WO2023039737A1 - 自动泊车的方法和装置 - Google Patents

自动泊车的方法和装置 Download PDF

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Publication number
WO2023039737A1
WO2023039737A1 PCT/CN2021/118396 CN2021118396W WO2023039737A1 WO 2023039737 A1 WO2023039737 A1 WO 2023039737A1 CN 2021118396 W CN2021118396 W CN 2021118396W WO 2023039737 A1 WO2023039737 A1 WO 2023039737A1
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WIPO (PCT)
Prior art keywords
parking space
vehicle
distance
parking
narrow
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.)
Ceased
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PCT/CN2021/118396
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English (en)
French (fr)
Inventor
李强
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.)
Huawei Technologies Co Ltd
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Huawei Technologies 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 Huawei Technologies Co Ltd filed Critical Huawei Technologies Co Ltd
Priority to EP21957028.0A priority Critical patent/EP4400378A4/en
Priority to CN202180020850.6A priority patent/CN116133919A/zh
Priority to PCT/CN2021/118396 priority patent/WO2023039737A1/zh
Publication of WO2023039737A1 publication Critical patent/WO2023039737A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space

Definitions

  • the present application relates to the field of intelligent driving, in particular to a method and device for automatic parking.
  • the user finds that the parking space is too narrow to get out of the car normally, and needs to park the vehicle out of the parking space
  • control the vehicle to park in through the mobile terminal or after the user arrives at the vehicle and finds that he cannot get on the vehicle normally, then control the vehicle to park out through the mobile terminal.
  • This application provides a method and device for automatic parking, which can identify narrow parking spaces, prompt the user that the parking space is a narrow parking space, and remind the user to park in advance through a mobile terminal according to the identification result of the narrow parking space, which is helpful to improve the automatic parking process user experience in .
  • an automatic parking method the method can be executed by a vehicle, the method includes: determining that the target parking space is a narrow parking space, and the narrow parking space includes: the width of the target parking space is smaller than the width of a standard parking space, and /or a parking space whose length of the target parking space is shorter than that of a standard parking space; controlling the vehicle to park into or out of the target parking space according to the narrow parking space.
  • the automatic parking method of the embodiment of the present application by determining that the target parking space is a narrow parking space, can implement a parking strategy different from the standard parking space, such as reminding the user to park in advance through a mobile terminal, or determining in advance the vehicle to park in a narrow parking space
  • a parking strategy different from the standard parking space such as reminding the user to park in advance through a mobile terminal, or determining in advance the vehicle to park in a narrow parking space
  • the position behind the parking space can improve the user experience during the automatic parking process.
  • the method further includes: determining that the difference between the width of the target parking space and the width of the vehicle is less than or equal to a second threshold.
  • the width of the target parking space can be compared with the width of the vehicle itself, and when the difference between the two is less than or equal to the second threshold, it is determined that the target parking space is a narrow parking space.
  • the second threshold is a positive integer.
  • the method further includes: prompting the user to park through the mobile terminal; and controlling the vehicle to park into or out of the target parking space according to the narrow parking space includes: responding to receiving The first instruction sent by the mobile terminal.
  • the first instruction may be an automatic parking instruction sent by the mobile terminal, and the first instruction may also be an instruction sent by the mobile terminal to control the movement of the vehicle.
  • the user may be prompted in advance to control the vehicle to park or park out through the mobile terminal.
  • the user can choose to perform automatic parking in a narrow parking space through the mobile terminal, so as to overcome the difficulty of manual parking when the target parking space is a narrow parking space, and improve user experience.
  • the method further includes: before prompting the user to park through the mobile terminal, determine the first distance according to the width of the narrow parking space and the width of the vehicle; determine the first distance A distance is less than or equal to a third threshold, the first distance being the distance between the outer contour of the first side of the vehicle and the obstacle on the first side of the vehicle after the vehicle is parked in the target parking space.
  • the aforementioned first side of the vehicle may be the main driving side of the vehicle.
  • the user when the distance between the driver's side and the obstacle is too small, so that the user cannot get on and off the car after the door is opened, the user can be prompted in advance to park through the mobile terminal. It can effectively avoid the situation that the user cannot get out of the car after parking in the target parking space; or, when the target parking space is too narrow for the user to get in and park the vehicle, the user can control the vehicle to automatically Parking out without requiring the user to reach the vehicle saves time and improves the user experience.
  • the method further includes: before determining the first distance according to the width of the narrow parking space and the width of the vehicle, determining that the second distance is greater than or equal to the fourth threshold and The first distance is greater than or equal to the second distance, and the second distance is the distance between the outer contour of the second side of the vehicle and the obstacle on the second side of the vehicle after the vehicle is parked in the target parking space.
  • the aforementioned second side of the vehicle may be the passenger side of the vehicle.
  • the automatic parking method of the embodiment of the present application by reserving a certain distance for the passenger side, ensures that the passenger side can maintain a safe distance from obstacles, prevents scratches during parking, and improves user experience.
  • the method further includes: prompting the user that the target parking space is the narrow parking space.
  • narrow parking spaces and standard parking spaces can be displayed on the vehicle screen to remind the user which parking spaces are narrow parking spaces; Or voice or other means to prompt the user that the target parking space is a narrow parking space, so that the user can choose a suitable parking method for the narrow parking space and improve user experience.
  • the method further includes: during parking, when the first position of the outer contour of the vehicle and the first obstacle or the parking space line of the target parking space When the third distance between is less than or equal to the fifth threshold, display the information of the third distance, and/or a partial enlarged view of the first position and the first obstacle or the parking space line.
  • the automatic parking method when the distance between any position of the outer contour of the vehicle and the parking space line of the target parking space or its surrounding obstacles is too small, specific distance information is displayed to prompt the user to adjust the parking direction .
  • the parking process it can also display a partial enlarged picture of the edge of the narrow parking space and obstacles, so that the user can perceive the actual situation in real time, thereby adjusting the parking direction and improving the user experience.
  • the method further includes: when there is an obstacle on the second side of the vehicle, prompting the user on the second side of the vehicle to get off the vehicle in advance.
  • the method further includes: determining that the target parking space is a narrow parking space according to the parking record of the vehicle.
  • an automatic parking device which includes: a determining unit, configured to determine that the target parking space is a narrow parking space, and the narrow parking space includes: the width of the target parking space is smaller than the width of a standard parking space, and/or A parking space whose length of the target parking space is shorter than that of a standard parking space; a processing unit configured to control the vehicle to park into or out of the target parking space according to the narrow parking space.
  • the determining unit is further configured to: determine that the difference between the width of the target parking space and the width of the vehicle is less than or equal to a second threshold.
  • the processing unit is further configured to: prompt the user to park through the mobile terminal; the processing unit controls the vehicle to park into or out of the target parking space according to the narrow parking space, Including: responding to receiving the first instruction sent by the mobile terminal.
  • the determining unit is further configured to: before the processing unit prompts the user to park through the mobile terminal, determine the first according to the width of the narrow parking space and the width of the vehicle. Distance; determine that the first distance is less than or equal to a third threshold, and the first distance is the distance between the outer contour of the first side of the vehicle and the obstacle on the first side of the vehicle after the vehicle is parked in the target parking space.
  • the determining unit is further configured to: before the determining unit determines the first distance according to the width of the narrow parking space and the width of the vehicle, determine that the second distance is greater than or equal to four thresholds and the first distance is greater than or equal to the second distance, the second distance being the distance between the outer contour of the second side of the vehicle and the obstacle on the second side of the vehicle after the vehicle is parked in the target parking space .
  • the processing unit is further configured to: prompt the user that the target parking space is the narrow parking space.
  • the processing unit is further configured to: during the parking process, when the first position of the outer contour of the vehicle is consistent with the first obstacle or the parking space of the target parking space When the third distance between the lines is less than or equal to the fifth threshold, information about the third distance and/or a partial enlarged view of the first position and the first obstacle or the parking space line is displayed.
  • the processing unit is further configured to: before the processing unit controls the vehicle to park into or out of the target parking space according to the narrow parking space, when the second side of the vehicle When there is an obstacle, the user on the second side of the vehicle is prompted to get off in advance.
  • the determining unit is further configured to: determine that the target parking space is a narrow parking space according to the parking record of the vehicle.
  • an automatic parking device which includes: a memory for storing programs; a processor for executing the programs stored in the memory, and when the programs stored in the memory are executed, the processor is used for executing the above-mentioned The method in the first aspect.
  • an automatic driving vehicle in a fourth aspect, includes the above-mentioned device in the second aspect.
  • a computer program product includes: computer program code, which causes the computer to execute the method in the first aspect when the computer program code is run on a computer.
  • a computer-readable medium stores program codes, and when the above-mentioned computer program codes are run on a computer, the computer is made to execute the method in the above-mentioned first aspect.
  • a chip system in a seventh aspect, includes a processor, and is used to call a computer program or a computer instruction stored in a memory, so that the processor executes any of the above-mentioned aspects and any possible related aspects of the above-mentioned aspects. the method.
  • the processor is coupled to the memory through an interface.
  • the system on a chip further includes a memory, where computer programs or computer instructions are stored in the memory.
  • FIG. 1 is an application scenario of an automatic parking method provided in an embodiment of the present application
  • FIG. 2 is a schematic diagram of a system architecture for the application of an automatic parking method provided by an embodiment of the present application
  • Fig. 3 is a schematic diagram of determining a narrow parking space in an automatic parking method provided in an embodiment of the present application
  • FIG. 4 is a schematic diagram of displaying parking spaces in an automatic parking method provided in an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a parking strategy in an automatic parking method provided in an embodiment of the present application.
  • FIG. 6 is a schematic diagram of a parking strategy in an automatic parking method provided in an embodiment of the present application.
  • Fig. 7 is a schematic diagram of a parking prompt in an automatic parking method provided in an embodiment of the present application.
  • Fig. 8 is a schematic diagram of a parking prompt in an automatic parking method provided in an embodiment of the present application.
  • FIG. 9 is a schematic diagram of a parking prompt in an automatic parking method provided in an embodiment of the present application.
  • Fig. 10 is a schematic diagram of a parking prompt in an automatic parking method provided in an embodiment of the present application.
  • Fig. 11 is a schematic flow chart of an automatic parking method provided by an embodiment of the present application.
  • Fig. 12 is a schematic flow chart of an automatic parking method provided by an embodiment of the present application.
  • Fig. 13 is a schematic flow chart of an automatic parking method provided by an embodiment of the present application.
  • Fig. 14 is a schematic flow chart of an automatic parking method provided by an embodiment of the present application.
  • Fig. 15 is a schematic block diagram of an automatic parking device provided by an embodiment of the present application.
  • Fig. 16 is a schematic block diagram of an automatic parking device provided by an embodiment of the present application.
  • Fig. 1 is an application scenario of an automatic parking method provided by an embodiment of the present application.
  • the vehicle 100 and the mobile terminal 200 may be included.
  • the vehicle 100 can be configured in a fully or partially automatic driving mode.
  • the vehicle 100 can obtain its surrounding environment information through the perception system 120, and obtain an automatic driving strategy based on the analysis of the surrounding environment information to realize fully automatic driving, or present the analysis results to the user to realize partially automatic driving.
  • the vehicle 100 is configured in a fully or partially autonomous driving mode.
  • the vehicle 100 can also be controlled by the mobile terminal 200, and the vehicle 100 and the mobile terminal 200 can be interconnected through a wireless communication system.
  • the perception system 120 may include several kinds of sensors that sense information about the environment around the vehicle 100 .
  • the perception system 120 may include a global positioning system 121 (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (inertial measurement unit, IMU) 122, a laser radar 123, a millimeter wave radar 124 , one or more of ultrasonic radar 125 and camera device 126 .
  • a global positioning system 121 the global positioning system may be a GPS system, or a Beidou system or other positioning systems
  • IMU inertial measurement unit
  • Vehicle 100 may include a patterning module 130 .
  • the composition module 130 can draw a map for the environment using techniques such as object recognition algorithms, structure from motion (SFM) algorithms, video tracking, simultaneous localization and mapping (SLAM) and other technologies.
  • SFM structure from motion
  • SLAM simultaneous localization and mapping
  • Peripherals 140 may include a wireless communication system 141 , an onboard screen 142 , a microphone 143 and/or a speaker 144 .
  • peripheral device 140 provides a means for a user of vehicle 100 to interact with user interface 160 .
  • in-vehicle screen 142 may provide information to a user of vehicle 100 .
  • the user interface 160 may also operate the on-board screen 142 to receive user input.
  • the vehicle screen 142 can be operated through a touch screen.
  • peripheral device 140 may provide a means for vehicle 100 to communicate with other devices located within the vehicle.
  • microphone 143 may receive audio (eg, voice commands or other audio input) from a user of vehicle 100 .
  • speaker 144 may output audio to a user of vehicle 100 .
  • Computing platform 150 may include at least one processor 151 that may execute instructions 153 stored in a non-transitory computer-readable medium such as memory 152 .
  • computing platform 150 may also be a plurality of computing devices that control individual components or subsystems of vehicle 100 in a distributed manner.
  • the processor 151 may be any conventional processor, such as a central processing unit (central processing unit, CPU). Alternatively, the processor 151 may also include, for example, an image processor (graphic process unit, GPU), a field programmable gate array (field programmable gate array, FPGA), a system on chip (system on chip, SOC), an ASIC ( application specific integrated circuit, ASIC) or their combination.
  • a central processing unit central processing unit, CPU
  • the processor 151 may also include, for example, an image processor (graphic process unit, GPU), a field programmable gate array (field programmable gate array, FPGA), a system on chip (system on chip, SOC), an ASIC ( application specific integrated circuit, ASIC) or their combination.
  • memory 152 may also store data such as road maps, route information, the vehicle's position, direction, speed, and other such vehicle data. These data may be used by vehicle 100 and computing platform 150 during operation of vehicle 100 in autonomous, semi-autonomous, and/or manual modes.
  • the computing platform 150 may control functions of the vehicle 100 based on input received from various subsystems (eg, the perception system 120 and the mapping module 130 ). For example, the computing platform 150 can use the location information of the vehicle determined by the global positioning system 121 in the perception system 120 and the map information of the internal road constructed by the composition module 130 to perform automatic parking.
  • various subsystems eg, the perception system 120 and the mapping module 130 .
  • the computing platform 150 can use the location information of the vehicle determined by the global positioning system 121 in the perception system 120 and the map information of the internal road constructed by the composition module 130 to perform automatic parking.
  • one or more of these components described above may be installed separately from or associated with the vehicle 100 .
  • memory 152 may exist partially or completely separate from vehicle 100 .
  • the components described above may be communicatively coupled together in a wired and/or wireless manner.
  • FIG. 1 should not be construed as limiting the embodiment of the present application.
  • the vehicle 100 may include an advanced driving assistant system (ADAS), which utilizes various sensors on the vehicle (including but not limited to: lidar, millimeter wave radar, camera, ultrasonic sensor, global positioning system, inertial Measurement unit) acquires information from the surroundings of the vehicle, and analyzes and processes the acquired information to realize functions such as obstacle perception, target recognition, vehicle positioning, path planning, driver monitoring/reminder, etc., thereby improving the safety of vehicle driving, Degree of automation and comfort.
  • ADAS advanced driving assistant system
  • the above-mentioned vehicle 100 may include one or more different types of vehicles, and may also include one or more different types of vehicles on land (for example, roads, roads, railways, etc.), water surfaces (for example: waterways, Rivers, oceans, etc.) or means of transport or movable objects that operate or move in space.
  • a vehicle may include a car, a bicycle, a motorcycle, a train, a subway, an airplane, a ship, an aircraft, a robot, or other types of transportation means or movable objects, which are not limited in this embodiment of the present application.
  • the above-mentioned mobile terminal 200 may include various handheld devices with wireless communication functions, wearable devices, computing devices or other processing devices connected to a wireless modem, as well as various forms of terminals, mobile stations (mobile station, MS ), terminal (terminal), user equipment (user equipment, UE), soft terminal and so on.
  • mobile stations mobile station, MS
  • terminal terminal
  • user equipment user equipment
  • soft terminal and so on.
  • water meters electricity meters, sensors, etc.
  • the embodiment itself does not limit this.
  • Fig. 2 shows a schematic diagram of a system architecture of the automatic parking method of the embodiment of the present application. As shown in Fig. 2, it includes a perception module, a data module, a control module and a display module. The system shown in Fig. In scenes that support automatic parking, such as driving a vehicle.
  • the perception module may be one or more of the plurality of sensors included in the perception system 120 in FIG. wait.
  • the perception module obtains the environmental information of the current parking space.
  • the environmental information includes static or dynamic obstacles around the parking space, the passable area, the lane line, the type of parking space and the direction of the opening of the parking space, etc.
  • the types of parking spaces include vertical parking spaces, parallel parking spaces, and inclined parking spaces. etc., the perception module can also acquire the orientation of the vehicle itself relative to the current parking space.
  • the data module and the control module can be one or more of the computing platform 150 in FIG. 1
  • the display module can be the vehicle-mounted device 142 in FIG. 1 .
  • the perception module inputs the obtained environmental information into the data module and the control module.
  • the data module analyzes the environmental information, determines the size of the parking space according to the data obtained by the perception module, and compares it with the size of the standard parking space, distinguishes the parking spaces into standard parking spaces and narrow parking spaces, and inputs the analysis results into the control module.
  • the control module displays the analysis results of the data module on a display module such as a human machine interface (HMI), and the display module includes an interface such as a display screen inside the vehicle and a central control screen that can interact with the user.
  • HMI human machine interface
  • the user can select a target parking space according to the displayed optional parking spaces.
  • the data module analyzes the environmental information and calculates that when the vehicle is in the center of the target parking space, the left and right outer contours of the vehicle in the direction perpendicular to the longitudinal symmetry plane of the vehicle are respectively the same as The distance between the boundaries or obstacles within the parking space line; when the vehicle is about to park from the target parking space, the data module analyzes the environmental information and calculates the distance between the current outer contour of the main driving side of the vehicle and the obstacle.
  • the data module calculates the distance between the left and right outer contours of the vehicle and the inner boundary of the parking space line respectively, and the control module adjusts the distance between the above outer contour and the inner boundary of the parking space line by combining the environmental information obtained by the perception module and the data module, Formulate a corresponding parking strategy; or, the data module inputs the distance between the outer contour of the main driving side of the vehicle and the obstacle into the control module, and the control module formulates a parking strategy based on the environmental information obtained by the perception module and the data module.
  • the control module sends the formulated parking in/out strategy to the display module, and the display module displays the module on the human machine interface (HMI), and the control module parks the vehicle into the target parking space or parks out according to the user's choice. Current parking space.
  • HMI human machine interface
  • the current automatic parking method cannot predict narrow parking spaces, and cannot remind users to park in advance through mobile terminals; in addition, the existing parking system does not have a targeted parking strategy for narrow parking spaces. Poor user experience.
  • the embodiment of the present application provides a method and device for automatic parking.
  • identifying and judging the parking space it can be determined in advance that the target parking space is a narrow parking space, and different parking strategies can be formulated according to the size of the narrow parking space, for example One or more of the pre-parking position, the parking direction, the parking direction and the notification method.
  • the vehicle and/or mobile terminal will remind the user to control automatic parking through the mobile terminal, which can effectively avoid the situation that the user cannot get out of the car after parking in the target parking space; Or, when the target parking space is too narrow for the user to get on the vehicle and park the vehicle, the user can control the vehicle to park automatically through the mobile terminal when the distance from the vehicle is far away, without the need for the user to reach the vehicle, which can save time and improve the user experience. experience.
  • Fig. 3 shows a schematic diagram of determining a narrow parking space in an automatic parking method provided by an embodiment of the present application.
  • the camera recognizes the image of the parking space on the ground.
  • the parking space type is determined according to the parking space image, and the size of the parking space image is compared with the standard parking space size and the outline size of the vehicle itself, and combined with the parking space type to determine whether each recognized parking space is a narrow parking space.
  • the width of the vehicle refers to the distance parallel to the longitudinal symmetry plane of the vehicle and against the protruding parts on both sides of the vehicle (including rearview mirrors, measuring sign lights, turn indicator lights, flexible fenders, and tires in contact with the ground).
  • the length of the vehicle refers to the length of the vehicle which is perpendicular to the longitudinal symmetry plane of the vehicle and respectively abuts against the protruding parts on both sides of the vehicle (including rearview mirrors, measuring sign lights, turn indicator lights, and flexible baffles).
  • the distance between the two planes of the fender and the deformation of the part of the tire in contact with the ground that is, the dimensions of the widest and longest parts of the vehicle, respectively.
  • A1 and B1 are the minimum safe distances to ensure that the vehicle itself will not scratch the surrounding obstacles during parking and passing, which can be set according to the vehicle model and the type of the target parking space;
  • a and B are standard parking spaces respectively width and length. It should be understood that for an inclined parking space, its width b2 is calculated according to the vertical distance of the oblique line, as shown in (b) in FIG. 3 .
  • the purpose of setting 1 above is that, for vertical parking spaces or inclined parking spaces, since the size in the length direction of the parking space has relatively little impact on the safety of parking during the parking process, it is possible to only focus on the width direction of the parking space above;
  • the purpose of setting 2 above is that for parallel parking spaces, the size in the width direction of the parking space has relatively little impact on the safety of parking during the parking process, so you can only pay attention to the size in the length direction of the parking space .
  • A1 and B1 can be set to other sizes according to different vehicle models, which is not limited in this embodiment of the present application.
  • the camera acquires the surrounding environment information, and judges whether there is a parking space according to the surrounding environment information. After the parking space is identified, it can be compared with the standard parking space size and A1 or B1 by identifying two stationary vehicles on both sides of the space and calculating the distance a between the two stationary vehicles. It should be understood that at this time, the vehicle may determine whether the parking space is a vertical parking space, a parallel parking space, or an inclined parking space according to the recognized parking direction of other vehicles.
  • the vehicle can determine one of the length or width of the parking space through the distance between two adjacent stationary vehicles, but the size of the parking space in the other dimension cannot be determined. Therefore, if the target parking space is a vertical parking space or an inclined parking space, as long as a–a2 ⁇ A1 and a ⁇ A, the target parking space can be determined to be a narrow parking space; if the target parking space is a parallel parking space, as long as a–b2 ⁇ B1 and a ⁇ B, it can be determined that the target parking space is a narrow parking space.
  • the vehicle after the vehicle recognizes the parking space, it determines the width a1 and/or the length b1 of the target parking space according to the ground parking space image, and when a1 ⁇ A, and/or b1 ⁇ B, it is determined that the target parking space is narrow a parking space; or, determine the distance a between two stationary vehicles on both sides of the parking space, and when a ⁇ A, and/or a ⁇ B, determine that the target parking space is a narrow parking space.
  • the vehicle After the vehicle recognizes the parking space, it determines the width a1 of the target parking space according to the image of the parking space on the ground. When a1-a2 ⁇ A1', it is determined that the target parking space is a narrow parking space; or, it is determined that both sides of the parking space are stationary The distance a between the two vehicles, when a-a2 ⁇ A1', determine the target parking space as a narrow parking space.
  • A1' is a positive integer.
  • A1' may be the protruding part of the vehicle on the main/passenger side when the door is opened to allow users on the main driver's side and the passenger side to get out of the vehicle without rubbing against obstacles.
  • this A1' can be set to 600mm; or, A1' can be when the door is opened to allow the user on the driver's side to get out of the car without rubbing against obstacles , the minimum distance between the outer contour of the protruding part on the main driving side of the vehicle and the obstacle, for small cars, this A1' can be set to 300mm; this A1' can also be set by the user according to the actual situation; this A1' can also be set Other distances may be used, which is not limited in this embodiment of the present application.
  • the parking record of the vehicle includes a parking out record and a parking in record.
  • the parking record may include the type, size, and surrounding environment of the target parking space, and the parking record may also include obstacle information and other information, which is not limited in this embodiment of the present application.
  • the size of the standard parking space in the embodiment of the present application refers to the size stipulated in the "Code for the Setting of Parking Spaces on Urban Roads (GA/T 850-2009)", wherein the standard size of the parking spaces is mainly divided into large, There are two sizes: the large parking space is 15600mm long and 3250mm wide, suitable for medium and large vehicles; the small parking space is 6000mm long and 2500mm wide, suitable for small vehicles. For inclined (inclination 30°, 45°, 60°) parking spaces, the length of the slope reaches 6000mm, the width is 2800mm, and the vertical distance between the two oblique lines is 2500mm.
  • the referenced standard parking space corresponds to a small parking space; if the vehicle is a medium or large vehicle, then judging whether the target parking space is narrow For parking spaces, the reference standard parking spaces correspond to large parking spaces.
  • multiple parking spaces may be identified, including standard parking spaces and non-standard parking spaces.
  • the standard parking space and the narrow parking space are displayed on the vehicle-mounted screen, as shown in (a) in FIG. 4 . It should be understood that when the size of the identified non-standard parking space does not meet the above-mentioned standard of the narrow parking space, the parking space is not displayed.
  • 1 and 2 in (a) of Fig. 4 are narrow parking spaces and standard parking spaces respectively, wherein the narrow parking spaces are represented by adding two line segments in the outer frame of the parking spaces.
  • FIG. 4 is only an exemplary illustration. The user can choose any parking space shown on the vehicle screen in Figure 4 to park.
  • the parking space identification method, the narrow parking space determination method and the parking space display method provided in the embodiments of the present application can ensure that more parking spaces, including standard parking spaces and non-standard parking spaces, can be identified when the vehicle is looking for a parking space.
  • the parking spaces available for vehicles are screened out and displayed on the vehicle screen, providing more choices for users and improving user experience.
  • the user selects a narrow parking space as the target parking space through the parking spaces displayed on the vehicle screen.
  • the vehicle and/or the mobile terminal prompts the user to perform automatic parking through the mobile terminal.
  • the automatic parking in the embodiment of the present application may include remote parking assistance (remote parking assist, RPA) And automatic valet parking (auto valet parking, AVP), etc.
  • the vehicle formulates a corresponding parking strategy according to the size of the target parking space, the surrounding environment of the parking space and the size of the vehicle itself, so that the parking position of the vehicle ,
  • the parking direction is appropriate, which is beneficial for the user to get off the vehicle or to ensure the parking safety of the vehicle.
  • the vehicle can park in advance by formulating a parking strategy according to the size of the target parking space.
  • the parking strategy formulated according to the size of the narrow parking space, the surrounding environment of the parking space and the size of the vehicle itself will be described in detail below with reference to FIG. 5 and FIG. 6 .
  • FIG. 5 shows a schematic diagram of a parking method provided by an embodiment of the present application applied to a scene of automatic parking into a vertical parking space.
  • the vertical parking space where the vehicle is located is a narrow parking space
  • L1 and L2 represent the distances from the left side and right side of the vehicle to the inner boundary of the target parking space line; when there is no parking space image on the ground, L1/L2 represent the left/right side of the vehicle respectively The distance of the right side to the left/right side adjacent vehicles or obstacles respectively.
  • the co-pilot will be given a reminder to get off the car in advance to facilitate parking.
  • the following shows several parking strategies for prompting the user to park in through the mobile terminal when judging:
  • No vehicle is parked in the 2 parking space, or 2 is a non-parking space, for example, when 2 is an obstacle such as a wall, if there is a vehicle in the 1 parking space or 1 is an obstacle, then determine whether L1>A2 is established. If it is established, the user can choose to park autonomously, or choose to park automatically through the mobile terminal or the vehicle; if not, the vehicle and/or the mobile terminal will prompt the user to park through the mobile terminal.
  • the co-pilot will be given a reminder to get off the car in advance to facilitate parking.
  • the following shows several parking strategies for prompting the user to park in through the mobile terminal when judging:
  • No vehicle is parked in the parking space 1, or 1 is a non-parking space, for example, when 1 is an obstacle such as a wall, if there is a vehicle in the 2 parking space or 2 is an obstacle, then judge whether L2>A2 is established, if If not established, the vehicle and/or the mobile terminal prompts the user to park through the mobile terminal.
  • the above A2 is the minimum distance between the outer contour of the protruding part of the main driving side of the vehicle and the obstacle when the door is opened and the user is allowed to get off the vehicle without scratching against the obstacle.
  • this A2 can be The setting is 300mm; the A2 can also be set by the user according to the actual situation, which is not limited in this embodiment of the present application.
  • the above A3 is the minimum safe distance to prevent the vehicle from being scratched by vehicles in adjacent parking spaces, or the minimum safe distance to adjacent obstacles.
  • A3 may be any value greater than or equal to 0.
  • A3 can be set to 150mm; if the passenger side is a non-parking space, for example, there are obstacles such as walls at 2, then A3 can be set to 0mm.
  • the above parking strategy is still applicable.
  • the target parking space is a parallel parking space
  • the parking direction defaults to the rear parking; when the vehicle is automatically parked through the vehicle control, the parking direction is preferentially the rear parking enter.
  • the parking direction is preferentially the rear parking enter.
  • the vehicle's on-board screen can prompt the user to get off the vehicle in advance and pass the mobile terminal Carry out parking, as shown in Figure 7.
  • the on-board screen of the vehicle prompts "the distance between the main driver's side door and the obstacle is too narrow, it is recommended that you get out of the vehicle and park with your mobile phone", as shown in (a) of Figure 7 .
  • a corresponding prompt is also displayed on the screen of the mobile terminal, as shown in FIG. 8 and FIG. 9 .
  • the vehicle and/or mobile terminal screen will give the co-pilot the message "the parking space is narrow, it is recommended that the co-pilot get off in advance” as shown in (b) in Figure 7.
  • the car is waiting" prompt to remind the user at the co-pilot to get off the car in advance to improve parking efficiency.
  • the above prompts can also be made in the form of voice reminders, that is, the vehicle or mobile terminal voice prompts "the distance between the main driver's side door and obstacles is too narrow, it is recommended that you get out of the car and park by mobile phone" and/or "the parking space is less narrow, it is recommended that the co-pilot get off the car in advance and wait", or the user may be prompted to park through the mobile terminal through other methods such as changing the ambient light, which is not limited in this embodiment of the present application.
  • the vehicle judges whether the current parking space is a narrow parking space according to the historical records when the vehicle is parked. Prompt the user that "the current parking space is a narrow one, it is recommended that you use the automatic parking out function", as shown in Figure 9 (a) for the vertical parking space and (b) for the parallel parking space.
  • the vehicle may also determine whether the first distance between the primary driving side and the obstacle is less than or equal to A2 according to historical records. If the first distance is less than or equal to A2, the mobile terminal will remind the user "the distance between the main driver's side and the obstacle is too narrow, please use the automatic parking out function", as shown in (c) and (d) of Figure 9 .
  • the specific distance information between the main driving side and the obstacle can be displayed on the mobile terminal interface, as shown in (c ) shown. It should be understood that in this case, when the user is far away from the vehicle, the user can control the vehicle to automatically park out through the mobile terminal, without the need for the user to arrive at the vehicle to determine whether the door can be opened to the width that the user can get on the vehicle, which can save time and improve user convenience. experience. It should be understood that at this time, the on-board screen of the vehicle may also display corresponding content at the same time. If the first distance is less than or equal to A2 and the user is in the cockpit, the user can choose to park out automatically or manually through the vehicle screen.
  • the vehicle judges whether the parking space it is in is a narrow parking space and whether the first distance is less than or equal to A2, the judgment can be made based on the historical records when parking.
  • the vehicle may also collect real-time information of the surrounding environment, judge the position of the vehicle in the parking space according to the real-time information of the surrounding environment, and then determine whether the first distance is less than or equal to A2. This embodiment of the present application does not limit it.
  • the user gets off the vehicle and clicks the "automatic parking” button on the mobile terminal to automatically park the vehicle into the target parking space.
  • the “automatically park out” button as shown in Figure 9 to park the vehicle out of the parking space.
  • the user can click the "automatically park in” or “automatically park out” button on the mobile terminal, and after the vehicle receives the parking in/out instruction from the mobile terminal, the vehicle will be parked in accordance with the automatic parking strategy involved in Figure 5.
  • Target parking space or park the vehicle out of the parking space; the user can also manually control the movement of the vehicle through the movement direction control buttons on the mobile terminal (such as the " ⁇ ", “ ⁇ ", “ ⁇ ” and “ ⁇ ” buttons in Figure 8 and Figure 9) , so that the vehicle can be parked into or out of the target parking space.
  • the automatic parking method provided by the embodiment of the present application can determine in advance that the target parking space is a narrow parking space by identifying the target parking space, and can formulate different parking strategies in advance according to the size of the narrow parking space and the size of the vehicle itself.
  • the vehicle can park the vehicle in or out according to the parking strategy described above.
  • the vehicle and/or mobile terminal will prompt the user to control automatic parking through the mobile terminal, which can effectively avoid the problem that the user finds that he cannot get off the car after parking in the target parking space
  • the mobile terminal can remind the user to control the vehicle to park automatically through the mobile terminal when the user is far away from the vehicle, which can save time and improve user experience.
  • the on-board screen of the vehicle will display the outer contour of the vehicle and the surrounding obstacles The specific distance information between them is indicated by a warning line, as shown in Figure 10; when there are no obstacles around the vehicle, the shortest distance information between the outer contour of the vehicle and the inner boundary of the parking space line can be displayed (not displayed when the shortest distance is greater than A4 ).
  • the on-board screen can also display a partially enlarged view of the edge of the narrow parking space and obstacles during parking, as shown in (b) in Figure 10, so that the user can perceive the actual situation in real time and adjust the parking direction.
  • the mobile terminal when the user is outside the vehicle, controls the vehicle to park into or out of the target parking space. At this time, when the distance between any position of the vehicle's outer contour and the target parking space or obstacle is less than A4 , the mobile terminal also synchronously displays a partial enlarged view of the edge of the narrow parking space and obstacles shown in (b) in Figure 10, so that the user can perceive the actual situation in real time and adjust the parking direction.
  • A4 can be the minimum safe distance to ensure that the vehicle itself will not scratch the surrounding obstacles during parking and passing, or it can be other distances.
  • A4 can be set according to the vehicle model and the type of parking space of the target parking space. It can be set by the user, which is not limited in this embodiment of the present application.
  • FIG. 11 shows a schematic flow chart of the method for automatic parking provided by the embodiment of the present application. Specifically, FIG. 11 shows the specific interaction process between the user and the vehicle, the user and the mobile terminal, and the mobile terminal and the vehicle during the parking process. As shown in Figure 11, when the vehicle is ready to find a parking space and is ready to park, the specific process is as follows:
  • the vehicle performs parking space display.
  • each identified parking space can be compared with the standard parking space to determine which parking spaces are narrow parking spaces or standard parking spaces.
  • the specific determination process can refer to the above implementation The description in the example is not repeated here.
  • the user selects a target parking space according to the parking spaces displayed on the vehicle screen, and when the user selects a narrow parking space as the target parking space, execute S1103.
  • the vehicle determines that the parking space selected by the user is a narrow parking space.
  • the vehicle determines that the target parking space is a narrow parking space according to the user's selection, it will prompt the user through the on-board screen as shown in (b) of Figure 4 that "the target parking space is a narrow parking space, it is recommended that you park by mobile phone".
  • the user can get off the vehicle and park through the mobile terminal, that is, park through S1104 and subsequent steps; or ignore the reminder, and the vehicle will continue to execute S1105.
  • the mobile terminal and/or the vehicle prompts the user to control the vehicle to park into the target parking space through the mobile terminal.
  • the user can get off the vehicle and control the vehicle to park into the target parking space through the mobile terminal.
  • the preset value may also be 30cm.
  • the vehicle first judges the type of narrow parking space, and when the narrow parking space is a "sloping parking space", it will prompt the user through the vehicle screen and mobile terminal screen "The target parking space is a sloping parking space, it is recommended that you park on your mobile phone.” car”.
  • the vehicle formulates a parking strategy according to the size and type of the target parking space.
  • the vehicle makes the pre-parking position satisfy the requirement that the distance between the passenger side and the obstacle is greater than the minimum distance for safe parking, and the distance between the main driver's side and the obstacle is greater than the distance between the passenger side and the obstacle.
  • Distance under the above premise, judge whether L is greater than a preset value. When L is greater than the preset value, execute S1106; when L is less than or equal to the preset value, execute S1107.
  • L in Figure 11 represents the distance between the main driving side and the obstacle
  • 30cm represents the distance between the outer contour of the main driving side of the vehicle and the obstacle when the door is opened and the user is allowed to get off the vehicle without rubbing against the obstacle.
  • the minimum distance between objects can be set according to other actual conditions such as vehicle models.
  • the on-board screen prompts that the vehicle is currently parked in a narrow parking space, and the vehicle will control the vehicle to park in the target parking space in combination with the parking strategy formulated in S1105.
  • both the vehicle screen and the screen of the mobile terminal prompt the user to get off the vehicle in advance and park through the mobile terminal. After the user gets off the vehicle, the mobile terminal controls the vehicle to park into the target parking space.
  • the vehicle recognizes, judges and displays the parking space.
  • the vehicle can determine in advance that the target parking space is a narrow parking space and prompt the user. Park your car with a mobile terminal.
  • different parking strategies can be formulated according to the size of the narrow parking space.
  • the vehicle can park the vehicle into the target parking space according to the above parking strategy.
  • the vehicle and/or mobile terminal will remind the user to control automatic parking through the mobile terminal, which can effectively avoid the situation that the user cannot get out of the car after parking in the target parking space. Can save time and improve user experience.
  • FIG. 12 shows a schematic flowchart of the method for automatic parking provided by the embodiment of the present application. Specifically, FIG. 12 shows the specific interaction process between the user and the vehicle, the user and the mobile terminal, and the mobile terminal and the vehicle during the parking process. As shown in Figure 12, when the user prepares to park the vehicle from the parking space, the specific process is as follows:
  • the vehicle determines a narrow parking space.
  • the mobile terminal can send a parking preparation instruction to the vehicle, and the vehicle starts the data module in Figure 2 according to the parking preparation instruction. , perception module and control module.
  • the vehicle judges that the parking space it is in is a narrow parking space according to the parking record stored in the data module or the environmental information obtained by the perception module.
  • the vehicle judges that the parking space it is in is a narrow parking space according to the parking record stored in the data module or the environmental information obtained by the perception module.
  • the above-mentioned parking preparation instruction may be a request message sent by the mobile terminal to the vehicle indicating that the vehicle obtains the type of the target parking space and/or the relative position of the vehicle, or it may be other information that can instruct the vehicle to obtain the type of the target parking space and/or the relative position of the vehicle.
  • the location information is not limited in this embodiment of the present application.
  • the above-mentioned distance for the user to control the mobile terminal to send the parking preparation instruction to the vehicle can be a distance that can ensure smooth communication between the mobile terminal and the vehicle, and the above-mentioned distance can be a preset value or range, such as 0-100m , may also be other values, which are not limited in this embodiment of the present application.
  • the mobile terminal prompts the user to park out through the mobile terminal.
  • the vehicle After the vehicle determines that the parking space it is in is narrow, it can control the mobile terminal to prompt the user "the parking space the vehicle is in is narrow, it is recommended that you park through the mobile terminal". After receiving the notification, the user can choose to park the vehicle through the mobile terminal. Optionally, the user can also ignore the reminder.
  • the vehicle After the vehicle determines that the parking space it is in is a narrow parking space, it judges whether L is greater than a preset value.
  • the preset value may be 30cm.
  • the mobile terminal When L is less than or equal to the preset value, the mobile terminal prompts the user "the distance between the main driving side and the obstacle is too narrow, please use the automatic parking out function"; when L is greater than the preset value, the user can get on the car and pass
  • the on-board screen controls the vehicle to park out of the parking space, and the mobile terminal can also control the vehicle to park out of the parking space.
  • L in Figure 12 represents the distance between the main driving side and the obstacle
  • 30cm represents the distance between the outer contour of the main driving side of the vehicle and the obstacle when the door is opened and the user is allowed to get off the vehicle without rubbing against the obstacle.
  • the minimum distance between objects can be set according to other actual conditions such as vehicle models.
  • the method for the vehicle to determine whether the parking space is narrow and whether "L>30cm" is established can refer to the description in the above embodiment, and will not be repeated here.
  • the vehicle when the parking space of the vehicle is narrow, or the parking space is too narrow for the user to get on the vehicle and park the vehicle, the vehicle can remind the user through the mobile terminal, so that the user can When the vehicle is far away, the mobile terminal controls the vehicle to park automatically, which can save time and improve user experience.
  • Fig. 13 shows a schematic flowchart of a method 1300 for automatic parking according to an embodiment of the present application.
  • the method 1300 can be applied to the intelligent driving vehicle and the scene supporting automatic parking as shown in FIG. 1 .
  • the vehicle determines that the target parking space is a narrow parking space.
  • the target parking space is a narrow parking space.
  • the vehicle prompts the user to park through the mobile terminal.
  • the vehicle receives the user's automatic parking operation detected by the terminal device.
  • the user selects the automatic parking operation according to the prompt of the mobile terminal.
  • the mobile terminal sends the instruction of the automatic parking operation to the vehicle.
  • automatic parking operation can be the user clicking the “automatic parking” or “automatic parking” button on the mobile terminal; it can also be the user clicking the movement direction control button on the mobile terminal (as shown in Figures 8 and 9 " ⁇ " " ⁇ ” " ⁇ ” " ⁇ ” button) to manually control the movement of the vehicle.
  • the vehicle parks the vehicle in/out of the target parking space according to the parking instruction received from the mobile terminal.
  • the mobile terminal in the embodiment of the present application may be the above-mentioned mobile terminal 200
  • the vehicle may be the above-mentioned vehicle 100 .
  • the automatic parking method provided by the embodiment of the present application, by determining that the target parking space is a narrow parking space, reminds the user to park through the mobile terminal in advance, and parks the vehicle in/out of the parking space according to the automatic parking operation instruction sent by the mobile terminal, Can save time and improve user experience.
  • FIG. 14 shows a schematic flowchart of a method 1400 for automatic parking according to an embodiment of the present application.
  • the method 1400 can be applied to the intelligent driving vehicle and the scene supporting automatic parking as shown in FIG. 1 .
  • the target parking space is a narrow parking space
  • the narrow parking space includes: the width of the target parking space is smaller than that of a standard parking space, and/or the length of the target parking space is shorter than that of a standard parking space.
  • the vehicle may prompt the user that the target parking space is a narrow parking space.
  • the user can choose automatic parking or manual parking.
  • the vehicle controls the vehicle to park into or out of the target parking space according to specific automatic parking instructions or manual parking instructions.
  • the mobile terminal in the embodiment of the present application may be the above-mentioned mobile terminal 200
  • the vehicle may be the above-mentioned vehicle 100 .
  • the automatic parking method of the embodiment of the present application by determining that the target parking space is a narrow parking space, can implement a parking strategy different from the standard parking space, such as reminding the user to park in advance through a mobile terminal, or determining in advance the vehicle to park in a narrow parking space
  • a parking strategy different from the standard parking space such as reminding the user to park in advance through a mobile terminal, or determining in advance the vehicle to park in a narrow parking space
  • the position behind the parking space can improve the user experience during the automatic parking process.
  • the automatic parking method provided by the embodiment of the present application is described in detail with reference to FIG. 3 to FIG. 14 .
  • the automatic parking device provided by the embodiment of the present application will be described in detail with reference to FIG. 15 to FIG. 16 . It should be understood that the descriptions of the device embodiments correspond to the descriptions of the method embodiments. Therefore, for details that are not described in detail, reference may be made to the method embodiments above. For brevity, details are not repeated here.
  • Fig. 15 is a schematic block diagram of an automatic parking device provided by an embodiment of the present application.
  • the apparatus 1500 includes a determining unit 1510 and a processing unit 1520 .
  • the determining unit 1510 may implement a corresponding communication function, and the processing unit 1520 is configured to perform data processing.
  • the device 1500 may further include a storage unit, which may be used to store instructions and/or data, and the processing unit 1520 may read the instructions and/or data in the storage unit, so that the device implements the aforementioned method embodiments .
  • a storage unit which may be used to store instructions and/or data
  • the processing unit 1520 may read the instructions and/or data in the storage unit, so that the device implements the aforementioned method embodiments .
  • the apparatus 1500 may include units for performing the methods in FIG. 3 to FIG. 14 . Moreover, each unit in the device 1500 and the above-mentioned other operations and/or functions are for realizing the corresponding processes of the method embodiments in FIG. 3 to FIG. 14 .
  • the determining unit 1510 can be used to execute S1401 in the method 1400
  • the processing unit 1520 can be used to execute S1402 in the method 1400 .
  • the device 1500 includes: a determining unit 1510, configured to determine that the target parking space is a narrow parking space, and the narrow parking space includes: the width of the target parking space is smaller than the width of the standard parking space, and/or the length of the target parking space is shorter than the standard parking space the length of the parking space; the processing unit 1520 is configured to control the vehicle to park into or out of the target parking space according to the narrow parking space. .
  • the determining unit 1510 is further configured to: determine that the difference between the width of the target parking space and the width of the vehicle is less than or equal to a second threshold.
  • the processing unit is also used to: prompt the user to park through the mobile terminal; the processing unit controls the vehicle to park into or out of the target parking space according to the narrow parking space, including: responding to the received message sent by the mobile terminal first instruction.
  • the first instruction may be an automatic parking instruction sent by the mobile terminal, or may be an instruction sent by the mobile terminal to control the movement of the vehicle.
  • the determining unit is further configured to: determine the first distance according to the width of the narrow parking space and the width of the vehicle before the processing unit prompts the user to park through the mobile terminal; determine that the first distance is less than or equal to the first distance Three thresholds, the first distance is the distance between the outer contour of the main driving side of the vehicle and the obstacle on the main driving side of the vehicle after the vehicle is parked in the target parking space.
  • the determining unit is further configured to: before the determining unit determines the first distance according to the width of the narrow parking space and the width of the vehicle, determine that the second distance is greater than or equal to four thresholds and the first distance is greater than or equal to the The second distance is the distance between the outer contour of the vehicle's passenger side and the obstacle on the vehicle's passenger side after the vehicle is parked in the target parking space.
  • processing unit is further configured to: prompt the user that the target parking space is the narrow parking space.
  • the processing unit is further configured to: during parking, when the third distance between the first position of the outer contour of the vehicle and the first obstacle or the parking space line of the target parking space is less than or equal to the fifth When the threshold is reached, display the information of the third distance, and/or a partial enlarged view of the first position and the first obstacle or the parking space line.
  • the processing unit is further configured to: before the processing unit controls the vehicle to park into or out of the target parking space according to the narrow parking space, when there is an obstacle on the second side of the vehicle, prompt The user gets off the car early.
  • the determining unit is further configured to: determine that the target parking space is a narrow parking space according to the parking record of the vehicle.
  • the processing unit in FIG. 15 may be realized by at least one processor or a processor-related circuit
  • the determining unit may be realized by a transceiver or a transceiver-related circuit
  • the storage unit may be realized by at least one memory.
  • Fig. 16 is a schematic block diagram of an automatic parking device according to an embodiment of the present application.
  • the parking device 1600 shown in FIG. 16 may include: a processor 1610 , a transceiver 1620 and a memory 1630 .
  • the processor 1610, the transceiver 1620 and the memory 1630 are connected through an internal connection path, the memory 1630 is used to store instructions, the processor 1610 is used to execute the instructions stored in the memory 1630, and the transceiver 1630 receives/sends some parameters.
  • the memory 1630 may be coupled to the processor 1610 through an interface, or may be integrated with the processor 1610 .
  • transceiver 1620 may include but not limited to a transceiver device such as an input/output interface (input/output interface), so as to realize communication between the communication device 1600 and other devices or communication networks.
  • a transceiver device such as an input/output interface (input/output interface), so as to realize communication between the communication device 1600 and other devices or communication networks.
  • each step of the above method may be implemented by an integrated logic circuit of hardware in the processor 1610 or instructions in the form of software.
  • the methods disclosed in the embodiments of the present application may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.
  • the software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register.
  • the storage medium is located in the memory 1630, and the processor 1610 reads the information in the memory 1630, and completes the steps of the above method in combination with its hardware. To avoid repetition, no detailed description is given here.
  • the memory may include a read-only memory and a random access memory, and provide instructions and data to the processor.
  • a portion of the processor may also include non-volatile random access memory.
  • the processor may also store device type information.
  • An embodiment of the present application also provides a computer-readable medium, the computer-readable medium stores program codes, and when the computer program codes are run on a computer, the computer is made to execute any of the above-mentioned Figures 3 to 14. a way.
  • An embodiment of the present application also provides a chip, including: at least one processor and a memory, the at least one processor is coupled to the memory, and is used to read and execute instructions in the memory, so as to execute the above-mentioned steps in FIGS. Either method in Figure 14.
  • An embodiment of the present application also provides an automatic driving vehicle, including: at least one processor and a memory, the at least one processor is coupled to the memory, and is used to read and execute instructions in the memory to execute the above-mentioned 3 to any of the methods in Figure 14.
  • sequence numbers of the above-mentioned processes do not mean the order of execution, and the execution order of the processes should be determined by their functions and internal logic, and should not be used in the embodiments of the present application.
  • the implementation process constitutes any limitation.
  • a component may be, but is not limited to being, a process running on a processor, a processor, an object, an executable, a thread of execution, a program, and/or a computer.
  • an application running on a computing device and the computing device can be components.
  • One or more components can reside within a process and/or thread of execution and a component can be localized on one computer and/or distributed between two or more computers.
  • these components can execute from various computer readable media having various data structures stored thereon.
  • a component may, for example, be based on a signal having one or more packets of data (e.g., data from two components interacting with another component between a local system, a distributed system, and/or a network, such as the Internet via a signal interacting with other systems). Communicate through local and/or remote processes.
  • packets of data e.g., data from two components interacting with another component between a local system, a distributed system, and/or a network, such as the Internet via a signal interacting with other systems.
  • the disclosed systems, devices and methods may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the functions described above are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disc and other media that can store program codes. .

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Abstract

本申请提供了一种自动泊车的方法和装置，该方法包括：确定目标车位为窄车位，所述窄车位包括：所述目标车位的宽度小于标准停车位的宽度，和/或所述目标车位的长度小于标准停车位的长度的车位；根据所述窄车位控制所述车辆泊入或泊出所述目标车位。本申请的自动泊车的方法能够识别窄车位，提示用户车位为窄车位，并且根据窄车位的识别结果，提前提醒用户通过移动终端泊车，有助于提升自动泊车过程中的用户体验。

Description

自动泊车的方法和装置 技术领域
本申请涉及智能驾驶领域，特别涉及一种自动泊车的方法和装置。
背景技术
目前的智能汽车大多配置有自动泊车系统，用于帮助用户实现自动泊车。但是，现有的自动泊车系统在将车辆泊入比标准停车位窄的车位时，或将车辆从比标准停车位窄的车位泊出时，其过程与在标准停车位进行自动泊车的过程无差别，即车辆在进行车位识别时，无法对目标车位是否为窄车位进行预判。这可能会导致在车辆泊入或泊出目标车位前，用户无法预知是否能够正常上下车，例如：车辆泊入目标车位后，用户发现车位过窄导致无法正常下车，需要将车辆泊出停车位，下车后再通过移动终端操控车辆泊入；或用户到达车辆后才发现无法正常上车，此时再通过移动终端控制车辆泊出。
可见，由于目前的自动泊车方法不能针对窄车位进行预判，导致无法提前提醒用户通过移动终端进行泊入泊出；此外，现有的泊车系统对窄车位泊车没有针对性的泊车策略，使得用户体验欠佳。
因此，如何提供一种能够识别比标准停车位窄的车位，并根据识别结果提前提醒用户通过移动终端泊车的自动泊车方法成为一个亟待解决的问题。
发明内容
本申请提供一种自动泊车的方法和装置，能够识别窄车位，提示用户车位为窄车位，并且根据窄车位的识别结果，提前提醒用户通过移动终端泊车，有助于提升自动泊车过程中的用户体验。
第一方面，提供了一种自动泊车的方法，该方法可以由车辆执行，该方法包括：确定目标车位为窄车位，该窄车位包括：该目标车位的宽度小于标准停车位的宽度，和/或该目标车位的长度小于标准停车位的长度的车位；根据该窄车位控制该车辆泊入或泊出该目标车位。
本申请实施例的自动泊车的方法，通过确定目标车位为窄车位，可以执行与标准停车位不同的泊车策略，如提前提醒用户通过移动终端泊车，或者针对窄车位提前确定车辆泊入车位后的位置，能够提升自动泊车过程中的用户体验。
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：确定该目标车位的宽度与该车辆的宽度之差小于或等于第二阈值。
可选地，可以仅比较目标车位的宽度与车辆自身的宽度的大小，当两者之差小于或等于第二阈值时，确定目标车位为窄车位。应理解，第二阈值为正整数。
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：提示用户通过移动终端泊车；该根据该窄车位控制车辆泊入或泊出该目标车位，包括：响应于接收该移动终端 发送的第一指令。
可选地，该第一指令可以为移动终端发送的自动泊车指令，该第一指令也可以为移动终端发送的控制车辆移动的指令。
本申请实施例的自动泊车的方法，确定目标车位为窄车位后，可以提前提示用户通过移动终端控制车辆泊出或泊出。用户可以选择通过移动终端进行窄车位自动泊车，以克服目标车位为窄车位时人工泊车难度大的问题，可以提高用户体验。
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：该提示用户通过移动终端泊车之前，根据该窄车位的宽度和该车辆的宽度确定第一距离；确定该第一距离小于或等于第三阈值，该第一距离为该车辆第一侧的外部轮廓与该车辆泊入该目标车位后该车辆第一侧的障碍物之间的距离。
可选地，上述车辆第一侧可以为车辆的主驾驶侧。
本申请实施例的自动泊车的方法中，当主驾驶侧与障碍物之间距离过小，以至于车门打开后用户无法正常上下车时，可以提前提示用户通过移动终端泊车。可以有效规避用户泊入目标车位后才发现无法下车的情况；或者，当目标车位过窄，用户无法上车将车辆泊出时，用户可以在距离车辆较远时，通过移动终端控制车辆自动泊出，而无需用户到达车辆，可以节省时间，提高用户体验。
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：该根据该窄车位的宽度和该车辆的宽度确定第一距离之前，确定第二距离大于或者等于第四阈值且该第一距离大于或者等于该第二距离，该第二距离为该车辆第二侧的外部轮廓与该车辆泊入该目标车位后该车辆第二侧的障碍物之间的距离。
可选地，上述车辆第二侧可以为车辆的副驾驶侧。
本申请实施例的自动泊车的方法，通过为副驾驶侧预留一定距离，保证副驾驶侧与障碍物能够保持安全距离，防止泊车过程中发生剐蹭，提高用户体验。
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：提示用户该目标车位为该窄车位。
本申请实施例的自动泊车的方法，可以在车载屏幕上将窄车位与标准车位区别显示，以提示用户哪些车位为窄车位；或者，在用户选择目标车位后，通过车载屏幕或移动终端屏幕或语音等方式提示用户目标车位为窄车位，以便用户针对窄车位选择合适的泊车方式，提高用户体验。
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：在泊车过程中，当该车辆外部轮廓的第一位置与第一障碍物或所述目标车位的车位线之间的第三距离小于或者等于第五阈值时，显示该第三距离的信息，和/或该第一位置与该第一障碍物或所述车位线的局部放大图。
本申请实施例提供的自动泊车的方法，当车辆外部轮廓任一位置与目标车位的车位线或其周围障碍物之间的距离过小时，显示具体的距离信息，以提示用户调整泊车方向。泊车过程中还可以显示距离窄车位边缘及障碍物的局部放大图，使得用户能够实时感知实际状况，从而调整泊车方向，提高用户体验。
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：当该车辆第二侧有障碍物时，提示该车辆第二侧的用户提前下车。
当准备泊入目标车位时，车辆副驾驶侧有障碍物时，提示副驾驶侧的所有用户提前下车，以防止车辆泊入后才发现副驾驶侧用户无法下车的情况发生，提高用户体验。
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：根据该车辆的泊车记录确定目标车位为窄车位。
第二方面，提供了一种自动泊车的装置，该装置包括：确定单元，用于确定目标车位为窄车位，该窄车位包括：该目标车位的宽度小于标准停车位的宽度，和/或该目标车位的长度小于标准停车位的长度的车位；处理单元，用于根据该窄车位控制该车辆泊入或泊出该目标车位。
结合第二方面，在第二方面的某些实现方式中，该确定单元还用于：确定该目标车位的宽度与该车辆的宽度之差小于或等于第二阈值。
结合第二方面，在第二方面的某些实现方式中，该处理单元还用于：提示用户通过移动终端泊车；该处理单元根据该窄车位控制该车辆泊入或泊出该目标车位，包括：响应于接收该移动终端发送的第一指令。
结合第二方面，在第二方面的某些实现方式中，该确定单元还用于：在该处理单元提示用户通过移动终端泊车之前，根据该窄车位的宽度和该车辆的宽度确定第一距离；确定该第一距离小于或等于第三阈值，该第一距离为该车辆第一侧的外部轮廓与该车辆泊入该目标车位后该车辆第一侧的障碍物之间的距离。
结合第二方面，在第二方面的某些实现方式中，该确定单元还用于：在该确定单元根据该窄车位的宽度和该车辆的宽度确定第一距离之前，确定第二距离大于或者等于四阈值且该第一距离大于或者等于该第二距离，该第二距离为该车辆第二侧的外部轮廓与该车辆泊入该目标车位后该车辆第二侧的障碍物之间的距离。
结合第二方面，在第二方面的某些实现方式中，该处理单元还用于：提示该用户该目标车位为该窄车位。
结合第二方面，在第二方面的某些实现方式中，该处理单元还用于：在泊车过程中，当该车辆外部轮廓的第一位置与第一障碍物或所述目标车位的车位线之间的第三距离小于或者等于第五阈值时，显示该第三距离的信息，和/或该第一位置与该第一障碍物或该车位线的局部放大图。
结合第二方面，在第二方面的某些实现方式中，该处理单元还用于：在该处理单元根据该窄车位控制该车辆泊入或泊出该目标车位之前，当该车辆第二侧有障碍物时，提示该车辆第二侧的用户提前下车。
结合第二方面，在第二方面的某些实现方式中该确定单元还用于：根据该车辆的泊车记录确定该目标车位为窄车位。
第三方面，提供了一种自动泊车的装置，该装置包括：存储器，用于存储程序；处理器，用于执行存储器存储的程序，当存储器存储的程序被执行时，处理器用于执行上述第一方面中的方法。
第四方面，提供了一种自动驾驶车辆，该自动驾驶车辆包括第二方面中上述的装置。
第五方面，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上运行时，使得计算机执行上述第一方面中的方法。
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第一存储介质上，其中第 一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，本申请实施例对此不作具体限定。
第六方面，提供了一种计算机可读介质，上述计算机可读介质存储由程序代码，当上述计算机程序代码在计算机上运行时，使得计算机执行上述第一方面中的方法。
第七方面，提供了一种芯片系统，该芯片系统包括处理器，用于调用存储器中存储的计算机程序或计算机指令，以使得该处理器执行上述任一方面以及上述任一方面可能的涉及的所述方法。
结合第七方面，在一种可能的实现方式中，该处理器通过接口与存储器耦合。
结合第七方面，在一种可能的实现方式中，该芯片系统还包括存储器，该存储器中存储有计算机程序或计算机指令。
附图说明
图1是本申请实施例提供的一种自动泊车的方法的应用场景；
图2是本申请实施例提供的一种自动泊车的方法应用的一种系统架构示意图；
图3是本申请实施例提供的一种自动泊车的方法中窄车位确定的示意图；
图4是本申请实施例提供的一种自动泊车的方法中车位显示的示意图；
图5是本申请实施例提供的一种自动泊车的方法中泊车策略的示意图；
图6是本申请实施例提供的一种自动泊车的方法中泊车策略的示意图；
图7是本申请实施例提供的一种自动泊车的方法中泊车提示的示意图；
图8是本申请实施例提供的一种自动泊车的方法中泊车提示的示意图；
图9是本申请实施例提供的一种自动泊车的方法中泊车提示的示意图；
图10是本申请实施例提供的一种自动泊车的方法中泊车提示的示意图；
图11是本申请实施例提供的一种自动泊车的方法的示意性流程图；
图12是本申请实施例提供的一种自动泊车的方法的示意性流程图；
图13是本申请实施例提供的一种自动泊车的方法的示意性流程图；
图14是本申请实施例提供的一种自动泊车的方法的示意性流程图；
图15是本申请实施例提供的一种自动泊车的装置的示意性框图；
图16是本申请实施例提供的一种自动泊车的装置的示意性框图。
具体实施方式
下面将结合附图，对本申请中的技术方案进行描述。为了便于理解，下文结合图1，以智能驾驶的场景为例，介绍本申请实施例适用的场景。
图1是本申请实施例提供的一种自动泊车的方法的应用场景。在该应用场景中，可以包括车辆100和移动终端200。
在一种可能的实施方式中，可以将车辆100配置为完全或部分自动驾驶模式。例如：车辆100可以通过感知系统120获取其周围的环境信息，并基于对周边环境信息的分析得到自动驾驶策略以实现完全自动驾驶，或者将分析结果呈现给用户以实现部分自动驾驶。将车辆100配置为完全或部分地自动驾驶模式。车辆100也可以通过移动终端200控制，车辆100与移动终端200之间可以通过无线通信系统互联。
感知系统120可包括感测关于车辆100周边的环境的信息的若干种传感器。例如，感知系统120可包括全球定位系统121(全球定位系统可以是GPS系统，也可以是北斗系统或者其他定位系统)、惯性测量单元(inertial measurement unit，IMU)122、激光雷达123、毫米波雷达124、超声雷达125以及摄像装置126中的一种或者多种。
车辆100可以包括构图模块130。构图模块130可以使用物体识别算法、运动中恢复结构(structure from motion，SFM)算法、视频跟踪、同步定位与地图构建(simultaneous localization and mapping，SLAM)等技术为环境绘制地图。
车辆100通过外围设备140与移动终端、外部传感器、其他车辆、其他计算机系统或用户之间进行交互。外围设备140可包括无线通信系统141、车载屏幕142、麦克风143和/或扬声器144。
在一些可能的实现方式中，外围设备140提供车辆100的用户与用户接口160交互手段。例如，车载屏幕142可向车辆100的用户提供信息。用户接口160还可操作车载屏幕142来接收用户的输入。车载屏幕142可以通过触摸屏进行操作。在其他情况中，外围设备140可提供用于车辆100与位于车内的其它设备通信的手段。例如，麦克风143可从车辆100的用户接收音频(例如，语音命令或其他音频输入)。类似地，扬声器144可向车辆100的用户输出音频。
车辆100的部分或所有功能受计算平台150控制。计算平台150可包括至少一个处理器151，处理器151可以执行存储在例如存储器152这样的非暂态计算机可读介质中的指令153。在一些实施例中，计算平台150还可以是采用分布式方式控制车辆100的个体组件或子系统的多个计算设备。
处理器151可以是任何常规的处理器，诸如中央处理单元(central processing unit，CPU)。替选地，处理器151还可以包括诸如图像处理器(graphic process unit，GPU)，现场可编程门阵列(field programmable gate array，FPGA)、片上系统(system on chip，SOC)、专用集成芯片(application specific integrated circuit，ASIC)或它们的组合。
除了指令153以外，存储器152还可存储数据，例如道路地图、路线信息，车辆的位置、方向、速度以及其它这样的车辆数据。这些数据可在车辆100在自主、半自主和/或手动模式中操作期间被车辆100和计算平台150使用。
计算平台150可基于从各种子系统(例如，感知系统120和构图模块130)接收的输入来控制车辆100的功能。例如，计算平台150可利用来自感知系统120中的全球定位系统121确定的车辆的位置信息以及构图模块130构建的内部道路的地图信息，进行自动泊车。
可选地，上述这些组件中的一个或多个可与车辆100分开安装或关联。例如，存储器152可以部分或完全地与车辆100分开存在。上述组件可以按有线和/或无线方式来通信地耦合在一起。
可选地，上述组件只是一个示例，实际应用中，上述各个模块中的组件有可能根据实际需要增添或者删除，图1不应理解为对本申请实施例的限制。
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。
可选地，上述车辆100可以包括一种或多种不同类型的交通工具，也可以包括一种或多种不同类型的在陆地(例如，公路，道路，铁路等)，水面(例如：水路，江河，海洋等)或者空间上操作或移动的运输工具或者可移动物体。例如，车辆可以包括汽车，自行车，摩托车，火车，地铁，飞机，船，飞行器，机器人或其它类型的运输工具或可移动物体等，本申请实施例对此不作限定。
可选地，上述移动终端200可以包括各种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，以及各种形式的终端，移动台(mobile station，MS)，终端(terminal)，用户设备(user equipment，UE)，软终端等等。例如，水表、电表、传感器等。本身实施例对此不作限定。
图2示出了本申请实施例的自动泊车的方法的一种系统架构示意图，如图2所示包括感知模块、数据模块、控制模块和显示模块，图2所示的系统可以应用于智能驾驶车辆等支持自动泊车的场景中。
感知模块可以是图1中的感知系统120所包括的多个传感器中的一个或多个，具体可以包括全球定位系统121、IMU122、激光雷达123、毫米波雷达124、超声雷达125以及摄像装置126等。感知模块获取当前车位的环境信息，环境信息包括车位周围静态或动态的障碍物、可通行区域、车道线、车位类型和车位开口方向等，车位类型包括垂直式车位、平行式车位、倾斜式车位等，感知模块还可以获取车辆自身相对于当前车位的朝向。数据模块和控制模块可以是图1中的计算平台150中的一个或多个，显示模块可以为图1中的车载设备142。
感知模块将获取的环境信息输入数据模块和控制模块。数据模块对环境信息进行分析，根据感知模块获得的数据确定车位的尺寸，并将其与标准停车位的尺寸进行比较，将车位区分为标准停车位和窄车位，并将分析结果输入控制模块。
控制模块将数据模块的分析结果显示在人机交互界面(human machine interface，HMI)等显示模块，显示模块包括车辆内部的显示屏、中控屏等可以与用户交互的界面。用户可以根据显示的可选的车位选择目标车位。
当车辆准备泊入目标车位时，数据模块对环境信息进行分析，计算出当车辆位于目标车位居中位置时，在垂直于车辆纵向对称平面方向上车辆的左侧和右侧外部轮廓分别与车位线内边界或障碍物之间的距离；当车辆准备从目标车位泊出时，数据模块对环境信息进行分析，计算出当前车辆主驾驶侧的外部轮廓与障碍物的距离。
数据模块将上述计算出的车辆的左侧和右侧外部轮廓分别与车位线内边界的距离，控制模块结合感知模块获取的环境信息和数据模块，调整上述外部轮廓与车位线内边界的距离，制定出相应的泊入策略；或者，数据模块将上述车辆主驾驶侧的外部轮廓与障碍物的距离输入控制模块，控制模块结合感知模块获取的环境信息和数据模块，制定泊出策略。
控制模块将制定的泊入/泊出策略发送给显示模块，由显示模块在人机交互界面(human machine interface，HMI)等显示模块，控制模块根据用户的选择将车辆泊入目标车位或泊出当前车位。
如前所述，目前的自动泊车方法不能针对窄车位进行预判，无法提前提醒用户通过移动终端泊车；此外，现有的泊车系统对窄车位泊车没有针对性的泊车策略，使得户体验欠 佳。
鉴于此，本申请实施例提供了一种自动泊车的方法和装置，通过对车位进行识别和判断，能够提前确定目标车位为窄车位，并能根据窄车位尺寸制定不同的泊车策略，例如预泊入位置、泊入方向、泊出方向和提示方式中的一种或多种。当目标车位过窄，泊入后用户不方便下车时，通过车辆和/或移动终端提示用户通过移动终端控制自动泊车，能够有效规避用户泊入目标车位后才发现无法下车的情况；或者，当目标车位过窄，用户无法上车将车辆泊出时，用户可以在距离车辆较远时，即可通过移动终端控制车辆自动泊出，而无需用户到达车辆，可以节省时间，提高用户体验。
图3示出本申请实施例提供的一种自动泊车的方法中窄车位确定的示意图。
具体地，车辆行驶并寻找目标车位准备泊入的过程中，通过摄像头识别地面车位图像。根据车位图像确定车位类型，并将车位图像尺寸与标准停车位尺寸和车辆自身的外廓尺寸进行比较，结合车位类型来判断识别到的各车位是否为窄车位。图3中的(a)所示的a1和b1分别为目标车位的宽度和长度，a2和b2分别为车辆的宽度和长度，其中，a1、b1分别为两个车位线的中轴线之间的距离，车辆的宽度是指平行于车辆纵向对称平面，并分别抵靠车辆两侧凸出部位(包括后视镜、测量标志灯、转向指示灯、挠性挡泥板以及轮胎与地面接触部分的变形外)的两平面之间的距离，车辆的长度是指垂直于车辆纵向对称平面，并分别抵靠车辆两侧凸出部位(包括后视镜、测量标志灯、转向指示灯、挠性挡泥板以及轮胎与地面接触部分的变形外)的两平面之间的距离，即，分别为车辆上最宽部分和最长部分的尺寸。当a1–a2≥A1且a1<A，和/或b1–b2≥B1且b1<B，即确定目标车位为窄车位。其中，A1和B1为泊车过车中，保证车辆自身不会与周边障碍物发生剐蹭的最小安全距离，可以根据车辆的车型和目标车位的车位类型进行设置；A和B分别为标准停车位的宽度和长度。应理解，对于倾斜式车位，其宽度b2按照斜线垂直距离计算，如图3中的(b)所示。下面以总长为5000mm、总宽为2000mm的小型车为例，说明A1和B1的具体设置规则：①当目标车位的车位类型为垂直式车位或倾斜式车位时，可以分别将A1设置为300mm，将B1设置为任一大于1000mm的值；②当目标车位的车位类型为平行式车位时，可以分别将A1设置为任一大于500mm的值，将B1设置为1000mm；③或者，无论目标车位的类型是什么，均将A1设置为300mm，将B1设置为1000mm。应理解，上述①的设置目的是，对于垂直式车位或倾斜式车位，由于泊入过程中，车位长度方向上的尺寸对泊车的安全性的影响相对较小，所以可以只关注车位宽度方向上的尺寸；上述②的设置目的是，对于平行式车位，由于泊入过程中，车位宽度方向上的尺寸对泊车的安全性的影响相对较小，所以可以只关注车位长度方向上的尺寸。对于外廓尺寸更大的车辆，A1和B1可根据车型不同设置为其他尺寸，本申请实施例对此不作限制。
在一种可能的实现方式中，地面无车位图像，或车位图像不清晰导致车辆的摄像头无法识别出地面车位图像时，摄像头获取周边环境信息，并根据周边环境信息判断是否有停车位。识别出停车位后，可通过识别车位两侧静止的两个车辆，并计算两个静止的车辆之间的距离a，将其与标准停车位尺寸和A1或B1进行对比。应理解，此时，车辆可以根据识别到的其他车辆的停靠方向确定停车位是垂直式车位，还是平行式车位，或者为倾斜式车位。在这种情况下，车辆可以通过相邻的静止的两个车辆之间的距离，确定车位的长度或宽度中的一个，而无法确定另一个维度方向上车位的尺寸。因此，若目标车位为垂直式 车位或倾斜式车位时，只要a–a2≥A1且a＜A，即可确定目标车位为窄车位；若目标车位为平行式车位，只要a–b2≥B1且a＜B，即可确定目标车位为窄车位。
在一种可能的实现方式中，车辆识别出停车位后，根据地面车位图像确定目标车位的宽度a1和/或长度b1，当a1＜A，和/或b1＜B时，确定目标车位为窄车位；或者，确定车位两侧静止的两个车辆之间的距离a，当a＜A，和/或a＜B时，确定目标车位为窄车位。
在一种可能的实现方式中，车辆识别出停车位后，根据地面车位图像确定目标车位的宽度a1，当a1-a2≤A1’时，确定目标车位为窄车位；或者，确定车位两侧静止的两个车辆之间的距离a，当a-a2≤A1’时，确定目标车位为窄车位。应理解，上述A1’为正整数，具体地，A1’可以为车门打开后允许主驾驶侧和副驾驶侧的用户下车且不与障碍物剐蹭时，车辆的主/副驾驶侧凸出部位的外部轮廓与障碍物之间的最小距离之和，对于小型车，该A1’可以设置为600mm；或者，A1’可以为车门打开后允许主驾驶侧的用户下车且不与障碍物剐蹭时，车辆的主驾驶侧凸出部位的外部轮廓与障碍物之间的最小距离，对于小型车，该A1’可以设置为300mm；该A1’也可以由用户根据实际情况进行设置；该A1’还可以为其他距离，本申请实施例对此不作限定。
在一种可能的实现方式中，在车辆准备泊入车位时，还可以根据车辆的泊车记录判断目标车位是否为窄车位。应理解，车辆的泊车记录包括泊出记录和泊入记录。具体地，泊车记录可以包括目标车位的类型、尺寸、周围环境等，泊车记录还可以包括障碍物信息以及其他信息，本申请实施例对此不作限定。
需要说明的是，本申请实施例中的标准停车位的尺寸是指《城市道路路内停车泊位设置规范(GA/T 850-2009)》中规定的尺寸，其中停车位标准尺寸主要分大、小两种尺寸，大型停车位长15600mm，宽3250mm，适用于中大型车辆；小型停车位长6000mm，宽2500mm，适用于小型车辆。对于倾斜式(倾角30°、45°、60°)车位，其斜长度达到6000mm，宽为2800mm，两斜线垂直距离为2500mm。
应理解，本申请实施例中，如果车辆为小型车，则判断目标车位是否为窄车位时，参照的标准停车位对应为小型停车位；如果车辆为中大型车辆，则判断目标车位是否为窄车位时，参照的标准停车位对应为大型停车位。
在一种可能的实现方式中，在准备泊车的过程中，车辆识别车位时，可以识别到多个车位，包括标准停车位和非标准停车位。根据上述实施例中的方法判断非标准停车位为窄车位后，通过车辆的车载屏幕显示标准停车位和窄车位，如图4中的(a)所示。应理解，识别出的非标准停车位尺寸不满足上述窄车位的标准时，不显示该车位。图4的(a)中的①和②分别为窄车位和标准停车位，其中，通过在车位外框内增加两条线段表示窄车位。将窄车位和标准停车位区别显示，能够使车位信息更直观，有利于用户选择，提高用户体验。应理解，还可以通过其他方式对窄车位和标准停车位进行区别显示，图4中仅为示例性说明。用户可以选择图4中车载屏幕显示出的任一车位进行泊车。
本申请实施例提供的车位识别方法、窄车位确定方法和车位显示方法，能够保证车辆在寻找车位时，识别出更多停车位，包括标准停车位和非标准停车位。通过判断非标准停车位是否为本申请实施例所述的窄车位，筛选出可供车辆停泊的车位，并显示在车辆的车载屏幕中，为用户提供更多选择，提高用户体验。
在一种可能的实现方式中，用户通过车辆的车载屏幕显示的车位选择窄车位为目标车 位。当车辆识别出目标车位为窄车位时，通过车辆和/或移动终端提示用户通过移动终端进行自动泊车，本申请实施例中的自动泊车可以包括遥控泊车辅助(remote parking assist，RPA)以及自动代客泊车(auto valet parking，AVP)等。
在一种可能的实现方式中，在当车辆识出目标车位为窄车位之后，车辆根据目标车位的尺寸、车位周围环境及车辆自身尺寸，制定相应的泊车策略，以使车辆的泊入位置、泊车方向适当，利于用户下车或利于保证车辆的泊车安全。
具体地，当用户根据图4中的(a)所示的车辆车载屏幕显示出的车位选择窄车位为目标车位后，车辆档位切换为“R”档并在车载屏幕显示，同时车载屏幕显示实时速度(例如，图4中的(b)所示的2km/h)，同时可以提醒用户“目标车位为窄车位，建议您通过手机泊车”，如图4中的(b)所示。进一步地，车辆可以根据目标车位的尺寸预先制定泊车策略进行泊车。以下结合图5和图6详细说明根据窄车位尺寸、车位周围环境及车辆自身尺寸制定的泊车策略。
图5示出了本申请实施例提供的一种泊车方法应用于自动泊入垂直式车位的场景的示意图。其中，车辆所在的垂直式车位为窄车位，L1和L2分别代表车辆左侧和右侧距离目标车位的车位线内边界的距离；当地面无车位图像时，L1/L2分别代表车辆的左/右侧分别与左/右侧相邻车辆或障碍物的距离。
在制定泊入策略时，先假设车辆位于目标车位居中位置，初步计算出L1和L2。
假设图5所示的车辆为左舵车辆，根据上述初步计算的L1和L2，调整L1和L2的大小，使得车辆泊入目标车位后所处的位置可以依次满足L2≥A3、L1≥L2、L1>A2三个条件。当三个条件均满足且车位有更多宽度时，继续调整L1和L2的大小，将多余宽度优先分配给L1，例如：当多余宽度l＝(a1-a2)-A2-A3＞0时，将l分配给L1，其中a1和a2为图3所示的宽度。当车位宽度无法满足L1>A2时，泊车前提示驾驶员采用移动终端自动泊车方式停车。如副驾驶座位有人且车位右侧有车或障碍物时，则给予副驾驶提前下车的提示，以便于泊车。以下示出了几种判断时候通过移动终端来提示用户进行泊入的泊车策略：
1、在②号车位未停放车辆，或②处为非停车位，例如②处为墙壁等障碍物时，若①号车位有车辆或①处为障碍物，则判断L1>A2是否成立。若成立，则用户可以选择自主泊车，也可以选择通过移动终端或车辆自动泊车；若不成立，则通过车辆和/或移动终端提示用户通过移动终端进行泊入。
2、①处为障碍物时，②号车位有车辆时，优先满足L1>A2；如不满足条件，则提示通过移动终端进行泊车。
3、左右相邻车位均为窄车位且有车或左右为障碍物时，提示通过移动终端泊入，且车辆居中泊入车位内。
4、泊出时，如①号车位有车辆或①处为障碍物，且L1≤A2，则提示通过移动终端进行泊出。
假设图5所示的车辆为右舵车辆，根据初步计算的L1和L2，调整L1和L2的大小，使得车辆泊入目标车位后所处的位置可以依次满足L1≥A3、L2≥L1、L2>A2三个条件。当三个条件均满足且车位有更多宽度时，继续调整L1和L2的大小，将多余宽度优先分配给L2，例如：当A4＝(a1-a2)-A2-A3＞0时，将A4分配给L2，其中a1和a2为图3所示的 宽度。当车位宽度不足无法满足L2>A2时，泊车前提示驾驶员采用移动终端自动泊车方式停车。如副驾驶座位有人且车位左侧有车或障碍物时，则给予副驾驶提前下车的提示，以便于泊车。以下示出了几种判断时候通过移动终端来提示用户进行泊入的泊车策略：
1、在①号车位未停放车辆，或①处为非停车位，例如①处为墙壁等障碍物时，若②号车位有车辆或②处为障碍物，则判断L2>A2是否成立，若不成立，则通过车辆和/或移动终端提示用户通过移动终端进行泊入。
2、②处为障碍物时，①号车位有车辆时，优先满足L2>A2；如不满足条件，则提示通过移动终端进行泊入泊出。
3、左右相邻车位均为窄车位且有车或左右为障碍物时，提示通过移动终端泊入，且车辆居中泊入车位内。
4、泊出时，如②号车位有车辆或②处为障碍物，且L2≤A2，则提示通过移动终端进行泊出。
需要说明的是，上述A2为车门打开后允许用户下车且不与障碍物剐蹭时，车辆的主驾驶侧凸出部位的外部轮廓与障碍物之间的最小距离，对于小型车，该A2可以设置为300mm；该A2也可以由用户根据实际情况进行设置，本申请实施例对此不作限定。上述A3为预防车辆被邻车位车辆剐蹭的最小安全距离，或者为与相邻障碍物之间的最小安全距离。具体地，A3可以为任一大于或等于0的值。可选地，若副驾驶侧为停车位时，A3可以设置为150mm；若副驾驶侧为非停车位时，例如②处为墙壁等障碍物，则A3可以设置为0mm。
应理解，如果窄车位的类型为图6中的(a)所示的倾斜式车位或(b)所示的平行式车位时，上述泊车策略依然适用。需要说明的是，当目标车位为平行式车位时，在泊入目标车位时，还应保证泊入后车头与车辆的行驶方向一致，并且泊入位置还需满足车辆的前后位置在车位内居中，即泊入位置需满足图6的(b)中H1＝H2。
需要说明的是，对于上述三种车位，当通过移动终端将车辆泊入目标车位时，泊入方向默认为车尾泊入；当通过车辆控制自动泊入时，泊入方向优先为车尾泊入。对于倾斜式车位，在泊车前，还要额外提示用户目标车位为倾斜式车位，建议通过移动终端泊车。
在一种可能的实现方式中，当主驾驶侧车门与障碍物之间距离小于或等于A2，和/或副驾驶侧有障碍物时，可以通过车辆的车载屏幕提示用户提前下车并通过移动终端进行泊车，如图7所示。具体地，当进行车辆泊入时，通过车辆的车载屏幕提示“主驾驶侧车门与障碍物距离过窄，建议您下车并通过手机泊车”，如图7的(a)所示。可选地，移动终端的屏幕上也进行相应提示，如图8和图9所示。此外，若副驾驶座位有人且车位左侧有车或障碍物时，则通过车辆和/或移动终端的屏幕给予副驾驶图7中(b)所示的“车位较窄，建议副驾驶提前下车等待”的提示，以提示副驾驶处的用户提前下车，提高泊车效率。应理解，上述提示也可以以语音提醒的方式进行，即，车辆或移动终端语音提示“主驾驶侧车门与障碍物距离过窄，建议您下车并通过手机泊车”和/或“车位较窄，建议副驾驶提前下车等待”，或者也可以通过氛围灯改变等其他方式提示用户通过移动终端进行泊车，本申请实施例对此不作限定。
在一种可能的实现方式中，用户准备将车辆从其所处车位泊出时，车辆根据车辆泊入时的历史记录判断当前所处车位是否为窄车位，如果为窄车位，则通过移动终端提示用户 “当前车位为窄车位，建议您使用自动泊出功能”，如图9的(a)所示的垂直式车位和(b)所示的平行式车位。可选地，车辆还可以根据历史记录确定主驾驶侧与障碍物之间的第一距离是否小于或等于A2。若第一距离小于或等于A2，则通过移动终端提醒用户“主驾驶侧与障碍物之间距离过窄，请您使用自动泊出功能”，如图9的(c)和(d)所示。此外，当车辆的主驾驶侧与障碍物之间的第一距离小于或等于A2时，可以在移动终端界面上显示主驾驶侧与障碍物之间的具体距离信息，如图9中的(c)所示。应理解，在此情况下，用户可以在距离车辆较远时，通过移动终端控制车辆自动泊出，而无需用户到达车辆确定车门能否打开至用户可以上车的宽度，可以节省时间，提高用户体验。应理解，此时车辆的车载屏幕也可以同时显示相应内容。若第一距离小于或等于A2，且用户位于驾驶舱内，则用户可以通过车载屏幕选择自动泊出，也可以手动泊出。
还需要说明的是，上述车辆判断所处车位是否为窄车位以及第一距离是否小于或等于A2时，可以基于泊入时的历史记录进行判断。在某些情况下，车辆也可以采集周围环境的实时信息，根据周围环境的实时信息判断车辆位于车位中的位置，进而判断第一距离是否小于或等于A2。本申请实施例对此不作限定。
具体地，如图8所示，用户接收到提示后，下车并点击移动终端上的“自动泊入”按钮，将车辆自动泊入目标车位。可选地，泊出车辆时，点击如图9中所示的“自动泊出”按钮，将车辆泊出车位。
应理解，用户可以点击移动终端上的“自动泊入”或者“自动泊出”按钮，车辆接收到移动终端的泊入/泊出指示后，根据图5涉及的自动泊车策略将车辆泊入目标车位，或将车辆泊出车位；用户也可以通过移动终端上的移动方向控制按钮(如图8和图9中的“↑”“↓”“←”“→”按钮)，手动操控车辆移动，从而使车辆泊入目标车位或从目标车位泊出。
本申请实施例提供的自动泊车的方法，通过对目标车位进行识别，能够提前确定目标车位为窄车位，并能根据窄车位尺寸和车辆自身尺寸提前制定不同的泊车策略，当用户选择自动泊车时，车辆可以根据上述泊车策略将车辆泊入或泊出。当目标车位过窄，车辆判断泊入后用户不方便下车时，通过车辆和/或移动终端提示用户通过移动终端控制自动泊车，能够有效规避用户泊入目标车位后才发现无法下车的情况；或者，当目标车位过窄，车辆判断用户无法上车将车辆泊出时，可以在用户距离车辆较远时，通过移动终端提醒用户通过移动终端控制车辆自动泊出，可以节省时间，提高用户体验。
在一种可能的实现方式中，在泊车过程中，车辆外部轮廓任一位置与目标车位或障碍物之间的距离小于或等于A4时，车辆的车载屏幕将显示车辆外部轮廓与周围障碍物之间的具体距离信息，并以警示线提示，如图10所示；当车辆的周边无障碍物时，可以显示车辆外部轮廓与车位线内边界的最近距离信息(最近距离大于A4时不显示)。可选地，车载屏幕还可以显示泊车时距离窄车位边缘及障碍物的局部放大图，如图10中的(b)所示，使得用户能够实时感知实际状况，从而调整泊车方向。
在一种可能的实现方式中，用户在车辆外时，通过移动终端控制车辆泊入或泊出目标车位，此时，当车辆外部轮廓任一位置与目标车位或障碍物之间的距离小于A4时，移动终端上也同步显示图10中的(b)所示的距离窄车位边缘及障碍物的局部放大图，以使用户实时感知实际状况，从而调整泊车方向。
应理解，上述A4可以为泊车过车中保证车辆自身不会与周边障碍物发生剐蹭的最小 安全距离，也可以为其他距离，A4可以根据车辆的车型和目标车位的车位类型进行设置，也可以由用户自行设置，本申请实施例对此不作限定。
本申请实施例提供的自动泊车的方法，当车辆外部轮廓任一位置与目标车位的车位线或其周围障碍物之间的距离过小时，显示具体距离信息。泊车过程中还将显示距离窄车位边缘及障碍物的局部放大图，使得用户能够实时感知实际状况，从而调整泊车方向，提高用户体验。
应理解，图3至图10中所示的车辆、移动终端和车位的形状，以及车辆和移动终端屏幕的显示内容仅为示例性说明，不应理解为对本申请实施例的限制。
以上结合图3至图10介绍了本申请实施例提供的自动泊车的方法的具体方案，以下结合图11和图12，详细说明图3至图10所示的自动泊车的方法在具体应用场景下的流程。
图11示出了本申请实施例提供的自动泊车的方法的示意性流程图。具体地，图11示出了在泊车过程中，用户与车辆、用户与移动终端以及移动终端与车辆之间的具体交互过程。如图11所示，当车辆准备寻找车位准备泊入时，具体流程如下：
S1101，车辆进行车位识别。
应理解，车辆进行车位识别的过程可以参考上述实施例中的描述，此处不再赘述。
S1102，车辆进行车位显示。
应理解，车辆完成车位识别后，或在进行车位识别过程中，可以将识别到的各个车位分别与标准停车位进行对比，判断哪些车位为窄车位或标准停车位，具体判断过程可以参考上述实施例中的描述，此处不再赘述。
完成上述判断过程后，车辆的车载屏幕中将显示识别到的窄车位和标准停车位，如图4的(a)所示。
可选地，用户根据车载屏幕上显示的车位选择目标车位，当用户选择窄车位为目标车位时，执行S1103。
S1103，车辆确定用户选择的车位为窄车位。
具体地，车辆根据用户的选择，确定目标车位为窄车位后，将如图4的(b)所示，通过车载屏幕提示用户“目标车位为窄车位，建议您通过手机泊车”。用户接收到该提醒后，可以下车并通过移动终端泊车，即通过S1104及后续步骤进行泊车；也可以忽略该提醒，则车辆将继续执行S1105。
S1104，移动终端和/或车辆提示用户通过移动终端控制车辆泊入目标车位。
可选地，用户接收到提示后，可以下车并通过移动终端控制车辆泊入目标车位。
S1105，车辆判断L是否大于预设值。
示例性的，该预设值也可以为30cm。
在一种可能的实现方式中，车辆先判断窄车位类型，当窄车位为“倾斜式车位”时，将通过车载屏幕和移动终端屏幕提示用户“目标车位为倾斜式车位，建议您通过手机泊车”。
在一种可能的实现方式中，车辆针对目标车位的尺寸和类型制定泊入策略，具体的泊入策略制定的流程和方法可以参考上述实施例中的描述，此处不再赘述。车辆根据泊入策略使预泊入位置依次满足副驾驶侧与障碍物之间的距离大于安全泊车的最小距离，主驾驶侧与障碍物之间的距离大于副驾驶侧与障碍物之间的距离，在上述前提下，判断L是否大 于预设值。当L大于预设值时，执行S1106；当L小于或者等于预设值时，执行S1107。
应理解，图11中的“L”代表主驾驶侧与障碍物之间的距离，“30cm”代表车门打开后允许用户下车且不与障碍物剐蹭时，车辆的主驾驶侧外部轮廓与障碍物的最小距离，该距离可以根据车型等其他实际情况进行设定。
S1106，车载屏幕提示当前为窄车位泊车，车辆将结合S1105中制定的泊入策略控制车辆泊入目标车位。
S1107，车载屏幕和移动终端的屏幕均提示用户提前下车并通过移动终端泊车。用户下车后，通过移动终端控制车辆泊入目标车位。
本申请实施例提供的自动泊车的方法，车辆通过对车位进行识别、判断及显示，当用户根据车辆的显示选择窄车位为目标车位时，车辆能够提前确定目标车位为窄车位，并且提示用户通过移动终端泊车。此外，能够根据窄车位尺寸制定不同的泊车策略，当用户选择自动泊车时，车辆可以根据上述泊车策略将车辆泊入目标车位。当目标车位过窄，泊入后用户不方便下车时，通过车辆和/或移动终端提示用户通过移动终端控制自动泊车，能够有效规避用户泊入目标车位后才发现无法下车的情况，可以节省时间，提高用户体验。
图12示出了本申请实施例提供的自动泊车的方法的示意性流程图。具体地，图12示出了在泊车过程中，用户与车辆、用户与移动终端以及移动终端与车辆之间的具体交互过程。如图12所示，当用户准备将车辆从所处车位泊出时，具体流程如下：
S1201，车辆进行窄车位确定。
可选地，用户准备将车辆从所处车位泊出时，在距离车辆较远时，就可以通过移动终端向车辆发送泊车准备指示，车辆根据该泊车准备指示启动图2中的数据模块、感知模块和控制模块。
进一步地，车辆根据数据模块中存储的泊车记录或感知模块获取的环境信息判断所处车位为窄车位，具体方法可以参考上述实施例中的描述，此处不再赘述。
应理解，上述泊车准备指示可以为移动终端向车辆发送的指示车辆获取目标车位类型和/或车辆相对车位位置的请求消息，也可以为其他能够指示车辆获取目标车位类型和/或车辆相对车位位置的消息，本申请实施例对此不作限定。
需要说明的是，上述用户控制移动终端向车辆发送泊车准备指示的距离可以为能够保证移动终端与车辆之间通讯畅通的距离，上述距离可以为预先设定的值或范围，如0～100m，也可以为其他的值，本申请实施例对此不作限定。
S1202，移动终端提示用户通过移动终端泊出。
车辆确定所处车位为窄车为后，即可控制移动终端提示用户“车辆所处车位为窄车位，建议您通过移动终端泊车”。用户接收到通知后，可以选择通过移动终端将车辆泊出。可选地，用户也可以忽略该提醒。
S1203，车辆判断L是否大于预设值。
车辆确定所处车位为窄车位后，判断L是否大于预设值。示例性的，该预设值可以为30cm。
当L小于或等于预设值时，通过移动终端提示用户“主驾驶侧与障碍物之间的距离过窄，请使用自动泊出功能”；当L大于预设值时，用户可以上车通过车载屏幕控制车辆泊出停车位，也可以通过移动终端控制车辆泊出停车位。
应理解，图12中的“L”代表主驾驶侧与障碍物之间的距离，“30cm”代表车门打开后允许用户下车且不与障碍物剐蹭时，车辆的主驾驶侧外部轮廓与障碍物的最小距离，该距离可以根据车型等其他实际情况进行设定。
应理解，在本申请实施例中，用户准备将车辆泊出所处车位时，若用户(驾驶员)在车内，则无论L为何值，均可以通过车载屏幕控制车辆自动泊出所处车位；可选地，用户(驾驶员)在车内，则无论L为何值，均可以自主控制车辆泊出所处车位。
需要说明的是，本申请实施例中，车辆判断所处车位是否为窄车位以及“L＞30cm”是否成立的方法可以参考上述实施例中的描述，此处不再赘述。
本申请实施例提供的自动泊车的方法，当车辆所处车位为窄车位，或所处车位过窄导致用户无法上车将车辆泊出时，车辆可以通过移动终端提醒用户，使用户可以在距离车辆较远时，即通过移动终端控制车辆自动泊出，可以节省时间，提高用户体验。
图13示出了本申请实施例的自动泊车的方法1300的示意性流程图。该方法1300可以应用于如图1所示的智能驾驶车辆及支持自动泊车的场景中。
S1301，车辆确定目标车位为窄车位。
应理解，当目标车位的宽度小于标准停车位的宽度，和/或目标车位的长度小于标准停车位的长度时，即确定该目标车位为窄车位。
应理解，车辆确定目标车位的过程可以参考上述实施例中的描述，此处不再赘述。
S1302，车辆提示用户通过移动终端泊车。
应理解，车辆提示用户通过移动终端泊车的方法可以参考上述实施例中的描述，此处不再赘述。
S1303，车辆接收终端设备检测到的用户的自动泊车操作。
可选地，用户根据移动终端的提示，选择自动泊车操作。用户选择后，移动终端将该自动泊车操作的指示发送给车辆。
应理解，上述自动泊车操作可以为用户点击移动终端上的“自动泊入”或者“自动泊出”按钮；也可以为用户点击移动终端上的移动方向控制按钮(如图8和图9中的“↑”“↓”“←”“→”按钮)，手动操控车辆移动。
S1304，车辆根据接收到移动终端的泊车指示将车辆泊入/泊出目标车位。
应理解，车辆根据接收到移动终端的泊车指示进行泊车的过程可以参考上述实施例中的描述，此处不再赘述。
示例性地，本申请实施例中的移动终端可以为上述移动终端200，车辆可以为上述车辆100。
本申请实施例提供的自动泊车的方法，通过确定目标车位为窄车位，提前提醒用户通过移动终端泊车，并根据移动终端发送的自动泊车操作指示，将车辆泊入/泊出车位，可以节省时间，提高用户体验。
图14示出了本申请实施例的自动泊车的方法1400的示意性流程图。该方法1400可以应用于如图1所示的智能驾驶车辆及支持自动泊车的场景中。
S1401，确定目标车位为窄车位，所述窄车位包括：所述目标车位的宽度小于标准停车位的宽度，和/或所述目标车位的长度小于标准停车位的长度的车位。
应理解，车辆确定目标车位的过程可以参考上述实施例中的描述，此处不再赘述。
S1402，根据所述窄车位控制所述车辆泊入或泊出所述目标车位。
可选地，车辆确定目标车位为窄车位后，可以提示用户目标车位为窄车位。用户接收到提示后，可以选择自动泊车，也可以选择人工泊车。车辆根据具体的自动泊车指示或人工泊车指示控制所述车辆泊入或泊出所述目标车位。
应理解，车辆根据泊车指示进行泊车的过程可以参考上述实施例中的描述，此处不再赘述。
示例性地，本申请实施例中的移动终端可以为上述移动终端200，车辆可以为上述车辆100。
本申请实施例的自动泊车的方法，通过确定目标车位为窄车位，可以执行与标准停车位不同的泊车策略，如提前提醒用户通过移动终端泊车，或者针对窄车位提前确定车辆泊入车位后的位置，能够提升自动泊车过程中的用户体验。
以上，结合图3至图14详细说明了本申请实施例提供的自动泊车的方法。以下，结合图15至图16详细说明本申请实施例提供的自动泊车的装置。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15是本申请实施例提供的自动泊车的装置的示意性框图。该装置1500包括确定单元1510和处理单元1520。确定单元1510可以实现相应的通信功能，处理单元1520用于进行数据处理。
可选地，该装置1500还可以包括存储单元，该存储单元可以用于存储指令和/或数据，处理单元1520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方法实施例。
该装置1500可以包括用于执行图3至图14中的方法的单元。并且，该装置1500中的各单元和上述其他操作和/或功能分别为了实现图3至图14的方法实施例的相应流程。
其中，当该装置1500用于执行图14中的方法1400时，确定单元1510可用于执行方法1400中的S1401，处理单元1520可用于执行方法1400中的S1402。
具体地，该装置1500包括：确定单元1510，用于确定目标车位为窄车位，该窄车位包括：该目标车位的宽度小于标准停车位的宽度，和/或该目标车位的长度小于标准停车位的长度的车位；处理单元1520，用于根据该窄车位控制该车辆泊入或泊出该目标车位。。
可选地，该确定单元1510还用于：确定该目标车位的宽度与该车辆的宽度之差小于或等于第二阈值。
可选地，该处理单元还用于：提示用户通过移动终端泊车；该处理单元根据该窄车位控制该车辆泊入或泊出该目标车位，包括：响应于接收到的该移动终端发送的第一指令。
应理解，该第一指令可以为移动终端发送的自动泊车指令，也可以为移动终端发送的控制车辆移动的指令。
可选地，该确定单元还用于：在该处理单元该提示用户通过移动终端泊车之前，根据该窄车位的宽度和该车辆的宽度确定第一距离；确定该第一距离小于或等于第三阈值，该第一距离为该车辆主驾驶侧的外部轮廓与该车辆泊入该目标车位后该车辆主驾驶侧的障碍物之间的距离。
可选地，该确定单元还用于：在该确定单元根据该窄车位的宽度和该车辆的宽度确定第一距离之前，确定第二距离大于或者等于四阈值且该第一距离大于或者等于该第二距 离，该第二距离为该车辆副驾驶侧的外部轮廓与该车辆泊入该目标车位后该车辆副驾驶侧的障碍物之间的距离。
可选地，该处理单元还用于：提示用户该目标车位为该窄车位。
可选地，该处理单元还用于：在泊车过程中，当该车辆外部轮廓的第一位置与第一障碍物或所述目标车位的车位线之间的第三距离小于或者等于第五阈值时，显示该第三距离的信息，和/或该第一位置与该第一障碍物或所述车位线的局部放大图。
可选地，该处理单元还用于：在该处理单元根据该窄车位控制该车辆泊入或泊出该目标车位之前，当该车辆第二侧有障碍物时，提示该车辆第二侧的用户提前下车。
可选地，该确定单元还用于：根据该车辆的泊车记录确定目标车位为窄车位。
图15中的处理单元可以由至少一个处理器或处理器相关电路实现，确定单元可以由收发器或收发器相关电路实现，存储单元可以通过至少一个存储器实现。
图16是本申请实施例的自动泊车设备的示意性框图。图16所示的泊车设备1600可以包括：处理器1610、收发器1620以及存储器1630。其中，处理器1610、收发器1620以及存储器1630通过内部连接通路相连，该存储器1630用于存储指令，该处理器1610用于执行该存储器1630存储的指令，以收发器1630接收/发送部分参数。可选地，存储器1630既可以和处理器1610通过接口耦合，也可以和处理器1610集成在一起。
需要说明的是，上述收发器1620可以包括但不限于输入/输出接口(input/output interface)一类的收发装置，来实现通信设备1600与其他设备或通信网络之间的通信。
在实现过程中，上述方法的各步骤可以通过处理器1610中的硬件的集成逻辑电路或者软件形式的指令完成。结合本申请实施例所公开的方法可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器1630，处理器1610读取存储器1630中的信息，结合其硬件完成上述方法的步骤。为避免重复，这里不再详细描述。
还应理解，本申请实施例中，该存储器可以包括只读存储器和随机存取存储器，并向处理器提供指令和数据。处理器的一部分还可以包括非易失性随机存取存储器。例如，处理器还可以存储设备类型的信息。
本申请实施例还提供一种计算机可读介质，所述计算机可读介质存储有程序代码，当所述计算机程序代码在计算机上运行时，使得所述计算机执行上述图3至图14中的任一种方法。
本申请实施例还提供一种芯片，包括：至少一个处理器和存储器，所述至少一个处理器与所述存储器耦合，用于读取并执行所述存储器中的指令，以执行上述图3至图14中的任一种方法。
本申请实施例还提供一种自动驾驶车辆，包括：至少一个处理器和存储器，所述至少一个处理器与所述存储器耦合，用于读取并执行所述存储器中的指令，以执行上述图3至图14中的任一种方法。
应理解，本文中术语“和/或”，仅仅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。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
应理解，在本申请的各种实施例中，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
在本说明书中使用的术语“部件”、“模块”、“系统”等用于表示计算机相关的实体、硬件、固件、硬件和软件的组合、软件、或执行中的软件。例如，部件可以是但不限于，在处理器上运行的进程、处理器、对象、可执行文件、执行线程、程序和/或计算机。通过图示，在计算设备上运行的应用和计算设备都可以是部件。一个或多个部件可驻留在进程和/或执行线程中，部件可位于一个计算机上和/或分布在2个或更多个计算机之间。此外，这些部件可从在上面存储有各种数据结构的各种计算机可读介质执行。部件可例如根据具有一个或多个数据分组(例如来自与本地系统、分布式系统和/或网络间的另一部件交互的二个部件的数据，例如通过信号与其它系统交互的互联网)的信号通过本地和/或远程进程来通信。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
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。
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。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
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 (22)

  1. 一种自动泊车的方法，其特征在于，包括：
    确定目标车位为窄车位，所述窄车位包括：所述目标车位的宽度小于标准停车位的宽度，和/或所述目标车位的长度小于标准停车位的长度的车位；
    根据所述窄车位控制所述车辆泊入或泊出所述目标车位。
  2. 如权利要求1所述的方法，其特征在于，所述方法还包括：
    所述确定目标车位为窄车位，包括：
    确定所述目标车位的宽度与所述车辆的宽度之差小于或等于第二阈值。
  3. 如权利要求1或2所述的方法，其特征在于，所述方法还包括：
    提示用户通过移动终端泊车；所述根据所述窄车位控制所述车辆泊入或泊出所述目标车位，包括：
    响应于接收到的所述移动终端发送的第一指令。
  4. 如权利要求3所述的方法，其特征在于，所述提示用户通过移动终端泊车之前，所述方法还包括：
    根据所述窄车位的宽度和所述车辆的宽度确定第一距离；
    确定所述第一距离小于或等于第三阈值，所述第一距离为所述车辆第一侧的外部轮廓与所述车辆泊入所述目标车位后所述车辆第一侧的障碍物之间的距离。
  5. 如权利要求4所述的方法，其特征在于，所述根据所述窄车位的宽度和所述车辆的宽度确定第一距离之前，所述方法还包括：
    确定第二距离大于或者等于第四阈值且所述第一距离大于或者等于所述第二距离，所述第二距离为所述车辆第二侧的外部轮廓与所述车辆泊入所述目标车位后所述车辆第二侧的障碍物之间的距离。
  6. 如权利要求1至5中任一项所述的方法，其特征在于，所述方法还包括：
    提示用户所述目标车位为所述窄车位。
  7. 如权利要求1至6中任一项所述的方法，其特征在于，所述方法还包括：
    在泊车过程中，当所述车辆外部轮廓的第一位置与第一障碍物或所述目标车位的车位线之间的第三距离小于或者等于第五阈值时，显示所述第三距离的信息，和/或所述第一位置与所述第一障碍物或所述车位线的局部放大图。
  8. 如权利要求1至7中任一项所述的方法，其特征在于，所述根据所述窄车位控制所述车辆泊入或泊出所述目标车位之前，所述方法还包括：
    当所述车辆第二侧有障碍物时，提示所述车辆第二侧的用户提前下车。
  9. 如权利要求1至8中任一项所述的方法，其特征在于，所述确定目标车位为窄车位，包括：
    根据所述车辆的泊车记录确定目标车位为窄车位。
  10. 一种自动泊车的装置，其特征在于，包括：
    确定单元，用于确定目标车位为窄车位，所述窄车位包括：所述目标车位的宽度小于标准停车位的宽度，和/或所述目标车位的长度小于标准停车位的长度的车位；
    处理单元，用于根据所述窄车位控制所述车辆泊入或泊出所述目标车位。
  11. 如权利要求10的装置，其特征在于，所述确定单元还用于：
    确定所述目标车位的宽度与所述车辆的宽度之差小于或等于第二阈值。
  12. 如权利要求10或11所述的装置，其特征在于，所述处理单元还用于：
    提示用户通过移动终端泊车；所述根据所述窄车位控制所述车辆泊入或泊出所述目标车位，包括：
    响应于接收到的所述移动终端发送的第一指令。
  13. 如权利要求12所述的装置，其特征在于，所述确定单元还用于：
    在所述提示用户通过移动终端泊车之前，根据所述窄车位的宽度和所述车辆的宽度确定第一距离；
    确定所述第一距离小于或等于第三阈值，所述第一距离为所述车辆第一侧的外部轮廓与所述车辆泊入所述目标车位后所述车辆第一侧的障碍物之间的距离。
  14. 如权利要求13所述的装置，其特征在于，所述确定单元还用于：
    在所述根据所述窄车位的宽度和所述车辆的宽度确定第一距离之前，
    确定第二距离大于或者等于四阈值且所述第一距离大于或者等于所述第二距离，所述第二距离为所述车辆第二侧的外部轮廓与所述车辆泊入所述目标车位后所述车辆第二侧的障碍物之间的距离。
  15. 如权利要求10至14中任一项所述的装置，其特征在于，所述处理单元还用于：
    提示用户所述目标车位为所述窄车位。
  16. 如权利要求10至15中任一项所述的装置，其特征在于，所述处理单元还用于：
    在泊车过程中，当所述车辆外部轮廓的第一位置与第一障碍物或所述目标车位的车位线之间的第三距离小于或者等于第五阈值时，显示所述第三距离的信息，和/或所述第一位置与所述第一障碍物或所述车位线的局部放大图。
  17. 如权利要求10至16中任一项所述的装置，其特征在于，所述处理单元还用于：
    在所述根据所述窄车位控制所述车辆泊入或泊出所述目标车位之前，当所述车辆第二侧有障碍物时，提示所述车辆第二侧的用户提前下车。
  18. 如权利要求10至17中任一项所述的装置，其特征在于，所述确定单元还用于：
    根据所述车辆的泊车记录确定目标车位为窄车位。
  19. 一种自动泊车的装置，其特征在于，包括：
    收发器，用于接收和发送消息；
    存储器，用于存储计算机程序；
    处理器，用于执行所述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9中任一项所述的方法；所述处理器与存储器耦合。
  20. 一种自动驾驶车辆，其特征在于，包括权利要求10至18中任一项所述的装置。
  21. 一种计算机可读存储介质，其特征在于，其上存储有计算机程序，所述计算机程序被计算机执行时，以使得实现如权利要求1至9中任一项所述的方法。
  22. 一种芯片，其特征在于，所述芯片包括处理器与数据接口，所述处理器通过所述数据接口读取存储器上存储的指令，以执行如权利要求1至9中任一项所述的方法。
PCT/CN2021/118396 2021-09-15 2021-09-15 自动泊车的方法和装置 Ceased WO2023039737A1 (zh)

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