WO2025252069A1 - 泊车方法、装置和智能驾驶设备 - Google Patents

泊车方法、装置和智能驾驶设备

Info

Publication number
WO2025252069A1
WO2025252069A1 PCT/CN2025/098797 CN2025098797W WO2025252069A1 WO 2025252069 A1 WO2025252069 A1 WO 2025252069A1 CN 2025098797 W CN2025098797 W CN 2025098797W WO 2025252069 A1 WO2025252069 A1 WO 2025252069A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
parking
moment
parking area
function
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
PCT/CN2025/098797
Other languages
English (en)
French (fr)
Inventor
秦彩
许婷
郁浩
王兵
杨广义
陈伟
李杰纯
郑海波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Yinwang Intelligent Technology Co Ltd
Original Assignee
Shenzhen Yinwang Intelligent Technology Co Ltd
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.)
Filing date
Publication date
Application filed by Shenzhen Yinwang Intelligent Technology Co Ltd filed Critical Shenzhen Yinwang Intelligent Technology Co Ltd
Publication of WO2025252069A1 publication Critical patent/WO2025252069A1/zh
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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

Definitions

  • This application relates to the field of intelligent vehicles, and more specifically, to a parking method, apparatus, and intelligent driving device.
  • Automated parking refers to the automatic parking of a vehicle, meaning that an autonomous driving system can semi-automatically or fully automatically help the user park the vehicle in a parking space.
  • Automated parking can include automated parking assist (APA), remote parking assist (RPA), and automated valet parking (AVP), among others.
  • APA automated parking assist
  • RPA remote parking assist
  • AVP automated valet parking
  • This application provides a parking method, apparatus, and intelligent driving device that can shorten the time required to initiate automatic parking, thereby shortening the overall time required for the automatic parking process and improving the user experience when using the automatic parking function.
  • a parking method is provided that can be executed by a vehicle, for example, by the vehicle's computing platform, or by a chip or circuitry used in the vehicle.
  • the method includes: acquiring a first instruction indicating a first parking area; controlling the vehicle to switch to parking gear according to the first instruction; and controlling the vehicle to park in the first parking area when the occupants of the vehicle leave the vehicle and the vehicle doors are closed.
  • the vehicle after determining the target parking area (i.e., the first parking area), the vehicle can automatically switch to P gear, avoiding the risk of the vehicle rolling away after the user gets out. Furthermore, after the user gets out and closes the door, the vehicle automatically parks itself in the target parking area, eliminating the need for the user to control the automatic parking process via their mobile phone. This simplifies the interaction between the user and the automatic parking process, helps shorten the time required to initiate the automatic parking process, and thus improves the efficiency of automatic parking. Users can then directly get out of the vehicle and leave after selecting the target area, enhancing the user's driving experience.
  • controlling the vehicle to switch to a parking gear according to a first instruction includes: when the risk level of the first parking area meets preset conditions, controlling the vehicle to switch to a parking gear according to the first instruction, wherein the risk level indicates the collision risk and/or fall risk when the vehicle enters the first parking area.
  • the method further includes: controlling the activation of the first parking function when at least one of the following occurs: the risk level of the first parking area meets a preset condition, the driver or passenger of the vehicle clicks a button displayed on the first screen of the vehicle to activate the first parking function, or the driver or passenger's voice is detected to activate the first parking function; wherein the risk level indicates the collision risk and/or fall risk when the vehicle parks in the first parking area; controlling the vehicle's gear to switch to parking gear according to a first instruction, including: under the first parking function, controlling the vehicle's gear to switch to parking gear according to the first instruction.
  • the first parking function when the collision risk and/or fall risk in the first parking area is low, or in response to the operation to activate the first parking function, the first parking function is activated, eliminating the need for the user to control the automatic parking process via mobile phone. This helps simplify the process required to activate automatic parking and helps ensure safety during the parking process.
  • a parking method is provided that can be executed by a vehicle, for example, by the vehicle's computing platform, or by a chip or circuitry used in the vehicle.
  • the method includes: acquiring a first instruction, the first instruction indicating a first parking area; controlling the activation of a first parking function when at least one of the following occurs: the risk level of the first parking area meets a preset condition, the driver or passenger of the vehicle clicks a button displayed on the vehicle's first screen to activate the first parking function, or the driver or passenger's voice is detected to activate the first parking function; and controlling the vehicle to park in the first parking area via the first parking function when the driver or passenger of the vehicle leaves the vehicle and the vehicle door is closed.
  • the first parking function can be automatically activated based on the risk level of the parking area, or the second parking function can be activated in response to a user's request.
  • the vehicle can be automatically parked into the target parking area without the user needing to control the automatic parking process through a mobile phone. This simplifies the interaction between the user and the automatic parking process, helps to shorten the time required to start the automatic parking process, thereby improving the efficiency of automatic parking. It also allows the user to get out of the car and leave directly after selecting the target area, which helps to improve the user's driving experience.
  • the method before controlling the vehicle to park in the first parking area via the first parking function, the method further includes: controlling the vehicle's gear to switch to parking gear.
  • the vehicle when the first parking function is activated, the vehicle is automatically switched to P gear without the need for manual control by the user. This helps to improve safety during parking (avoiding the risk of the vehicle rolling away) and simplifies the operation required during automatic parking.
  • controlling the vehicle to park in the first parking area includes: controlling the vehicle to park in the first parking area when the driver or passenger leaves the vehicle, the distance between the driver or passenger and the vehicle is greater than or equal to a distance threshold, and the vehicle door is closed.
  • controlling the vehicle to park in the first parking area can ensure the personal safety of the driver/passenger and reduce the impact of the driver/passenger on the planning of the parking path, thereby improving parking efficiency.
  • controlling the vehicle to park in the first parking area includes: controlling the vehicle to begin parking in the first parking area at a first moment, the time interval between the first moment and the second moment being less than or equal to a first duration threshold, and the first moment being after the second moment, the second moment being the moment when the driver or passenger leaves the vehicle and closes the door.
  • the vehicle can still be controlled to park, which helps to improve the robustness of the vehicle's parking system.
  • the first instruction is acquired at the third time point
  • controlling the vehicle to park in the first parking area includes: controlling the vehicle to park in the first parking area when the driver or passenger leaves the vehicle and closes the vehicle door before the fourth time point, wherein the fourth time point is after the third time point, and the time interval between the fourth time point and the third time point is less than or equal to the second duration threshold.
  • the vehicle when the first parking function is activated and the driver and passengers leave the vehicle and close the door within a preset time, the vehicle is controlled to park in the first parking area under the first parking function; otherwise, the first parking function is deactivated, which can reduce the power consumption required for the first parking function to wait (or standby).
  • the method further includes: controlling the vehicle to suspend parking in the first parking area when any of the following occurs during the process of the vehicle parking in the first parking area: detecting that the first door handle of the vehicle is pulled, detecting that the first door of the vehicle is opened, or receiving first information from an electronic device; wherein the electronic device is associated with the vehicle, and the first information is used to control the vehicle braking.
  • the parking can be paused in response to the user's operation, which helps to further improve the safety of the parking process.
  • the method further includes: controlling the vehicle to park from the first position into the first parking area when the vehicle door is closed and any of the following occurs: a first voice is detected, a first button on the vehicle is clicked, or a second message is received from an electronic device.
  • the system can respond to the user's operation to continue parking, which helps to further improve the parking success rate.
  • the method further includes: sending third information to an electronic device, the third information including the parking status of the vehicle and/or images acquired during parking into the first parking area; wherein the electronic device is associated with the vehicle.
  • parking-related dynamics can be sent to the electronic device so that the electronic device can display the relevant dynamics, thereby allowing the user to observe relevant information during the parking process even when the distance between the user and the vehicle is relatively far.
  • the method further includes: acquiring a second instruction at a fifth moment, the second instruction indicating a second parking area; and controlling the closure of the first parking function when the vehicle has activated the first parking function and the occupants have not left the vehicle and/or the vehicle doors have not been closed within a first duration after the fifth moment.
  • the first parking function will be deactivated, which helps to reduce the power consumption required for the first parking function to wait (or standby).
  • a parking device including an acquisition unit and a processing unit, wherein the acquisition unit is used to: acquire a first instruction, the first instruction indicating a first parking area; the processing unit is used to: control the vehicle to switch gears to parking gear according to the first instruction; the processing unit is also used to: control the vehicle to park in the first parking area when the occupants of the vehicle leave the vehicle and the vehicle door is closed.
  • the processing unit is used to: when the risk level of the first parking area meets the preset conditions, control the vehicle's gear to switch to parking gear according to the first instruction, wherein the risk level indicates the collision risk and/or fall risk when the vehicle enters the first parking area.
  • the processing unit is configured to: control the activation of the first parking function when at least one of the following occurs: the risk level of the first parking area meets preset conditions, the driver or passenger of the vehicle clicks the button displayed on the first screen of the vehicle to activate the first parking function, or the driver or passenger's voice is detected to activate the first parking function; wherein the risk level indicates the collision risk and/or fall risk when the vehicle parks in the first parking area; under the first parking function, control the vehicle to switch gears to parking gear according to the first instruction.
  • a parking device comprising an acquisition unit and a processing unit, wherein the acquisition unit is configured to: acquire a first instruction, the first instruction indicating a first parking area; the processing unit is configured to: control the activation of a first parking function when at least one of the following occurs: the risk level of the first parking area meets preset conditions, the driver or passenger of the vehicle clicks a button displayed on the first screen of the vehicle to activate the first parking function, or the driver or passenger's voice is detected to activate the first parking function; the processing unit is further configured to: control the vehicle to park in the first parking area via the first parking function when the driver or passenger of the vehicle leaves the vehicle and the vehicle door is closed.
  • the processing unit before the processing unit controls the vehicle to park in the first parking area through the first parking function, the processing unit is also used to: control the vehicle's gear to switch to parking gear.
  • the processing unit is used to: control the vehicle to park in the first parking area when the driver or passenger leaves the vehicle, the distance between the driver or passenger and the vehicle is greater than or equal to a distance threshold, and the vehicle door is closed.
  • the processing unit is used to: control the vehicle to begin parking in the first parking area at a first moment, the time interval between the first moment and the second moment is less than or equal to a first duration threshold, and the first moment is after the second moment, the second moment being the moment when the driver or passenger leaves the vehicle and closes the door.
  • the first instruction is acquired at the third time point
  • the processing unit is used to: control the vehicle to park in the first parking area when the driver or passenger leaves the vehicle and closes the vehicle door before the fourth time point, the fourth time point is after the third time point, and the time interval between the fourth time point and the third time point is less than or equal to the second duration threshold.
  • the device further includes a detection unit
  • the processing unit is further configured to: control the vehicle to suspend its parking in the first parking area when any of the following occurs during the process of the vehicle parking in the first parking area: the detection unit detects that the first door handle of the vehicle is pulled, the detection unit detects that the first door of the vehicle is opened, or the acquisition unit receives first information from an electronic device; wherein the electronic device is associated with the vehicle, and the first information is used to control the vehicle braking.
  • the device further includes a detection unit; when the vehicle pauses to park in the first parking area, it stops at a first position, and the processing unit is further configured to: control the vehicle to park from the first position into the first parking area when the vehicle door is closed and any of the following occurs: the detection unit detects a first voice, the detection unit detects that a first button on the vehicle is clicked, or the acquisition unit receives second information from an electronic device.
  • the processing unit is further configured to: control the transmission of third information to an electronic device, the third information including the parking status of the vehicle and/or images acquired during the parking process into the first parking area; wherein the electronic device is associated with the vehicle.
  • the acquisition unit is further configured to: acquire a second instruction at a fifth moment, the second instruction indicating a second parking area; the processing unit is further configured to: control the closure of the first parking function when the vehicle has activated the first parking function, and the occupants have not left the vehicle and/or the vehicle doors are not closed within a second time period after the fifth moment.
  • a parking device comprising: a processor for executing a computer program stored in the memory, such that the device performs the method in any possible implementation of the first or second aspect described above.
  • the parking device also includes a memory.
  • an intelligent driving device which includes means as described in any of the possible implementations of aspects three through five.
  • the intelligent driving device is a vehicle.
  • a computer program product comprising: computer program code, which, when executed on a computer or processor, causes the computer or processor to perform the method in any possible implementation of the first or second aspect.
  • the above computer program code can be stored in whole or in part on a storage medium, which can be packaged together with the processor or packaged separately from the processor.
  • a computer-readable medium stores instructions which, when executed by a processor, cause the processor to implement the method in any possible implementation of the first or second aspect.
  • a chip including circuitry for performing the methods in any possible implementation of the first or second aspect described above.
  • Figure 1 is a functional schematic block diagram of the intelligent driving device provided in an embodiment of this application.
  • FIG. 2 is a schematic diagram of the parking system architecture provided in an embodiment of this application.
  • FIG. 3 is a schematic flowchart of the parking method provided in an embodiment of this application.
  • FIG. 4 is a schematic diagram of a GUI provided in an embodiment of this application.
  • FIG. 5 is another schematic diagram of the GUI provided in the embodiments of this application.
  • FIG. 6 is another schematic diagram of the GUI provided in the embodiments of this application.
  • FIG. 7 is another schematic diagram of the GUI provided in the embodiments of this application.
  • FIG. 8 is another schematic flowchart of the parking method provided in the embodiments of this application.
  • FIG. 9 is another schematic flowchart of the parking method provided in the embodiments of this application.
  • Figure 10 is a schematic block diagram of a parking device provided in an embodiment of this application.
  • FIG 11 is another schematic block diagram of the parking device provided in the embodiments of this application.
  • automatic parking systems involve a complex and cumbersome process when controlling a vehicle to park.
  • the user selects a parking space on the vehicle's display screen and confirms authorization for the vehicle's automatic parking function, allowing the vehicle to automatically park in the space.
  • the user shifts the vehicle to parking (P) gear, exits, and closes the door.
  • the user performs a self-check of the automatic parking system via a mobile phone linked to the vehicle. After the phone detects the user's confirmation of automatic parking, it activates the automatic parking process and controls the vehicle to begin parking in the selected space. It is evident that this automatic parking process is overly cumbersome, resulting in a long time required for the vehicle to enter the automatic parking space, and consequently, a lengthy overall automatic parking process.
  • embodiments of this application provide a parking method, apparatus, and intelligent driving device that eliminates the need for users to control the automatic parking process via mobile phone, simplifies the interaction process between the user and the automatic parking process, helps to shorten the time required to start the automatic parking process, thereby improving the efficiency of automatic parking, and allows users to get out of the car and leave directly after selecting the target area, which helps to improve the user's driving experience.
  • FIG. 1 is a functional block diagram of a vehicle provided in an embodiment of this application.
  • the vehicle 100 may include a sensing system 120, a display device 130, a communication system 140, and a computing platform 150.
  • the sensing system 120 may include several sensors for sensing information about the environment surrounding the vehicle 100.
  • the sensing system 120 may include a positioning system, which may be a Global Positioning System (GPS), a BeiDou system, or another positioning system.
  • GPS Global Positioning System
  • BeiDou system BeiDou system
  • the sensing system 120 may also include one or more of the following: an inertial measurement unit (IMU), a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera device.
  • IMU inertial measurement unit
  • lidar a lidar
  • millimeter-wave radar a millimeter-wave radar
  • ultrasonic radar ultrasonic radar
  • the display devices 130 within the vehicle's cabin 100 are mainly divided into two categories: the first is in-vehicle displays; the second is projection displays, such as head-up displays (HUDs).
  • In-vehicle displays are physical displays and an important component of the in-vehicle infotainment system. Multiple displays can be installed in the cabin, such as digital instrument cluster displays and central control screens.
  • one or more of the aforementioned in-vehicle displays can be human-machine interfaces (HMIs), for example, the central control screen can be an HMI.
  • Head-up displays also known as head-up display systems, are mainly used to display driving information such as speed and navigation on a display device in front of the driver (e.g., the windshield).
  • HUDs include, for example, combiner-HUD (C-HUD) systems, windshield-HUD (W-HUD) systems, and augmented reality HUD (AR-HUD) systems.
  • C-HUD combiner-HUD
  • W-HUD windshield-HUD
  • AR-HUD augmented reality HUD
  • the communication system 140 of vehicle 100 may be one or more devices integrating at least one communication processing module.
  • the communication system 140 can transmit and receive electromagnetic waves through an antenna, enabling vehicle 100 to communicate with other electronic devices (such as electronic devices associated with vehicle 100), cloud servers, etc., through wireless communication technology.
  • the wireless communication technology may include mobile communication technologies such as Global System for Mobile Communication (GSM), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), General Packet Radio Service (GPRS), or Long Term Evolution (LTE), or may include short-range wireless communication technologies such as Bluetooth (BT) communication technology and radio frequency identification (RFID) communication technology.
  • GSM Global System for Mobile Communication
  • CDMA Code Division Multiple Access
  • WCDMA Wideband Code Division Multiple Access
  • GPRS General Packet Radio Service
  • LTE Long Term Evolution
  • BT Bluetooth
  • RFID radio frequency identification
  • Computing platform 150 may include processors 151 to 15n.
  • a processor is a circuit with signal processing capabilities.
  • the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP).
  • the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable.
  • the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA).
  • ASIC application-specific integrated circuit
  • PLD programmable logic device
  • FPGA field-programmable gate array
  • the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units.
  • the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc.
  • the computing platform 150 may also include memory for storing instructions, and some or all of the processors 151 to 15n can call the instructions in memory to implement the corresponding functions.
  • Vehicle 100 may include an advanced driving assistance system (ADAS).
  • ADAS utilizes various sensors on the vehicle (including but not limited to: lidar, millimeter-wave radar, camera devices, ultrasonic sensors, global positioning system, inertial measurement unit) to acquire information from the vehicle's surroundings, and analyzes and processes the acquired information to achieve functions such as obstacle perception, target recognition, vehicle positioning, path planning, and driver monitoring/alerts, thereby improving the safety, automation, and comfort of driving the vehicle.
  • ADAS advanced driving assistance system
  • an ADAS system generally includes three main functional modules: a perception module, a decision-making module, and an execution module.
  • the perception module senses the environment around the vehicle through sensors and inputs corresponding real-time data to the decision-making processing center.
  • the perception module mainly includes vehicle cameras, ultrasonic radar, millimeter-wave radar, and lidar.
  • the decision-making module makes corresponding decisions based on the information obtained by the perception module using computing devices and algorithms.
  • the execution module takes corresponding actions, such as driving, changing lanes, steering, braking, and issuing warnings.
  • ADAS can achieve different levels of automated driving assistance based on artificial intelligence algorithms and information acquired by multiple sensors.
  • the aforementioned autonomous driving levels (L0-L5) are based on the classification standards of the Society of Automotive Engineers (SAE).
  • SAE Society of Automotive Engineers
  • L0 is no automation
  • L1 is driver assistance
  • L2 is partial automation
  • L3 is conditional automation
  • L4 is high automation
  • L5 is full automation.
  • L1 to L3 the task of monitoring road conditions and reacting is jointly completed by the driver and the system, requiring the driver to take over dynamic driving tasks.
  • the driver can completely transform into a passenger.
  • ADAS can achieve mainly include, but are not limited to: adaptive cruise control, automatic emergency braking, automatic parking, blind spot monitoring, forward cross-traffic alert/braking, rear cross-traffic alert/braking, forward collision warning, lane departure warning, lane keeping assist, rear collision warning, traffic sign recognition, traffic jam assist, and highway assist.
  • automatic parking can include APA, RPA, and AVP.
  • APA the driver does not need to operate the steering wheel but still needs to control the accelerator and brake from outside the vehicle; with RPA, the driver can remotely park the vehicle from outside using a terminal (e.g., a mobile phone); with AVP, the vehicle can park without a driver.
  • APA is approximately at Level 1
  • RPA is approximately at Level 2-L3
  • AVP is approximately at Level 4.
  • the perception system 120 is used to acquire parking areas around the vehicle, the display device 130 can display the parking areas, and in response to the user's operation, a target area is initially determined, and the computing platform 150 controls the vehicle to park in the target area based on the target area.
  • FIG. 2 shows a schematic diagram of the system architecture required for implementing the parking method provided in this application embodiment.
  • This system can be installed in the vehicle 100 shown in Figure 1.
  • the system includes a perception module 210, a human-machine interaction module 220, a communication module 230, a planning and control module 240, and an actuator 250.
  • a perception module 210 a human-machine interaction module 220
  • a communication module 230 a communication module 230
  • a planning and control module 240 a navigation and control module
  • an actuator 250 Specifically:
  • the perception module 210 may include roadside units (RSUs) in the area where the vehicle is located, or one or more camera devices or radar sensors from the perception system 120 shown in Figure 1, for collecting environmental information about the area where the vehicle is located, such as parking line information and obstacle information.
  • the perception module 210 can also process the collected environmental information to build a world model of roads, obstacles, etc., for downstream modules (such as the human-machine interaction module 220 and the planning and control module 240). For example, the perception module 210 can determine the area that can be used for vehicle parking based on obstacles and/or parking lines, and send the information of the area that can be used for vehicle parking to the human-machine interaction module 220.
  • the human-machine interface module 220 may include one or more of the display devices 130 shown in FIG. 1, such as an HMI; the human-machine interface module 220 may also include sound-emitting devices (such as speakers, enclosures, etc.) and sound-receiving devices (such as microphones).
  • the human-machine interface module 220 may display one or more images, diagrams, or icons of areas available for vehicle parking. This system can determine the target parking area for the vehicle to be parked based on user input to the human-machine interface module 220. Furthermore, the human-machine interface module 220 may send information about the target parking area (such as position and orientation information) to the planning and control module 240.
  • the human-machine interaction module 220 can also prompt the user that the vehicle supports parking function 1 and parking function 2.
  • parking function 1 the user does not need to authorize the automatic parking process via their mobile phone.
  • the vehicle can control the vehicle to park in the target parking space when it detects that the user has requested to activate parking function 1 by tapping the in-vehicle screen or through voice command.
  • parking function 2 the user needs to authorize the automatic parking process via their mobile phone.
  • the vehicle can control the vehicle to park in the target parking space under parking function 2.
  • the vehicle Under parking function 1, the vehicle can automatically switch to P gear and control the vehicle to park in the target parking space; alternatively, under parking function 2, the user needs to control the vehicle to switch to P gear and control the vehicle to park in the target parking space.
  • this system can respond to user input to the human-machine interaction module 220 to confirm whether parking function 1 is activated or deactivated.
  • the system can respond to the user's input to the human-machine interaction module 220 to pause parking or exit parking function 1.
  • the communication module 230 may include the communication system 140 shown in FIG1. When the system determines that the parking function 1 is activated, the communication module 230 may send information 1 to an electronic device 1 (such as a mobile phone) associated with the vehicle. This information 1 is used to instruct the vehicle to control parking under the parking function 1. Alternatively, the communication module 230 may also receive information 2 from the electronic device 1, which is used to instruct the electronic device 1 to control the vehicle braking. The communication module 230 may send information 3 to the planning control module 240 based on information 2, so that the planning control module 240 controls the vehicle braking.
  • an electronic device 1 such as a mobile phone
  • This information 1 is used to instruct the vehicle to control parking under the parking function 1.
  • the communication module 230 may also receive information 2 from the electronic device 1, which is used to instruct the electronic device 1 to control the vehicle braking.
  • the communication module 230 may send information 3 to the planning control module 240 based on information 2, so that the planning control module 240 controls the vehicle braking.
  • the planning control module 240 can be one or more processors in the computing platform 150 shown in Figure 1, used to plan the movement path of the vehicle from its current location to the target parking area based on the target parking space information from the human-machine interaction module 220, or it can plan the vehicle's pose in the target parking area. Further, the planning control module 240 calculates the corresponding control quantity based on the planned movement path and outputs the control quantity to the actuator 250. Optionally, the planning control module 240 can also determine the braking torque based on the information 3 from the communication module 230 and input the braking torque to the actuator.
  • actuator 250 executes the aforementioned control quantity, it controls the vehicle to travel along the planned motion path to the target parking area, or it can park in the target parking area according to the target posture.
  • actuator 250 executes the aforementioned braking torque, it can control the vehicle to brake (e.g., reduce the vehicle speed to 0).
  • the actuator may include the steering and braking control system in vehicle 100.
  • the above modules are only an example, and in actual applications, these modules may be added or removed according to actual needs.
  • the human-computer interaction module 220 and the communication module 230 can be merged into one module.
  • FIG. 3 shows a schematic flowchart of a parking method provided in an embodiment of this application.
  • This method 300 can be executed by a vehicle, device 1, and a server.
  • the vehicle can be the vehicle 100 shown in Figure 1
  • device 1 can be a device associated with the vehicle.
  • Associating device 1 with the vehicle may include: the login accounts for device 1 and the vehicle's infotainment system being the same; or, although the login accounts for device 1 and the vehicle's infotainment system are different, both are accounts belonging to an authorized user of the vehicle.
  • device 1 can be a handheld device, wearable device, computing device, or other processing device connected to a wireless modem, etc.
  • device 1 can be a mobile phone, tablet computer, watch, bracelet, etc.
  • the method 300 may include:
  • the vehicle supports Parking Function 1 and Parking Function 2.
  • Parking Function 1 the vehicle does not require user authorization for the automatic parking process via a mobile phone.
  • the vehicle can control the vehicle to park in the target parking space when it detects that the user has requested to activate Parking Function 1 by tapping the in-vehicle screen or via voice command.
  • Parking Function 2 the vehicle requires user authorization for the automatic parking process via a mobile phone.
  • the vehicle can control the vehicle to park in the target parking space under Parking Function 2.
  • Parking Function 2 can be an RPA (Road in Parking) function
  • Parking Function 1 can be called an "Away From Vehicle" function, or Parking Function 1 can have other names.
  • the vehicle can activate parking function 1 in response to a user's command. For example, when the user's voice prompt "Smart Assistant, activate parking function 1" is detected, parking function 1 is activated; or, for another example, the vehicle's display screen shows a parking interface that recommends parking function 1 and parking function 2, and the vehicle activates parking function 1 in response to the user's click on parking function 1.
  • the vehicle's display screen shows a parking interface including one or more available parking spaces.
  • the activation of parking function 1 is determined based on the risk level of the target parking space (such as the collision risk and/or fall risk during the vehicle's parking).
  • the risk level can be represented by a risk rating; a higher risk rating indicates a higher collision and/or fall risk. If the risk level of the target parking space is below or equal to a threshold, parking function 1 is activated; if the risk level is above the threshold, parking function 2 is activated.
  • the risk level can be represented in other ways.
  • parking function 1 is activated; otherwise, parking function 2 is activated.
  • the risk level threshold can be 80%, 70%, or other values.
  • the system can determine whether to activate parking function 1 based on the type of the target parking space. For example, if the target parking space is a surface parking space, activate parking function 1; if the target parking space is a multi-level parking space (such as a mechanical parking space), activate parking function 2.
  • P2 represents the risk caused by obstacles around the parking space. For example, if there is a suspended obstacle above the parking space or a negative obstacle lower than the plane of the parking space within a certain range (such as 0.3 meters or 0.5 meters) of the parking space (such as the parking space being located at a dead end), then P2 is 1.
  • P2 is 0.5. If there are no obstacles above or around the parking space, then P2 is 0.
  • P3 represents the risk caused by the parking scenario. For example, when the parking space is a parking space in a parking lot, P3 is 0, and when the parking space is a parking space next to the road, P3 is 1.
  • a, b, and c represent the weights of each item. Taking a, b, and c as each set to 1 as an example, the value of P ranges from 0 to 3. Therefore, the aforementioned risk threshold can be 1, 1.5, or other values, such as 80% or 70% of the maximum risk level. In practice, a, b, and c can also take other values. Furthermore, other factors can be combined to determine the risk level of a parking space.
  • the risk level of the target parking space can be determined by the server, which then determines whether to activate parking function 1.
  • the server sends a notification to the vehicle to control the vehicle to activate parking function 1.
  • the vehicle when the vehicle is detected to have entered the parking lot, the vehicle can control the display screen to show the aforementioned parking interface.
  • the vehicle can also display the parking interface in response to user input.
  • the vehicle when the vehicle detects a user request to activate parking function 1, or before the vehicle controls the activation of parking function 1, the vehicle sends the account information currently logged into the vehicle's infotainment system to the server.
  • the server authenticates the account information to confirm whether the account indicated by the account information supports parking function 1. If it is determined that the account indicated by the account information supports parking function 1, the server sends an instruction to the vehicle that the parking function can be activated, and the vehicle activates parking function 1 according to the instruction.
  • the vehicle after the vehicle activates parking function 1 in response to a user's instruction, if the vehicle determines that the risk level of the target parking space is greater than a threshold, the vehicle can control the closure of parking function 1 to improve safety during the parking process.
  • Time 1 can be 3 minutes, 5 minutes, or any other duration.
  • steps S302 to S307 are executed; or, if the occupants leave the vehicle within a preset time period and all doors are closed, steps S302 to S307 are executed after a time period 2 starting from the moment the last door is closed.
  • Distance threshold 1 can be 80 meters, 50 meters, or other values; time period 2 can be 3 minutes, 5 minutes, or other values.
  • the vehicle's gear can be switched to park after the occupants leave the vehicle and the doors are closed. It should be understood that when the occupants leave the vehicle, the vehicle can be in a parked state in driving (D) gear.
  • S302 when the vehicle's parking function 1 is activated, S302 is executed after detecting that the user has applied the brakes and selected a target parking space; or, when the vehicle's parking function 1 is activated and the vehicle is in D gear parking mode, S302 is executed when detecting that the user has selected a target parking space.
  • the vehicle can also be controlled to switch gears even when the occupants are still in the vehicle.
  • S303 can be executed directly after S301. That is, when the vehicle is parked, there is no need to switch the vehicle to P gear; S303 can be executed directly after the driver and passengers have left the vehicle and the doors are closed.
  • S302 controls the vehicle's gear shift to parking.
  • the parking gear can be P, or it can be any other gear used for parking. More specifically, the vehicle can be controlled to shift from D to P.
  • S303 controls the vehicle to park in the target area.
  • the vehicle is controlled to park in the target area; or, if the occupants leave the vehicle within a preset time period and all doors are closed, the vehicle is controlled to park in the target area after a time period 2' starting from the moment the last door is closed.
  • the distance threshold 2 can be 80 meters, 50 meters, or other values; the time period 2' can be 3 minutes, 5 minutes, or other values.
  • the vehicle sends information a to device 1, information a including parking status and images collected during the parking process.
  • the parking status can include any one of the following: parking preparation (i.e., about to park in the target parking space), parking in progress, and parking completed (i.e., already parked in the target parking space and stopped).
  • Images acquired during the parking process can include the relative positional relationship between the vehicle and the target parking space, or may also include information about obstacles around the target parking space (such as their position, movement dynamics, etc.).
  • the vehicle sends information a to device 1 via the server.
  • Device 1 displays parking status and/or parking screen.
  • device 1 displays parking status and/or parking screen through a vehicle owner application (APP), or device 1 displays parking status through a status notification bar.
  • vehicle owner application may include an application that provides vehicle control to the legally authorized user of the vehicle, and/or an application that provides services such as providing the legally authorized user of the vehicle with information about the vehicle's status.
  • event 1 may include any of the following: the door handle of any door of the vehicle is pulled, any door of the vehicle is opened, or information b from device 1 is received. Information b is used to instruct the vehicle to brake.
  • the hidden door handle will remain in the pop-out state during the activation of parking function 1.
  • event 2 may include any of the following: a voice command instructing continued parking (such as the audio "Please continue parking") is detected in the vehicle, a button for continued parking in the vehicle is pressed, or information c is received from device 1. Information c is used to instruct the vehicle to continue parking.
  • a voice command instructing continued parking such as the audio "Please continue parking”
  • a button for continued parking in the vehicle is pressed
  • information c is received from device 1.
  • Information c is used to instruct the vehicle to continue parking.
  • occupants may be present in the vehicle while it continues to move toward the target parking area.
  • time 1 if event 1 occurs at time 1, then the vehicle can be controlled to continue parking in the target area after time 2.
  • the time interval between time 1 and time 2 can be 30 seconds, 40 seconds, or other durations.
  • the parking function 1 is deactivated.
  • parking function 1 is deactivated.
  • the user is prompted to close the doors via device 1. If the doors are still not closed within a time period 4 after the user is prompted to close the doors, parking function 1 is deactivated.
  • the time period 4 can be 1 minute, 2 minutes, or any other duration.
  • parking function 1 is turned off while parking function 2 is turned on; or, parking function 1 is turned off while the automatic parking process is exited.
  • the vehicle when parking function 1 becomes stuck due to a collision or obstacles in the parking path (e.g., the vehicle stops moving), the vehicle sends information d to device 1.
  • This information d indicates a parking abnormality, prompting device 1 to alert the user of the parking abnormality and/or prompt the user to take over the vehicle.
  • the vehicle's hazard lights may also be activated as a risk warning.
  • the parking method provided in this application embodiment can automatically switch the vehicle gear and control the vehicle to park in the target parking space after the user leaves the vehicle and closes the door. This helps to simplify the automatic parking process, shorten the time required for the vehicle to enter the automatic parking process, thereby shortening the parking time and improving the user experience when using the automatic parking function.
  • GUI graphical user interface
  • Figure 4 shows a schematic diagram of a parking interface displayed on the central control screen provided in this application.
  • the vehicle indicated by icon 401 is an example of the vehicle in method 300.
  • the position of icon 401 in the interface indicates the coordinates of the actual area where the vehicle is located.
  • the parking interface also includes icons for multiple parking spaces, some of which indicate occupied parking spaces (such as icons 402 and 405), and some of which indicate vacant parking spaces (such as icons 403, 404, and 406).
  • the vehicle can prompt the user to select an available parking space, for example, by displaying dialog box 407 "!Please select the parking space you wish to park in".
  • the user can select a target parking space by pressing the brake while in Drive (D) and clicking on an available parking space; or, when the vehicle is in Drive (D) and parked, the user can select a target parking space by clicking on an available parking space.
  • the vehicle detects that the user clicks icon 404, it can determine that the parking space corresponding to icon 404 is the target parking space, and icon 404 can then change to the icon indicating the target parking space shown in Figure 4(b). It is understood that the target parking space indicated by icon 404 can be considered as an example of the target area in method 300.
  • the vehicle or cloud server can determine the risk level of the parking space corresponding to icon 404.
  • parking function 1 is activated.
  • the parking interface can display dialog box 408 "Parking function 1 is about to be activated" to prompt the user that parking function 1 is about to be activated.
  • dialog box 408 may also include a cancel button and a confirm button. The "(5s)" after “confirm” in the confirm button indicates that the countdown is 5 seconds. If the user does not take any action during the 5-second wait, parking function 1 is activated; or, when the user clicks the confirm button, parking function 1 is activated immediately; or, when the user clicks the cancel button, parking function 1 is stopped from being activated.
  • the vehicle may also determine the activation of parking function 1 through other methods described in method 300. For example, before starting parking (before or after the user selects a target parking space), as shown in Figure 4(c), the vehicle controls the parking interface to display control button 410, which is used to control the activation of parking function 1. When the user clicks control button 410, the vehicle activates parking function 1.
  • the vehicle may also control the parking interface to display a pop-up window 411 "Parking function 1 is activated" to inform the user that parking function 1 is activated.
  • the parking interface shown in Figure 4(c) may also display control button 409, which is used to initiate the automatic parking process. Exemplarily, if the user does not click control button 410 but directly clicks control button 409, the vehicle does not activate parking function 1, but instead performs parking under other parking functions (such as parking function 2).
  • the vehicle is switched to a parking gear (e.g., P gear) immediately after the parking function 1 is activated.
  • the vehicle is switched to a parking gear (e.g., P gear) within a time interval 1 after the parking function 1 is activated, if any of the following occurs: the occupants leave the vehicle and all vehicle doors are closed; or, the occupants leave the vehicle and all vehicle doors are closed, and the distance between the occupants and the vehicle is greater than or equal to a distance threshold; or, the occupants leave the vehicle and all vehicle doors are closed, and a time interval 2 has elapsed since the last vehicle door was closed.
  • a parking gear e.g., P gear
  • the parking interface can display the relevant status, as shown in Figure 4(e), indicating the change in vehicle gear to the user through dialog box 413 "Switched to P gear". Additionally, the parking interface can also display button 412 for controlling the vehicle to exit parking function 1; when the user clicks button 412, the vehicle exits parking function 1.
  • the parking interface can display dialog box 414 "Please close the door after getting out of the vehicle; the vehicle will automatically park," to remind the occupants to get out and close the door.
  • the parking interface can display dialog box 414 to remind the occupants to get out and close the door.
  • the vehicle can send information 'a' to device 1, enabling device 1 to display the parking status and/or parking screen.
  • device 1 as a mobile phone as an example
  • Figure 5 shows a schematic diagram of the GUI for displaying the parking status and/or parking screen on the mobile phone.
  • the mobile phone can display a pop-up card 510 indicating the parking status (e.g., text 511 "Parking in progress"). Additionally, it can display text 512 "Please be aware of the surrounding environment and click to view the real-time status," prompting the user to click the pop-up card 510 to access the owner's app and view the vehicle's parking screen.
  • the mobile phone's display switches to the owner's app interface and displays the parking screen, as shown in Figure 5(b).
  • This parking screen can include the target parking space and the vehicle's position relative to the target parking space.
  • the parking screen can be a real-time view of the parking process, such as a 360-degree surround view image captured by the vehicle's camera.
  • the owner's app interface may also include a pop-up window 520, which includes parking status information (such as text 521 "Parking into the parking space") and warning information (such as text 522 "Please pay attention to the surrounding environment of the vehicle"), or it may include a button 523, which is used to control the suspension of the automatic parking process.
  • the mobile phone sends information b to the vehicle, and the vehicle controls the braking when it receives information b.
  • users can close the pop-up card 510 shown in Figure 5(a). Even when the pop-up card 510 is closed, users can still access the owner's app interface shown in Figure 5(b) by clicking the icon of the owner's app on the main screen of their phone. Furthermore, for the interface shown in Figure 5(a), users can also update parking-related information via a pop-up card when the parking status changes, without performing any operation, as shown in Figure 5(c). Specifically, the text 531 "Parking Completed" in the pop-up card 530 indicates the parking status, and the text 532 "Vehicle Automatically Locked and Power Off" indicates the latest vehicle status.
  • the parking information can be updated by pushing pop-up cards (such as pop-up card 530) when the parking status changes.
  • the parking interface can display the reason for the pause. For example, when a door is detected to be open during parking, as shown in Figure 6(a), the parking interface can display dialog box 601 "Door open detected, parking paused.” Furthermore, the parking interface can also display a button 602 for controlling continued parking. When the door is open, button 602 is grayed out, meaning the vehicle will not continue parking when the user clicks button 602. If the vehicle door closes within a certain time period (e.g., 30 seconds) from the start of the pause, the button becomes clickable again, as shown in Figure 6(b), button 604. When the user clicks button 604, the vehicle continues parking. Additionally, when the door is closed, the parking interface can also display dialog box 605 "Door closed" to inform the user of the door status.
  • dialog box 605 "Door closed
  • the parking interface of the owner's mobile app can display the parking status, parking view, and a button to control the resumption of parking.
  • the parking interface can display a real-time view of the vehicle's surroundings. Additionally, the interface displays a pop-up window 710 with the text "Parking Paused" 711 to indicate the parking status.
  • the pop-up window 710 also includes a button 712, which controls the resumption of the automatic parking process.
  • the mobile phone sends information c to the vehicle. Upon receiving information c and closing the doors, the vehicle resumes parking.
  • a pop-up card 720 can be displayed on the mobile phone when it receives a notification from the vehicle regarding the parking function malfunction.
  • This pop-up card 720 includes the text "Parking function malfunction, please take over the vehicle,” indicating to the user that parking function 1 has malfunctioned and requires vehicle management.
  • a pop-up card 730 can be displayed on the mobile phone when it receives a notification from the vehicle regarding the exit of the parking function.
  • This pop-up card 730 includes the text "Parking function has exited,” indicating the exit status of parking function 1.
  • the mobile phone opens the owner's app and displays the parking interface, which can include images of the vehicle's location and its surrounding environment.
  • Figure 8 shows a schematic flowchart of a parking method 800 provided in an embodiment of this application.
  • the method 800 can be performed by the vehicle 100 shown in Figure 1.
  • the method 800 includes:
  • the first parking area can be the target area in method 300.
  • the first instruction can be an instruction generated by detecting the user's operation of clicking icon 404 shown in Figure 4(a); or, the first instruction can also be an instruction generated by detecting the user's operation of pressing the brake in D gear and clicking icon 404 shown in Figure 4(a); or, the first instruction can also be an instruction generated by detecting the user's operation of clicking icon 404 shown in Figure 4(a) in D gear parking state.
  • S820 controls the activation of the first parking function when at least one of the following occurs: the risk level of the first parking area meets preset conditions, the driver or passenger of the vehicle clicks the button displayed on the vehicle's first screen to activate the first parking function, or the driver or passenger's voice is detected to activate the first parking function.
  • the risk level meeting the preset conditions may include: the risk level being greater than or equal to the risk level threshold.
  • the specific implementation of determining the risk level of the first parking area can refer to the method for determining the risk level P in S301, and will not be repeated here; the risk level threshold can be the risk level threshold in S301.
  • the first parking function can be parking function 1 in the aforementioned embodiments
  • the first screen can be the central control screen of the vehicle as shown in FIG4, and the button for enabling the first parking function can be control button 410 shown in (c) of FIG4.
  • the method before controlling the vehicle to park in the first parking area, the method also includes: controlling the vehicle to shift to P gear.
  • the parking gear can be P, or it can be any other gear used for parking or controlling the vehicle to stop.
  • S830 can be further refined to: when the driver or passenger leaves the vehicle, the distance between the driver or passenger and the vehicle is greater than or equal to a distance threshold, and the vehicle door is closed, control the vehicle to park in the first parking area.
  • the distance between the occupants and the vehicle being greater than or equal to a distance threshold can be defined as: the closest distance between the occupants and the vehicle being greater than or equal to the distance threshold.
  • S830 can be further refined as follows: at the first moment, the vehicle is controlled to begin parking in the first parking area, the time interval between the first moment and the second moment is greater than or equal to the first duration threshold, and the first moment is after the second moment, which is the moment when the driver and passengers leave the vehicle and close the door.
  • the distance threshold can be distance threshold 2 in method 300; the first duration threshold can be duration 2' in method 300.
  • the first instruction in S810 is acquired at the third moment.
  • S830 can be further refined as follows: when the occupants leave the vehicle and close the vehicle doors before the fourth moment, control the vehicle to park in the first parking area. The fourth moment is after the third moment, and the time interval between the fourth and third moments is less than or equal to a second duration threshold.
  • the first parking function is activated at the third moment, and the vehicle is controlled to park in the first parking area when the occupants leave the vehicle and close the vehicle doors before the fourth moment. If the occupants have not left the vehicle or the doors are not closed before the fourth moment, then the vehicle is not controlled to park in the first parking area, or the first parking function is deactivated.
  • the second duration threshold can be duration 1 in method 300.
  • method 800 further includes: controlling the vehicle to stop parking in the first parking area when any of the following occurs during the process of the vehicle parking in the first parking area: detecting that the first door handle of the vehicle is pulled, detecting that the first door of the vehicle is opened, or receiving first information from an electronic device; wherein the electronic device is associated with the vehicle, and the first information is used to control the vehicle braking.
  • the first door handle can be any door handle of the vehicle
  • the first door can be any door of the vehicle
  • the electronic device can include device 1 in method 300
  • the first information can be information b in method 300.
  • method 800 further includes: stopping the vehicle at a first position when it pauses parking into the first parking area, the method further includes: controlling the vehicle to park from the first position into the first parking area when the vehicle door is closed and any of the following occurs: a first voice is detected, a first button on the vehicle is clicked, or a second message is received from an electronic device.
  • the first voice prompt, the first button, and the second information are used to control the vehicle to continue driving.
  • the first voice prompt can be an audio message such as "Please continue parking" used to control continued parking
  • the first button can be a button in the vehicle used for continued parking
  • the second information can be information c from method 300.
  • method 800 further includes sending third information to an electronic device, the third information including the parking status of the vehicle and/or images acquired during the parking process into the first parking area.
  • the third information is information a in method 300.
  • method 800 further includes: acquiring a second instruction at a fifth moment, the second instruction indicating a second parking area; and controlling the closure of the first parking function when the vehicle has activated the first parking function and the occupants have not left the vehicle and/or the vehicle doors have not been closed within a first duration after the fifth moment.
  • the first duration can be the aforementioned duration 1.
  • the parking method provided in this application when the first parking function is activated, can automatically park the vehicle into the target parking area after the user gets out of the car and closes the door. This eliminates the need for the user to control the automatic parking process via their mobile phone, simplifying the interaction between the user and the automatic parking process and helping to shorten the time required to initiate the automatic parking process, thereby improving automatic parking efficiency. Furthermore, the automatic parking process does not require a prior Bluetooth connection between the user's mobile phone and the vehicle, allowing the user to directly get out of the car and leave after selecting the target area, thus enhancing the user's driving experience.
  • Figure 9 shows a schematic flowchart of a parking method 900 provided in an embodiment of this application.
  • the method 900 can be executed by the vehicle 100 shown in Figure 1.
  • the method 900 includes:
  • S920 controls the vehicle's gear to switch to parking gear according to the first command.
  • the parking gear can be P, or it can be any other gear used for parking or controlling the vehicle to stop.
  • S920 can be further refined as follows: when the risk level of the first parking area meets the preset conditions, the vehicle's gear is switched to parking gear according to the first instruction, and the risk level indicates the collision risk and/or fall risk when the vehicle enters the first parking area.
  • the first parking function is activated when at least one of the following occurs: the risk level of the first parking area meets preset conditions, the driver or passenger clicks the button displayed on the vehicle's first screen to activate the first parking function, or the driver or passenger's voice is detected to activate the first parking function; the first parking function is activated upon activation.
  • S920 can be further refined as follows: under the first parking function, the vehicle's gear is switched to parking gear according to a first instruction.
  • the descriptions of the first instruction, the first parking area, the method for determining the level of risk, the level threshold, and the first parking function can be found in the relevant content of method 800, and will not be repeated here.
  • S930 can be further refined as follows: when the driver or passenger leaves the vehicle, the distance between the driver or passenger and the vehicle is greater than or equal to a distance threshold, and the vehicle door is closed, the vehicle is controlled to park in the first parking area.
  • S930 can be further refined as follows: at the first moment, the vehicle is controlled to begin parking in the first parking area, the time interval between the first moment and the second moment is less than or equal to the first duration threshold, and the first moment is after the second moment, which is the moment when the driver and passengers leave the vehicle and close the door.
  • the first instruction in S910 is obtained at the third time.
  • S930 can be further refined as follows: when the driver and passengers leave the vehicle and close the vehicle door before the fourth time, control the vehicle to park in the first parking area.
  • the fourth time is after the third time, and the time interval between the fourth time and the third time is less than or equal to the second duration threshold.
  • method 900 further includes: controlling the vehicle to suspend parking in the first parking area when any of the following occurs during the process of the vehicle parking in the first parking area: detecting that the first door handle of the vehicle is pulled, detecting that the first door of the vehicle is opened, or receiving first information from an electronic device; wherein the electronic device is associated with the vehicle, and the first information is used to control the vehicle braking.
  • method 900 further includes: stopping at a first position when the vehicle pauses its parking into the first parking area, the method further includes: controlling the vehicle to park from the first position into the first parking area when the vehicle door is closed and any of the following occurs: a first voice is detected, a first button on the vehicle is clicked, or a second message is received from an electronic device.
  • method 900 further includes sending third information to an electronic device, the third information including the parking status of the vehicle and/or images acquired during the parking process into the first parking area.
  • method 900 further includes: acquiring a second instruction at a fifth moment, the second instruction indicating a second parking area; and controlling the closure of the first parking function when the vehicle has activated the first parking function and the occupants have not left the vehicle and/or the vehicle doors have not been closed within a first duration after the fifth moment.
  • Method 900 it should be noted that for the details not described in Method 900, please refer to the relevant descriptions in Method 800, which will not be repeated here.
  • the parking method provided in this application determines the target parking area of the vehicle based on the detected user's operation of pressing the brake in D gear or selecting a target parking area (i.e., the first parking area) in D gear parking state. After determining the target parking area, the vehicle can automatically switch to P gear, and after the user gets out of the car and closes the door, the vehicle can be automatically parked in the target parking area.
  • the automatic parking process does not require the user to control the automatic parking process through a mobile phone, which simplifies the interaction process between the user and the automatic parking process, helps to shorten the time required to start the automatic parking process, thereby improving the efficiency of automatic parking. It also allows the user to get out of the car and leave directly after selecting the target area, which helps to improve the user's driving experience.
  • the target parking area for vehicles can also be a diagonal parking space or a side parking space.
  • Figure 10 shows a schematic block diagram of a parking device 2000 provided in an embodiment of this application.
  • the device 2000 may include units for executing the methods shown in Figures 3, 8, and 9. Furthermore, each unit in the device 2000 implements a corresponding process of the above-described method embodiments.
  • the device 2000 includes an acquisition unit 2010, which can be used to implement corresponding data acquisition or transmission/reception functions.
  • the device 2000 also includes a processing unit 2020, which can be used to implement corresponding processing functions.
  • the device 2000 further includes a storage unit, which can be used to store instructions and/or data.
  • the processing unit 2020 can read the instructions and/or data in the storage unit so that the device can perform the relevant actions in the aforementioned method embodiments.
  • module or “unit” may refer to application-specific ASICs, electronic circuits, processors (e.g., shared processors, proprietary processors, or group processors) and memory for executing one or more software or firmware programs, integrated logic circuits, and/or other suitable components that support the described functions.
  • processors e.g., shared processors, proprietary processors, or group processors
  • memory for executing one or more software or firmware programs, integrated logic circuits, and/or other suitable components that support the described functions.
  • the apparatuses described above are capable of implementing the corresponding steps performed by the computing platform 150 in the methods described above. These functions can be implemented in hardware or by hardware executing corresponding software.
  • the hardware or software includes one or more modules corresponding to the functions described above; for example, the acquisition unit 2010 can be replaced by a transceiver, and other units, such as processing units, can be replaced by a processor, used to execute the relevant processing operations in each method embodiment.
  • the acquisition unit 2010 and processing unit 2020 can be disposed in the vehicle 100 shown in FIG. 1, or they can also be disposed in the system shown in FIG. 2. More specifically, the acquisition unit 2010 and processing unit 2020 can be disposed in the planning control module 240. Exemplarily, the operations performed by the acquisition unit 2010 and processing unit 2020 can be performed by a single processor, or they can be performed by different processors. In specific implementation, the one or more processors can be processors disposed in the vehicle 100 shown in FIG. 1; or, the device 2000 can be a chip disposed in the vehicle 100.
  • the units in the above device can be fully or partially integrated together, or they can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SoC).
  • SoC system-on-a-chip
  • FIG 11 is another schematic block diagram of the parking device provided in an embodiment of this application.
  • the parking device 2100 shown in Figure 11 may include a processor 2110, a transceiver 2120, and a memory 2130.
  • the processor 2110, transceiver 2120, and memory 2130 are connected via internal interconnection paths.
  • the memory 2130 is used to store instructions, and the processor 2110 is used to execute the instructions stored in the memory 2130 to implement the methods in the above embodiments.
  • the memory 2130 may be coupled to the processor 2110 via an interface or integrated with the processor 2110.
  • transceiver 2120 may include, but is not limited to, transceiver devices such as input/output interfaces, to realize communication between device 2100 and other devices or communication networks.
  • the memory 2130 can be volatile memory and/or non-volatile memory.
  • the non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory.
  • the volatile memory can be random access memory (RAM).
  • RAM can be used as an external cache.
  • RAM includes a variety of forms, such as: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • SDRAM synchronous dynamic random access memory
  • DDR SDRAM double data rate synchronous dynamic random access memory
  • ESDRAM enhanced synchronous dynamic random access memory
  • SLDRAM synchronous linked dynamic random access memory
  • DR RAM direct rambus RAM
  • Transceiver 2120 uses transceiver devices, such as but not limited to transceivers, to enable communication between device 2100 and other devices or communication networks to receive/send data/information for implementing the methods in the above embodiments.
  • This application also provides an intelligent driving device, which includes the parking device 2000 or parking device 2100 in the above embodiments.
  • the intelligent driving devices involved in the embodiments of this application may include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc.
  • intelligent driving devices may be vehicles, which are vehicles in a broad sense, including transportation vehicles (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc.
  • transportation vehicles such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.
  • industrial vehicles such as forklifts, trailers, tractors, etc.
  • engineering vehicles such as excavators, bulldozers, cranes, etc.
  • agricultural equipment such as lawnmowers, harvesters, etc.
  • amusement equipment toy vehicles, etc.
  • the embodiments of this application do not specifically limit the type of vehicle.
  • This application also provides a computer program product, which includes computer program code.
  • the computer program code When the computer program code is run on a computer, it causes the computer to implement the methods described in the above embodiments of this application.
  • This application also provides a computer-readable storage medium storing computer instructions that, when executed on a computer, cause the computer to implement the methods described in the above embodiments of this application.
  • This application also provides a chip, including circuitry, for performing the methods described in the above embodiments of this application.
  • At least one of a, b, or c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.
  • the disclosed systems, apparatuses, and methods can be implemented in other ways.
  • the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods.
  • multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.
  • the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.
  • the units described as separate components may or may not be physically separate.
  • the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
  • the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

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Abstract

一种泊车方法、装置和智能驾驶设备，该方法包括：获取第一指令，第一指令指示第一泊车区域；根据第一指令控制车辆的挡位切换至停车挡位；当车辆的驾乘人员离车且车辆的车门关闭时，控制车辆向第一泊车区域泊入；当车辆的驾乘人员离车且车辆的车门关闭时，通过第一泊车功能控制车辆向第一泊车区域泊入。本技术方案可以应用于电动车辆、新能源车辆等智能车辆领域，无需用户通过手机控制自动泊车流程，有助于缩短启动自动泊车流程所需时长，从而提高自动泊车效率，也无需用户的手机与车辆保持蓝牙连接，使得用户选定目标区域后可以直接下车并离开，有助于提高用户的驾乘体验。

Description

泊车方法、装置和智能驾驶设备
本申请要求在2024年6月6日提交中国国家知识产权局、申请号为202410735634.5、发明名称为“泊车方法、装置和智能驾驶设备”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
本申请涉及智能车领域，更具体地，涉及一种泊车方法、装置和智能驾驶设备。
背景技术
自动泊车(auto parking，AP)是指车辆自动泊车入位，即自动驾驶系统可以半自动或者全自动地帮助用户将车辆停入车位。自动泊车可以包括自动泊车辅助(auto parking assist，APA)、遥控泊车辅助(remote parking assist，RPA)以及自动代客泊车(auto valet parking，AVP)等。
当前的自动泊车系统在控制车辆泊车时，流程较复杂，操作较繁琐，使得车辆进行自动泊车之前耗时较长，导致用户使用体验不佳。
鉴于此，一种能够缩短泊车耗时的泊车方案亟待开发。
发明内容
本申请提供一种泊车方法、装置和智能驾驶设备，能够缩短启动自动泊车所需时长，从而缩短自动泊车整体流程所需时长，进而提升用户使用自动泊车功能时的体验。
第一方面，提供了一种泊车方法，该方法可以由车辆执行，例如，可以由车辆的计算平台执行，或者，也可以由用于车辆的芯片或电路执行。
该方法包括：获取第一指令，第一指令指示第一泊车区域；根据第一指令控制车辆的挡位切换至停车挡位；当车辆的驾乘人员离车且车辆的车门关闭时，控制车辆向第一泊车区域泊入。
在上述技术方案中，确定车辆的目标停泊区域(即第一泊车区域)之后，车辆可以自动切换至P挡，能够避免用户在下车后发生溜车导致的风险。并且，在用户下车且关门后，控制车辆自动泊入目标停泊区域，无需用户通过手机控制自动泊车流程，简化了自动泊车过程中与用户之间交互流程，有助于缩短启动自动泊车流程所需时长，从而提高自动泊车效率，使得用户选定目标区域后可以直接下车并离开，有助于提高用户的驾乘体验。
结合第一方面，在第一方面的某些实现方式中，根据第一指令控制车辆的挡位切换至停车挡位，包括：在第一泊车区域的风险程度满足预设条件时，根据第一指令控制车辆的挡位切换至停车挡位，风险程度指示车辆向第一泊车区域泊入时的碰撞风险和/或跌落风险。
在上述技术方案中，在第一泊车区域的碰撞风险和/或跌落风险较小时，控制车辆自动切换至P挡，无需用户手动控制切换P挡，有助于简化自动泊车过程中所需操作，并且能够保证泊车过程中的车辆安全性。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：在发生如下至少一项时，控制开启第一泊车功能：第一泊车区域的风险程度满足预设条件，检测到车辆的驾乘人员点击车辆的第一屏幕显示的用于启用第一泊车功能的按钮，或者检测到驾乘人员用于启用第一泊车功能的语音；其中，风险程度指示车辆向第一泊车区域泊入时的碰撞风险和/或跌落风险；根据第一指令控制车辆的挡位切换至停车挡位，包括：在第一泊车功能下，根据第一指令控制车辆的挡位切换至停车挡位。
在上述技术方案中，在第一泊车区域的碰撞风险和/或跌落风险较小时，或者响应于用于开启第一泊车功能的操作，启动第一泊车功能，无需用户通过手机控制自动泊车流程，有助于简化启动自动泊车所需流程，并且有助于保证泊车过程中的安全性。
第二方面，提供了一种泊车方法，该方法可以由车辆执行，例如，可以由车辆的计算平台执行，或者，也可以由用于车辆的芯片或电路执行。
该方法包括：获取第一指令，第一指令指示第一泊车区域；在发生如下至少一项时，控制开启第一泊车功能：第一泊车区域的风险程度满足预设条件，检测到车辆的驾乘人员点击车辆的第一屏幕显示的用于启用第一泊车功能的按钮，或者检测到驾乘人员用于启用第一泊车功能的语音；当车辆的驾乘人员离车且车辆的车门关闭时，通过第一泊车功能控制车辆向第一泊车区域泊入。
在上述技术方案中，可以根据泊车区域的风险程度自动开启第一泊车功能，或者也可以响应于用户的请求开启地泊车功能。在开启第一泊车功能的情况下，在用户下车且关门后，能够控制车辆自动泊入目标停泊区域，无需用户通过手机控制自动泊车流程，简化了自动泊车过程中与用户之间交互操作，有助于缩短启动自动泊车流程所需时长，从而提高自动泊车效率，使得用户选定目标区域后可以直接下车并离开，有助于提高用户的驾乘体验。
结合第二方面，在第二方面的某些实现方式中，通过第一泊车功能控制车辆向第一泊车区域泊入之前，该方法还包括：控制车辆的挡位切换至停车挡位。
在上述技术方案中，在开启第一泊车功能的情况下，控制车辆自动切换至P挡，无需用户手动控制切换P挡，一方面有助于提高泊车过程中的安全性(能够避免车辆溜车导致的风险)，另一方面有助于简化自动泊车过程中所需操作。
结合第一方面或第二方面，在第一方面或第二方面的某些实现方式中，控制车辆向第一泊车区域泊入，包括：当驾乘人员离车、驾乘人员与车辆之间的距离大于或等于距离阈值，且车辆的车门关闭时，控制车辆向第一泊车区域泊入。
在上述技术方案中，在驾乘人员与车辆之间的距离大于或等于距离阈值的情况下，控制车辆向第一泊车区域泊入，能够保证驾乘人员的人身安全，且降低驾乘人员对泊车路径的规划的影响，从而提高泊车效率。
结合第一方面或第二方面，在第一方面或第二方面的某些实现方式中，控制车辆向第一泊车区域泊入，包括：在第一时刻控制车辆开始向第一泊车区域泊入，第一时刻和第二时刻之间的时间间隔小于或等于第一时长阈值，且第一时刻位于第二时刻之后，第二时刻为驾乘人员离车关闭车门的时刻。
在上述技术方案中，在车辆的感知系统损坏无法检测到车外驾乘人员的情况下，仍可控制车辆泊车，有助于提高车辆的泊车系统的鲁棒性。
结合第一方面或第二方面，在第一方面或第二方面的某些实现方式中，第一指令为第三时刻获取的，控制车辆向第一泊车区域泊入，包括：在第四时刻之前驾乘人员离车且关闭车辆的车门时，控制车辆向第一泊车区域泊入，第四时刻位于第三时刻之后，且第四时刻和第三时刻之间的时间间隔小于或等于第二时长阈值。
在上述技术方案中，在第一泊车功能启动且驾乘人员在预设时长内离车并关门的情况下，在第一泊车功能下控制车辆向第一泊车区域泊入；否则，退出第一泊车功能，能够降低第一泊车功能等待(或待机)所需功耗。
结合第一方面或第二方面，在第一方面或第二方面的某些实现方式中，该方法还包括：在车辆向第一泊车区域泊入的过程中发生如下任一项时，控制车辆暂停向第一泊车区域泊入：检测到车辆的第一门把手被拉动，检测到车辆的第一车门开启，或接收到来自电子设备的第一信息；其中，电子设备与车辆相关联，第一信息用于控制车辆制动。
在上述技术方案中，在通过第一泊车功能泊车过程中，可以响应于用户的操作暂停泊车，有助于进一步提升泊车过程的安全性。
结合第一方面或第二方面，在第一方面或第二方面的某些实现方式中，车辆暂停向第一泊车区域泊入时停止在第一位置，该方法还包括：在车辆的车门关闭，且发生如下任一项时，控制车辆从第一位置向第一泊车区域泊入：检测到第一语音，车辆的第一按钮被点击，或接收到来自电子设备的第二信息。
在上述技术方案中，在通过第一泊车功能泊车且泊车暂停时，可以响应于用户的操作继续泊车，有助于进一步提升泊车成功率。
结合第一方面或第二方面，在第一方面或第二方面的某些实现方式中，该方法还包括：向电子设备发送第三信息，第三信息包括车辆的泊车状态和/或向第一泊车区域泊入过程中采集的图像；其中，电子设备与车辆相关联。
在上述技术方案中，在通过第一泊车功能泊车过程中，可以向电子设备发送泊车相关动态，以使得电子设备可以显示相关动态，进而使得用户与车辆距离较远的情况下仍可以观察到车辆泊车过程中的相关信息。
结合第一方面或第二方面，在第一方面或第二方面的某些实现方式中，该方法还包括：在第五时刻获取第二指令，第二指令指示第二泊车区域；在车辆开启第一泊车功能，且第五时刻之后的第一时长内驾乘人员未离车和/或车辆的车门未关闭时，控制关闭第一泊车功能。
在上述技术方案中，在用户启用第一泊车功能后一定时长内未离车或车门未关闭时，退出第一泊车功能，有助于降低第一泊车功能等待(或待机)所需功耗。
第三方面，提供了一种泊车装置，该装置包括获取单元和处理单元，其中，获取单元用于：获取第一指令，第一指令指示第一泊车区域；处理单元用于：根据第一指令控制车辆的挡位切换至停车挡位；处理单元还用于：当车辆的驾乘人员离车且车辆的车门关闭时，控制车辆向第一泊车区域泊入。
结合第三方面，在第三方面的某些实现方式中，处理单元用于：在第一泊车区域的风险程度满足预设条件时，根据第一指令控制车辆的挡位切换至停车挡位，风险程度指示车辆向第一泊车区域泊入时的碰撞风险和/或跌落风险。
结合第三方面，在第三方面的某些实现方式中，处理单元用于：在发生如下至少一项时，控制开启第一泊车功能：第一泊车区域的风险程度满足预设条件，检测到车辆的驾乘人员点击车辆的第一屏幕显示的用于启用第一泊车功能的按钮，或者检测到驾乘人员用于启用第一泊车功能的语音；其中，风险程度指示车辆向第一泊车区域泊入时的碰撞风险和/或跌落风险；在第一泊车功能下，根据第一指令控制车辆的挡位切换至停车挡位。
第四方面，提供了一种泊车装置，该装置包括获取单元和处理单元，其中，获取单元用于：获取第一指令，第一指令指示第一泊车区域；处理单元用于：在发生如下至少一项时，控制开启第一泊车功能：第一泊车区域的风险程度满足预设条件，检测到车辆的驾乘人员点击车辆的第一屏幕显示的用于启用第一泊车功能的按钮，或者检测到驾乘人员用于启用第一泊车功能的语音；处理单元还用于：当车辆的驾乘人员离车且车辆的车门关闭时，通过第一泊车功能控制车辆向第一泊车区域泊入。
结合第四方面，在第四方面的某些实现方式中，处理单元通过第一泊车功能控制车辆向第一泊车区域泊入之前，处理单元还用于：控制车辆的挡位切换至停车挡位。
结合第三方面或第四方面，在第三方面或第四方面的某些实现方式中，处理单元用于：当驾乘人员离车、驾乘人员与车辆之间的距离大于或等于距离阈值，且车辆的车门关闭时，控制车辆向第一泊车区域泊入。
结合第三方面或第四方面，在第三方面或第四方面的某些实现方式中，处理单元用于：在第一时刻控制车辆开始向第一泊车区域泊入，第一时刻和第二时刻之间的时间间隔小于或等于第一时长阈值，且第一时刻位于第二时刻之后，第二时刻为驾乘人员离车关闭车门的时刻。
结合第三方面或第四方面，在第三方面或第四方面的某些实现方式中，第一指令为第三时刻获取的，处理单元用于：在第四时刻之前驾乘人员离车且关闭车辆的车门时，控制车辆向第一泊车区域泊入，第四时刻位于第三时刻之后，且第四时刻和第三时刻之间的时间间隔小于或等于第二时长阈值。
结合第三方面或第四方面，在第三方面或第四方面的某些实现方式中，该装置还包括检测单元，处理单元还用于：在车辆向第一泊车区域泊入的过程中发生如下任一项时，控制车辆暂停向第一泊车区域泊入：检测单元检测到车辆的第一门把手被拉动，检测单元检测到车辆的第一车门开启，或获取单元接收到来自电子设备的第一信息；其中，电子设备与车辆相关联，第一信息用于控制车辆制动。
结合第三方面或第四方面，在第三方面或第四方面的某些实现方式中，该装置还包括检测单元；车辆暂停向第一泊车区域泊入时停止在第一位置，处理单元还用于：在车辆的车门关闭，且发生如下任一项时，控制车辆从第一位置向第一泊车区域泊入：检测单元检测到第一语音，检测单元检测到车辆的第一按钮被点击，或获取单元接收到来自电子设备的第二信息。
结合第三方面或第四方面，在第三方面或第四方面的某些实现方式中，处理单元还用于：控制向电子设备发送第三信息，第三信息包括车辆的泊车状态和/或向第一泊车区域泊入过程中采集的图像；其中，电子设备与车辆相关联。
结合第三方面或第四方面，在第三方面或第四方面的某些实现方式中，获取单元还用于：在第五时刻获取第二指令，第二指令指示第二泊车区域；处理单元还用于：在车辆开启第一泊车功能，且第五时刻之后的第二时长内驾乘人员未离车和/或车辆的车门未关闭时，控制关闭第一泊车功能。
第五方面，提供了一种泊车装置，该装置包括：处理器，用于执行该存储器中存储的计算机程序，以使得该装置执行上述第一方面或第二方面任一种可能实现方式中的方法。
结合第五方面，在第五方面的某些实现方式中，该泊车装置还包括存储器。
第六方面，提供了一种智能驾驶设备，该智能驾驶设备包括如第三至第五方面任一种可能实现方式中的装置。
结合第六方面，在第六方面的某些实现方式中，该智能驾驶设备为车辆。
第七方面，提供了一种计算机程序产品，上述计算机程序产品包括：计算机程序代码，当上述计算机程序代码在计算机或处理器上运行时，使得计算机或处理器执行上述第一方面或第二方面任一种可能实现方式中的方法。
需要说明的是，上述计算机程序代码可以全部或部分存储在存储介质上，其中存储介质可以与处理器封装在一起的，也可以与处理器单独封装。
第八方面，提供了一种计算机可读介质，上述计算机可读介质存储有指令，当上述指令被处理器执行时，使得处理器实现上述第一方面或第二方面中任一种可能实现方式中的方法。
第九方面，提供了一种芯片，该芯片包括电路，该电路用于执行上述第一方面或第二方面中任一种可能实现方式中的方法。
第三方面至第九方面中未详尽描述的有益效果，可以参考第一方面和第二方面中的描述，在此不再赘述。
附图说明
图1是本申请实施例提供的智能驾驶设备的功能性示意框图；
图2是本申请实施例提供的泊车系统架构的示意图；
图3是本申请实施例提供的泊车方法的示意性流程图；
图4是本申请实施例提供的GUI的一种示意图；
图5是本申请实施例提供的GUI的又一种示意图；
图6是本申请实施例提供的GUI的再一种示意图；
图7是本申请实施例提供的GUI的再一种示意图；
图8是本申请实施例提供的泊车方法的又一示意性流程图；
图9是本申请实施例提供的泊车方法的再一示意性流程图；
图10是本申请实施例提供的泊车装置的示意性框图；
图11是本申请实施例提供的泊车装置的又一示意性框图。
具体实施方式
如上所述，当前技术背景下，自动泊车系统在控制车辆泊车时，流程较复杂，操作较繁琐。具体地，用户在车辆显示屏中选择车位，并确认授权车辆的自动泊车功能，以使车辆能够向车位中自动泊入。进一步地，用户将车辆挡位切换至停车(parking，P)挡之后下车关门。然后用户通过与车辆关联的手机进行自动泊车的自检，手机检测到用户点击确认自动泊车的按钮的操作之后，激活自动泊车流程，控制车辆开始向所选车位中泊入。可见，上述自动泊车流程过于繁琐，使得车辆进入自动泊车所需时长较长，进而导致自动泊车的完整流程耗时较长。
鉴于此，本申请实施例提供一种泊车方法、装置和智能驾驶设备，无需用户通过手机控制自动泊车流程，简化了自动泊车过程中与用户之间交互流程，有助于缩短启动自动泊车流程所需时长，从而提高自动泊车效率，使得用户选定目标区域后可以直接下车并离开，有助于提高用户的驾乘体验。
下面将结合附图，对本申请实施例中的技术方案进行描述。
图1是本申请实施例提供的车辆的一个功能框图示意。如图1所示，该车辆100可以包括感知系统120、显示装置130、通信系统140和计算平台150，其中，感知系统120可以包括用于感测车辆100周边的环境的信息的若干种传感器。例如，感知系统120可以包括定位系统，定位系统可以是全球定位系统(global positioning system，GPS)，也可以是北斗系统或者其他定位系统。又例如，感知系统120还可以包括惯性测量单元(inertial measurement unit，IMU)、激光雷达、毫米波雷达、超声波雷达以及摄像装置中的一种或者多种。
车辆100座舱内的显示装置130主要分为两类，第一类是车载显示屏；第二类是投影显示屏，例如抬头显示装置(head up display，HUD)。车载显示屏是一种物理显示屏，是车载信息娱乐系统的重要组成部分，座舱内可以设置有多块显示屏，如数字仪表显示屏，中控屏等。在一些可能的实现方式中，上述车载显示屏中的一个或多个，可以为人机交互界面(human machine interface，HMI)，例如，中控屏可以为HMI。抬头显示，也称平视显示系统。主要用于在驾驶员前方的显示设备(例如挡风玻璃)上显示例如时速、导航等驾驶信息。以降低驾驶员视线转移时间，避免因驾驶员视线转移而导致的瞳孔变化，提升行驶安全性和舒适性。HUD例如包括组合型抬头显示(combiner-HUD，C-HUD)系统、风挡型抬头显示(windshield-HUD，W-HUD)系统、增强现实型抬头显示系统(augmented reality HUD，AR-HUD)。
车辆100的通信系统140可以是集成至少一个通信处理模块的一个或多个器件，通信系统140可以通过天线进行电磁波的收发，以使得车辆100能够通过无线通信技术与其他电子设备(如与车辆100相关联的电子设备)、云端服务器等进行通信。其中，无线通信技术可以包括移动通信技术，如全球移动通讯(global system of mobile communication，GSM)、码分多址(code division multiple access，CDMA)、宽带码分多址(wideband code division multiple access，WCDMA)、通用分组无线业务(general packet radio service，GPRS)、或长期演进(long term evolution，LTE)等，或者，无线通信技术也可以包括无线短距通信技术，如蓝牙(Bluetooth，BT)通信技术、射频识别(radio frequency identification，RFID)通信技术等。
车辆100的部分或所有功能可以由计算平台150控制。计算平台150可包括处理器151至15n，处理器是一种具有信号的处理能力的电路，在一种实现中，处理器可以是具有指令读取与运行能力的电路，例如中央处理单元(central processing unit，CPU)、微处理器、图形处理器(graphics processing unit，GPU)(可以理解为一种微处理器)、或数字信号处理器(digital signal processor，DSP)等；在另一种实现中，处理器可以通过硬件电路的逻辑关系实现一定功能，该硬件电路的逻辑关系是固定的或可以重构的，例如处理器为专用集成电路(application-specific integrated circuit，ASIC)或可编程逻辑器件(programmable logic device，PLD)实现的硬件电路，例如现场可编程门阵列(field programmable gate array，FPGA)。在可重构的硬件电路中，处理器加载配置文档，实现硬件电路配置的过程，可以理解为处理器加载指令，以实现以上部分或全部单元的功能的过程。此外，处理器还可以是针对人工智能设计的硬件电路，其可以理解为一种ASIC，例如神经网络处理单元(neural network processing unit，NPU)、张量处理单元(tensor processing unit，TPU)、深度学习处理单元(deep learning processing unit，DPU)等。此外，计算平台150还可以包括存储器，存储器用于存储指令，处理器151至15n中的部分或全部处理器可以调用存储器中的指令，以实现相应的功能。
车辆100可以包括高级驾驶辅助系统(advanced driving assistant system，ADAS)，ADAS利用在车辆上的多种传感器(包括但不限于：激光雷达、毫米波雷达、摄像装置、超声波传感器、全球定位系统、惯性测量单元)从车辆周围获取信息，并对获取的信息进行分析和处理，实现例如障碍物感知、目标识别、车辆定位、路径规划、驾驶员监控/提醒等功能，从而提升车辆驾驶的安全性、自动化程度和舒适度。
从逻辑功能上来说，ADAS系统一般包括三个主要功能模块：感知模块，决策模块和执行模块，感知模块通过传感器感知车身周围环境，输入相应实时数据至决策层处理中心，感知模块主要包括车载摄像头/超声波雷达/毫米波雷达/激光雷达等；决策模块根据感知模块获取的信息，使用计算装置和算法做出相应决策；执行模块从决策模块接收到决策信号后采取相应行动，如驾驶、变道、转向、刹车、警示等。
在不同的自动驾驶等级(L0-L5)下，基于人工智能算法和多传感器所获取的信息，ADAS可以实现不同等级的自动驾驶辅助，上述的自动驾驶等级(L0-L5)是基于汽车工程师协会(society of automotive engineers，SAE)的分级标准的。其中，L0级为无自动化；L1级为驾驶支援；L2级为部分自动化；L3级为有条件自动化；L4级为高度自动化；L5级为完全自动化。L1至L3级监测路况并做出反应的任务都由驾驶员和系统共同完成，并需要驾驶员接管动态驾驶任务。L4和L5级可以让驾驶员完全转变为乘客的角色。目前，ADAS可以实现的功能主要包括但不限于：自适应巡航、自动紧急刹车、自动泊车、盲点监测、前方十字路口交通警示/制动、后方十字路口交通警示/制动、前车碰撞预警、车道偏离预警、车道保持辅助、后车防撞预警、交通标识识别、交通拥堵辅助、高速公路辅助等。应当理解的是：上述的各种功能在不同的自动驾驶等级(L0-L5)下可以有具体的模式，自动驾驶等级越高，对应的模式越智能。例如，自动泊车可以包括APA、RPA以及AVP等。对于APA，驾驶员无需操纵方向盘，但是仍然需要在车辆上操控油门和刹车；对于RPA，驾驶员可以使用终端(例如手机)在车辆外部对车辆进行遥控泊车；对于AVP，车辆可以在没有驾驶员的情况下完成泊车。从对应的自动驾驶等级而言，APA约处在L1级的水平，RPA约处于L2-L3级的水平，而AVP约处于L4级的水平。
在本申请实施例中，感知系统120用于获取车辆周围的可泊车区域，显示装置130可以显示可泊车区域，并且响应于用户的操作初步确定目标区域，计算平台150根据上述目标区域控制车辆泊入该目标区域。
图2示出了本申请实施例提供的泊车方法实施所需的系统架构示意图，该系统可以设置于图1所示车辆100中，该系统包括感知模块210、人机交互模块220、通信模块230、规划控制模块240和执行器250。具体地：
感知模块210可以包括车辆所处区域的路侧设备(road side unit，RSU)，也可以包括图1所示的感知系统120中的一种或多种摄像装置，或者一种或多种雷达传感器，用于采集车辆所处区域的环境信息，例如车位线的信息、障碍物的信息等，感知模块210还可以对采集的环境信息进行处理，为下游模块(例如人机交互模块220、规划控制模块240)建立道路、障碍物等构成的世界模型。示例性地，感知模块210可以根据障碍物和/或车位线确定可用于车辆停泊的区域，并将该可用于车辆停泊的区域的信息发送至人机交互模块220。
人机交互模块220可以包括图1中所示的显示装置130中的一个或多个，例如可以包括HMI；人机交互模块220还可以包括发声装置(如扬声器、音箱等)和收音装置(如麦克风)。人机交互模块220可以显示一个或多个可用于车辆停泊的区域的图像或示意图或图标。本系统可以根据用户针对人机交互模块220的输入，确定车辆预泊入的目标停泊区域。进一步地，人机交互模块220可以将目标停泊区域的信息(如位置和姿态的信息)发送至规划控制模块240。
此外，人机交互模块220还可以向用户提示车辆支持泊车功能1和泊车功能2，其中，车辆在泊车功能1下无需用户通过手机对自动泊车流程进行授权，在车辆检测到用户通过点击车载屏幕或通过语音指令请求启动泊车功能1的情况下，即可在泊车功能1下控制车辆泊入目标车位；车辆在泊车功能2下需要由用户通过手机对自动泊车流程进行授权，在用户通过手机对自动泊车流程进行授权后，车辆在泊车功能2下控制车辆泊入目标车位车辆在泊车功能1下可以自动切换至P挡，并控制车辆泊入目标车位；或者，车辆在泊车功能2下需要由用户控制车辆切换至P挡，并控制车辆泊入目标车位。进一步地，本系统可以响应于用户针对人机交互模块220的输入，确定开启泊车功能1或确定关闭泊车功能1。在系统基于泊车功能1控制车辆向目标车位泊入时，系统可以响应于用户针对人机交互模块220的输入，暂停泊车或者退出泊车功能1。
通信模块230可以包括图1所示的通信系统140，在系统确定开启泊车功能1时，可以通过通信模块230向与车辆相关联的电子设备1(如手机)发送信息1，该信息1用于指示车辆在泊车功能1下控制泊车。或者，通信模块230也可以接收来自电子设备1的信息2，该信息2用于指示电子设备1控制车辆制动。通信模块230可以根据信息2向规划控制模块240发送信息3，以使得规划控制模块240控制车辆制动。
规划控制模块240可以为图1所示的计算平台150中的一个或多个处理器，用于根据来自人机交互模块220的目标车位的信息，规划车辆从当前所处区域行驶至目标停泊区域的运动路径，或者还可以规划车辆在目标停泊区域的位姿。进一步地，规划控制模块240根据上述规划的运动路径计算相应的控制量，将上述控制量输出到执行器250。可选地，规划控制模块240还可以根据来自通信模块230的信息3确定制动转矩，并将制动转矩输入到执行器。
在执行器250执行前述控制量时，控制车辆按规划的运动路径行驶至目标停泊区域，或者还可以按照目标位姿在目标停泊区域停泊。在执行器250执行前述制动转矩时，可以控制车辆制动(如车速降为0)。
在一些可能的实现方式中，执行器可以包括车辆100中的转向、制动控制系统。
应理解，上述模块仅为一个示例，实际应用中，上述模块有可能根据实际需要添加或删除。例如，图2中所示的系统架构中，可以人机交互模块220和通信模块230可以合并为一个模块。
图3示出了本申请实施例提供的泊车方法的示意性流程图，该方法300可以车辆、设备1和服务器执行，其中，车辆可以为图1中所示的车辆100，设备1可以为与车辆相关联的设备。其中，设备1和车辆相关联可以包括：登录设备1和车辆车机的账号相同；或者，登录设备1和车辆车机的账号虽然不同，但均为车辆的授权用户的账号。示例性地，设备1可以为具有无线通信功能的手持设备、可穿戴设备、计算设备或连接到无线调制解调器的其它处理设备等。例如设备1可以为手机、平板电脑、手表、手环等。更为具体地，该方法300可以包括：
S301，确定开启泊车功能1。
示例性地，车辆支持泊车功能1和泊车功能2，车辆在泊车功能1下无需用户通过手机对自动泊车流程进行授权，在车辆检测到用户通过点击车载屏幕或通过语音指令请求启动泊车功能1的情况下，即可在泊车功能1下控制车辆泊入目标车位；车辆在泊车功能2下需要由用户通过手机对自动泊车流程进行授权，在用户通过手机对自动泊车流程进行授权后，车辆在泊车功能2下控制车辆泊入目标车位。例如，泊车功能2可以为RPA功能，泊车功能1可以称为离车即走功能，或者泊车功能1也为其他名称。
在一些实现方式中，车辆可以响应于用户的指令，开启泊车功能1。例如，检测到用户的语音“智能助手，启动泊车功能1”时，确定开启泊车功能1；又例如，车辆的显示屏显示泊车界面，且泊车界面推荐泊车功能1和泊车功能2，响应于用户点击泊车功能1的操作，确定开启泊车功能1。
在又一些实现方式中，车辆的显示屏显示泊车界面，该泊车界面中包括一个或多个空闲车位，检测到用户点击一个或多个空闲车位中的一个时，确定该空闲车位为目标车位。进而，根据该目标车位的风险程度(如车辆向该目标车位泊入过程中的碰撞风险和/或跌落风险)确定是否开启泊车功能1，例如，通过风险等级表示风险程度，风险等级越高则碰撞风险和/或跌落风险越高，则在目标车位的风险等级低于或等于阈值时，确定开启泊车功能1，在目标车位的风险等级高于等级阈值时，确定开启泊车功能2。再例如，通过其他方式表示风险程度，在目标车位的风险程度超过风险程度阈值时，确定开启泊车功能1，否则开启泊车功能2。其中，风险程度阈值可以为80％，或者70％，或者还可以为其他数值。再或者，还根据目标车位的类型确定是否开启泊车功能1，例如，在目标车位为平面车位时，确定开启泊车功能1，在目标车位为立体车位(如机械车位)时，确定开启泊车功能2。
示例性地，风险等级P可以根据如下公式确定：P＝a*P1+b*P2+c*P3，其中，P1代表车位类型导致的风险，例如，车位类型为平面车位时，P1取0，车位类型为立体车位时，P1取1；P2代表车位周围障碍物导致的风险，例如，若车位上方存在悬空障碍物或者车位一定范围内(如0.3米或0.5米等)存在比车位所处平面低的负障碍物(如车位位于断头路)，则P2取1，若车位一定范围内(如0.3米或0.5米等)存在与车位所处平面处于同一平面的障碍物，则P2取0.5，若车位上方及周围无障碍物，则P2取0；P3代表停车场景导致的风险，例如，车位为停车场中的车位时，P3取0，车位为道路旁边的车位时，P3取1。a、b、c代表各项所占权重，以a、b、c分别取1为例，则P的取值范围为0～3，则前述等级阈值可以为1，或者也可以为1.5，或者也可以为其他数值，例如等级阈值可以为最大风险等级的80％，或者70％等。在实际实现时，a、b、c也可以取其他数值，此外，还可以结合其他因素确定车位的风险等级。
可选地，目标车位的风险程度可以为服务器确定的，进而服务器确定是否开启泊车功能1。在确定开启泊车功能1时，服务器向车辆发送通知，以控制车辆开启泊车功能1。
可选地，在识别到车辆驶入停车场时，车辆可以控制显示屏显示前述泊车界面。或者，车辆也可以响应于用户的操作显示泊车界面。
在一些实现方式中，车辆检测到用户请求开启泊车功能1的操作时，或者车辆控制开启泊车功能1之前，车辆向服务器发送当前车机所登录的账户信息，服务器对该账户信息进行鉴权，确认该账户信息所指示的账户是否支持泊车功能1，在确定该账户信息所指示的账户支持泊车功能1时，服务器向车辆发送可以开启泊车功能的指示，车辆根据该指示开启泊车功能1。
在某些实现方式中，在车辆响应于用户的指令开启泊车功能1之后，车辆确定目标车位的风险程度大于等级阈值，则车辆可以控制关闭泊车功能1，以提高泊车过程中的安全性。
在开启泊车功能1之后，根据车辆上驾乘人员是否离车以及车门是否关闭，可以分为两种情况(情况1、情况2)。若车辆上的驾乘人员在时长1内离车，且车门均关闭时，执行S302至S307；否则，执行S308。其中，时长1可以为3分钟、5分钟，或者也可以为其他时长。
可选地，车辆上的驾乘人员在预设时长内离车、车门均关闭，且驾乘人员和车辆之间的距离大于或等于距离阈值1时，执行S302至S307；或者，车辆上的驾乘人员在预设时长内离车、车门均关闭时，从关闭车辆的最后一个车门的时刻起算的时长2之后，执行S302至S307。其中，距离阈值1可以为80米，或者也可以为50米，或者还可以为其他数值；时长2可以为3分钟，或者5分钟，或者还可以为其他数值。也就是说，可以在车辆上驾乘人员离车且车门关闭后，控制车辆的挡位切换至停车挡位。应理解，在车辆上驾乘人员离车时，车辆可以为行车(driving，D)挡下的驻车状态。
在一些实现方式中，车辆开启泊车功能1的情况下，在检测到用户踩刹车并选定目标车位后，即执行S302；或者，车辆开启泊车功能1，且车辆在D挡驻车状态，检测到用户选定目标车位时，即执行S302。也就是说，也可以在车辆上驾乘人员未离车时，控制车辆进行挡位切换。
在又一些实现方式中，执行S301之后，可以直接执行S303。也就是说，在车辆处于驻车状态时，无需控制车辆切换至P挡，在驾乘人员离车且车门关闭后，可以直接执行S303。
S302，控制车辆的挡位切换至停车挡位。
示例性地，停车挡位可以为P挡，或者也可以为其他用于泊车的挡位。更为具体地，可以控制车辆从D挡切换至P挡。
S303，控制车辆向目标区域泊入。
示例性地，车辆上的驾乘人员在预设时长内离车、车门均关闭，且驾乘人员和车辆之间的距离大于或等于距离阈值2时，控制车辆向目标区域泊入；或者，车辆上的驾乘人员在预设时长内离车、车门均关闭时，从关闭车辆的最后一个车门的时刻起算的时长2’之后，控制车辆向目标区域泊入。其中，距离阈值2可以为80米，或者也可以为50米，或者还可以为其他数值；时长2’可以为3分钟，或者5分钟，或者还可以为其他数值。
S304，车辆向设备1发送信息a，信息a包括泊车状态和泊车过程中采集的图像。
其中，泊车状态可以包括泊车准备(即，即将向目标车位泊车)、正在泊车和泊车完成(即，已经泊入目标车位且停泊)中任一个。泊车过程中采集的图像可以包括车辆和目标车位之间的相对位置关系，或者还可以包括目标车位周围的障碍物信息(如位置、运动动态等)。
示例性地，车辆通过服务器向设备1发送信息a。
S305，设备1显示泊车状态和/或泊车画面。
示例性地，设备1通过车主应用程序(application，APP)显示泊车状态和/或泊车画面，或者设备1通过状态通知栏中显示泊车状态。其中，车主APP可以包括为车辆的合法授权用户提供车辆控制的应用程序，和/或为车辆的合法授权用户提供了解该车辆状况信息等服务的应用程序。
S306，在车辆向目标区域泊入的过程中发生事件1时，控制车辆暂停向目标区域泊入。
示例性地，事件1可以包括如下任一项：车辆的任一车门的门把手被拉动、车辆的任一车门被开启、或者，接收到设备1的信息b。其中，信息b用于指示车辆制动。
在实际实现时，若车辆的门把手为隐藏式把手，则车辆开启泊车功能1的过程中，隐藏式门把手保持弹出状态。
S307，在车辆的车门关闭时，且发生事件2时，控制车辆继续向目标区域泊入。
示例性地，事件2可以包括如下任一项：车辆中检测到指示继续泊车的语音指令(如音频“请继续泊车”)、车辆中用于继续泊车的按钮被按动，或者，接收到来自设备1的信息c。其中，信息c用于指示车辆继续泊车。
可选地，在控制车辆继续向目标泊车区域泊入的过程中，车辆中可以存在驾乘人员。
在一些实现方式中，事件1在时刻1发生，则在时刻2之后可以控制车辆继续向目标区域泊入。其中，时刻1和时刻2之间的时间间隔可以为30秒，或者40秒，或者也可以为其他时长。
S308，在泊车功能1开启之后的时长1之内，车辆的驾乘人员未离车或车辆的车门关闭时，关闭泊车功能1。
一示例中，在泊车功能1开启之后的时长1之内，车辆的驾乘人员未离车时，关闭泊车功能1。
又一示例中，在泊车功能1开启之后的时长1之内，车辆的驾乘人员已离车，但车门未关闭时，关闭泊车功能1。或者，在泊车功能1开启之后的时长1之内，车辆的驾乘人员已离车，但车门未关闭时，通过设备1提示用户关闭车门，若提示用户关闭车门之后的时长4内，车门仍未关闭，则关闭泊车功能1。其中，时长4可以为1分钟，或者2分钟，或者也可以为其他时长。
在一些实现方式中，关闭泊车功能1时，开启泊车功能2；或者，关闭泊车功能1时，退出自动泊车流程。
在一些实现方式中，因发生碰撞或泊车路径中存在障碍物等原因导致泊车功能1卡死(如车辆停车不再行驶)时，车辆向设备1发送信息d，该信息d指示泊车异常，以使得设备1提示用户泊车异常和/或提示用户接管车辆。可选地，在泊车功能1卡死时，还控制车辆打开双闪进行风险提示。
本申请实施例提供的泊车方法，在泊车功能1下，在用户离车且关闭车门后，可自动切换车辆挡位，并控制车辆向目标车位泊入，有助于简化自动泊车流程，缩短车辆进入自动泊车流程所需时长，从而缩短泊车耗时，有助于提升用户使用自动泊车功能时的体验。
为了便于理解本申请的泊车方案，以下结合图4至图7所示的图形用户界面(graphic user interface，GUI)，对方法300展开说明。
图4示出了本申请实施提供的中控屏所显示的泊车界面的一种示意图。如图4中的(a)所示，图标401指示的车辆为方法300中车辆的一种示例，该图标401在界面中位置指示车辆实际所处区域的坐标。泊车界面中还包括多个车位的图标，多个车位的图标中包括部分指示已用车位的图标(如图标402、图标405)，多个车位的图标中还包括部分指示空闲车位的图标(如图标403、图标404和图标406)。
在用户还未选择目标车位时，车辆可以提示用户选择一个空闲车位进行泊车，例如，通过显示对话框407“！请选择您要泊入的车位”。示例性地，用户可以通过在D挡踩刹车，并点击空闲车位的方式选择目标车位；或者，车辆处于D挡驻车状态时，用户可以通过点击空闲车位选择目标车位。例如，在检测用户点击图标404时，车辆可以确定图标404对应的车位为目标车位，进而图标404可以变为图4中的(b)所示的指示目标车位的图标。可以理解的是，图标404指示的目标车位可以视为方法300中目标区域的一种示例。
一示例中，车辆或云端服务器可以确定图标404对应的车位的风险程度，在确定图标403对应的车位的风险程度低于或等于等级阈值时，确定开启泊车功能1；在开启泊车功能1之前，可以控制泊车界面显示对话框408“即将开启泊车功能1”，已提示用户泊车功能1即将开启。可选地，对话框408中还可以包括取消按钮和确认按钮，确认按钮中“确认”后的“(5s)”表示倒计时秒数为5秒，在等待5秒过程中若用户无动作，则开启泊车功能1；或者，检测到用户点击确认按钮时，立刻开启泊车功能1；又或者，检测到用户点击取消按钮时，停止开启泊车功能1。
又一示例中，车辆也可以通过方法300中描述的其他方式确定开启泊车功能1。例如，在开始泊车之前(用户选择目标车位之前或用户选择目标车位之后)，如图4中的(c)所示，车辆控制泊车界面显示控制按钮410，该控制按钮410用于控制开启泊车功能1。在检测到用户点击控制按钮410时，车辆开启泊车功能1。可选地，开启泊车功能1之后，如图4中的(d)所示，车辆还可以控制泊车界面显示弹窗411“已开启泊车功能1”，以向用户提示泊车功能1已开启。此外，图4中的(c)所示的泊车界面中还可以显示控制按钮409，该控制按钮409用于启动自动泊车流程。示例性地，若用户未点击控制按钮410，而是直接点击控制按钮409，则车辆不启动泊车功能1，而是在其他泊车功能(如泊车功能2)下进行泊车。
在一些实现方式中，在车辆开启泊车功能1之后，即控制车辆切换至停车档位(如P挡)。在又一些实现方式中，在车辆开启泊车功能1之后的时长1以内，发生如下任一项时，控制车辆切换至停车档位(如P挡)：车辆内的驾乘人员离车且车辆的车门均关闭；或者，车辆内的驾乘人员离车且车辆的车门均关闭，且驾乘人员与车辆距离大于或等于距离阈值；或者，车辆内的驾乘人员离车且车辆的车门均关闭，且从关闭车辆的最后一个车门的时刻起算的时长2之后。控制车辆切换至泊车档位之后，可以控制泊车界面显示相关状态，如图4中的(e)所示，通过对话框413“已切换至P挡”向用户提示车辆挡位的变化。此外，泊车界面还可以显示按钮412，用于控制车辆退出泊车功能1，在检测到用户点击按钮412时，车辆控制退出泊车功能1。
在一些场景中，在车辆开启泊车功能1之后，或者，在车辆切换至停车挡位之后，如图4中的(f)所示，泊车界面可以显示对话框414“下车后请关好车门，车辆将自动泊入”，以提示车辆内驾乘人员下车且关门。或者，在车辆开启泊车功能1的时刻起算的时长3之后驾乘人员仍未下车时，或在车辆切换至停车挡位的时刻起算的时长3之后驾乘人员仍未下车时，泊车界面可以显示对话框414，以提示车辆内驾乘人员下车且关门。
在车辆泊车的过程中，车辆可以向设备1发送信息a，以使得设备1显示泊车状态和/或泊车画面。以设备1为手机为例，图5示出了手机显示泊车状态和/或泊车画面的GUI的示意图。在车辆向车位泊入的过程中，如图5中的(a)所示，手机可以通过弹窗卡片510提示泊车状态(如文字511“正在泊车”)，此外，还可以显示文字512“请注意周围环境安全，点击查看实时状态”，以提示用户可以通过点击弹窗卡片510进入车主APP查看车辆的泊车画面。进一步地，检测到用户点击弹窗卡片510的动作时，手机显示界面切换至车主APP的界面，并显示泊车画面，具体如图5中的(b)所示，该泊车画面中可以包括目标车位的画面，以及车辆相对于目标车位的位置。在实际实现时，泊车画面可以为泊车过程中的实时画面，如车辆摄像装置采集的360环视图像。此外，车主APP界面还可以包括弹窗520，该弹窗520中包括泊车状态信息(如文字521“正在向车位泊入”)，以及警示信息(如文字522“请注意车辆周边环境”)，或者还可以包括按钮523，该按钮523用于控制暂停自动泊车过程。在检测到用户点击按钮523时，手机向车辆发送信息b，车辆接收到信息b时控制车辆制动。
在一些场景中，用户可以关闭图5中的(a)所示的弹窗卡片510，在弹窗卡片510被关闭的情况下，用户通过点击手机主界面的车主APP的图标，仍可以进入如图5中的(b)所示的车主APP界面。此外，对于图5中(a)所示界面，用户也可以不进行任何操作，在泊车状态发生变化时，可以通过弹窗卡片更新泊车相关信息，具体如图5中的(c)所示，其中，弹窗卡片530中的文字531“泊车已完成”用于提示泊车状态，文字532“车辆已自动锁车下电”用于提示车辆最新状态。
在又一些场景中，用户关闭弹窗卡片510或者用户关闭图5中的(b)所示的车主APP界面的情况下，在泊车状态发生变化时，可以通过推送弹窗卡片(如弹窗卡片530)更新泊车相关信息。
在一些实现方式中，在泊车功能1下控制车辆泊车的过程中，因事件1暂停泊车的情况下，车辆的泊车界面可以显示暂停泊车的原因。例如，在泊车过程中检测车门被打开时，如图6中的(a)所示，泊车界面可以显示对话框601“检测到车门开启，已暂停泊车”。此外，车辆的泊车界面还可以显示用于控制继续泊车的按钮602。在车门开启状态，按钮602置灰，即在用户点击按钮602时，车辆不会继续泊车。若在暂停泊车起算的一定时长(如30秒)内车辆的车门关闭，则按钮恢复至可点击状态，如图6中的(b)所示的按钮604，在检测到用户点击按钮604时，车辆继续泊车。此外，在车门关闭时，泊车界面还可以显示对话框605“车门已关闭”，以向用户提示车门状态。
在车辆因事件1暂停泊车的情况下，手机上车主APP的泊车界面可以显示泊车状态、泊车画面和用于控制继续泊车的按钮。例如，如图7中的(a)所示，手机的泊车界面可以显示车辆周围的实时画面，此外，泊车界面还显示弹窗710，弹窗710中的文字711“泊车暂停”用于提示泊车状态，弹窗710还包括按钮712，该按钮712用于控制继续自动泊车过程。在检测到用户点击按钮712时，手机向车辆发送信息c，车辆接收到信息c且车门关闭时控制车辆继续泊车。
在一些实现方式中，在泊车功能1下控制车辆泊车的过程中，因发生碰撞或泊车路径中存在障碍物等原因导致泊车功能1卡死的情况下，在手机在接收到车辆关于泊车功能异常的通知时，可以显示弹窗卡片720，该弹窗卡片720包括文字“泊车功能异常，请接管车辆”，以提示用户泊车功能1发生异常，需要接管车辆。或者，在泊车功能1异常退出的情况下，在手机接收到车辆关于泊车功能退出的通知时，可以显示弹窗卡片730，该弹窗卡片730包括文字“泊车功能已退出”，以提示泊车功能1的退出状态。在检测到用户点击弹窗卡片730的操作时，手机打开车主APP并显示泊车界面，该泊车界面可以包括车辆所处位置及车辆所处位置的周围环境的图像。
需要说明的是，图4至图7所示的GUI中的各种图标仅为示例性说明，实际实现时图4至图7所示图标还可以为其他形式。
图8示出了本申请实施例提供的泊车方法800的示意性流程图。该方法800可以由图1所示的车辆100执行。该方法800包括：
S810，获取第一指令，第一指令指示第一泊车区域。
示例性地，第一泊车区域可以为方法300中的目标区域，以目标区域为图4中的(a)所示图标404指示的车位为例，则第一指令可以为检测到用户点击图4中的(a)所示的图标404的操作而生成的指令；或者，第一指令也可以为检测到用户在D挡下踩刹车，并点击图4中的(a)所示的图标404的操作而生成的指令；或者，第一指令也可以为D挡驻车状态下，检测到用户点击图4中的(a)所示的图标404的操作而生成的指令。
S820，在发生如下至少一项时，控制开启第一泊车功能：第一泊车区域的风险程度满足预设条件，检测到车辆的驾乘人员点击车辆的第一屏幕显示的用于启用第一泊车功能的按钮，或者检测到驾乘人员用于启用第一泊车功能的语音。
示例性地，风险程度满足预设条件可以包括：风险等级大于或等于等级阈值。其中，确定第一泊车区域的风险等级的具体实现，可以参考S301中确定风险等级P的方法，在此不再赘述；等级阈值可以为S301中的等级阈值。
示例性地，第一泊车功能可以为前述实施例中的泊车功能1，第一屏幕可以为如图4所示的车辆的中控屏，用于启用第一泊车功能的按钮可以为图4中的(c)所示的控制按钮410。
S830，当车辆的驾乘人员离车且车辆的车门关闭时，控制车辆向第一泊车区域泊入。
在一些实现方式中，控制车辆向第一泊车区域泊入之前，本方法还包括：控制车辆的挡位切换至P挡。
示例性地，停车挡位可以为P挡，或者也可以为其他用于驻车或控制停车的挡位。
在一些实现方式中，S830可以细化为：当驾乘人员离车、驾乘人员与车辆之间的距离大于或等于距离阈值，且车辆的车门关闭时，控制车辆向第一泊车区域泊入。
示例性地，在驾乘人员有多个时，驾乘人员与车辆之间的距离大于或等于距离阈值可以为：驾乘人员与车辆之间的最近距离大于或等于距离阈值。
在一些实现方式中，S830可以细化为：在第一时刻控制车辆开始向第一泊车区域泊入，第一时刻和第二时刻之间的时间间隔大于或等于第一时长阈值，且第一时刻位于第二时刻之后，第二时刻为驾乘人员离车关闭车门的时刻。
示例性地，距离阈值可以为方法300中的距离阈值2；第一时长阈值可以为方法300中的时长2’。
在一些实现方式中，S810中的第一指令为第三时刻获取的，S830可以细化为：在第四时刻之前驾乘人员离车且关闭车辆的车门时，控制车辆向第一泊车区域泊入，第四时刻位于第三时刻之后，且第四时刻和第三时刻之间的时间间隔小于或等于第二时长阈值。或者，在第三时刻开启第一泊车功能，在第四时刻之前驾乘人员离车且关闭车辆的车门时，控制车辆向第一泊车区域泊入。在第四时刻之前驾乘人员未离车或车门未关闭，则不控制车辆向第一泊车区域泊入，或者关闭第一泊车功能。
示例性地，第二时长阈值可以为方法300中时长1。
在一些实现方式中，方法800还包括：在车辆向第一泊车区域泊入的过程中发生如下任一项时，控制车辆暂停向第一泊车区域泊入：检测到车辆的第一门把手被拉动，检测到车辆的第一车门开启，或接收到来自电子设备的第一信息；其中，电子设备与车辆相关联，第一信息用于控制车辆制动。
示例性地，第一门把手可以为车辆的任一门把手，第一车门可以车辆的任一车门，电子设备可以包括方法300中的设备1，第一信息可以为方法300中的信息b。
在一些实现方式中，方法800还包括：车辆暂停向第一泊车区域泊入时停止在第一位置，该方法还包括：在车辆的车门关闭，且发生如下任一项时，控制车辆从第一位置向第一泊车区域泊入：检测到第一语音，车辆的第一按钮被点击，或接收到来自电子设备的第二信息。
其中，第一语音、第一按钮、第二信息用于控制车辆继续行驶。示例性地，第一语音可以为“请继续泊车”等用于控制继续泊车的音频，第一按钮可以为车辆中用于继续泊车的按钮，第二信息可以为方法300中的信息c。
在一些实现方式中，方法800还包括：向电子设备发送第三信息，第三信息包括车辆的泊车状态和/或向第一泊车区域泊入过程中采集的图像。
示例性地，第三信息为方法300中的信息a。
在一些实现方式中，方法800还包括：在第五时刻获取第二指令，第二指令指示第二泊车区域；在车辆开启第一泊车功能，且第五时刻之后的第一时长内驾乘人员未离车和/或车辆的车门未关闭时，控制关闭第一泊车功能。
示例性地，第一时长可以为前述时长1。
本申请实施例提供的泊车方法，在开启第一泊车功能的情况下，在用户下车且关门后，能够控制车辆自动泊入目标停泊区域，无需用户通过手机控制自动泊车流程，简化了自动泊车过程中与用户之间交互流程，有助于缩短启动自动泊车流程所需时长，从而提高自动泊车效率。此外，自动泊车过程不需要用户的手机和车辆之前保持蓝牙连接，使得用户选定目标区域后可以直接下车并离开，有助于提高用户的驾乘体验。
图9示出了本申请实施例提供的泊车方法900的示意性流程图。该方法900可以由图1所示的车辆100执行。该方法900包括：
S910，获取第一指令，第一指令指示第一泊车区域。
S920，根据第一指令控制车辆的挡位切换至停车挡位。
示例性地，停车挡位可以为P挡，或者也可以为其他用于驻车或控制停车的挡位。
在一些实现方式中，S920可以细化为：在第一泊车区域的风险程度满足预设条件时，根据第一指令控制车辆的挡位切换至停车挡位，风险程度指示车辆向第一泊车区域泊入时的碰撞风险和/或跌落风险。
在一些实现方式中，在发生如下至少一项时，控制开启第一泊车功能：第一泊车区域的风险程度满足预设条件，检测到车辆的驾乘人员点击车辆的第一屏幕显示的用于启用第一泊车功能的按钮，或者检测到驾乘人员用于启用第一泊车功能的语音，控制开启第一泊车功能；S920可以细化为：在第一泊车功能下，根据第一指令控制车辆的挡位切换至停车挡位。
S930，当车辆的驾乘人员离车且车辆的车门关闭时，控制车辆向第一泊车区域泊入。
示例性地，关于第一指令、第一泊车区域、风险程度的确定方式、等级阈值、以及第一泊车功能的相关描述，可以参考方法800中的相关内容，在此不再赘述。
在一些实现方式中，S930可以细化为：当驾乘人员离车、驾乘人员与车辆之间的距离大于或等于距离阈值，且车辆的车门关闭时，控制车辆向第一泊车区域泊入。
在一些实现方式中，S930可以细化为：在第一时刻控制车辆开始向第一泊车区域泊入，第一时刻和第二时刻之间的时间间隔小于或等于第一时长阈值，且第一时刻位于第二时刻之后，第二时刻为驾乘人员离车关闭车门的时刻。
在一些实现方式中，S910中的第一指令为第三时刻获取的，S930可以细化为：在第四时刻之前驾乘人员离车且关闭车辆的车门时，控制车辆向第一泊车区域泊入，第四时刻位于第三时刻之后，且第四时刻和第三时刻之间的时间间隔小于或等于第二时长阈值。
在一些实现方式中，方法900还包括：在车辆向第一泊车区域泊入的过程中发生如下任一项时，控制车辆暂停向第一泊车区域泊入：检测到车辆的第一门把手被拉动，检测到车辆的第一车门开启，或接收到来自电子设备的第一信息；其中，电子设备与车辆相关联，第一信息用于控制车辆制动。
在一些实现方式中，方法900还包括：车辆暂停向第一泊车区域泊入时停止在第一位置，该方法还包括：在车辆的车门关闭，且发生如下任一项时，控制车辆从第一位置向第一泊车区域泊入：检测到第一语音，车辆的第一按钮被点击，或接收到来自电子设备的第二信息。
在一些实现方式中，方法900还包括：向电子设备发送第三信息，第三信息包括车辆的泊车状态和/或向第一泊车区域泊入过程中采集的图像。
在一些实现方式中，方法900还包括：在第五时刻获取第二指令，第二指令指示第二泊车区域；在车辆开启第一泊车功能，且第五时刻之后的第一时长内驾乘人员未离车和/或车辆的车门未关闭时，控制关闭第一泊车功能。
需要说明的是，方法900中未详尽描述的内容，可以参考方法800中的相关描述，在此不再赘述。
本申请实施例提供的泊车方法，根据检测到的用户在D挡下踩刹车或在D挡驻车状态选定目标停泊区域(即第一泊车区域)的操作，确定车辆的目标停泊区域之后，车辆可以自动切换至P挡，并在用户下车且关门后，控制车辆自动泊入目标停泊区域，无需用户通过手机控制自动泊车流程，简化了自动泊车过程中与用户之间交互流程，有助于缩短启动自动泊车流程所需时长，从而提高自动泊车效率，使得用户选定目标区域后可以直接下车并离开，有助于提高用户的驾乘体验。
需要说明的是，前述各场景中主要以垂直式车位为例进行说明，在实际实现时，车辆的目标泊入区域也可以为斜列式车位或者侧方车位。
在本申请的各个实施例中，如果没有特殊说明以及逻辑冲突，各个实施例之间的术语和/或描述具有一致性、且可以相互引用，不同的实施例中的技术特征根据其内在的逻辑关系可以组合形成新的实施例。
上文中结合图1至图9详细说明了本申请实施例提供的泊车方法。下面将结合图10和图11详细说明本申请实施例提供的装置。应理解，装置实施例的描述与方法实施例的描述相互对应，因此，未详细描述的内容可以参见上文方法实施例，为了简洁，这里不再赘述。
图10示出了本申请实施例提供的泊车装置2000的示意性框图，该装置2000可以包括用于执行图3、图8、图9所示方法的单元。并且，该装置2000中的各单元为了实现上述方法实施例的相应流程。该装置2000包括获取单元2010，获取单元2010可以用于实现相应的数据获取或收发功能。该装置2000还包括处理单元2020，处理单元2020可以用于实现相应的处理功能。
可选地，该装置2000还包括存储单元，该存储单元可以用于存储指令和/或数据，处理单元2020可以读取存储单元中的指令和/或数据，以使得装置实现前述各个方法实施例中的相关动作。
应理解，各单元执行上述相应步骤的具体过程在上述方法实施例中已经详细说明，为了简洁，在此不再赘述。
还应理解，这里的装置2000以功能单元的形式体现。这里的术语“模块”或“单元”可以指应用特有ASIC、电子电路、用于执行一个或多个软件或固件程序的处理器(例如共享处理器、专有处理器或组处理器等)和存储器、合并逻辑电路和/或其它支持所描述的功能的合适组件。
上述各个方案的装置具有实现上述方法中计算平台150所执行的相应步骤的功能。所述功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。所述硬件或软件包括一个或多个与上述功能相对应的模块；例如获取单元2010可以由收发机替代，其它单元，如处理单元等可以由处理器替代，用于执行各个方法实施例中相关的处理操作。
示例性地，获取单元2010和处理单元2020可以设置在图1所示车辆100中，或者也可以设置在图2所示的系统中，更具体地，上述获取单元2010和处理单元2020可以设置在规划控制模块240中。示例性地，上述获取单元2010和处理单元2020执行的操作可以由一个处理器执行，或者，也可以由不同的处理器执行。在具体实现过程中，上述一个或多个处理器可以为设置在图1所示的车辆100中的处理器；或者，上述装置2000可以为设置在车辆100中的芯片。
在具体实现过程中，以上装置中的各单元可以全部或部分集成在一起，或者也可以独立实现。在一种实现中，这些单元集成在一起，以片上系统(system-on-a-chip，SoC)的形式实现。
图11是本申请实施例提供的泊车装置又一示意性框图。图11所示的泊车装置2100可以包括：处理器2110、收发器2120以及存储器2130。其中，处理器2110、收发器2120以及存储器2130通过内部连接通路相连，该存储器2130用于存储指令，该处理器2110用于执行该存储器2130存储的指令，以实现上述各实施例中的方法。可选地，存储器2130既可以和处理器2110通过接口耦合，也可以和处理器2110集成在一起。
需要说明的是，上述收发器2120可以包括但不限于输入/输出接口(input/output interface)一类的收发装置，来实现装置2100与其他设备或通信网络之间的通信。
存储器2130可以是易失性存储器和/或非易失性存储器。其中，非易失性存储器可以是只读存储器(read-only memory，ROM)、可编程只读存储器(programmable ROM，PROM)、可擦除可编程只读存储器(erasable PROM，EPROM)、电可擦除可编程只读存储器(electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(random access memory，RAM)。例如，RAM可以用作外部高速缓存。作为示例而非限定，RAM包括如下多种形式：静态随机存取存储器(static RAM，SRAM)、动态随机存取存储器(dynamic RAM，DRAM)、同步动态随机存取存储器(synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(doubledata rate SDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(synchlink DRAM，SLDRAM)和直接内存总线随机存取存储器(direct rambus RAM，DR RAM)。
收发器2120使用例如但不限于收发器一类的收发装置，来实现装置2100与其他设备或通信网络之间的通信，以接收/发送用于实现上述各实施例中的方法的数据/信息。
本申请实施例还提供一种智能驾驶设备，该智能驾驶设备包括上述实施例中的泊车装置2000或泊车装置2100。
本申请实施例涉及的智能驾驶设备可以包括路上交通工具、水上交通工具、空中交通工具、工业设备、农业设备、或娱乐设备等。例如智能驾驶设备可以为车辆，该车辆为广义概念上的车辆，可以是交通工具(如商用车、乘用车、摩托车、飞行车、火车等)，工业车辆(如：叉车、挂车、牵引车等)，工程车辆(如挖掘机、推土车、吊车等)，农用设备(如割草机、收割机等)，游乐设备，玩具车辆等，本申请实施例对车辆的类型不作具体限定。
本申请实施例还提供一种计算机程序产品，该计算机程序产品包括计算机程序代码，当计算机程序代码在计算机上运行时，使得计算机实现本申请上述各实施例中的方法。
本申请实施例还提供一种计算机可读存储介质，该计算机可读介质存储有计算机指令，当计算机指令在计算机上运行时，使得计算机实现本申请上述各实施例中的方法。
本申请实施例还提供一种芯片，包括电路，用于执行本申请上述各实施例中的方法。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请实施例的描述中，除非另有说明，“/”表示或的意思，例如，A/B可以表示A或B；本文中的“和/或”是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。本申请中，“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“以下至少一项(个)”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a，b，或c中的至少一项(个)，可以表示：a，b，c，a-b，a-c，b-c，或a-b-c，其中a，b，c可以是单个，也可以是多个。
本申请实施例中采用诸如“第一”、“第二”的前缀词，仅仅为了区分不同的描述对象，对被描述对象的位置、顺序、优先级、数量或内容等没有限定作用。本申请实施例中对序数词等用于区分描述对象的前缀词的使用不对所描述对象构成限制，对所描述对象的陈述参见权利要求或实施例中上下文的描述，不应因为使用这种前缀词而构成多余的限制。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
在本申请的各个实施例中，如果没有特殊说明以及逻辑冲突，各个实施例之间的术语和/或描述具有一致性、且可以相互引用，不同的实施例中的技术特征根据其内在的逻辑关系可以组合形成新的实施例。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
以上所述，仅为本申请的具体实施方式，但本申请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申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (26)

  1. 一种泊车方法，其特征在于，包括：
    获取第一指令，所述第一指令指示第一泊车区域；
    根据所述第一指令控制车辆的挡位切换至停车挡位；
    当所述车辆的驾乘人员离车且所述车辆的车门关闭时，控制所述车辆向所述第一泊车区域泊入。
  2. 根据权利要求1所述的方法，其特征在于，所述控制所述车辆向所述第一泊车区域泊入，包括：
    当所述驾乘人员离车、所述驾乘人员与车辆之间的距离大于或等于距离阈值，且所述车辆的车门关闭时，控制所述车辆向所述第一泊车区域泊入。
  3. 根据权利要求1所述的方法，其特征在于，所述控制所述车辆向所述第一泊车区域泊入，包括：
    在第一时刻控制所述车辆开始向所述第一泊车区域泊入，所述第一时刻和第二时刻之间的时间间隔小于或等于第一时长阈值，且所述第一时刻位于所述第二时刻之后，所述第二时刻为所述驾乘人员离车关闭车门的时刻。
  4. 根据权利要求1至3中任一项所述的方法，其特征在于，所述第一指令为第三时刻获取的，所述控制所述车辆向所述第一泊车区域泊入，包括：
    在第四时刻之前所述驾乘人员离车且关闭所述车辆的车门时，控制所述车辆向所述第一泊车区域泊入，所述第四时刻位于所述第三时刻之后，且所述第四时刻和所述第三时刻之间的时间间隔小于或等于第二时长阈值。
  5. 根据权利要求1至4中任一项所述的方法，其特征在于，所述根据所述第一指令控制所述车辆的挡位切换至停车挡位，包括：
    在所述第一泊车区域的风险程度满足预设条件时，根据所述第一指令控制所述车辆的挡位切换至所述停车挡位，所述风险程度指示所述车辆向所述第一泊车区域泊入时的碰撞风险和/或跌落风险。
  6. 根据权利要求1至5中任一项所述的方法，其特征在于，所述方法还包括：
    在所述车辆向所述第一泊车区域泊入的过程中发生如下任一项时，控制所述车辆暂停向所述第一泊车区域泊入：
    检测到所述车辆的第一门把手被拉动，检测到所述车辆的第一车门开启，或接收到来自电子设备的第一信息；
    其中，所述电子设备与所述车辆相关联，所述第一信息用于控制所述车辆制动。
  7. 根据权利要求6所述的方法，其特征在于，所述车辆暂停向所述第一泊车区域泊入时停止在第一位置，所述方法还包括：
    在所述车辆的车门关闭，且发生如下任一项时，控制所述车辆从所述第一位置向所述第一泊车区域泊入：
    检测到第一语音，所述车辆的第一按钮被点击，或接收到来自所述电子设备的第二信息。
  8. 根据权利要求1至7中任一项所述的方法，其特征在于，所述方法还包括：
    向电子设备发送第三信息，所述第三信息包括所述车辆的泊车状态和/或向所述第一泊车区域泊入过程中采集的图像；
    其中，所述电子设备与所述车辆相关联。
  9. 根据权利要求1至8中任一项所述的方法，其特征在于，所述方法还包括：
    在所述第一泊车区域的风险程度满足预设条件时，和/或检测到用户点击所述车辆的第一屏幕显示的用于启用第一泊车功能的按钮时，控制开启所述第一泊车功能；
    其中，所述风险程度指示所述车辆向所述第一泊车区域泊入时的碰撞风险和/或跌落风险；
    所述根据所述第一指令控制车辆的挡位切换至停车挡位，包括：
    在所述第一泊车功能下，根据所述第一指令控制所述车辆的挡位切换至所述停车挡位。
  10. 根据权利要求1至9中任一项所述的方法，其特征在于，所述方法还包括：
    在第五时刻获取第二指令，所述第二指令指示第二泊车区域；
    在所述车辆开启第一泊车功能，且所述第五时刻之后的第一时长内所述驾乘人员未离车和/或所述车辆的车门未关闭时，控制关闭所述第一泊车功能。
  11. 一种泊车装置，其特征在于，包括：
    获取单元，用于获取第一指令，所述第一指令指示第一泊车区域；
    处理单元，用于在发生如下至少一项时，控制开启第一泊车功能：所述第一泊车区域的风险程度满足预设条件，检测到车辆的驾乘人员点击所述车辆的第一屏幕显示的用于启用所述第一泊车功能的按钮，或者检测到所述驾乘人员用于启用所述第一泊车功能的语音；
    所述处理单元还用于：当所述车辆的驾乘人员离车且所述车辆的车门关闭时，通过第一泊车功能控制所述车辆向所述第一泊车区域泊入。
  12. 根据权利要求11所述的装置，其特征在于，所述处理单元用于：
    当所述驾乘人员离车、所述驾乘人员与车辆之间的距离大于或等于距离阈值，且所述车辆的车门关闭时，控制所述车辆向所述第一泊车区域泊入。
  13. 根据权利要求11所述的装置，其特征在于，所述处理单元用于：
    在第一时刻控制所述车辆开始向所述第一泊车区域泊入，所述第一时刻和第二时刻之间的时间间隔小于或等于第一时长阈值，且所述第一时刻位于所述第二时刻之后，所述第二时刻为所述驾乘人员离车关闭车门的时刻。
  14. 根据权利要求11至13中任一项所述的装置，其特征在于，所述第一指令为第三时刻获取的，所述处理单元用于：
    在第四时刻之前所述驾乘人员离车且关闭所述车辆的车门时，控制所述车辆向所述第一泊车区域泊入，所述第四时刻位于所述第三时刻之后，且所述第四时刻和所述第三时刻之间的时间间隔小于或等于第二时长阈值。
  15. 根据权利要求11至14中任一项所述的装置，其特征在于，所述处理单元用于：
    在所述第一泊车区域的风险程度满足预设条件时，根据所述第一指令控制所述车辆的挡位切换至停车挡位，所述风险程度指示所述车辆向所述第一泊车区域泊入时的碰撞风险和/或跌落风险。
  16. 根据权利要求11至15中任一项所述的装置，其特征在于，所述装置还包括检测单元；
    所述处理单元还用于：
    在所述车辆向所述第一泊车区域泊入的过程中发生如下任一项时，控制所述车辆暂停向所述第一泊车区域泊入：
    所述检测单元检测到所述车辆的第一门把手被拉动，所述检测单元检测到所述车辆的第一车门开启，或所述获取单元接收到来自电子设备的第一信息；
    其中，所述电子设备与所述车辆相关联，所述第一信息用于控制所述车辆制动。
  17. 根据权利要求16所述的装置，其特征在于，所述装置还包括检测单元；
    所述车辆暂停向所述第一泊车区域泊入时停止在第一位置，所述处理单元还用于：
    在所述车辆的车门关闭，且发生如下任一项时，控制所述车辆从所述第一位置向所述第一泊车区域泊入：所述检测单元检测到第一语音，所述检测单元检测到所述车辆的第一按钮被点击，或所述获取单元接收到来自所述电子设备的第二信息。
  18. 根据权利要求11至17中任一项所述的装置，其特征在于，所述处理单元还用于：
    控制向电子设备发送第三信息，所述第三信息包括所述车辆的泊车状态和/或向所述第一泊车区域泊入过程中采集的图像；
    其中，所述电子设备与所述车辆相关联。
  19. 根据权利要求11至18中任一项所述的装置，其特征在于，所述处理单元还用于：
    在所述第一泊车区域的风险程度满足预设条件时，和/或检测到用户点击所述车辆的第一屏幕显示的用于启用所述第一泊车功能的按钮时，控制开启所述第一泊车功能；
    其中，所述风险程度指示所述车辆向所述第一泊车区域泊入时的碰撞风险和/或跌落风险；
    在所述第一泊车功能下，根据所述第一指令控制所述车辆的挡位切换至停车挡位。
  20. 根据权利要求11至19中任一项所述的装置，其特征在于，所述获取单元还用于：
    在第五时刻获取第二指令，所述第二指令指示第二泊车区域；
    所述处理单元还用于：在所述车辆开启所述第一泊车功能，且所述第五时刻之后的第一时长内所述驾乘人员未离车和/或所述车辆的车门未关闭时，控制关闭所述第一泊车功能。
  21. 一种泊车装置，其特征在于，包括：
    处理器，用于执行存储器中存储的计算机程序，以使得所述装置执行如权利要求1至10中任一项所述的方法。
  22. 根据权利要求21所述的装置，其特征在于，所述装置还包括所述存储器。
  23. 一种智能驾驶设备，其特征在于，包括如权利要求11至22中任一项所述的装置。
  24. 一种计算机可读存储介质，其特征在于，其上存储有指令，所述指令被处理器执行时，实现如权利要求1至10中任一项所述的方法。
  25. 一种计算机程序产品，其特征在于，所述计算机程序产品包括：计算机程序代码，当所述计算机程序代码被处理器运行时，实现如权利要求1至10中任一项所述的方法。
  26. 一种芯片，其特征在于，所述芯片包括电路，所述电路用于执行如权利要求1至10中任一项所述的方法。
PCT/CN2025/098797 2024-06-06 2025-06-03 泊车方法、装置和智能驾驶设备 Pending WO2025252069A1 (zh)

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