CN113788009B

CN113788009B - Method and device for indicating parking mode and electronic equipment

Info

Publication number: CN113788009B
Application number: CN202110995006.7A
Authority: CN
Inventors: 简惠灵; 魏鹏飞; 宋佳; 李欣静
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2021-08-27
Filing date: 2021-08-27
Publication date: 2023-05-09
Anticipated expiration: 2041-08-27
Also published as: CN113788009A

Abstract

The disclosure provides a method and a device for indicating a parking mode and electronic equipment. The disclosure relates to the technical field of autonomous parking, in particular to a method and a device for indicating a parking mode and electronic equipment. The specific implementation scheme is as follows: determining that the vehicle is in a parking state of a parking position or in a parking state of a parking position; selecting a target parking pattern from a set of predetermined parking patterns that is usable to control the vehicle into or out of the parking location based on information associated with the parking location; and providing an indication of the target parking pattern.

Description

Method and device for indicating parking mode and electronic equipment

Technical Field

The disclosure relates to the technical field of autonomous parking, in particular to a method and a device for indicating a parking mode and electronic equipment.

Background

With the development of autonomous parking technology, there are more and more automatic or autonomous parking modes that a vehicle can support. Autonomous parking mode may provide great convenience when a driver needs to park a vehicle into or out of a parking location. When parking is required, the driver needs to call up the selection interface and select an autonomous parking mode suitable for the current driving situation.

Disclosure of Invention

The present disclosure provides a method, apparatus, device, and storage medium for determining a target parking pattern.

According to an aspect of the present disclosure, there is provided a method of determining a parking pattern, including: determining that the vehicle is in a parking state of a parking position or in a parking state of a parking position; selecting a target parking pattern from a set of predetermined parking patterns that is usable to control the vehicle into or out of the parking location based on information associated with the parking location; and providing an indication of the target parking pattern.

According to a second aspect of the present disclosure, there is provided a method of determining a parking pattern, comprising: receiving an indication of a target parking pattern, wherein the indication is obtained by performing a method according to the first aspect of the present disclosure; determining a target parking mode according to the indication; and presenting the target parking pattern to the driver.

According to a third aspect of the present disclosure, there is provided an apparatus for indicating a parking mode, comprising: a parking determination module configured to determine whether the vehicle is in a parking-in state in which the vehicle is to be parked in a parking position or in a parking-out state in which the vehicle is to be parked out of the parking position; a mode selection module configured to select a target parking mode from a set of predetermined parking modes that is usable to control a vehicle into or out of a parking location based on information associated with the parking location; and an indication providing module configured to provide an indication of the target parking pattern.

According to a fourth aspect of the present disclosure, there is provided an apparatus for presenting a parking pattern, comprising: an indication receiving module configured to receive an indication regarding a target parking pattern, wherein the indication is obtained by performing a method according to the first aspect of the present disclosure; a mode determining module: is configured to determine a target parking pattern based on the indication; and a mode presentation module configured to present the target parking mode to the driver.

According to a fifth aspect of the present disclosure, there is provided an electronic device comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method according to the first aspect of the present disclosure.

According to a sixth aspect of the present disclosure, there is provided an electronic device comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method according to the second aspect of the present disclosure.

According to a seventh aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method according to the first aspect of the present disclosure.

According to an eighth aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method according to the second aspect of the present disclosure.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.

Drawings

The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is a schematic diagram of a parking scenario in which embodiments of the present disclosure may be implemented;

FIG. 2 is a flow chart of an example determination method according to an embodiment of the first aspect of the present disclosure;

FIG. 3 is a flowchart of an example method of determining a parking pattern according to an embodiment of the present disclosure;

FIG. 4 is a flow chart of an example determination method according to an embodiment of a second aspect of the present disclosure;

FIG. 5 is a block diagram of an example determining apparatus according to an embodiment of a third aspect of the present disclosure;

FIG. 6 is a block diagram of an example determining apparatus according to an embodiment of a fourth aspect of the present disclosure; and

fig. 7 is a block diagram of an electronic device for implementing an indication method of an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

Example scenario

Fig. 1 illustrates a schematic diagram of a parking scenario 100 in which embodiments of the present disclosure may be implemented. As shown in fig. 1, the parking scenario 100 includes a driver 100, a first vehicle 121 located in a first parking location 151, a second vehicle 122 located in a second parking location 152, and a third vehicle 123 located in a third parking location 153, and the first vehicle 121, the second vehicle 122, and the third vehicle 123 are all communicatively connected to a computing device 160. Also shown in fig. 1 are a first predetermined geographic range 141 and its corresponding first autonomous parking route 131, a second predetermined geographic range 142 and its corresponding second autonomous parking route 132, and a third predetermined geographic range 143 and its corresponding third autonomous parking route 133.

The predetermined geographic range may be referred to as a geofence, for example. The geofence defines a virtual geoboundary with a virtual fence, and the vehicle can receive corresponding information when the vehicle enters or leaves the range, or when it is active within the range. The geofence information may be, for example, actively acquired after the vehicle is started. Geofence information from the computing device segment and the vehicle terminal may be obtained, for example, through timed pushing by the cloud. The geofence information may include stored autonomous parking route (unique) IDs, maps, GPS information, and the like. When the geofence information is updated, the local geofence information will be updated accordingly.

All of the vehicles shown in fig. 1, for example, support three parking modes, namely an auto park assist APA (Automatic Parking Assist) mode, a memory park mode HAVP (Home Autonomous Valet Parking), and a valet park mode PAVP (Public Autonomous Valet Parking) and each support parking a vehicle out of a park position and a vehicle into a park position. For example, the park mode may be supported by the computing device 160. Computing device 110 may be any suitable computing device, centralized or distributed, including, but not limited to, personal computers, servers, clients, hand-held or laptop devices, multiprocessor, microprocessors, set top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computer systems, distributed clouds, combinations thereof, and the like.

The APA automatic parking auxiliary system senses the surrounding environment by using an ultrasonic radar when the vehicle cruises at a low speed, helps a driver find an empty parking position with a proper size, and assists the driver to park the vehicle into the parking position after the driver sends an automatic parking auxiliary instruction, or assists the driver to park the vehicle out of the parking position when the ultrasonic radar senses that the vehicle is in the parking position.

HAVP is also known as self-learning parking. First, the vehicle needs to learn a specific parking route. The driver starts the "parking route learning" function at the start of the parking route, and then parks the vehicle in a fixed parking position, and the vehicle autonomously learns the travel and parking route and records it in "memory". After learning of the parking route is completed, the vehicle can simulate the previously learned parking route to complete automatic parking in and out.

PAVP is an automatic boarding park commonly used in public places, and its main application place is usually an office building or an overground or underground parking lot of a large mall. For example, after a vehicle gets off at a specific position at the entrance of a parking lot, a parking route is determined based on information obtained by a vehicle terminal or based on information from the side of the parking lot and autonomously parked in a parking position available in the parking lot.

As shown in fig. 1, for first vehicle 121, driver 110 now wants to park first vehicle 121 from first park position 151. After the first vehicle 121 is powered up, the first vehicle 121 detects that it is located in the first predetermined geographic range 141 and the second predetermined geographic range 142 indicated by the broken lines, and the first vehicle 121 is detected to have been located in the park position by the vehicle radar. The geographic scope information associated with the first predetermined geographic scope 141 indicates that a vehicle may be parked from the first parking location 151 in the HAVP parking mode via the first autonomous parking route 131, and the geographic scope information associated with the second predetermined geographic scope 142 indicates that a vehicle may be parked from the first parking location 151 in the PAVP parking mode via the second autonomous parking route 132. Since it has been detected that the first vehicle 121 is already in the parking position, the driver 110 can also park the first vehicle 121 from the parking position by means of assistance through the APA mode. Since the position of driver 110 is not at the end of second autonomous parking route 132 at this time, driver 110 prefers HAVP mode to park first vehicle 121 out and travel it to the position of driver 110.

On the other hand, the second vehicle 122 travels to the side of the second parking location 152 after entering the parking area, and the second parking location 152 is detected as being available by the vehicle radar, while the second vehicle 122 is not located within any predetermined geographic range, that is, no autonomous parking route is available for the second vehicle 122. At this time, the second vehicle 122 may be parked in the second park position 152 by the APA mode.

On the other hand, the third vehicle 123 detects that it has entered the second predetermined geographical area 142 and the third predetermined geographical area 143 when traveling to the entrance of the parking area. The geographic range information associated with the third predetermined geographic range 143 indicates that the third vehicle 123 may park into the third park location 153 in HAVP mode via the third autonomous parking route 133. Because the first parking location 151 indicated by the second autonomous parking route 132 is not available, the geographic range information associated with the second predetermined geographic range 142 indicates that the third vehicle 153 may be parked into the fourth parking location 154 via one branch of the second autonomous parking route 132 in PAVP mode. It will be appreciated that upon entering the PAVP park mode, the vehicle will receive real-time park and control information to safely park into the park location, and that in the PAVP mode the autonomous park route is not fixed, which may be updated in real-time based on the availability information of the current park location. It should be appreciated that the predetermined geographic scope illustrated herein is exemplary and that the predetermined geographic scope may, for example, have a radius of about 100 about the end point of the autonomous parking route such that the vehicle may obtain corresponding predetermined geographic scope information prior to entering the parking area.

In the case shown in fig. 1, driver 110 may have a variety of options, but driver 110 needs to determine which mode is available or which mode is more preferred by himself. In this regard, in order to more effectively and intelligently select a parking mode, the present disclosure proposes a scheme of determining a target parking mode. In accordance with aspects of the present disclosure, upon determining that the vehicle is in a stay-out state to be parked from a parking location after start-up or a stay-in state to be parked to a destination parking location, a target parking pattern from a set of predetermined parking patterns may be selected by the computing device based on information associated with the parking location. Based on the information related to the parking position, a parking mode that is relatively compatible with the current parking position can be selected from among predetermined parking modes, thereby facilitating the subsequent use by the driver. For example, after knowing the selectable target parking mode, the driver can choose to use the target parking mode to park, without self-judgment, and avoid selecting a less suitable parking mode.

A method of determining a parking pattern according to the present disclosure will be discussed with reference to fig. 2 to 4.

Fig. 2 is a flow chart of an example determination method 200 according to an embodiment of the disclosure. The method 200 may be performed, for example, by the computing device 160 in fig. 1.

As shown in fig. 2, at block 202, it is determined by computing device 160 that the vehicle is in a to-be-parked state or a to-be-parked state. In some embodiments, the driving state of the vehicle may be determined based on the current journey of the vehicle and the current vehicle speed. For example, when the vehicle is just started and the current stroke after the start is smaller than the threshold stroke, it is determined that the vehicle is in the to-be-parked state. For example, the vehicle is determined to be in a to-be-parked state when a current vehicle speed of the vehicle is less than a threshold speed and a current trip of the vehicle is greater than the threshold trip. In some embodiments, the threshold travel may be a maximum HAVP route distance supported by the vehicle. Within this threshold travel, the vehicle may be considered to be in a departure-waiting state. In some embodiments, the threshold speed may be 25 kilometers per hour. In some implementations, the determination of the vehicle travel state may be determined by the computing device 160 based on received vehicle's own travel parameters, or the vehicle travel state may be reported to the computing device 160 after the vehicle is determined based on its own travel parameters. In this way, the state in which the vehicle can use a plurality of parking modes can be effectively determined.

At block 204, a target parking pattern is selected by the computing device 160 from a set of predetermined parking patterns that may be used to control the vehicle into or out of the parking location based on information associated with the parking location. The detailed process of selecting the target parking mode will be described in detail below with reference to fig. 3.

In some embodiments, the information associated with the parking location may include historical parking information for the vehicle for the parking location. The historical parking information for a vehicle for a parking location may be a parking history of vehicles previously used at a particular parking location. The vehicle will be recorded in the cloud or locally each time it uses the autonomous parking mode or the automatic parking assist mode. The information associated with the parking location may also include parking location detection information that detects that there is an available parking location for the vehicle or that the vehicle is in a parking location. Typically, vehicles have the use of radar to detect the surrounding environment, as well as the distance from the surrounding environment. By providing information to the radar from a plurality of different locations, the vehicle can determine whether there is a parking location available around or whether the vehicle is located in the parking location. The determination may be performed by the vehicle or by the computing device. The information associated with the parking location may also include geographic range information associated with the parking location, wherein the geographic range information indicates an autonomous parking route related to the parking location, a predetermined geographic range covering the autonomous parking route, and an autonomous parking mode. The georange information may be, for example, the geofence discussed with reference to fig. 1. The geographic range information identifies autonomous parking routes and parking patterns available for the berthing locations within range. In some embodiments, when the parking mode is selected, the selection may be first based on the historical parking information, and when the historical parking information does not indicate an available parking mode, the selection may be based on the geographic range information and the parking location detection information. In some embodiments, in selecting the parking mode, the selection may be made directly based on the geographic range information and the parking location detection information, regardless of the historical parking information.

In this manner, the selection of the target parking location may be made more complete by considering one or more types of information associated with the parking location.

At block 206, an indication of the target parking pattern is provided by the computing device 160. For example, where computing device 160 is a server device, it may provide an indication to the terminal device regarding the target parking pattern.

In this way, based on one or more parking information associated with a parking location to be parked in or out, a parking pattern available for a current scene can be effectively and intelligently selected, thereby providing great convenience to a driver.

Fig. 3 is a flowchart of an example method 300 of determining a parking pattern according to an embodiment of the present disclosure. The method 300 may be performed, for example, by the computing device 160.

At block 302, it is determined by computing device 160 whether the vehicle is in a to-be-docked state.

In the event that the vehicle is determined to be in a to-be-parked state, historical parking information is obtained by the computing device 160 at block 304.

At block 306, it is determined whether the historical parking information indicates that the vehicle was using a particular parking pattern when the vehicle was last parked in the parking location.

In the event that the historical parking information indicates that a particular parking pattern is used, at block 308, the particular parking pattern is selected as the target parking pattern.

In general, if a specific parking pattern is used when the vehicle was previously parked in the parking space, the vehicle can accordingly also be parked out of the parking space in the same parking pattern, in particular in the same parking route. In this way, the available target parking patterns are effectively determined by the historical parking information.

If it is determined that the vehicle is not in a to-be-parked state, the method 300 proceeds to block 310, where at block 310 it is determined by the computing device 160 whether the vehicle is in a to-be-parked state. In the event that it is determined that the vehicle is also not in the to-be-parked state, proceeding to block 332, it may be determined that the vehicle is in an en-route state, for example, and parking is not required. At block 332, the method 300 ends.

Otherwise, the method 300 proceeds to block 312 where it is determined that the vehicle is in a pending state or where it is determined that the historical parking information does not indicate that the vehicle uses a particular parking mode. At block 312, at least one geographic range information is obtained by computing device 160. For example, after the vehicle is started, the geographical range information may be received through a network or the geographical range information stored locally to the vehicle may be read from a memory.

At block 314, it is determined by the computing device 160 whether the current location of the vehicle is within at least one predetermined geographic range indicated by the at least one geographic range information. For example, the computing device 160 may compare based on the current GPS location information of the vehicle and traverse through all of the obtained geographic range information to accurately determine whether the vehicle is currently within one or more predetermined geographic ranges.

If it is determined that the current location of the vehicle is within the at least one predetermined geographic range, at block 316, an autonomous parking route that matches the current travel route of the vehicle is determined by the computing device 160 from at least one autonomous parking route that is covered by the at least one predetermined geographic range. For example, after the vehicle enters a predetermined geographical range, positioning initialization may be performed, and the parking route indicated by the geographical range information may be preprocessed to determine whether it satisfies the current driving state. For example, it is determined whether the current travel route of the vehicle can be passed to the start point of the parking route, and whether the destination corresponds to the end point of the parking route.

In some embodiments, the current location of the vehicle may be updated at predetermined intervals if it is determined that the current location is not located in any predetermined geographic range; and after the current location is updated, re-determining whether the vehicle is located in the predetermined geographic range. For example, the updating of the current position of the vehicle may continue, for example, until the vehicle enters a predetermined geographic area, or the vehicle changes driving state, i.e. parking is no longer necessary.

In this way, the relative relationship of the vehicle to the predetermined geographic area may be continuously monitored so that subsequent steps may be performed in a timely manner.

At block 318, a determination is made by the computing device 160 as to whether there is only one autonomous parking route match.

If it is determined that only the first primary parking route matches, at block 320, an autonomous parking mode corresponding to the first autonomous parking route is selected by the computing device 160 as the target parking mode.

In this way, the available autonomous parking modes may be efficiently determined through the geographic range information.

If it is determined that there is more than one autonomous parking route match or that there is no autonomous parking route match, at block 322, a determination is made as to whether there is a set of autonomous parking routes match.

If a determination is made that there is a match in the set of autonomous parking routes, at block 324, an autonomous parking mode last used by the vehicle is selected as the target parking mode by the computing device 160 from a set of autonomous parking modes corresponding to the set of autonomous parking routes.

In the event that a set of autonomous parking routes is determined to match, all autonomous parking patterns involved need to be determined and further selections may be made via historical parking information. The selection may also be made, for example, by the frequency of use of a particular autonomous parking mode. In this way, an available autonomous parking pattern can be effectively determined.

If it is determined that the current location of the vehicle is not within any predetermined geographic range or that the current travel route does not match any autonomous parking route, at block 326, parking location detection information is obtained by the computing device 160. When the vehicle is determined to be in the to-be-parked state or the to-be-parked state, the vehicle can simultaneously turn on the radar to acquire surrounding parking position conditions. For example, a parking location situation may include detecting by radar that a vehicle has been in a parking location in a stay-out state, or that a vehicle has detected an available empty parking location in a stay-in state.

At block 328, it is determined by the computing device 160 whether the vehicle is in a to-be-parked state and the parking location detection information indicates that the vehicle is in the detected available parking location, or whether the vehicle is in a to-be-parked state and the parking location detection information indicates that the available parking location is detected.

If it is determined that the auto park assist mode is selected by the computing device 160 at block 330 in response to the vehicle being in the armed state and the park position detection information indicating that the vehicle is in the detected available park position, or if it is determined that the vehicle is in the armed state and the park position detection information indicating that the available park position is detected.

In this way, when no autonomous parking route is available, the APA parking pattern can be determined by the parking position detection information.

Fig. 4 shows a flowchart of an example determination method 400 according to an embodiment of the second aspect of the present disclosure. The method 400 may be performed by a vehicle terminal or a user terminal, for example.

At block 402, an indication of a target parking pattern is received by a terminal device. The indication is obtained by performing a method according to the first aspect of the present disclosure.

At block 404, a target parking pattern of the target parking pattern association is determined by the terminal device based on the indication.

At block 406, a target parking pattern is presented to the driver by the terminal device.

In this way, based on the received indication, the target parking pattern can be timely recommended to the driver, further bringing great convenience to the driver.

In some embodiments, the target parking pattern may be presented to the driver by voice.

In some embodiments, the park mode recommendation is valid after each time the vehicle is determined to be in or in until the vehicle switches states, and only once presented during that time.

In some embodiments, after the target parking pattern is presented, a parking route corresponding to the target parking pattern may also be presented.

In some embodiments, driver feedback is obtained and used in data statistics along with the presented target parking pattern.

Fig. 5 is a block diagram of an example determining apparatus 500 according to an embodiment of the disclosure.

As shown in fig. 5, the apparatus 500 for determining a parking mode includes a parking determination module 502 configured to determine whether a vehicle is in a parking-in state of a parking-in parking location or in a parking-out state of a parking-out parking location. The apparatus 500 for indicating a parking mode further comprises a mode selection module 504 configured to select a target parking mode from a set of predetermined parking modes that is usable to control the parking of a vehicle into or out of the parking location based on information associated with the parking location. The apparatus 500 for indicating a parking mode further comprises an indication providing module 506 configured to provide an indication of a target parking mode.

Fig. 6 is a block diagram of an example determining apparatus 600 according to an embodiment of a fourth aspect of the disclosure.

The apparatus 600 comprises an indication receiving module 602 configured to receive an indication regarding a target parking pattern, wherein the indication is obtained by performing a method according to the first aspect of the present disclosure. The apparatus 600 further includes a mode presentation module 604 configured to determine a target parking mode based on the indication. The apparatus 600 further includes a mode presentation module 606 configured to present the driver with a target parking mode.

It should be understood that the advantages of the method according to the present disclosure are equally applicable to the apparatus corresponding to the method.

In the technical scheme of the disclosure, the acquisition, storage, application and the like of the related personal information of the driver accord with the regulations of related laws and regulations, and the public sequence is not violated.

According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

An electronic device includes: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method according to the first aspect or the second method of the present disclosure.

A non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform a method according to the first or second aspect of the present disclosure.

Fig. 7 illustrates a schematic block diagram of an example electronic device 700 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 7, the apparatus 700 includes a computing unit 701 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 702 or a computer program loaded from a storage unit 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the device 700 may also be stored. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other through a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.

Various components in device 700 are connected to I/O interface 705, including: an input unit 706 such as a keyboard, a mouse, etc.; an output unit 707 such as various types of displays, speakers, and the like; a storage unit 708 such as a magnetic disk, an optical disk, or the like; and a communication unit 709 such as a network card, modem, wireless communication transceiver, etc. The communication unit 709 allows the device 700 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The computing unit 701 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 701 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 701 performs the various methods and processes described above, such as

methods

200, 300, and 400. For example, in some embodiments, the

methods

200, 300, and 400 may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 708. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 700 via ROM 702 and/or communication unit 709. One or more of the steps of the

methods

200, 300, and 400 described above may be performed when the computer program is loaded into RAM 703 and executed by computing unit 701. Alternatively, in other embodiments, the computing unit 701 may be configured to perform the

methods

200, 300, and 400 by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with the driver, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a driver; and a keyboard and pointing device (e.g., a mouse or trackball) by which a driver can provide input to the computer. Other kinds of devices may also be used to provide for interaction with the driver; for example, feedback provided to the driver may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the driver may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a driver computer having a graphical driver interface or a web browser through which a driver can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.

The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel or sequentially or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.

The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.

Claims

1. A method of determining a parking pattern, comprising:

determining that the vehicle is in a parking state of a parking position or in a parking state of a parking position;

selecting a target parking pattern from a set of predetermined parking patterns that is usable to control the vehicle to or from the parking location based on information associated with the parking location; and

an indication is provided regarding the target parking pattern,

Wherein the information associated with the parking location includes at least: geographic range information associated with the parking location, wherein the geographic range information indicates an autonomous parking route related to the parking location, a predetermined geographic range covering the autonomous parking route, and an autonomous parking mode.

2. The method of claim 1, wherein the information associated with the parking location further comprises one or more of:

historical parking information of the vehicle for the parking location; and

it is detected that there is parking position detection information for an available parking position of the vehicle or that the vehicle is in a parking position.

3. The method of claim 2, wherein selecting a target parking pattern from a set of predetermined parking patterns that is usable to control the vehicle to or from the parking location comprises:

acquiring the historical parking information in response to determining that the vehicle is in a to-be-parked state; and

in response to determining that the historical parking information indicates that the vehicle was using a particular parking pattern when previously parked in the parking location, the particular parking pattern is selected as the target parking pattern.

4. The method of claim 3, wherein selecting a target parking pattern from a set of predetermined parking patterns that is usable to control the vehicle to or from the parking location further comprises:

responsive to determining that the vehicle is in the pending state, or that the historical parking information does not indicate that the vehicle uses the particular parking mode, obtaining at least one of the geographic range information;

responsive to determining that the current location of the vehicle is located in at least one of the predetermined geographic ranges indicated by at least one of the geographic range information, determining an autonomous parking route that matches a current travel route of the vehicle from at least one of the autonomous parking routes covered by at least one of the predetermined geographic ranges;

in response to determining that only a first autonomous parking route matches, a first autonomous parking mode corresponding to the first autonomous parking route is selected as the target parking mode.

5. The method of claim 4, wherein selecting a target parking pattern from a set of predetermined parking patterns that is usable to control the vehicle to or from the parking location further comprises:

In response to determining that there is a set of autonomous parking lines matching, an autonomous parking mode last used by the vehicle is selected from a set of autonomous parking modes corresponding to the set of autonomous parking lines as the target parking mode.

6. The method of claim 4, wherein selecting a target parking pattern from a set of predetermined parking patterns that is usable to control the vehicle to or from the parking location further comprises:

updating the current location of the vehicle at predetermined intervals in response to determining that the current location is not located in any of the predetermined geographic areas; and

after the current location is updated, a determination is made as to whether the vehicle is located in the predetermined geographic range.

7. The method of claim 5, wherein selecting a target parking pattern from a set of predetermined parking patterns that is usable to control the vehicle to or from the parking location further comprises:

obtaining parking location detection information in response to determining that the current location is not located in any of the predetermined geographic ranges or that the current travel route does not match any autonomous parking route;

Responsive to the vehicle being in the armed state and the park position detection information indicating that the vehicle is in a park position, or

An automatic parking assist mode is selected in response to the vehicle being in the pending parking state and the parking position detection information indicating that an available parking position is detected, wherein in the automatic parking assist mode the vehicle assists the driver in parking into or out of the available parking position.

8. The method of claim 1, wherein determining that the vehicle is in a to-be-parked state or in a to-be-parked state comprises:

determining that the vehicle is in the to-be-parked state in response to the vehicle being started and the current trip after the start being less than a threshold trip; and

in response to the current vehicle speed of the vehicle being less than a threshold speed and the current travel of the vehicle being greater than a threshold travel, determining that the vehicle is in the to-be-parked state.

9. A method of determining a parking pattern, comprising:

receiving an indication of a target parking pattern, wherein the indication is obtained by performing the method according to any one of claims 1 to 8;

Determining the target parking mode according to the indication; and

the target parking pattern is presented to the driver.

10. An apparatus for determining a parking pattern, comprising:

a parking determination module configured to determine whether the vehicle is in a parking-in state in which the vehicle is to be parked in a parking position or in a parking-out state in which the vehicle is to be parked out of the parking position;

a mode selection module configured to select a target parking mode from a set of predetermined parking modes that is usable to control the vehicle to or from the parking location based on information associated with the parking location; and

an indication providing module configured to provide an indication of the target parking pattern,

11. The apparatus of claim 10, wherein the information associated with the parking location includes one or more of:

historical parking information of the vehicle for the parking location;

12. The apparatus of claim 11, wherein the mode selection module comprises:

an information acquisition module configured to acquire the historical parking information in response to determining that the vehicle is in a to-be-parked state;

a first mode selection module configured to select a particular parking mode as the target parking mode in response to determining that the historical parking information indicates that the vehicle was using the particular parking mode when previously parked in the parking location.

13. The apparatus of claim 12, wherein the mode determination module further comprises:

a range information acquisition module configured to acquire at least one of the geographical range information in response to determining that the vehicle is in the to-be-parked state or that the historical parking information does not indicate that the vehicle uses the particular parking mode;

a matching module configured to determine an autonomous parking route matching a current travel route of the vehicle from at least one of the autonomous parking routes covered by at least one of the predetermined geographic areas in response to determining that a current location of the vehicle is located in at least one of the predetermined geographic areas indicated by at least one of the geographic area information;

And a second mode selection module configured to select an autonomous parking mode corresponding to the first autonomous parking route as the target parking mode in response to determining that only the first autonomous parking route matches.

14. The apparatus of claim 13, wherein the mode determination module further comprises:

and a third mode selection module configured to select, as the target parking mode, an autonomous parking mode last used by the vehicle from among a set of autonomous parking modes corresponding to a set of autonomous parking routes in response to determining that there is a set of autonomous parking routes that match.

15. The apparatus of claim 13, wherein the mode determination module further comprises:

a location updating module configured to update a current location of the vehicle at predetermined intervals in response to determining that the current location is not located in any of the predetermined geographic areas; and

a redetermining module configured to redetermine whether the vehicle is located in the predetermined geographic range after the current location is updated.

16. The apparatus of claim 14, wherein the mode determination module further comprises:

a detection information acquisition module configured to acquire parking location detection information in response to determining that the current location is not located in any of the predetermined geographic ranges or that the current travel route does not match any autonomous parking route;

A fourth mode selection module configured to indicate that the vehicle is in the detected available parking position, or that the vehicle is in the pending state, in response to the vehicle being in the parking position detection information

17. The apparatus of claim 10, wherein the park determination module comprises:

a state determination module configured to determine that the vehicle is in the to-be-parked state in response to the vehicle being started and a current trip after the start being less than a threshold trip; and

18. An apparatus for determining a parking pattern, comprising:

an indication receiving module configured to receive an indication regarding a target parking pattern, wherein the indication is obtained by performing the method according to any one of claims 1 to 8;

A mode determining module: is configured to determine the target parking pattern based on the indication; and

a mode presentation module configured to present the target parking mode to a driver.

19. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-8.

20. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of claim 9.

21. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-8.

22. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of claim 9.