRR为H2，H2可以设置为0.95*D；若后排右侧有肥胖人员，则设置应预留的后排右侧宽度HRR为H3，H3可以设置为0.9*D；若后排右侧有正常胖瘦人员，则设置应预留的后排右侧宽度HRR为H4，H4可以设置为0.8*D；若后排右侧有偏瘦人员，则设置应预留的后排右侧宽度HRR为H5，H5可以设置为0.7*D；若后排右侧无人，则设置应预留的后排右侧宽度HRR为H6；
(4)若后排左侧有老人，则设置应预留的后排左侧宽度HRL为H1，H1可以设置为D，D 为预设值；若后排左侧有婴幼儿，则设置应预留的后排左侧宽度HRL为H2，H2可以设置为0.95*D；若后排左侧有肥胖人员，则设置应预留的后排左侧宽度HRL为H3，H3可以设置为0.9*D；若后排左侧有正常胖瘦人员，则设置应预留的后排左侧宽度HRL为H4，H4可以设置为0.8*D；若后排左侧有偏瘦人员，则设置应预留的后排左侧宽度HRL为H5，H5可以设置为0.7*D；若后排左侧无人，则设置应预留的后排左侧宽度HRL为H6；需说明的是，以上H1～H6的参数值均是可以自定义调整的，其中，H1～H5具体根据人的身形参数进行适当的设置，H6可以但不限于是0。
进一步地，由于停车后，车辆左侧或右侧的前后空间理应是相同的，因此，本实施例中，令HL＝max(HFL,HRL)，HR＝max(HFR,HRR)，HL为应预留的本车左侧宽度，HR为应预留的本车右侧宽度。
在一些实施例中，所述提示信息包括第一提示信息和第二提示信息，所述第一提示信息用于提示用户车位狭小，请用户提前下车；所述第二提示信息用于提示用户停车位置可能压线，请用户提前下车；
本实施例方法，具体包括：
若车位两侧均停有车辆，且(A-B)＞HL+HR+C1、E1≥F1、E2≥F2，则确定车位宽阔，否则确定车位不宽阔，并输出第一提示信息；需说明的是，当不考虑停车时超出车位线情况，则条件E1≥F1、E2≥F2可以不考虑，仅考虑(A-B)＞HL+HR+C1，即车位两侧均停有车辆，且(A-B)＞HL+HR+C1，则确定车位宽阔；
若仅车位左侧有车辆，且(A-B)＞HL+C2，则确定车位宽阔，否则确定车位不宽阔，并输出第二提示信息；
若仅车位右侧有车辆，且(A-B)＞HR+C3，则确定车位宽阔，否则确定车位不宽阔，并输出第二提示信息；
若车位两侧均没有车辆，确定所述车位宽阔；此时，无需进行提示；
其中，A为车位宽度，B为本车宽度，HL为应预留的本车左侧宽度，HR为应预留的本车右侧宽度，C1、C2、C3均为预设的值，C1例如可以设置为25厘米、30厘米、35厘米等，C2可以设置为0.5*C1，C3可以设置为0.5*C1，C1、C2、C3的参数值均是可以自定义调整的；其中，E1为本车与左侧车辆的间距，E2为本车与右侧车辆的间距，F2为本车右侧车辆与车位线内侧间距。
在一些实施例中，所述步骤S4，具体包括：
当车位两侧均停有车辆时，根据E2＝min{HR+(A-B-HL-HR)/2，max{HR+0.5*C1,F2}}以及E1＝A-B-E2计算本车与左侧车辆的间距和本车与右侧车辆的间距，并根据所述本车与左侧车辆的间距、本车与右侧车辆的间距、本车当前位置以及车位位置，控制本车进行自动泊车；
当仅车位左侧有车辆时，根据E1＝HL+C2计算本车与左侧车辆的间距，并根据本车与左侧车辆的间距、本车当前位置以及车位位置，控制本车进行自动泊车；
当仅车位右侧有车辆时，根据E2＝HR+C3计算本车与右侧车辆的间距，并根据计算的本车与右侧车辆的间距以及本车当前位置以及车位位置，控制本车进行自动泊车；
当车位两侧均没有车辆时，则根据本车当前位置以及车位位置，控制本车泊车至车位中间位置；
其中，E1为本车与左侧车辆的间距，E2为本车与右侧车辆的间距，F2为本车右侧车辆与车位线内侧间距。
图4为本申请的一个具体实施例中自动泊车控制方法的流程图，图4所示流程涵盖了以上描述的各实施例的情况。
在一些实施例中，所述步骤S5中输出提示信息后，还包括：
步骤S51，当车位两侧均停有车辆且接收继续自动泊车的用户指令时，重新获取车内乘员信息，根据重新获取的车内乘员信息重新确定应预留的前排左侧宽度、前排右侧宽度、后排左侧宽度、后排右侧宽度，重新计算应预留的本车左侧宽度和本车右侧宽度，并根据重新计算的应预留的本车左侧宽度和本车右侧宽度以及所述车位宽度确定所述车位是否宽阔；
具体而言，若在输出所述提示信息后的预设第一时间内接收到第一用户指令，当所述第一用户指令为继续自动泊车且车门关闭时，控制本车继续自动泊车，当所述第一用户指令为退出自动泊车时，退出自动泊车并控制本车驻车；若在输出所述提示信息后的预设第一时间内没有接收到所述第一用户指令，且车门关闭，则控制本车继续自动泊车；若在输出所述提示信息后的预设第二时间内没有接收到所述第一用户指令，且车门未关闭，则退出自动泊车并控制本车驻车；其中，预设第二时间＞预设第一时间，所述预设第一时间例如是1分钟，所述预设第二时间例如是2分钟，所述预设第二时间和预设第一时间均为可以自定义调整的参数。
步骤S52，若确定车位宽阔，则根据本车与左侧车辆的间距和本车与右侧车辆的间距控制本车继续自动泊车；
具体而言，此时，E2＝min{HR+(A-B-HL-HR)/2，max{HR+0.5*C1,F2}}，E1＝A-B-E2，满足E1≥F1、E2≥F2且(A-B)＞(HL+HR+C1)。可以理解的是，E1和E2也可以采用其他方式计算，在此不作限定。
步骤S53，若确定车位不宽阔，且车位宽度和本车宽度之差满足第一预设条件，本车与两侧车辆的间距分别大于对应侧车辆与车位线内侧间距，则停车并输出第三提示信息，并响应于用户指令控制本车继续自动泊车或退出自动泊车；所述第三提示信息用于提示停车位置狭窄，停车完成后请小心下车；
具体而言，此时，E2＝(A-B-C1)*HFR/(HFL+HFR)+0.5*C1，E1＝A-B-E2，满足(A-B)＞(HFL+HFR+C1)*C4、E1≥F1且E2≥F2，输出第三提示信息后若接收到第二用户指令，则根据所述第二用户指令控制本车继续自动泊车或退出自动泊车。可以理解的是，E1和E2也可以采用其他方式计算，第一预设条件也可以根据实际情况设定，在此不作限定。
步骤S54，若确定车位不宽阔，且车位宽度和本车宽度之差满足第一预设条件，本车与两侧车辆的间距中的任一个小于对应侧车辆与车位线内侧间距，则停车并输出第四提示信息，并响应于用户指令控制本车继续自动泊车或退出自动泊车；所述第四提示信息用于提示停车位置可能压线，请确认停车；
具体而言，此时，E2＝(A-B-C1)*HFR/(HFL+HFR)+0.5*C1，E1＝A-B-E2，满足 (A-B)＞(HFL+HFR+C1)*C4，且E1＜F1或E2＜F2，输出第四提示信息后若接收到第三用户指令，则根据所述第三用户指令控制本车继续自动泊车或退出自动泊车。
步骤S55，否则，则停车并输出第五提示信息，并控制本车泊车至车位中间位置；所述第五提示信息用于提示停车后可能无法下车。
其中，E1为本车与左侧车辆的间距，E2为本车与右侧车辆的间距，F1为本车左侧车辆与车位线内侧间距，F2为本车右侧车辆与车位线内侧间距，HFL为应预留的前排左侧宽度，HFR为应预留的前排右侧宽度，A为车位宽度，B为本车宽度，HL为应预留的本车左侧宽度，HR为应预留的本车右侧宽度，C1、C2、C3、C4均为预设的值，C4的值小于100％，例如但不限于是80％。
在一些实施例中，所述步骤S53和步骤S54中响应于用户指令控制本车继续自动泊车，具体包括：
若前排左侧或前排右侧有老人或婴幼儿，则根据乘员类型获取对应的应预留的本车左侧宽度和本车右侧宽度，并根据应预留的本车左侧宽度、本车右侧宽度、车位宽度、本车宽度计算本车与两侧车辆的间距，并根据本车与两侧车辆的间距控制本车泊车至车位；
若前排左侧和前排右侧均有人但非老人或者婴幼儿，则根据前排乘员体型获取对应的应预留的本车左侧宽度和本车右侧宽度，并根据应预留的本车左侧宽度、本车右侧宽度、车位宽度、本车宽度计算本车与两侧车辆的间距，并根据本车与两侧车辆的间距控制本车泊车至车位。
具体而言，若HFL≥H1且HFR≥H2，则令E2＝(A-B-C1)*HFR/(HFL+HFR)+0.5*C1，E1＝A-B-E2，并根据该E1和该E2控制本车泊车至车位；
若HFL≥H1且HFR＜H2，则令E2＝min{(A-B-C1)*HFR/(HFL+HFR)+0.5*C1，max{C4*HFR+0.5*C1,F2}}，E1＝A-B-E2，并根据该E1和该E2控制本车泊车至车位；
若HFL＜H1且HFR≥H2，则令E1＝min{(A-B-C1)*HFL/(HFL+HFR)+0.5*C1，max{C4*HFL+0.5*C1,F2}}，E2＝A-B-E1，并根据该E1和该E2控制本车泊车至车位；
若HFL＞H6、HFR＞H6且HFL＜H1且HFR＜H2，则令E2＝(A-B-C1)*HFR/(HFL+HFR)+0.5*C1，E1＝A-B-E2，并根据该E1和该E2控制本车泊车至车位；
若HFL＝H6、HFR＞H6且HFR＜H2，则令E2＝A-B-0.5*C1，并根据该E1和该E2控制本车泊车至车位；
若HFL＞H6、HFL＜H1且HFR＝H6，则令E1＝A-B-0.5*C1，并根据该E1和该E2控制本车泊车至车位；
若HFL+HFR＝2*H6且HL＞H6，则令E1＝A-B-0.5*C1，并根据该E1和该E2控制本车泊车至车位；
若HFL+HFR＝2*H6、HR＞H6且(HL＝H6)，则令E2＝A-B-0.5*C1，并根据该E1和该E2控制本车泊车至车位；
若前排无人且后排仅中间有人，则令E1＝A-B-0.5*C1，并根据该E1和该E2控制本车泊车至车位；
若车内无人，则控制本车泊车至车位中间位置；
其中，H1、H2、H6均为预设的值。
在一些实施例中，所述步骤S5中输出提示信息后，还包括：
步骤S56，当仅车位左侧或右侧有车辆且接收到继续自动泊车的用户指令时，重新获取车内乘员信息，根据重新获取的车内乘员信息重新确定应预留的前排左侧宽度、前排右侧宽度、后排左侧宽度、后排右侧宽度，并重新计算应预留的本车左侧宽度和本车右侧宽度；
具体而言，若在输出所述提示信息后的预设第一时间内接收到第一用户指令，当所述第一用户指令为继续自动泊车且车门关闭时，控制本车继续自动泊车，当所述第一用户指令为退出自动泊车时，退出自动泊车并控制本车驻车；若在输出所述提示信息后的预设第一时间内没有接收到所述第一用户指令，且车门关闭，则控制本车继续自动泊车；若在输出所述提示信息后的预设第二时间内没有接收到所述第一用户指令，且车门未关闭，则退出自动泊车并控制本车驻车；其中，预设第二时间＞预设第一时间，所述预设第一时间例如是1分钟，所述预设第二时间例如是2分钟，所述预设第二时间和预设第一时间均为可以自定义调整的参数。
步骤S57，若前排或后排任一侧有人，则根据应预留的本车该侧宽度确定本车与该侧车辆的间距，并根据该本车与该侧车辆的间距控制本车泊车至车位；
具体而言，若满足HL＞H6且E2≥0，则令E1＝HL+C2，并根据该E1控制本车泊车至车位，若满足HR＞H6且E1≥0，则令E2＝HR+C3，并根据该E2控制本车泊车至车位；
步骤S58，若前排或后排任一侧有人且为本车与另一侧车辆的间距小于零，则停车并输出第六提示信息，并获取用户指令；若获取的该用户指令为不压线停车，则根据本车宽度、车位宽度确定本车与该侧车辆的间距，并根据该本车与该侧车辆的间距控制本车泊车至车位；若获取的该用户指令为确认压线停车，则根据应预留的本车该侧宽度确定本车与该侧车辆的间距，并根据该本车与该侧车辆的间距控制本车泊车至车位；其中，所述第六提示信息用于提示停车位置可能压线，请确认停车；
具体而言，若满足HL＞H6且E2＜0，则停车并输出第六提示信息，并获取第四用户指令；若所述第四用户指令为不压线停车，则令E1＝A-B-C2，并根据该E1控制本车泊车至车位；若所述第四用户指令为确认压线停车，则令E1＝HL+C2，并根据该E1控制本车泊车至车位；
若满足HR＞H6且E1＜0，则停车并输出第六提示信息，并获取第四用户指令；若所述第四用户指令为不压线停车，则令E2＝A-B-C3，并根据该E2控制本车泊车至车位；若所述第四用户指令为确认压线停车，则令E2＝HR+C3，并根据该E2控制本车泊车至车位；
步骤S59，否则，根据车位宽度和本车该侧车辆与车位线内侧间距确定本车与该侧车辆的间距，并根据该本车与该侧车辆的间距控制本车泊车至车位。
具体而言，令E1＝(A+F1)/2或E2＝(A+F1)/2，并根据该E1或E2控制本车泊车至车位。
其中，E1为本车与左侧车辆的间距，E2为本车与右侧车辆的间距，F1为本车左侧车辆与车位线内侧间距，F2为本车右侧车辆与车位线内侧间距，A为车位宽度，B为本车宽度，HL为应预留的本车左侧宽度，HR为应预留的本车右侧宽度，C1、C2、C3、H6均为预设的值。
图5为本申请的一个具体实施例中控制本车继续自动泊车的具体流程图，参阅图5所示流 程可以更好地理解本申请控制本车继续自动泊车的内容。
本申请的另一个实施例还提供一种自动泊车控制装置，用于实现上述实施例所述的自动泊车控制方法，包括：
信息获取模块，用于获取车位的车位线信息以及车位左右两侧的车辆信息，根据所述车位线信息和车辆信息确定车位宽度；
预留空间获取模块，用于获取车内乘员信息，根据所述车内乘员信息确定应预留的本车左侧和右侧宽度；
宽窄确定模块，用于根据所述车位宽度、车辆信息、应预留的本车左侧和右侧宽度以及预设的本车宽度确定所述车位是否宽阔；
第一控制模块，用于若宽阔，则控制本车进行自动泊车；
第二控制模块，用于若不宽阔，则停车并输出提示信息，所述提示信息用于提示用户提前下车。
以上所描述的实施例的装置仅仅是示意性的，其中所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理模块，即可以位于一个地方，或者也可以分布到多个网络模块上。可以根据实际的需要选择其中的部分或者全部模块来实现实施例的装置的方案的目的。
需说明的是，上述实施例的装置与上述实施例方法对应，因此，上述实施例的装置未详述部分可以参阅上述实施例的方法的内容得到，即上述实施例的方法记载的具体步骤内容可以理解为上述实施例的装置所能够实现的功能，此处不再赘述。
并且，上述实施例的装置若以软件功能模块的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中，因此作为另一个实施例，本申请还提出一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现上述实施例所述自动泊车控制方法的步骤。
本申请的另一个实施例还提出一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时，实现如上述实施例所述自动泊车控制方法。
具体而言，所述计算机可读存储介质可以包括：能够携带所述计算机程序指令的任何实体或记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、电载波信号、电信信号以及软件分发介质等。
本申请实施例还提供一种电子设备，包括处理器、存储器以及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现上述实施例所述的自动泊车控制方法。
具体而言，所述电子设备还可以包括连接不同组件(包括存储器和处理器)的总线。存储器可以包括易失性存储器形式的计算机可读介质，例如随机存取存储器(RAM)和/或高速缓存存储器。存储器也可以包括至少一个程序产品，该程序产品具有一组(例如至少一个)程序模块，这些程序模块被配置以执行本申请各实施例的功能。电子设备也可以与一个或多个外部设备(例如键盘、 指向设备、显示器等)通信，还可与一个或者多个使得用户能与该电子设备交互的设备通信，和/或与使得该电子设备能与一个或多个其他计算设备进行通信的任何设备(例如网卡)通信，这种通信可以通过输入/输出(I/O)接口进行，并且，电子设备还可以通过网络适配器与一个或者多个网络(例如局域网(LAN)，广域网(WAN)和/或公共网络，例如因特网)通信。
以上已经描述了本申请的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。

Claims (11)

  1. 一种自动泊车控制方法，其特征在于，包括：
    获取车位的车位线信息以及车位左右两侧的车辆信息，根据所述车位线信息和车辆信息确定车位宽度；
    获取车内乘员信息，根据所述车内乘员信息确定应预留的本车左侧和右侧宽度；
    根据所述车位宽度、车辆信息、应预留的本车左侧和右侧宽度以及预设的本车宽度确定所述车位是否宽阔；
    若宽阔，则控制本车进行自动泊车；
    若不宽阔，则停车并输出提示信息，所述提示信息用于提示用户提前下车。
  2. 根据权利要求1所述的自动泊车控制方法，其特征在于，所述根据所述车位线信息和车辆信息确定车位宽度，包括：
    若所述车位两侧均有车辆，则车位宽度为车位两侧车辆间的距离；
    若所述车位存在车位线信息，且所述车位其中一侧有车辆，则车位宽度为无车辆一侧的车位线与有车辆一侧的车身之间的距离；
    若所述车位两侧均无车辆，则车位宽度为预设的宽度值。
  3. 根据权利要求1所述的自动泊车控制方法，其特征在于，所述根据所述车内乘员信息确定应预留的本车左侧和右侧宽度，包括：
    根据所述车内乘员信息确定前排左侧、后排左侧、前排右侧、后排右侧是否有乘员以及乘员类型，根据是否有乘员以及乘员类型确定应预留的前排左侧宽度、后排左侧宽度、前排右侧宽度、后排右侧宽度，选择所述前排左侧宽度和后排左侧宽度中较大的一个作为应预留的本车左侧宽度，并选择所述前排右侧宽度和后排右侧宽度中较大的一个作为应预留的本车右侧宽度。
  4. 根据权利要求3所述的自动泊车控制方法，其特征在于，所述根据是否有乘员以及乘员类型确定应预留的前排左侧宽度、后排左侧宽度、前排右侧宽度、后排右侧宽度，包括：
    若前排左侧、后排左侧、前排右侧、后排右侧中的任一侧有乘员，则根据乘员类型确定该任一侧对应的应预留的宽度，不同乘员类型对应的该任一侧应预留的宽度不同；
    若前排左侧、后排左侧、前排右侧、后排右侧中的任一侧无乘员，则该任一侧应预留的宽度为预设值。
  5. 根据权利要求1所述的自动泊车控制方法，其特征在于，所述提示信息包括第一提示信息和第二提示信息，所述第一提示信息用于提示用户车位狭小，请用户提前下车；所述第二提示信息用于提示用户停车位置可能压线，请用户提前下车；
    所述方法，具体包括：
    若车位两侧均停有车辆，且(A-B)>HL+HR+C1，则确定车位宽阔，否则确定车位不宽阔，并输出第一提示信息；
    若仅车位左侧有车辆，且(A-B)>HL+C2，则确定车位宽阔，否则确定车位不宽阔，并输出 第二提示信息；
    若仅车位右侧有车辆，且(A-B)>HR+C3，则确定车位宽阔，否则确定车位不宽阔，并输出第二提示信息；
    若车位两侧均没有车辆，确定所述车位宽阔；
    其中，A为车位宽度，B为本车宽度，HL为应预留的本车左侧宽度，HR为应预留的本车右侧宽度，C1、C2、C3均为预设的值。
  6. 根据权利要求1所述的自动泊车控制方法，其特征在于，所述输出提示信息后，还包括：
    当车位两侧均停有车辆且接收继续自动泊车的用户指令时，重新获取车内乘员信息，根据重新获取的车内乘员信息重新确定应预留的前排左侧宽度、前排右侧宽度、后排左侧宽度、后排右侧宽度，重新计算应预留的本车左侧宽度和本车右侧宽度，并根据重新计算的应预留的本车左侧宽度和本车右侧宽度以及所述车位宽度确定所述车位是否宽阔；
    若确定车位宽阔，则根据本车与左侧车辆的间距和本车与右侧车辆的间距控制本车继续自动泊车；
    若确定车位不宽阔，且车位宽度和本车宽度之差满足第一预设条件，本车与两侧车辆的间距分别大于对应侧车辆与车位线内侧间距，则停车并输出第三提示信息，并响应于用户指令控制本车继续自动泊车或退出自动泊车；所述第三提示信息用于提示停车位置狭窄，停车完成后请小心下车；
    若确定车位不宽阔，且车位宽度和本车宽度之差满足第一预设条件，本车与两侧车辆的间距中的任一个小于对应侧车辆与车位线内侧间距，则停车并输出第四提示信息，并响应于用户指令控制本车继续自动泊车或退出自动泊车；所述第四提示信息用于提示停车位置可能压线，请确认停车；
    否则，则停车并输出第五提示信息，并控制本车泊车至车位中间位置；所述第五提示信息用于提示停车后可能无法下车。
  7. 根据权利要求6所述的自动泊车控制方法，其特征在于，响应于用户指令控制本车继续自动泊车，包括：
    若前排左侧或前排右侧有老人或婴幼儿，则根据乘员类型获取对应的应预留的本车左侧宽度和本车右侧宽度，并根据应预留的本车左侧宽度、本车右侧宽度、车位宽度、本车宽度计算本车与两侧车辆的间距，并根据本车与两侧车辆的间距控制本车泊车至车位；
    若前排左侧和前排右侧均有人但非老人或者婴幼儿，则根据前排乘员体型获取对应的应预留的本车左侧宽度和本车右侧宽度，并根据应预留的本车左侧宽度、本车右侧宽度、车位宽度、本车宽度计算本车与两侧车辆的间距，并根据本车与两侧车辆的间距控制本车泊车至车位。
  8. 根据权利要求1所述的自动泊车控制方法，其特征在于，所述输出提示信息后，还包括：：
    当仅车位左侧或右侧有车辆且接收到继续自动泊车的用户指令时，重新获取车内乘员信息，根据重新获取的车内乘员信息重新确定应预留的前排左侧宽度、前排右侧宽度、后排左侧宽度、后排右侧宽度，并重新计算应预留的本车左侧宽度和本车右侧宽度；
    若前排或后排任一侧有人，则根据应预留的本车该侧宽度确定本车与该侧车辆的间距，并 根据该本车与该侧车辆的间距控制本车泊车至车位；
    若前排或后排任一侧有人且为本车与另一侧车辆的间距小于零，则停车并输出第六提示信息，并获取用户指令；若获取的该用户指令为不压线停车，则根据本车宽度、车位宽度确定本车与该侧车辆的间距，并根据该本车与该侧车辆的间距控制本车泊车至车位；若获取的该用户指令为确认压线停车，则根据应预留的本车该侧宽度确定本车与该侧车辆的间距，并根据该本车与该侧车辆的间距控制本车泊车至车位；其中，所述第六提示信息用于提示停车位置可能压线，请确认停车；
    否则，根据车位宽度和本车该侧车辆与车位线内侧间距确定本车与该侧车辆的间距，并根据该本车与该侧车辆的间距控制本车泊车至车位。
  9. 一种自动泊车控制装置，其特征在于，用于实现权利要求1～8中任一项所述的自动泊车控制方法，包括：
    信息获取模块，用于获取车位的车位线信息以及车位左右两侧的车辆信息，根据所述车位线信息和车辆信息确定车位宽度；
    预留空间获取模块，用于获取车内乘员信息，根据所述车内乘员信息确定应预留的本车左侧和右侧宽度；
    宽窄确定模块，用于根据所述车位宽度、车辆信息、应预留的本车左侧和右侧宽度以及预设的本车宽度确定所述车位是否宽阔；
    第一控制模块，用于若宽阔，则控制本车进行自动泊车；
    第二控制模块，用于若不宽阔，则停车并输出提示信息，所述提示信息用于提示用户提前下车。
  10. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时，实现如权利要求1～8中任一项所述的自动泊车控制方法。
  11. 一种电子设备，包括处理器、存储器以及存储在所述存储器上并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现如权利要求1～8中任一项所述的自动泊车控制方法。
PCT/CN2023/115338 2023-05-23 2023-08-28 自动泊车控制方法及其装置、存储介质、电子设备 Ceased WO2024239472A1 (zh)

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