CN113525352A - Parking method of vehicle, vehicle and computer readable storage medium - Google Patents
Parking method of vehicle, vehicle and computer readable storage medium Download PDFInfo
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- CN113525352A CN113525352A CN202110688619.6A CN202110688619A CN113525352A CN 113525352 A CN113525352 A CN 113525352A CN 202110688619 A CN202110688619 A CN 202110688619A CN 113525352 A CN113525352 A CN 113525352A
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- 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
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Abstract
The invention discloses a parking method of a vehicle, the vehicle and a computer readable storage medium, wherein the method comprises the following steps: the first device obtains a user instruction through the second device, enters a positioning mode according to the user instruction, and obtains the environmental characteristics of the vehicle in the positioning mode. And the first device calls the driving map in the memory, matches the acquired environmental characteristics with the called driving map, and when the environmental characteristics are successfully matched with the driving map, the first device enters a corresponding parking mode according to a parking mode selection instruction of the user acquired from the second device, and controls the vehicle to finish parking in the corresponding parking mode. After entering the parking mode, the user can wait for the vehicle to automatically finish parking without performing parking related operations, so that the parking time of the user is reduced, and the user experience is improved.
Description
Technical Field
The present invention relates to the field of intelligent vehicle technologies, and in particular, to a parking method for a vehicle, and a computer-readable storage medium.
Background
With the improvement of living standard of people, automobiles have gone into thousands of households, and particularly, due to the development of the existing scientific technology, the automobiles are more convenient to use. The automatic parking function of the vehicle can help drivers of new drivers and vehicle owners with fear of parking to conveniently and quickly park the vehicle at a proper position, and the drivers do not feel worried due to difficulty in parking. The development of automatic parking technology allows a vehicle owner to wait for automatic parking of the vehicle after making parking-related operation selections such as a parking function initiation, a parking type selection, a parking location selection, and the like. However, the user operation is too frequent, the driver is required to be in the vehicle to wait for the completion of parking, and sometimes the driver is required to take over the driving of the vehicle, so that the parking time is long, and the user experience is not friendly.
Disclosure of Invention
The invention mainly aims to provide a parking method of a vehicle. The automatic parking system aims to solve the problem that the automatic parking driver has influence on the experience of the user due to the fact that the parking time is too long when parking.
To achieve the above object, the present invention provides a parking method of a vehicle applied to a first apparatus, comprising the steps of:
entering a positioning mode according to a user instruction acquired from second equipment, and acquiring the environmental characteristics of the vehicle in the positioning mode;
calling a driving map in a memory, and matching the environmental characteristics with the driving map;
and when the environmental characteristics are successfully matched with the driving map, entering a corresponding parking mode according to a parking mode selection instruction of the user acquired from the second device, and controlling the vehicle to finish parking in the parking mode.
Optionally, before the step of entering a positioning mode according to a user instruction obtained from the second device and obtaining the environmental characteristics of the vehicle in the positioning mode, the method further includes:
detecting whether a driving map exists in a memory;
and when the driving map does not exist, outputting map creation information so as to perform map learning when a map creation instruction fed back by the user according to the map creation information is received, and storing the driving map obtained according to the map learning.
Optionally, before the step of detecting whether there is a driving map, the method further includes:
detecting whether a vehicle is connected;
if the vehicle is connected, detecting whether a driving map exists or not;
and if the vehicle is not connected, outputting vehicle connection prompt information.
Optionally, the parking modes include a parking mode at a designated parking space, a regional parking mode, and an exploration parking mode.
Optionally, the step of controlling the vehicle to finish parking in the parking mode includes:
when the parking mode is a designated parking space parking mode, detecting whether the driving map contains a designated parking space;
when the driving map contains the designated parking space, outputting designated parking space selection information to a user through the second equipment, and acquiring a designated parking space selection result;
controlling the vehicle to park in the designated parking space according to the designated parking space selection result and the driving map;
when the driving map does not contain the designated parking space, the learning information of the designated parking space is output through the target component;
map learning is carried out according to a designated parking space learning instruction input by a user, and designated parking space candidate information is output to the user through a target component during the map learning;
after the designated parking space information confirmed by the user is obtained, storing the designated parking space information into the driving map;
and controlling the vehicle to park in the designated parking space confirmed by the user.
Optionally, the step of controlling the vehicle to finish parking in the parking mode includes:
when the parking mode is an area parking mode, carrying out area division on the driving map, and storing area division information into the driving map;
outputting the region selection information to a user through the second equipment, and acquiring a region selection result;
controlling the vehicle to drive into an area range corresponding to the area selection result and detecting whether a parking space exists in the driven-in area range according to the area selection result and the driving map;
and controlling the vehicle to park in the parking available space when the parking available space is detected.
Optionally, the step of controlling the vehicle to finish parking in the parking mode includes:
when the parking mode is an exploration parking mode, controlling the vehicle to run according to the running map, and detecting whether parking spaces exist around the vehicle;
and controlling the vehicle to park in the parking available space when the parking available space is detected.
Optionally, after the step of entering the corresponding parking mode according to the parking mode selection instruction of the user acquired from the second device, the method further includes:
continuously judging whether the parking process is abnormal or not;
if no abnormity exists in the parking process, controlling the vehicle to finish parking and outputting the parking progress of the vehicle to the user in real time through the second device;
and if the parking process is abnormal, exiting the parking mode.
In addition, to achieve the above object, the present invention provides a vehicle including a memory, a processor, and a parking program of the vehicle stored on the memory and executable on the processor, wherein: the parking program of the vehicle is executed by the processor to implement the steps of the parking method of the vehicle as described above.
In addition, to achieve the above object, the present invention also provides a computer readable storage medium having stored thereon a parking program of a vehicle, which when executed by a processor, implements the steps of the parking method of the vehicle as described above.
According to the parking method of the vehicle, the vehicle and the computer-readable storage medium provided by the embodiment of the invention, the first device acquires the user instruction through the second device, enters the positioning mode according to the user instruction, and acquires the environmental characteristics of the vehicle in the positioning mode. And the first device calls the driving map in the memory, matches the acquired environmental characteristics with the called driving map, and when the environmental characteristics are successfully matched with the driving map, the first device enters a corresponding parking mode according to a parking mode selection instruction of the user acquired from the second device, and controls the vehicle to finish parking in the corresponding parking mode. After entering the parking mode, the user can wait for the vehicle to automatically finish parking without performing parking related operations, so that the parking time of the user is reduced, and the user experience is improved.
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FIG. 1 is a schematic diagram of an apparatus in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram illustrating a first embodiment of a method for parking a vehicle in accordance with the present invention;
FIG. 3 is a flowchart illustrating a second embodiment of a method for parking a vehicle according to the present invention;
FIG. 4 is a flowchart illustrating a third embodiment of a method for parking a vehicle according to the present invention;
FIG. 5 is a schematic flow chart diagram illustrating a fourth embodiment of a method for parking a vehicle in accordance with the present invention;
FIG. 6 is a schematic flow chart diagram illustrating a fifth embodiment of a method for parking a vehicle in accordance with the present invention;
FIG. 7 is a flowchart illustrating a sixth embodiment of a method for parking a vehicle according to the present invention;
FIG. 8 is a flowchart illustrating a seventh exemplary embodiment of a method for parking a vehicle according to the present invention
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
The terminal of the embodiment of the invention can be a vehicle. As shown in fig. 1, the vehicle may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Optionally, the vehicle may also include a camera, RF (Radio Frequency) circuitry, sensors, audio circuitry, WiFi modules, and the like. Such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that adjusts the brightness of the display screen based on the ambient light level and a proximity sensor that turns off the display screen and/or backlight when the hardware device is moved to the ear. Of course, the hardware device may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, and so on, which are not described herein again.
Those skilled in the art will appreciate that the configuration of the vehicle shown in FIG. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a parking program of a vehicle.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to invoke a parking program for the vehicle stored in the memory 1005 and perform the following operations:
entering a positioning mode according to a user instruction acquired from second equipment, and acquiring the environmental characteristics of the vehicle in the positioning mode;
calling a driving map in a memory, and matching the environmental characteristics with the driving map;
and when the environmental characteristics are successfully matched with the driving map, entering a corresponding parking mode according to a parking mode selection instruction of the user acquired from the second device, and controlling the vehicle to finish parking in the parking mode.
Further, the processor 1001 may call a parking program of the vehicle stored in the memory 1005, and also perform the following operations:
detecting whether a driving map exists in a memory;
and when the driving map does not exist, outputting map creation information so as to perform map learning when a map creation instruction fed back by the user according to the map creation information is received, and storing the driving map obtained according to the map learning.
Further, the processor 1001 may call a parking program of the vehicle stored in the memory 1005, and also perform the following operations:
detecting whether a vehicle is connected;
if the vehicle is connected, detecting whether a driving map exists or not;
and if the vehicle is not connected, outputting vehicle connection prompt information.
Further, the processor 1001 may call a parking program of the vehicle stored in the memory 1005, and also perform the following operations:
when the parking mode is a designated parking space parking mode, detecting whether the driving map contains a designated parking space;
when the driving map contains the designated parking space, outputting designated parking space selection information to a user through the second equipment, and acquiring a designated parking space selection result;
controlling the vehicle to park in the designated parking space according to the designated parking space selection result and the driving map;
when the driving map does not contain the designated parking space, the learning information of the designated parking space is output through the target component;
map learning is carried out according to a designated parking space learning instruction input by a user, and designated parking space candidate information is output to the user through a target component during the map learning;
after the designated parking space information confirmed by the user is obtained, storing the designated parking space information into the driving map;
and controlling the vehicle to park in the designated parking space confirmed by the user.
Further, the processor 1001 may call a parking program of the vehicle stored in the memory 1005, and also perform the following operations:
when the parking mode is an area parking mode, carrying out area division on the driving map, and storing area division information into the driving map;
outputting the region selection information to a user through the second equipment, and acquiring a region selection result;
controlling the vehicle to drive into an area range corresponding to the area selection result and detecting whether a parking space exists in the driven-in area range according to the area selection result and the driving map;
and controlling the vehicle to park in the parking available space when the parking available space is detected.
Further, the processor 1001 may call a parking program of the vehicle stored in the memory 1005, and also perform the following operations:
when the parking mode is an exploration parking mode, controlling the vehicle to run according to the running map, and detecting whether parking spaces exist around the vehicle;
and controlling the vehicle to park in the parking available space when the parking available space is detected.
Further, the processor 1001 may call a parking program of the vehicle stored in the memory 1005, and also perform the following operations:
continuously judging whether the parking process is abnormal or not;
if no abnormity exists in the parking process, controlling the vehicle to finish parking and outputting the parking progress of the vehicle to the user in real time through the second device;
and if the parking process is abnormal, exiting the parking mode.
The specific embodiment of the present invention applied to a vehicle is substantially the same as the following embodiments of the parking method applied to a vehicle, and will not be described herein again.
Referring to fig. 2, fig. 2 is a flowchart illustrating a parking method of a vehicle according to a first embodiment of the present invention, wherein the parking method of the vehicle includes the following steps:
step S100, entering a positioning mode according to a user instruction acquired from second equipment, and acquiring the environmental characteristics of the vehicle in the positioning mode;
in the present embodiment, the parking method of the vehicle is applied to the first apparatus. The second equipment sends the instruction information to the first equipment after acquiring the user instruction, the first equipment enters a positioning mode according to the user instruction after acquiring the user instruction, and the first equipment acquires the environmental characteristics around the vehicle through the vehicle camera in the positioning mode. The user can start the parking function during driving, and can also start the parking function after stopping the vehicle near a position where the vehicle needs to be parked.
It is understood that the first device may be a Control module applied to a vehicle, for example, an ecu (electronic Control unit) electronic Control unit. The second device can be a mobile phone, a tablet computer, a notebook computer and other portable mobile terminals, and the user instruction is obtained through the mobile terminal, so that the user can conveniently control the vehicle after getting off the vehicle.
Step S200, calling a driving map in a memory, and matching the environmental characteristics with the driving map;
the memory stores a driving map required for parking the vehicle, and the number of the driving maps stored may be one or more. The first device calls a corresponding driving map from the memory according to the GPS information of the current vehicle, and matches the acquired environmental characteristics around the vehicle with the driving map. The matching may be that the first device extracts feature information from the environment, matches the feature information with feature information in a driving map, or positioning based on an electronic signal, such as a GPS signal.
And step S300, when the environmental characteristics are successfully matched with the driving map, entering a corresponding parking mode according to a parking mode selection instruction of the user acquired from the second device, and controlling the vehicle to finish parking in the parking mode.
After the environmental characteristics are matched with the driving map, a matching result is obtained, when the environmental characteristics are successfully matched with the driving map, a user can get off the vehicle after parking at any position of the driving map, the parking state is controlled by remotely sending instruction information through the second equipment, and the parking state can be controlled by sending the instruction information through the second equipment when the vehicle speed reaches a preset speed range, wherein the preset speed range is a speed range within which the vehicle can safely park within the speed range. The method comprises the steps that a second device outputs vehicle parking mode selection information to a user, the user selects a required parking mode, the second device sends a parking mode selection instruction of the user to a first device, the first device enters a corresponding parking mode according to the obtained parking mode selection instruction, and the first device controls the vehicle to finish parking in the corresponding parking mode.
In the embodiment of the invention, the first device acquires the user instruction through the second device, enters the positioning mode according to the user instruction, and acquires the environmental characteristics of the vehicle in the positioning mode. And the first device calls the driving map in the memory, matches the acquired environmental characteristics with the called driving map, and when the environmental characteristics are successfully matched with the driving map, the first device enters a corresponding parking mode according to a parking mode selection instruction of the user acquired from the second device, and controls the vehicle to finish parking in the corresponding parking mode. After entering the parking mode, the user can wait for the vehicle to automatically finish parking without performing parking related operations, so that the parking time of the user is reduced, and the user experience is improved.
Further, referring to fig. 3, fig. 3 is a flowchart illustrating a parking method for a vehicle according to a second embodiment of the present invention, based on the embodiment illustrated in fig. 2, where step S100 is to enter a positioning mode according to a user instruction obtained from a second device, and before the step of obtaining an environmental characteristic of the vehicle in the positioning mode, the method further includes:
step S400, detecting whether a driving map exists in a memory;
and step S410, when the driving map does not exist, outputting map creation information so as to perform map learning when a map creation instruction fed back by the user according to the map creation information is received, and storing the driving map obtained according to the map learning.
In this embodiment, the first device detects the memory before entering the positioning mode, and confirms whether a driving map exists in the memory, when the driving map does not exist in the memory, the first device outputs map creation information through the target component, after receiving the map creation information, the user feeds back a map creation instruction as needed, the first device starts map learning after acquiring the map creation instruction, and after confirming that the learning is finished through the target component, the first device feeds back the driving map obtained by map learning to the user through the target component and stores the driving map. The map learning needs a user to drive a vehicle to travel from a starting point to an end point, and the first device collects characteristic information on a route through the front-view camera, the rear-view camera and the all-round camera. For example, when the memory does not have a driving map, the driver drives the vehicle to travel from the first position to the second position when the vehicle enters the map learning mode, and in the process of traveling from the first position to the second position, the vehicle acquires feature point information on a route through the front-view camera, the rear-view camera and the all-round camera to learn the route. When the driving map exists in the memory, the first device outputs map confirmation information to the user when the driving map needs to be called, and the user feeds back a confirmation result to the first device according to the map confirmation information. And the first equipment calls a driving map according to the feedback result.
The method and the device have the advantages that the driving map required to be used for parking can be confirmed before the user needs to park through the interactive confirmation of the driving map with the user, and the trouble of parking of the user due to the fact that the driving map required to be used is identified wrongly is avoided.
Further, referring to fig. 4, fig. 4 is a flowchart illustrating a third embodiment of a parking method for a vehicle according to the present invention, and based on the embodiment illustrated in fig. 3, before the step of detecting whether a driving map exists in the memory in step S400, the method further includes:
step S500, detecting whether a vehicle is connected;
step S510, if a vehicle is connected, whether a driving map exists is detected;
in step S520, if the vehicle is not connected, the vehicle connection prompt information is output.
In this embodiment, before detecting whether or not the travel map exists in the memory, the first device detects whether or not there is connection information of the vehicle by the 4G signal and the GPS signal, and after confirming that the vehicle is connected, performs an operation of detecting the travel map in the memory, and when the connection information with the vehicle cannot be recognized, outputs vehicle connection prompt information through the first device and/or the second device to prompt the user to connect the vehicle.
The judgment of the vehicle connection condition is carried out before the parking is started, the vehicle to be parked can be accurately connected through the vehicle connection information, and errors are avoided.
Further, referring to fig. 5, fig. 5 is a flowchart illustrating a fourth embodiment of a parking method for a vehicle according to the present invention, based on the embodiment shown in fig. 2, where, in step S300, when the environmental characteristic is successfully matched with the driving map, entering a corresponding parking mode according to a parking mode selection instruction of the user obtained from the second device, and controlling the vehicle to complete parking in the parking mode includes:
step S310, when the environmental characteristics are successfully matched with the driving map, entering a corresponding parking mode according to a parking mode selection instruction of the user acquired from the second device, and when the parking mode is a parking mode of an appointed parking space, detecting whether the driving map contains the appointed parking space;
step S320, when the driving map contains the designated parking space, outputting designated parking space selection information to a user through the second equipment, and acquiring a designated parking space selection result;
step S321, controlling the vehicle to park in the designated parking space according to the designated parking space selection result and the driving map;
step S330, when the driving map does not contain the designated parking space, the learning information of the designated parking space is output through a target component;
step S331, map learning is carried out according to a designated parking space learning instruction input by a user, and designated parking space candidate information is output to the user through a target component during the map learning;
step S332, after the designated parking space information confirmed by the user is obtained, storing the designated parking space information into the driving map;
and step S333, controlling the vehicle to park in the designated parking space confirmed by the user.
In this embodiment, when the environmental characteristic is successfully matched with the driving map, the first device enters a corresponding parking mode according to a parking mode selection instruction of the user, which is acquired from the second device, where the parking mode includes a parking mode for a designated parking space, an area parking mode, and an exploration parking mode. When the parking mode is the designated parking stall parking mode, the first device detects whether the driving map contains designated parking stall information or not, when the designated parking stall information is detected, the designated parking stall information is sent to the second device, the second device outputs designated parking stall selection information to a user after receiving the designated parking stall information, the user can select the designated parking stall according to needs, and the second device sends a selection result to the first device. And after the appointed parking place selection result of the user is obtained, the first equipment controls the vehicle to run according to the running map, and the vehicle is parked in the parking place corresponding to the appointed parking place selection result. When the appointed parking space information is not detected in the driving map, the first device outputs the appointed parking space learning information to the user through the target component, and after receiving an appointed parking space learning instruction fed back by the user, map learning is started. In the process of map learning, when the first device detects that a parking space available around the vehicle exists, the first device outputs instruction parking space candidate information to a user through the target component, so that the user can select whether the parking space available is used as an appointed parking space, if the user selects the parking space available as the appointed parking space, appointed parking space confirmation information is returned to the first device, the first device stores the appointed parking space information into the driving map, and if the user does not select the parking space available as the appointed parking space, the first device continues to drive according to the driving map until meeting the next parking space available, and outputs the appointed parking space candidate information to the user again to wait for confirmation of the user. After the designated parking space is confirmed, the first device controls the vehicle to park in the confirmed designated parking space.
It is understood that the target component may be a control screen and a speaker of the vehicle on the first device side, and a display and a speaker of the mobile terminal on the second device side may transmit information to the user by means of display, sound, and the like. And storing the information of the specified parking space into a driving map, wherein the driving map is called out from a memory when the vehicle is in a positioning mode, and is confirmed by a user and matched with the current environmental characteristics. In another embodiment, the driving map may be a new driving map including the designated parking space, which is generated by the user after the designated parking space is determined, and the driving map is stored in the memory, wherein when the designated parking space is confirmed, the route traveled by the vehicle may be the driving map called out in the positioning mode, or the driving route autonomously controlled by the user, and when the driving route autonomously controlled by the user is traveled, the new driving map including the designated parking space is generated again.
The designated parking space mode can help a user with a specific parking position to get off after parking the vehicle at the start or the middle position of a driving route in a driving map every time after confirming the designated parking space for the first time, the designated parking space parking mode is selected through the second device in the walking process of going to a destination such as an office or a home, the vehicle is automatically parked in the designated parking space, and the parking time of the user is shortened.
Further, referring to fig. 6, fig. 6 is a flowchart illustrating a fifth embodiment of a parking method for a vehicle according to the present invention, based on the embodiment shown in fig. 2, where, in step S300, when the environmental characteristic is successfully matched with the driving map, entering a corresponding parking mode according to a parking mode selection instruction of the user obtained from the second device, and controlling the vehicle to complete parking in the parking mode includes:
step S340, when the environmental characteristic is successfully matched with the driving map, entering a corresponding parking mode according to a parking mode selection instruction of the user obtained from the second device, and when the parking mode is an area parking mode, performing area division on the driving map, and storing area division information in the driving map;
step S341, outputting the region selection information to the user through the second device, and obtaining a region selection result;
step S342, according to the area selection result and the driving map, controlling the vehicle to drive into an area range corresponding to the area selection result and detecting whether there is a parking space in the driven-in area range;
and step S343, when the parking available space is detected, controlling the vehicle to park in the parking available space.
In this embodiment, when the environmental characteristic is successfully matched with the driving map, the first device enters a corresponding parking mode according to a parking mode selection instruction of the user acquired from the second device, and when the parking mode is an area parking mode, the first device performs area division on the driving map called out from the memory, and stores information of the area division into the driving map. And outputting the area selection information to the user through the second equipment so that the user can select the parking area as required, and sending the area selection result to the first equipment after receiving the area selection information fed back by the user. The first device controls the vehicle to run according to the running map, controls the vehicle to enter the area range corresponding to the area selection result, detects whether parking spaces exist in the area range after the corresponding area range is entered, and controls the vehicle to park in the parking space closest to the vehicle when the parking spaces are detected. In another embodiment, the division of the area may be performed by the first device, or may be performed by the user autonomously performing frame selection division on the driving map according to actual conditions.
The regional parking mode can help the shared vehicle operators to plan the parking range, and after the shared vehicle users finish using the shared vehicle, the shared vehicle users only need to park the shared vehicle at the specified position, so that the shared vehicle users can automatically park the shared vehicle within the parking range planned by the operators in advance, the parking time of the users is reduced, and the parking efficiency is improved.
Further, referring to fig. 7, fig. 7 is a flowchart illustrating a sixth embodiment of a parking method for a vehicle according to the present invention, based on the embodiment shown in fig. 2, where, in step S300, when the environmental characteristic is successfully matched with the driving map, entering a corresponding parking mode according to a parking mode selection instruction of the user obtained from the second device, and controlling the vehicle to complete parking in the parking mode includes:
step S350, when the environmental characteristics are successfully matched with the driving map, entering a corresponding parking mode according to a parking mode selection instruction of the user acquired from the second device, and when the parking mode is an exploration parking mode, controlling the vehicle to drive according to the driving map and detecting whether parking spaces exist around the vehicle;
and step S351, controlling the vehicle to park in the parking available space when the parking available space is detected.
In this embodiment, when the environmental characteristics are successfully matched with the driving map, the first device enters a corresponding parking mode according to a parking mode selection instruction of the user acquired from the second device, and when the parking mode is an exploration parking mode, the first device controls the vehicle to drive according to the called driving map, detects whether there is a parking availability space around the vehicle, and when the parking availability space is detected, controls the vehicle to park in the parking availability space closest to the vehicle.
The parking mode can help a user to park the vehicle at the entrance of the parking lot and get off the vehicle after learning a nearby driving map when parking is needed in areas such as a mall parking lot, the first device controls the vehicle to automatically enter the parking lot and controls the vehicle to park in the parking lot after detecting the parking lot, and therefore the time for the user to wait for entering the parking lot and the time for parking in the vehicle are reduced.
Further, referring to fig. 8, fig. 8 is a flowchart illustrating a seventh embodiment of a parking method for a vehicle according to the present invention, based on the embodiment shown in fig. 2, where, in step S300, when the environmental characteristic is successfully matched with the driving map, entering a corresponding parking mode according to a parking mode selection instruction of the user obtained from the second device, and controlling the vehicle to complete parking in the parking mode includes:
step S360, when the environmental characteristics are successfully matched with the driving map, entering a corresponding parking mode according to a parking mode selection instruction of the user acquired from the second device, and continuously judging whether the parking process is abnormal or not;
step S361, if no abnormity exists in the parking process, controlling the vehicle to finish parking and outputting the parking progress of the vehicle to a user in real time through the second device;
in step S362, if there is an abnormality in the parking process, the parking mode is exited.
In this embodiment, when the environmental characteristic is successfully matched with the driving map, the first device enters the corresponding parking mode according to the parking mode selection instruction of the user, which is obtained from the second device, and continuously determines whether the vehicle is abnormal in the parking process. And if no abnormity exists in the parking process, the first device controls the vehicle to finish parking, and feeds back the parking progress to the user in real time through the second device. And if the parking process is abnormal, exiting the parking mode, and outputting prompt information to prompt the vehicle to be processed in time. For example, in the exploration parking mode, the first device controls the vehicle to run according to a running map, the running state of the vehicle is fed back in real time through a mobile phone of a user during running, when no parking space is detected during the process that the vehicle runs from a starting point position to an end point position of the running map, the vehicle is controlled to stop at the end point position, the parking mode is exited, vehicle information is fed back through the mobile phone, and the user is reminded of processing the vehicle in time.
By setting an abnormity judgment mechanism, the state of the vehicle can be monitored in real time, a user can know the vehicle parking progress in real time and timely process the abnormal state, the user experience is improved, and possible unnecessary loss of the user is reduced.
Furthermore, the invention proposes a computer-readable storage medium on which a parking program for a vehicle is stored. The computer-readable storage medium may be the Memory 20 in the terminal of fig. 1, and may also be at least one of a ROM (Read-Only Memory)/RAM (Random Access Memory), a magnetic disk, and an optical disk, and the computer-readable storage medium includes several instructions for causing a vehicle having a processor to perform the method for parking a vehicle according to the embodiments of the present invention.
It is to be understood that throughout the description of the present specification, reference to the term "one embodiment", "another embodiment", "other embodiments", or "first through nth embodiments", etc., is intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method for parking a vehicle, characterized in that it is applied to a first device, comprising the steps of:
entering a positioning mode according to a user instruction acquired from second equipment, and acquiring the environmental characteristics of the vehicle in the positioning mode;
calling a driving map in a memory, and matching the environmental characteristics with the driving map;
and when the environmental characteristics are successfully matched with the driving map, entering a corresponding parking mode according to a parking mode selection instruction of the user acquired from the second device, and controlling the vehicle to finish parking in the parking mode.
2. The method for parking a vehicle according to claim 1, wherein the step of entering a location mode according to a user instruction acquired from a second device and acquiring the environmental characteristic of the vehicle in the location mode is preceded by the step of:
detecting whether a driving map exists in a memory;
and when the driving map does not exist, outputting map creation information so as to perform map learning when a map creation instruction fed back by the user according to the map creation information is received, and storing the driving map obtained according to the map learning.
3. The method for parking a vehicle according to claim 2, wherein the step of detecting whether or not the travel map exists is preceded by:
detecting whether a vehicle is connected;
if the vehicle is connected, detecting whether a driving map exists or not;
and if the vehicle is not connected, outputting vehicle connection prompt information.
4. The method for parking a vehicle according to claim 1, wherein the parking modes include a designated-slot parking mode, an area parking mode, and an exploration parking mode.
5. The method for parking a vehicle according to claim 4, wherein the step of controlling the vehicle to complete parking in the parking mode includes:
when the parking mode is a designated parking space parking mode, detecting whether the driving map contains a designated parking space;
when the driving map contains the designated parking space, outputting designated parking space selection information to a user through the second equipment, and acquiring a designated parking space selection result;
controlling the vehicle to park in the designated parking space according to the designated parking space selection result and the driving map;
when the driving map does not contain the designated parking space, the learning information of the designated parking space is output through the target component;
map learning is carried out according to a designated parking space learning instruction input by a user, and designated parking space candidate information is output to the user through a target component during the map learning;
after the designated parking space information confirmed by the user is obtained, storing the designated parking space information into the driving map;
and controlling the vehicle to park in the designated parking space confirmed by the user.
6. The method for parking a vehicle according to claim 4, wherein the step of controlling the vehicle to complete parking in the parking mode includes:
when the parking mode is an area parking mode, carrying out area division on the driving map, and storing area division information into the driving map;
outputting the region selection information to a user through the second equipment, and acquiring a region selection result;
controlling the vehicle to drive into an area range corresponding to the area selection result and detecting whether a parking space exists in the driven-in area range according to the area selection result and the driving map;
and controlling the vehicle to park in the parking available space when the parking available space is detected.
7. The method for parking a vehicle according to claim 4, wherein the step of controlling the vehicle to complete parking in the parking mode includes:
when the parking mode is an exploration parking mode, controlling the vehicle to run according to the running map, and detecting whether parking spaces exist around the vehicle;
and controlling the vehicle to park in the parking available space when the parking available space is detected.
8. The method for parking a vehicle according to any one of claims 1 to 7, wherein the step of entering the corresponding parking mode according to the parking mode selection instruction of the user acquired from the second device further comprises:
continuously judging whether the parking process is abnormal or not;
if no abnormity exists in the parking process, controlling the vehicle to finish parking and outputting the parking progress of the vehicle to the user in real time through the second device;
and if the parking process is abnormal, exiting the parking mode.
9. A vehicle comprising a memory, a processor, and a parking program stored on the memory and executable on the processor, wherein: the parking program, when executed by the processor, implements the steps of a method for parking a vehicle according to any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that a parking program is stored thereon, which when executed by a processor implements the steps of a method for parking a vehicle according to any one of claims 1 to 8.
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| CN114194181A (en) * | 2022-01-28 | 2022-03-18 | 中国第一汽车股份有限公司 | Automatic parking method, device, vehicle and medium |
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| CN114863717A (en) * | 2022-06-14 | 2022-08-05 | 小米汽车科技有限公司 | Parking space recommendation method and device, storage medium and vehicle |
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