CN118288982A

CN118288982A - Parking method, electronic equipment and medium

Info

Publication number: CN118288982A
Application number: CN202310132586.6A
Authority: CN
Inventors: 刁猛
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2023-01-05
Filing date: 2023-02-07
Publication date: 2024-07-05

Abstract

The application relates to the technical field of terminal interaction, and discloses a parking method, electronic equipment and a medium. The parking method of the application comprises the following steps: determining that the speed of the vehicle at the current moment is smaller than a first threshold value; acquiring the position of a vehicle at the current moment; and starting the parking space searching when the position of the vehicle is in a preset area corresponding to the current moment. Based on the scheme, when the vehicle speed is smaller than the set threshold value and the vehicle position is in the preset area, the automatic parking stall searching is triggered, and the user experience is improved.

Description

Parking method, electronic equipment and medium

The present application claims priority from the chinese patent office, application No. 20232004010. X, application No. "a parking method, electronic device and medium", filed on month 05 2023, the entire contents of which are incorporated herein by reference.

Technical Field

The present application relates to the field of terminal interaction technologies, and in particular, to a parking method, an electronic device, and a medium.

Background

An automatic parking assist (Auto PARKING ASSIST, APA) system is a system that recognizes effective parking space information using an in-vehicle sensor (e.g., an ultrasonic radar or a camera, etc.), and then controls a vehicle to park according to the parking space information. Compared with the traditional reversing auxiliary function (such as reversing images, reversing radars and the like), the intelligent degree of the APA system is higher, and the problem of difficult parking of a user can be effectively solved.

In the process of using the APA system, how to trigger the APA system to search for parking spaces more conveniently and intelligently for parking is a research direction in the current industry.

Disclosure of Invention

The embodiment of the application provides a parking method, electronic equipment and a medium for triggering an APA system to search a parking space more conveniently and intelligently to park.

In a first aspect, an embodiment of the present application provides a parking method, applied to a vehicle-mounted electronic device, where the method includes: determining that the speed of the vehicle at the current moment is smaller than a first threshold value; acquiring the position of a vehicle at the current moment; and starting the parking space searching when the position of the vehicle is in a preset area corresponding to the current moment.

The parking method provided by the application judges the parking requirement of the user according to the position and the speed of the vehicle, so that the APA system is automatically triggered to search the parking space information when the user arrives at the destination. The problem that the user forgets to trigger the APA system to search the parking space and the optimal opportunity of searching the parking space is missed is avoided.

It can be appreciated that in the embodiment of the present application, the vehicle-mounted electronic device may be an intelligent vehicle, or may be a vehicle-mounted device loaded on the intelligent vehicle. The in-vehicle electronics may have an APA system and an intelligent cockpit system. The speed and the position of the vehicle can be obtained through an intelligent perception control service module of the intelligent cabin system.

In one possible implementation, the preset area includes a set range area of the historical parking locations and/or a parking area.

In one possible implementation, determining that the vehicle speed of the vehicle at the current time is less than a first threshold includes: and determining that the vehicle has no navigation task at the current moment and the speed of the vehicle is smaller than a first threshold value.

According to the application, the parking requirements of the user can be judged according to the position of the global positioning system (global positioning system, GPS) of the vehicle, the speed of the vehicle, the automatically memorized historical parking position, whether navigation exists in the running process, the current position of the vehicle and the like, so that the APA system is automatically triggered to search the parking space information when the user arrives at the destination. The problem that in the scheme of manually triggering the APA system to search the parking space, the user forgets to trigger the APA system to search the parking space, so that the best opportunity for searching the parking space is missed is avoided. And under the condition of no navigation task, the situation that the APA system cannot be automatically started occurs.

In one possible implementation, when a parking space is searched, a central control large screen of the vehicle-mounted electronic equipment is controlled to display parking space information corresponding to the searched parking space; when a parking instruction sent by a user is received, controlling the vehicle to park in a parking space corresponding to the parking instruction.

According to the embodiment of the application, when the parking space is searched, the intelligent cabin system can display the parking space information on the front stage of the central control large screen, so that a user can conveniently select the parking space to be parked.

In one possible implementation, when it is determined that the current parking position information of the vehicle is not stored in the in-vehicle electronic device, the current parking position information of the vehicle is recorded as the historical parking position.

In the embodiment of the application, after the user finishes automatic parking, the GPS position information and/or the parking space information of the current parking lot is automatically recorded, so that the next automatic intelligent recommendation is carried out based on the GPS position information and/or the parking space information of the current parking lot, and the user is intelligently reminded of using one key to automatically park when the vehicle enters the same position again, thereby improving the experience of the user.

In one possible implementation, the method for controlling the central control large screen of the vehicle-mounted electronic device to display the parking space information corresponding to the searched parking space includes: and controlling a central control large screen of the vehicle-mounted electronic equipment to display a window corresponding to the automatic parking auxiliary application, wherein the window corresponding to the automatic parking auxiliary application displays the parking space information corresponding to the searched parking space.

According to the embodiment of the application, when the parking space is searched, the intelligent cabin system of the vehicle-mounted electronic equipment can automatically start the automatic parking assistance to be applied to the front stage of the central control large screen, and the front stage of the central control large screen displays the parking space information and the looking-around assistance image information, so that a user can conveniently select the parking space to be parked.

In one possible implementation, the method for controlling the central control large screen of the vehicle-mounted electronic device to display a window corresponding to the automatic parking assistance application includes: based on the starting condition of a foreground application of a central control large screen of the vehicle-mounted electronic equipment, determining a display form of a window corresponding to the automatic parking auxiliary application, wherein the display form comprises full screen display, split screen display and suspension display; and controlling a central control large screen of the vehicle-mounted electronic equipment to display a window corresponding to the automatic parking auxiliary application based on the display form.

In one possible implementation, when a parking instruction sent by a user is received, a window corresponding to the automatic parking assistance application is displayed in a full screen mode.

In the embodiment of the application, the APA application started by intelligent recommendation can be presented in the forms of split screen, floating window and the like, so that the direct screen blocking of the user foreground application is avoided, and the experience of a multi-task scene is improved. Meanwhile, after the user starts the automatic parking, the APA application is automatically presented in a full screen mode, so that the driving safety during the automatic parking is ensured.

In one possible implementation, the position of the vehicle corresponding to the current moment is in a preset area, and the starting of the parking space search includes: and if the position of the vehicle at the current moment is in the preset area, if the number of times that the historical user does not select the preset area to park is less than or equal to a second threshold value, starting parking space searching.

In one possible implementation, the position of the vehicle corresponding to the current moment is in a preset area, and if it is determined that the number of times that the history user does not select the preset area to park is greater than a second threshold, the parking space search is not started.

In the embodiment of the application, after the automatic parking function is triggered because the vehicle is in the set range area of the historical parking position and the parking area, if the user does not use the automatic parking function, i.e. the number of times of parking is not more than the set number of times, for example, 3 times, the probability that the user parks at the time is smaller is indicated, and at the moment, the corresponding parking area or the set range area of the historical parking position is not used for triggering the APA system to search the parking space.

In one possible implementation, when it is determined that the vehicle has a navigation task and the position of the vehicle at the current time is in a set range area of a destination corresponding to the navigation task of the vehicle, a parking space search is started.

In a second aspect, an embodiment of the present application provides an electronic device, including: a memory for storing instructions for execution by one or more processors of the electronic device, and the processor, which is one of the one or more processors of the electronic device, for implementing any one of the parking methods provided in the above first aspect and various possible implementations of the above first aspect.

In a third aspect, embodiments of the present application provide a readable medium having stored thereon instructions that, when executed on an electronic device, cause the electronic device to implement any one of the parking methods provided in the first aspect and various possible implementations of the first aspect.

In a fourth aspect, an embodiment of the present application provides a vehicle-mounted electronic device, including an automatic parking assistance system and an intelligent cabin system; the intelligent cabin system comprises an intelligent perception control service module, and the automatic parking auxiliary system comprises an automatic parking algorithm module; the intelligent perception control service module is used for determining that the vehicle speed at the current moment is smaller than a first threshold value; the intelligent perception control service module is used for acquiring the position of the vehicle at the current moment; the intelligent perception control service module is used for sending a parking space searching starting instruction to the automatic parking auxiliary system, wherein the position of the vehicle is in a preset area corresponding to the current moment; and the automatic parking algorithm module is used for responding to the search starting instruction and starting the parking space search.

It will be appreciated that in embodiments of the application, the in-vehicle electronics has an APA system and an intelligent cockpit system. The speed and the position of the vehicle can be obtained through an intelligent perception control service module of the intelligent cabin system.

It is understood that the set range area of the historic parking position may be any position within a range of 50 meters of the historic parking position.

In one possible implementation, the automatic parking assistance system further includes a parking space recognition algorithm module; the parking space recognition algorithm module is used for sending parking space information corresponding to the searched parking space to the intelligent perception control service module when the parking space is searched; the intelligent perception control service module is used for controlling a central control large screen of the vehicle-mounted electronic equipment to display parking space information corresponding to the searched parking spaces; and the automatic parking algorithm module is used for controlling the vehicle to park in a parking space corresponding to the parking instruction when the parking instruction sent by the user is received.

In one possible implementation, the intelligent perception control service module is configured to determine that the vehicle has no navigation task at the current moment and the vehicle speed is less than a first threshold.

In one possible implementation, the intelligent perception control service module is used for recording current parking position information of the vehicle as a historical parking position when determining that the current parking position information of the vehicle is not stored in the vehicle-mounted electronic device.

In one possible implementation, the intelligent perception control service module is used for controlling a central control large screen of the vehicle-mounted electronic device to display a window corresponding to the automatic parking auxiliary application, wherein the window corresponding to the automatic parking auxiliary application displays parking space information corresponding to the searched parking space.

In the embodiment of the application, when the parking space is searched, the intelligent cabin system can display the parking space information on the front stage of the central control large screen, so that a user can conveniently select the parking space to be parked.

In one possible implementation, the intelligent perception control service module is used for determining a display form of a window corresponding to the automatic parking auxiliary application based on a foreground application starting condition of a central control large screen of the vehicle-mounted electronic equipment; the display forms comprise full screen display, split screen display and suspension display; the intelligent perception control service module is used for controlling the central control large screen of the vehicle-mounted electronic equipment to display a window corresponding to the automatic parking auxiliary application based on the display form.

In one possible implementation, the intelligent perception control service module is used for controlling the display form of the window corresponding to the automatic parking auxiliary application to be full-screen display when a parking instruction sent by a user is received.

In the embodiment of the application, the APA application started by intelligent recommendation can be presented in the forms of split screen, floating window and the like, so that the direct screen blocking of a user foreground application is avoided, and the experience of a multi-task scene is improved. Meanwhile, after the user starts the automatic parking, the APA application is automatically presented in a full screen mode, so that driving safety reminding during automatic parking is ensured.

In one possible implementation, the intelligent perception control service module is configured to send a parking space searching start instruction to the automatic parking algorithm module if it is determined that the number of times that the historical user does not select the preset area to park is less than or equal to a second threshold value, where the position of the vehicle is in the preset area corresponding to the current moment.

In one possible implementation, the intelligent perception control service module is configured to, when the position of the vehicle corresponding to the current moment is in the preset area, not send a parking space searching start instruction to the automatic parking algorithm module if it is determined that the number of times that the historical user does not select the preset area to park is greater than the second threshold.

In one possible implementation, the intelligent perception control service module is configured to send a parking space searching start instruction to the automatic parking algorithm module when it is determined that the vehicle has a navigation task and the position of the vehicle at the current moment is in a set range area of a destination corresponding to the navigation task of the vehicle.

In a fifth aspect, an embodiment of the present application provides a vehicle, which includes any of the vehicle-mounted electronic devices provided in the fourth aspect and various possible implementations of the fourth aspect.

Drawings

FIG. 1 shows a schematic structural view of a vehicle according to an embodiment of the present application;

FIG. 2 illustrates an architectural diagram of an in-vehicle electronic device, according to an embodiment of the present application;

FIG. 3 is a detailed schematic diagram showing the architecture of an in-vehicle electronic device, according to an embodiment of the application;

FIG. 4 illustrates a schematic view of a parking method, according to an embodiment of the present application;

FIG. 5 illustrates a schematic view of a parking method, according to an embodiment of the present application;

FIG. 6 is a flow chart illustrating a parking method according to an embodiment of the present application;

FIG. 7 is a flow chart illustrating a parking method according to an embodiment of the present application;

FIG. 8 illustrates a schematic view of a parking method, according to an embodiment of the present application;

FIG. 9 is a flow chart illustrating a parking method according to an embodiment of the present application;

Fig. 10 is a flow chart illustrating a parking method according to an embodiment of the present application.

Detailed Description

Illustrative embodiments of the application include, but are not limited to, a parking method, an electronic device, and a medium.

Before describing the parking method according to the embodiment of the present application in detail, a description will be given first of the vehicle according to the present application. Referring to fig. 1, fig. 1 is a block diagram of a vehicle (or called a smart car) 002 according to an embodiment of the present application.

Vehicle 002 may include a travel system 202, a sensor system 204, a control system 206, one or more peripheral devices 208, as well as a power source 210, a computer system 212, and a user interface 216. Alternatively, vehicle 002 may include more or fewer subsystems, and each subsystem may include multiple elements. In addition, each of the subsystems and elements of vehicle 002 may be interconnected by wire or wirelessly.

The travel system 202 may include components that provide powered movement of the vehicle 002. In one embodiment, the travel system 202 may include an engine 218, an energy source 219, a transmission 220, and wheels/tires 221. The engine 218 may be an internal combustion engine, an electric motor, an air compression engine, or other type of engine combination, such as a hybrid engine of a gasoline engine and an electric motor, or a hybrid engine of an internal combustion engine and an air compression engine. The engine 218 converts the energy source 219 into mechanical energy.

Examples of energy sources 219 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. The energy source 219 may also provide energy to other systems of the vehicle 002.

The transmission 220 may transmit mechanical power from the engine 218 to the wheels 221. The transmission 220 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission 220 may also include other devices, such as a clutch. Wherein the drive shaft may comprise one or more axles that may be coupled to one or more wheels 221.

The sensor system 204 may include several sensors that sense information about the environment surrounding the vehicle 002. For example, the sensor system 204 may include a positioning system 222 (which may be a GPS system, or a Beidou system or other positioning system), an inertial measurement unit (inertial measurement unit, IMU) 224, a radar 226, a laser rangefinder 228, and a camera 230. The sensor system 204 may also include sensors (e.g., in-vehicle air quality monitors, fuel gauges, oil temperature gauges, etc.) that monitor the internal systems of the vehicle 002. Sensor data from one or more of these sensors may be used to detect objects and their corresponding characteristics (location, shape, direction, speed, etc.). Such detection and identification is a critical function of the safe operation of the autonomous vehicle 002.

The positioning system 222 may be used to estimate the geographic location of the vehicle 002. For example: the position of the vehicle in the present application may be the position of the vehicle with the position of the center of the rear axle of the vehicle.

The IMU 224 is used to sense the position and orientation changes of the vehicle 002 based on inertial acceleration. In one embodiment, the IMU 224 may be a combination of an accelerometer and a gyroscope. For example: the IMU 224 may be used to measure the curvature of the vehicle 002.

The radar 226 may utilize radio signals to sense objects within the ambient environment of the smart vehicle 002. In some embodiments, in addition to sensing an object, the radar 226 may be used to sense the speed and/or heading of the object.

The laser rangefinder 228 may utilize a laser to sense objects in the environment in which the vehicle 002 is located. In some embodiments, laser rangefinder 228 may include one or more laser sources, a laser scanner, and one or more detectors, among other system components.

The camera 230 may be used to capture multiple images of the surrounding environment of the vehicle 002. The camera 230 may be a still camera or a video camera.

The control system 206 is configured to control operation of the vehicle 002 and its components. The control system 206 may include various elements including a steering system 232, a throttle 234, a brake unit 236, a computer vision system 240, a route control system 242, and an obstacle avoidance system 244.

The steering system 232 is operable to adjust the heading of the vehicle 002. For example, in one embodiment may be a steering wheel system that may be used for steering wheel angles of rotation.

The throttle 234 is used to control the operating speed of the engine 218 and thus the speed of the vehicle 002.

The brake unit 236 is used to control the vehicle 002 to decelerate. The brake unit 236 may use friction to slow the wheel 221. In other embodiments, the brake unit 236 may convert the kinetic energy of the wheels 221 into electrical current. The brake unit 236 may take other forms to slow the rotational speed of the wheel 221 and thereby control the speed of the vehicle 002.

The computer vision system 240 may be operable to process and analyze images captured by the camera 230 to identify objects and/or features in the environment surrounding the vehicle 002. The objects and/or features may include traffic signals, road boundaries, and obstacles. The computer vision system 240 may use object recognition algorithms, in-motion restoration structure (structure from motion, SFM) algorithms, video tracking, and other computer vision techniques. In some embodiments, the computer vision system 240 may be used to map an environment, track objects, estimate the speed of objects, and so forth.

The route control system 242 is used to determine the travel route of the vehicle 002. In some embodiments, route control system 242 may incorporate data from sensing system 204, GPS 222, and one or more predetermined maps to determine a travel route for vehicle 002.

The obstacle avoidance system 244 is operable to identify, evaluate, and avoid or otherwise pass over potential obstacles in the environment of the vehicle 002.

Of course, in one example, control system 206 may additionally or alternatively include components other than those shown and described. Or some of the components shown above may be eliminated.

Vehicle 002 interacts with external sensors, other vehicles, other computer systems, or users through peripheral devices 208. Peripheral devices 208 may include a wireless communication system 246, a vehicle computer 248, a microphone 250, and/or a speaker 252.

In some embodiments, the peripheral device 208 provides a means for a user of the vehicle 002 to interact with the user interface 216. For example, the vehicle computer 248 may provide information to a user of the vehicle 002. The user interface 216 may also operate the vehicle computer 248 to receive user input. The vehicle computer 248 may be operated by a touch screen. In other cases, the peripheral device 208 may provide a means for the vehicle 002 to communicate with other devices located within the vehicle. For example, microphone 250 may receive audio (e.g., voice commands or other audio input) from a user of vehicle 002. Similarly, speaker 252 may output audio to a user of intelligent vehicle 002.

The wireless communication system 246 may communicate wirelessly with one or more devices directly or via a communication network. For example, wireless communication system 246 may use 3G cellular communication, such as CDMA, EVD0, GSM/GPRS, or 4G cellular communication, such as LTE. Or 5G cellular communication. The wireless communication system 246 may communicate with a wireless local area network (wireless local area network, WLAN) using WiFi. In some embodiments, wireless communication system 246 may communicate directly with devices using an infrared link, bluetooth. Other wireless protocols, such as: various vehicle communication systems, for example, wireless communication system 246 may include one or more dedicated short range communication (DEDICATED SHORT RANGE COMMUNICATIONS, DSRC) devices, which may include public and/or private data communications between vehicles and/or roadside stations.

The power supply 210 may provide power to various components of the vehicle 002. In one embodiment, the power source 210 may be a rechargeable lithium ion or lead acid battery. One or more battery packs of such batteries may be configured to provide power for various components of the vehicle 002 by a power source. In some embodiments, the power source 210 and the energy source 219 may be implemented together, such as in some all-electric vehicles.

Some or all of the functions of the vehicle 002 are controlled by the computer system 212. The computer system 212 may include at least one processor 213, the processor 213 executing instructions 215 stored in a non-transitory computer readable medium, such as a data storage 214. The computer system 212 may also be a plurality of computing devices that control individual components or subsystems of the vehicle 002 in a distributed manner.

The processor 213 may be any conventional processor, such as a commercially available processor central processing unit (central processing unit, CPU). Alternatively, the processor may be a special purpose device such as an Application SPECIFIC INTEGRATED Circuit (ASIC) or other hardware-based processor. Although FIG. 1 functionally illustrates a processor, memory, and other elements of computer 120 in the same block, it will be understood by those of ordinary skill in the art that the processor, computer, or memory may in fact comprise a plurality of processors, computers, or memories that may or may not be stored within the same physical housing. For example, the memory may be a hard disk drive or other storage medium located in a different housing than computer 120. Thus, references to a processor or computer will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Rather than using a single processor to perform the steps described herein, some components, such as the steering component and the retarding component, may each have their own processor that performs only calculations related to the component-specific functions.

In various aspects described herein, the processor may be located remotely from the vehicle and in wireless communication with the vehicle. In other aspects, some of the processes described herein are performed on a processor disposed within the vehicle and others are performed by a remote processor, including taking the necessary steps to perform a single maneuver.

In some embodiments, the data storage 214 may include instructions 215 (e.g., program logic), the instructions 215 being executable by the processor 213 to perform various functions of the vehicle 002, including those described above. The data storage 224 may also contain additional instructions, including instructions to send data to, receive data from, interact with, and/or control one or more of the propulsion system 202, the sensor system 204, the control system 206, and the peripherals 208.

In addition to instructions 215, data storage 214 may correspond to a memory, and may store data such as road maps, route information, vehicle position, direction, speed, and other such vehicle data, as well as other information. Such information may be used by the vehicle 002 and the computer system 212 during operation of the vehicle 002 in autonomous, semi-autonomous, and/or manual modes. For example: a plurality of position information of the target vehicle, a current posture of the target vehicle, position information of the target parking space, and obstacle position information.

A user interface 216 for providing information to or receiving information from a user of the vehicle 002. Optionally, the user interface 216 may include one or more input/output devices within the set of peripheral devices 208, such as a wireless communication system 246, a vehicle computer 248, a microphone 250, and a speaker 252.

The computer system 212 may control the functions of the vehicle 002 based on inputs received from various subsystems (e.g., the travel system 202, the sensor system 204, and the control system 206) as well as from the user interface 216. For example, the computer system 212 may utilize inputs from the control system 206 to control the steering unit 232 to avoid obstacles detected by the sensor system 204 and the obstacle avoidance system 244. In some embodiments, the computer system 212 is operable to provide control over many aspects of the vehicle 002 and its subsystems.

Alternatively, one or more of these components may be mounted separately from or associated with the vehicle 002. For example, the data storage 214 may exist partially or completely separate from the vehicle 002. The above components may be communicatively coupled together in a wired and/or wireless manner.

Alternatively, the above components are only an example, and in practical applications, components in the above modules may be added or deleted according to actual needs, and fig. 1 should not be construed as limiting the embodiments of the present application.

In an autonomous or semi-autonomous car ready for parking, such as the vehicle 002 above, objects within its surrounding environment may be identified to determine adjustments to the current speed. The object may be another vehicle, a traffic control device, or another type of object. In some examples, each identified object may be considered independently and based on its respective characteristics, such as its current speed, acceleration, spacing from the vehicle, etc., may be used to determine the speed at which the autonomous car is to adjust.

Alternatively, the autonomous vehicle 002 or a computing device associated with the autonomous vehicle 002 (e.g., computer system 212, computer vision system 240, data storage 214 of fig. 1) may predict the behavior of the identified object based on the characteristics of the identified object and the status of the surrounding environment (e.g., surrounding obstacles, shape of the parking space, size of the parking space, etc.). Alternatively, each identified object depends on each other's behavior, so all of the identified objects can also be considered together to predict the behavior of a single identified object. The vehicle 002 is able to adjust its speed and parking route based on the predicted behavior of the identified object. In other words, the autonomous car can determine that the vehicle will need to be adjusted (e.g., accelerated, decelerated, or stopped) to a steady state based on the predicted behavior of the object. In this process, the speed and travel path of the vehicle 002 may also be determined in consideration of other factors, such as the lateral position of the vehicle 002 in the road on which it is traveling, the curvature of the road, the proximity of static and dynamic objects, and the like.

In addition to providing instructions to adjust the speed of the vehicle 002, the computing device may also provide instructions to modify the steering angle of the vehicle 002 so that the autonomous vehicle follows a given trajectory and/or maintains safe lateral and longitudinal distances from objects in the vicinity of the autonomous vehicle (e.g., cars in adjacent lanes on the road).

The vehicle 002 may be a car, truck, motorcycle, bus, boat, airplane, helicopter, mower, recreational vehicle, casino vehicle, construction equipment, electric car, golf car, train, trolley, etc., and the embodiment of the present application is not particularly limited.

It will be appreciated that the vehicle functional diagram of fig. 1 is merely an exemplary implementation of an embodiment of the present application, and that the vehicle of an embodiment of the present application includes, but is not limited to, the above structures.

It will be appreciated that the configuration illustrated in the embodiments of the present application does not constitute a specific limitation on the vehicle. In other embodiments of the application, the vehicle may include more or less components than illustrated, or certain components may be combined, or certain components may be split, or different component arrangements, or component arrangements having similar functionality, etc. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

For example, in some embodiments, the vehicle may include onboard electronics, which may include an APA system and a smart cockpit system. In the following, first, a description will be given of a part of the physical modules and the software functional modules of the APA system, respectively.

As shown in fig. 2, the physical modules in the APA system include a radar sensor, a camera, a central processing unit (central processing unit, CPU), a video signal bus (gigabit multimedia serial link (gigabit multimedia SERIAL LINK, GMSL)/flat panel display link (FLAT PANEL DISPLAY LINK, FPD link)), a controller area network (controller area network, CAN)/ethernet control bus.

The radar sensor is used for collecting information such as relative positions, relative speeds, relative angles and the like of the vehicle and the available parking spaces.

The camera is used for collecting position information of available parking spaces, barrier information, size information of the available parking spaces and opening orientation information, and the barrier information comprises barrier position information (such as position information of static things and dynamic things in a preset range of the available parking spaces), barrier size information, speed and curvature information of the dynamic things and the like.

The video signal bus is used for transmitting the looking-around auxiliary image information.

The CAN/Ethernet bus is used for transmitting control signals, such as parking instructions.

The CPU is used for running software function modules such as a parking space recognition algorithm module, an automatic parking algorithm module, a looking-around image synthesis module, a control command protocol module and the like in the operating system.

The parking space recognition algorithm module is used for recognizing a parking space according to the looking-around information acquired by the intelligent cabin system; the automatic parking algorithm module is used for controlling the vehicle to park in a parking space corresponding to the parking instruction; the looking-around image synthesis module is used for generating looking-around auxiliary image information according to the looking-around information acquired by the APA system; the control command protocol module is used for storing a remote control protocol.

The following describes the physical modules and the software functional modules of the intelligent cockpit system respectively.

As shown in fig. 2, the physical modules in the intelligent cabin system include a CPU (which may be a cabin host CPU), a central control large screen, a video signal bus (GMSL/FPD Link), and a CAN/ethernet control bus.

The central control large screen comprises a display panel and is used for displaying a human-computer interaction interface, images, videos and the like, for example, the central control large screen displays an APA application window, and the APA application window displays parking space information corresponding to the searched parking space.

The CAN/ethernet bus is used for transmitting control signals.

The CPU (such as a cabin machine host CPU) is used for running software function modules such as APA application, map navigation application, control command protocol module, intelligent perception control service module and the like in the operating system.

The APA application is used for displaying parking space information; the map navigation application is used for generating navigation information according to a destination in a parking instruction sent by a user and guiding the user to go to the destination according to the navigation information; the control command protocol module is used for storing a remote control protocol; the functions of the intelligent perception control service module are described below and are not described in detail herein.

It will be appreciated that in embodiments of the present application, the APA system is connected to the intelligent cabin system via an in-vehicle bus, wherein the in-vehicle bus includes a video signal bus, a CAN/ethernet control bus.

The following describes the intelligent perception control service module of the intelligent cabin system provided by the embodiment of the application based on the framework diagram of the APA system and the intelligent cabin system shown in fig. 2.

As shown in fig. 3, in an embodiment of the present application, the intelligent cabin system may further include an intelligent perception control service module, where the intelligent perception control service module is configured to obtain intelligent perception information (or referred to as perception information, vehicle status information, etc.), make intelligent perception decisions, perform intelligent control, and record location information.

Wherein, the obtaining intelligent perception information includes:

Address fence information for a destination in a map navigation application is automatically obtained. In some embodiments, the obtaining mode may be that when the user sets the navigation task, the intelligent perception control service module registers an address fence of a destination corresponding to the monitoring navigation task with the map navigation application; when the vehicle is detected to reach the vicinity of the destination corresponding to the navigation task, namely, the vehicle reaches the destination address fence corresponding to the navigation task, reporting information of the vicinity of the destination; wherein the address fence information is a virtual position set around the GPS coordinates of the destination, for example, a fence range with a radius of 50m around the destination is set.

And automatically acquiring the parking position information of the history record. In some embodiments, the acquiring manner may be that, after the user completes automatic parking by using the APA application, the intelligent perception control service module automatically records parking location information (for example, GPS location information of a current parking lot and/or parking space information of a parking lot) to a database, where the parking lot and the parking space information of the parking lot at different locations may be recorded in multiple pieces of location information.

And automatically acquiring current speed information of the vehicle. In some embodiments, the obtaining mode may be that the intelligent perception control service module registers the current speed information of the monitoring vehicle.

The current position information of the vehicle, i.e., the current GPS position information, is automatically acquired. In some embodiments, the acquisition mode may be that the intelligent perception control service module queries the current GPS position information of the vehicle as required.

And automatically acquiring the parking space information searched by the APA system of the vehicle. In some embodiments, the acquiring manner may be that, when the APA system reports the searched parking space information to the intelligent cabin system, the intelligent perception control service module may acquire the parking space information searched by the APA system. The APA system and the intelligent cabin system CAN report the searched parking space information in a mode of an in-vehicle communication channel, and the parking space information CAN be transmitted in a mode of a bus signal of a CAN or a network signal of an Ethernet bus.

When the vehicle meets the triggering condition of the APA system, the intelligent perception control service module of the intelligent cabin system automatically informs the APA system to start parking space searching; the intelligent cabin system and the APA system transmit the notification command through an in-vehicle communication channel, and the signal transmitted by the in-vehicle communication channel comprises a bus signal based on CAN or a network signal of an Ethernet bus.

The trigger conditions of the APA system comprise that a user sets a destination, the vehicle reaches the vicinity of the destination and the vehicle speed is smaller than a set threshold value; or when the user does not set the destination, the vehicle speed is less than a set threshold, and the current position of the vehicle is a historical parking position; or when the user does not set the destination, the vehicle speed satisfies the first threshold, the current location of the vehicle is not the historic parking location, but the vehicle is currently located in the parking lot.

The intelligent control execution mode comprises the following steps of executing control when an intelligent perception control service module of the intelligent cabin system receives the searched parking space information reported by the APA system, and starting the APA of the intelligent cabin system to apply to a foreground. Specifically, the intelligent perception control service module automatically starts APA application to a foreground of the central control large screen, and displays the searched parking space information and the looking-around auxiliary image information; and the APA application can display the searched parking space information and the looking-around auxiliary image information in the forms of multi-application split screen window, floating window, full screen and the like based on the application scene of the current central control large screen foreground.

It can be understood that if the APA application interface is not displayed on the foreground of the screen of the intelligent cabin, the user cannot check whether the searched parking space exists through the APA application interface, but the embodiment of the application facilitates the user to more intuitively select the parking space by displaying the searched parking space information and the looking-around auxiliary image information on the foreground of the large central control screen, and improves the user experience.

The intelligent position information recording mode comprises the steps that after a user selects a parking place through an APA application of an intelligent cabin system and starts automatic parking, the APA system controls a vehicle to automatically park based on the parking place selected by the user, when the APA system controls the vehicle to automatically park, information of automatic parking completion is uploaded to the intelligent cabin system, an intelligent perception control service module of the intelligent cabin system records the GPS position information and/or the parking place information of a parking lot of the automatic parking to a historical database, and if the GPS position information and/or the parking place information of the parking lot are new positions, the information is newly recorded to the historical database.

According to the embodiment of the application, the intelligent perception control service module is arranged in the intelligent cabin system, so that fusion perception identification is carried out on the current speed, the current GPS position, the historical automatic parking position and the navigation destination position data of the vehicle; when the related information of the vehicle meets the triggering condition of the APA system, the intelligent perception control service module informs the APA system to search the parking space through the control command of the in-vehicle connection bus of the CAN/Ethernet. In addition, when the intelligent cabin system receives the parking space information searched by the APA system, the APA application is started to the foreground to display the parking space information and the looking-around auxiliary image information, so that a user can select a parking space, and the user experience is improved.

In the following, a method for automatically parking a vehicle will be described first in some embodiments:

As shown in fig. 4, when a user drives a vehicle to enter the parking area 101, the user manually triggers the APA system to search for a parking space, for example, by adjusting a steering wheel button/shift lever, an R gear, an APA application on the intelligent cabin system, a car voice assistant and the like, and after the APA system is triggered, the APA system senses the surrounding environment through a vehicle-mounted sensor to help the user find an empty parking space with a proper size, as shown in fig. 5, the APA system searches for the parking space 201. And then, the APA system sends the information of the found parking space to the user and inquires whether the vehicle is parked in the parking space, and when the user determines to park in the parking space, the APA system controls the vehicle to automatically park in the parking space.

However, in the above scheme, the user needs to manually trigger the APA system to search the parking space, and if the user forgets to trigger in advance, the user misses the search parking space. In addition, if the APA application is not displayed in the foreground in time, a user cannot check whether a searched parking space exists or not through an APA application interface, and cannot check environment information of the searched parking space.

In other embodiments, when a user starts a map navigation task and the vehicle arrives at a destination, the APA system is automatically triggered to search for a parking space, and when the user is prompted to select the parking space after the parking space is searched, the user is prompted to automatically park according to the parking space selected by the user.

However, the above scheme relies on the navigation task of the intelligent cabin system, if the navigation task is not started by the user in the current driving, even if the user arrives at the destination at this time, the APA system still cannot be automatically triggered to search for the parking space, and the user cannot be automatically reminded to select the parking space for parking.

In order to solve the above-mentioned problems, the embodiment of the present application provides a parking method applied to a vehicle-mounted electronic device, and it can be understood that in the embodiment of the present application, the vehicle-mounted electronic device may be a vehicle such as an intelligent automobile, or may be a vehicle-mounted device loaded on a vehicle such as an intelligent automobile. Judging whether a vehicle has a navigation task or not in the running process of the vehicle, when the vehicle is determined to have no navigation task, if the vehicle is detected to be running at a low speed, for example, the speed is smaller than a set threshold value, judging whether the vehicle is located in a set range of a historical parking position stored by the vehicle and/or in a parking area according to the current position (for example, a GPS position) of the vehicle, if the vehicle is located in the set range of the historical parking position stored by the vehicle and/or in the parking area, starting an APA system, searching for a parking space through the APA system, and starting an APA application to a central control large screen foreground to display the available parking space information and the looking-around auxiliary image information when the APA system searches for available parking space information so that a user can select a parking space to be parked. After the user selects the target parking space through the APA application, the APA system controls the vehicle to park into the target parking space selected by the user.

In some embodiments, if it is detected that the vehicle is traveling at a low speed and the vehicle is located in a set range of a historical parking location or in a parking area under the condition that the vehicle has a navigation task, an APA system may be started, and a parking space is searched through the APA system.

The parking method provided by the application judges the parking requirement of the user according to the GPS position of the vehicle, the speed of the vehicle, the automatically memorized historical parking position, whether navigation exists in the driving process, the current position of the vehicle and the like, so that the APA system is automatically triggered to search the parking space information when the user arrives at the destination. The problem that in the scheme of manually triggering the APA system to search the parking space, the user forgets to trigger the APA system to search the parking space, so that the best opportunity for searching the parking space is missed is avoided. And under the condition of no navigation task, the situation that the APA system cannot be automatically started occurs. And when the parking space is searched, the intelligent cabin system can automatically start the APA to be applied to the central control large screen foreground, and the central control large screen foreground displays the parking space information and the looking-around auxiliary image information, so that a user can conveniently select the parking space to be parked.

It can be understood that when the intelligent cabin system determines that the vehicle has a navigation task, the position of the vehicle is obtained in real time, whether the vehicle is located in a destination range corresponding to the navigation task is judged according to the position of the vehicle, and if the vehicle is located in the destination range corresponding to the navigation task, the APA system is started.

It can be appreciated that in some embodiments, the display manner of the APA application in the central large screen foreground may be adjusted according to the application scenario (e.g., application start condition) of the current central large screen foreground, for example, the APA application may be presented in a full screen form, or may be presented in a split screen window, a floating window, or the like. For example, the central large screen foreground is currently a map navigation application, and in order to avoid shielding the map navigation application, the map navigation application and the APA application may be displayed in a split-screen multi-window manner. For another example, the central large screen foreground is a system desktop interface, and the APA application may hover over the system desktop interface in a hover window manner. And when the user selects the target parking place to start automatic parking, the APA application of the intelligent cabin system automatically changes to full-screen display so as to ensure the driving safety of the user during automatic parking.

It will be appreciated that in some embodiments, after the automatic parking is completed, the APA system may notify the intelligent cockpit system to record the location information of the current parking, so as to recommend the user to use the automatic parking function later, that is, to automatically start the automatic parking.

In some embodiments, after triggering the automatic parking function because the vehicle is in the set range area and the parking area of the historical parking position, if the user does not use the automatic parking function, i.e. does not park more than a set number of times, for example 3 times, the corresponding parking area or the set range area of the historical parking position will no longer be used to trigger the APA system to search for a parking space.

In the embodiment of the application, when the APA system is triggered, the APA system can control the vehicle-mounted sensor to detect the surrounding environment of the vehicle so as to search a parking space with proper size, and when the APA system searches the parking space, the APA system sends the parking space information to the intelligent cabin system.

In summary, the embodiment of the application adopts the multimode fusion sensing method combining the current GPS position of the vehicle, the current speed, the automatically memorized historical parking position, the geographic fence of the map navigation destination and the parking space searching function of the APA system, so that when the vehicle meets the triggering condition of the APA system for searching the parking space, the APA system is automatically triggered to search the parking space information, and the problem that the user forgets to trigger the APA system to search the parking space and the optimal opportunity for searching the parking space is missed in the scheme of manually triggering the APA system is avoided. And when the parking space is searched, the APA of the intelligent cabin system is automatically started to be applied to the foreground so that a user can select the searched parking space, the purpose that the APA system is intelligently started to park in the parking space is achieved, and user experience is improved.

The parking method provided by the embodiment of the application is described in detail below with reference to the vehicle-mounted electronic device (or intelligent automobile) having the above-mentioned APA system and intelligent cabin system. Fig. 6 is a schematic flow chart of a parking method according to an embodiment of the present application, where the parking method includes:

601, judging whether a navigation task exists in a current running path of a vehicle; if the judgment result is yes, the process goes to 611 to acquire the current position of the vehicle, and if the judgment result is no, the process goes to 602 to acquire the current speed of the vehicle.

It can be understood that in the embodiment of the application, the default vehicle is currently in a driving state, during the driving process of the vehicle, the intelligent cabin system can firstly judge whether a navigation task exists, when the navigation task exists, acquire the current position of the vehicle to judge whether the vehicle has arrived at a destination according to the current position, and when the navigation task does not exist, acquire the current speed of the vehicle to judge whether a user has an intention of parking and searching for a parking space according to the current speed.

602, Obtaining a current speed of the vehicle.

In the embodiment of the application, the intelligent perception control service module can register the current speed of the monitored vehicle so as to judge whether the current speed is smaller than the set threshold value.

603, Judging whether the current vehicle speed is smaller than a set threshold value; if the judgment result is yes, the process goes to 604, and if the judgment result is no, the process goes to 602, and the vehicle speed is continuously monitored.

It will be appreciated that the set threshold may be set according to the actual situation, for example 20Km/h.

In some embodiments, it may be determined whether the vehicle speed is less than 20Km/h, if the vehicle speed is less than 20Km/h, the current position of the vehicle is obtained, and if the vehicle speed is greater than 20Km/h, the vehicle speed is monitored continuously.

In the embodiment of the application, for the scene that the user does not set the navigation task, the vehicle speed is smaller than the set threshold value as one of conditions for triggering the APA system to search the parking space. It can be understood that when the vehicle speed is smaller than the set threshold value, the vehicle is determined to be in a low-speed running state, and at this time, it can be judged that the user has an intention to find a parking space.

604, Obtaining the current position of the vehicle.

In the embodiment of the application, the current position of the vehicle can be obtained through the intelligent perception control service module, wherein the current position of the vehicle can be the current GPS position information of the vehicle.

605, Judging whether the vehicle is positioned at a historical parking position according to the current position of the vehicle; if yes, turning to 607, starting parking space searching and obtaining parking space information; if the result is negative, go to 606, and judge whether the vehicle is in the parking lot according to the current position of the vehicle.

In the embodiment of the application, the current position of the vehicle can be matched with the historical parking position by adopting GPS longitude and latitude coordinates and a point of interest (point of interest, POI) mode, and meanwhile, a certain position fence range (such as a 50m range) can be allowed to exist in the historical parking position. That is, when the current position of the vehicle is within 50 meters of the historic parking position, it may be determined that the current position of the vehicle matches the historic parking position.

It can be appreciated that if the vehicle has driven away (beyond the range of the location fence) from the historical parking location, the intelligent perception control service module will actively inform the APA system to end searching for the parking space when the APA system has not yet searched for the parking space.

It will be appreciated that when the vehicle speed is less than the set threshold and the vehicle is in a historic park position, it may be determined that the user has an intent to find a parking spot.

606, Judging whether the vehicle is positioned in a parking lot or not according to the current position of the vehicle; if yes, turning to 607, starting parking space searching and obtaining parking space information; if the judgment result is negative, the method goes to 602, and the vehicle speed is continuously monitored.

It is understood that when the vehicle speed is less than the set threshold value, the vehicle is not located at the historic parking position, but the vehicle is located in the parking lot, it is determined that there is a possibility that the vehicle reaches the destination.

It can be appreciated that in the embodiment of the present application, whether the vehicle is located at the historical parking position may be determined first, and when the vehicle is not located at the historical parking position, whether the vehicle is located in the parking lot may be determined; in some embodiments, it may also be determined whether the vehicle is in the parking lot, and when the vehicle is not in the parking lot, it is determined whether the vehicle is in the historical parking location; in other embodiments, it may also be determined whether the vehicle is in a historic parking location or a parking lot; the method for determining the current position of the vehicle is not particularly limited.

And 607, starting parking space searching and obtaining parking space information.

In the embodiment of the application, the parking space can be searched through the APA system, and the parking space information can comprise the size, the position, the surrounding obstacles and the like of the parking space.

And 608, displaying the searched parking space information.

In the embodiment of the application, when the parking space information is acquired, the APA is started to be applied to the front stage of the central control large screen, and the searched parking space information is displayed so that a user can select whether to park or not and select a parking space to park. The parking space information can be displayed in the form of pictures and characters.

It can be appreciated that in some embodiments, the display manner of the APA application in the central large screen foreground may be adjusted according to the application scenario (e.g., application start condition) of the current central large screen foreground, for example, the APA application may be presented in a full screen form, or may be presented in a split screen window, a floating window, or the like. For example, the central large screen foreground is currently a map navigation application, and in order to avoid shielding the map navigation application, the map navigation application and the APA application may be displayed in a split-screen multi-window manner. For another example, the central large screen foreground is a system desktop interface, and the APA application may hover over the system desktop interface in a hover window manner. And when the user selects a parking place to start automatic parking, the APA application of the intelligent cabin system automatically changes to full-screen display so as to ensure the driving safety of the user during automatic parking.

609, Acquiring a parking instruction sent by a user.

It can be understood that the parking instruction sent by the user includes whether to park or not and the parking space to be parked. In some embodiments, the user may choose to initiate parking and the parking spot that needs to be parked, or may choose not to initiate parking, in the APA application interface. When the APA application detects a parking instruction of the user, the parking instruction can be sent to the APA system, so that the APA system controls the vehicle to park according to the parking instruction.

And 610, controlling the vehicle to park according to the parking instruction.

It can be understood that if a parking instruction sent by a user is received, the APA system controls the vehicle to automatically park into a parking space; if the received instruction sent by the user is not to start the parking instruction, the APA system stops searching the parking space.

After the user finishes automatic parking by using the APA system, the intelligent perception control service module automatically records GPS position information and/or parking space information of the current parking lot to the historical database; the parking lots and the parking spaces at different positions can be recorded by a plurality of pieces of position information.

611, Obtaining the current position of the vehicle.

It can be understood that when the intelligent cabin system determines that the vehicle has a navigation task, the position of the vehicle (for example, the GPS position information of the vehicle) can be obtained in real time, and whether the vehicle is located in a destination range corresponding to the navigation task is determined according to the position of the vehicle, and if the vehicle is located in the destination range corresponding to the navigation task, the APA system is started.

And 612, determining that the vehicle reaches a destination corresponding to the navigation task according to the current position of the vehicle.

It may be appreciated that in the embodiment of the present application, whether the vehicle reaches the destination corresponding to the navigation task may be determined according to the current position of the vehicle, if yes, the process goes to 607 to start the parking space search to obtain the parking space information, and if no, the current position of the vehicle is continuously obtained in real time.

It will be appreciated that in embodiments of the present application, the current location of the vehicle may refer to current GPS location information of the vehicle. The destination corresponding to the navigation task may direct any range within the destination address fence corresponding to the navigation task, for example, any position within the fence range with a radius of 60m around the destination corresponding to the navigation task.

It can be understood that when the user sets the navigation task, the intelligent perception control service module registers destination address fence information corresponding to the monitoring navigation task to the map navigation application; when the situation that the vehicle reaches the vicinity of the destination corresponding to the navigation task is detected, namely, when the vehicle reaches any position in the destination address fence corresponding to the navigation task, the information about the vicinity of the destination is reported, and the problem that a user forgets to trigger an APA system to search a parking space and misses the best time for searching the parking space is avoided; where the address fence is a virtual location set around the GPS coordinates of the destination, e.g., a fence range with a radius of 50m is set around the destination.

In the embodiment of the application, the destination corresponding to the navigation task is used as the area for triggering the searching of the parking space, so that even if a user does not manually trigger the APA system to search the parking space, the APA system can automatically search the parking space when approaching the destination, and the user experience is improved.

In some embodiments, when a navigation task exists in a driving path of a vehicle, if the intelligent perception control service module monitors that the vehicle speed at the current moment is smaller than a set threshold value and the current position of the vehicle is in a set range area of a historical parking position and/or a parking area, triggering the APA system to search for a parking space.

The parking method provided by the application judges the parking requirement of the user according to the GPS position of the vehicle, the speed of the vehicle, the automatically memorized historical parking position, whether navigation exists in the driving process, the current position of the vehicle and the like, so that the APA system is automatically triggered to search the parking space information when the user arrives at the destination. The problem that the user forgets to trigger the APA system to search the parking space and the optimal time for searching the parking space is missed in the scheme of manually triggering the APA system to search the parking space is avoided, and the situation that the APA system cannot be automatically started under the condition of no navigation task is avoided. And when searching the parking stall, intelligent cabin system can automatic start APA and be applied to the big screen foreground of well accuse, and the big screen foreground of well accuse shows parking stall information and looks around auxiliary image information, and the user of being convenient for selects the parking stall that needs to berth into, effectively improves user experience.

It will be appreciated that the steps of the parking method shown in fig. 6 in the embodiment of the present application may include more or less steps than those described above, and that although the steps in the flowchart in the embodiment of the present application are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in any other order. Moreover, at least some of the steps in the figures may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily occurring in sequence, but may be performed alternately or alternately with other steps or at least a portion of the other steps or stages.

The following describes a parking method according to an embodiment of the present application with reference to an on-vehicle electronic device (or an intelligent car) having the above-mentioned APA system and intelligent cabin system, as shown in fig. 7, fig. 7 is a schematic diagram of a parking method according to an embodiment of the present application in which a vehicle has no navigation destination and the vehicle is located in a historical parking location, where the parking method includes:

701, the intelligent perception control service module monitors the speed information of the vehicle.

It can be understood that in the embodiment of the application, the current scene that the APA system does not start the parking space searching, the map navigation application does not navigate, and the APA application does not run in the background is used for illustration.

It can be appreciated that the intelligent perception control service module can monitor the speed information of the vehicle in real time.

702, The intelligent perception control service module periodically inquires the current position of the vehicle when the vehicle runs at a low speed.

It is understood that when the speed of the vehicle is less than the set threshold value, it is determined that the vehicle is traveling at a low speed; for example, when the speed of the vehicle is less than 20Km/h, it is determined that the vehicle is traveling at a low speed. The intelligent perception control service module can register and monitor the speed information of the current vehicle to acquire the speed of the vehicle, and can inquire the current position of the vehicle as required, such as inquiring the current GPS position information of the vehicle.

The intelligent perception control service module determines 703 that the current location of the vehicle is a historic auto park location.

In the embodiment of the application, GPS longitude and latitude coordinates and POI interest points can be adopted to match the current position of the vehicle with the historic memory automatic parking position, and a certain position fence range (such as a 50-meter range) is allowed. For example, when the current position of the vehicle is at an arbitrary position within 50 meters of the historic automatic parking position, it is determined that the current position matches the historic automatic parking position.

It will be appreciated that when the current location is a location where none of the users have used the auto park function after intelligent recommendation to the user a number of times (e.g., more than 3), the parking space is no longer searched.

And 704, the intelligent perception control service module sends an instruction for starting the parking space search to the APA system.

And 705, the APA system starts parking space searching to obtain parking space information and looking around auxiliary image information.

As shown in fig. 8, the intelligent trigger APA system searches for a parking space when the vehicle is about to reach the parking area 101.

It will be appreciated that if the vehicle has traveled off (beyond the range of the location fence) historically remembers the auto park location, when the APA system still does not search the parking space, the intelligent perception control service module can actively inform the APA system to finish searching the parking space. If the APA system does not search available parking space information, the APA application is not automatically started to be displayed on the foreground interface, so that interaction experience of a user on the current central control screen interface is not disturbed. The embodiment of the application improves the interference of the error starting APA to the user and improves the matching problem of intelligent recommendation to the user expectation.

Therefore, the embodiment of the application realizes the triggering of the APA system to search the parking space according to the requirement, and reduces the system overhead of the APA system to search the parking space in real time.

And 706, the APA system sends the parking space information to the intelligent perception control service module.

The parking space information can comprise the size, the position, surrounding obstacles and the like of the parking space, and can be displayed in the form of pictures and characters.

707, The intelligent perception control service module sends an instruction for starting the APA application to the APA application.

And 708, the APA system sends the parking space information and the look-around auxiliary image information to the APA application.

And 709, the APA application displays the parking space information and the looking-around auxiliary image information on the foreground.

In the embodiment of the application, the started APA application can be presented in the forms of multi-application split screen, floating window, full screen and the like according to the current application scene (such as application starting condition) of the large-screen foreground controlled in the intelligent cabin.

For example, the central large screen foreground is a map navigation application, and in order to avoid shielding the map navigation application, the map navigation application and the APA application can be displayed in a split-screen multi-window mode; or when the central control large screen foreground is a system desktop interface, the APA application can be suspended on the desktop interface in a window mode; or after the user selects the parking space to start automatic parking, the intelligent cabin APA application automatically changes to full-screen display.

710, The user selects a parking space and sends an instruction for starting automatic parking to the APA application.

The method for selecting the parking space by the user and sending the instruction for starting the automatic parking to the APA application can select the parking for the user on the APA application interface and select the operation for parking the parking space.

711 The APA application sends an instruction to initiate auto park to the APA system.

The APA system performs automatic parking 712.

713 The APA system sends information to the APA application that the automated parking is complete.

The APA application displays the auto park complete 714.

According to the embodiment of the application, aiming at the scene that the user does not set the navigation task and the vehicle is in low-speed driving, destination-independent navigation is realized, and the APA system can still be controlled to search the parking space information according to the needs according to the triggering conditions of different scenes. And when the current position of the vehicle is determined to be the historic parking position, automatically starting the APA system to search the parking space, and when the parking space is searched, starting the APA of the intelligent cabin system to be applied to a foreground of the central control large screen to display the parking space information and the looking-around auxiliary image information, so that a user can conveniently select the parking space, and automatic parking is completed in one step. In addition, after automatic parking is completed, the intelligent cabin system automatically records the current parking space to the historical database so as to automatically and intelligently recommend the vehicle based on the parking space next time, so that the user is intelligently reminded of using one key to automatically park when the vehicle enters the same position again, and the user experience is improved.

It will be appreciated that the steps of the parking method shown in fig. 7 in the embodiment of the present application may include more or less steps than those described above, and that although the steps in the flowchart in the embodiment of the present application are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in any other order. Moreover, at least some of the steps in the figures may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily occurring in sequence, but may be performed alternately or alternately with other steps or at least a portion of the other steps or stages.

The following describes a parking method according to an embodiment of the present application with reference to an on-board electronic device (or an intelligent vehicle) having the above-mentioned APA system and intelligent cabin system, as shown in fig. 9, fig. 9 is a schematic diagram of a parking method when a vehicle has no navigation destination according to an embodiment of the present application, where the parking method includes:

And 901, the intelligent perception control service module monitors the speed information of the vehicle.

902, The intelligent perception control service module periodically inquires the current position of the vehicle when the vehicle runs at a low speed.

903 The intelligent awareness control service module determines that the current location of the vehicle is not a historic auto park location.

904, The intelligent perception control service module determines that the current position of the vehicle is a parking lot, and non-recommends unused positions for a plurality of times.

In the embodiment of the application, the current position of the vehicle can be matched with the parking place by adopting GPS longitude and latitude coordinates and POI interest points, and a certain position fence range (such as a 50-meter range) is allowed. For example, when the current position of the vehicle is at an arbitrary position within 50 meters of the parking lot position, it is determined that the current position is located in the parking lot.

905, The intelligent perception control service module sends an instruction for starting parking space searching to the APA system.

And 906, starting parking space searching by the APA system to obtain parking space information and looking around auxiliary image information.

It can be appreciated that if the vehicle has driven away (beyond the range of the position fence) from the parking area, the intelligent perception control service module actively informs the APA system to end searching for the parking space when the APA system still does not search for the parking space. If the APA system does not search available parking space information, the APA application is not automatically started to be displayed on the foreground interface, so that interaction experience of a user on the current central control screen interface is not disturbed. The embodiment of the application improves the interference of the error starting APA to the user and improves the matching problem of intelligent recommendation to the user expectation.

907, The APA system sends the parking space information to the intelligent perception control service module.

The intelligent awareness control service module sends 908 an instruction to the APA application to launch the APA application.

And 909, the APA system sends the parking space information and the look-around auxiliary image information to the APA application.

And 910, the APA application displays the parking space information and the looking-around auxiliary image information on the foreground.

911 The user selects a parking space and sends an instruction to the APA application to initiate automatic parking.

912, The APA application sends an instruction to initiate auto park to the APA system.

913. The APA system performs automatic parking.

914, The APA system sends information of automatic parking completion to the APA application.

915 APA application displays auto park complete.

And 916, the APA application sends information that the user finishes automatic parking by using the recommended parking space to the intelligent perception control service module.

917 The intelligent perception control service module records the current automatic parking position to the history database.

918, The user sends an instruction to the APA application not to initiate automatic parking.

The manner in which the user sends the instruction to the APA application to not initiate automatic parking may be for the user to select an operation to not park in the APA application interface.

The APA application sends information that the user does not use the recommended parking space to finish automatic parking to the intelligent perception control service module 919.

And 920, the intelligent perception control service module records information that the user does not use the recommended parking space to finish automatic parking to the historical database.

In the embodiment of the application, when no navigation task exists, the current position is not the historical automatic parking position, and the vehicle is in a low-speed driving state, when the current POI position of the vehicle is determined to be a parking lot, the APA system can be automatically started to search for the parking space, and the searched parking space is displayed on the foreground of the central control large screen through the APA, so that a user can conveniently select the parking space to finish automatic parking in one step.

In addition, in the embodiment of the application, after the automatic parking is completed, the intelligent cabin system records the current parking position so that the next automatic intelligent recommendation can be realized. If the parking lot position is intelligently recommended to the user for a plurality of times (for example, more than 3 times), the user does not use the automatic parking function, and the user can not automatically search for the parking space to remind the user when aiming at the parking lot position next time, so that the recommended use condition of the system by the user is recorded, the situation that the parking lot position or the historical parking position is not recommended when the user does not want to use the APA system when the vehicle is in a set range area of the parking lot position or the historical parking position recommended by the vehicle is realized, and the parking lot position or the historical parking position is continuously recommended when the user is willing to use the APA system is avoided, the interference to the user is avoided, and the user experience is improved.

It will be appreciated that the steps of the parking method shown in fig. 9 in the embodiment of the present application may include more or less steps than those described above, and that although the steps in the flowchart in the embodiment of the present application are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in any other order. Moreover, at least some of the steps in the figures may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily occurring in sequence, but may be performed alternately or alternately with other steps or at least a portion of the other steps or stages.

The following describes a parking method according to an embodiment of the present application in conjunction with an on-board electronic device (or an intelligent vehicle) having the above-mentioned APA system and intelligent cabin system, as shown in fig. 10, fig. 10 is a schematic diagram of a parking method according to an embodiment of the present application, where the parking method includes:

1001, determining that the vehicle is in a driving state.

1002, Judging whether the vehicle has a navigation task; if yes, go to 1003: judging whether the vehicle reaches a destination; if the determination result is no, then go to 1004: it is determined whether the vehicle is traveling at a low speed.

1003, Judging whether the vehicle reaches a destination; if yes, turning to 1008, informing the APA system to search the parking space; if the determination is negative, the process proceeds to 1003 where it is determined whether the vehicle has arrived at the destination.

In the embodiment of the application, the current position of the vehicle, such as the current GPS position information of the vehicle, can be queried as required through the intelligent perception control service module, and then whether the vehicle reaches the destination corresponding to the navigation task is judged according to the current position of the vehicle.

In the embodiment of the application, GPS longitude and latitude coordinates and POI interest points can be adopted to match the current position of the vehicle with the destination corresponding to the navigation task, and a certain position fence range (such as a 50-meter range) is allowed. For example, when the current position of the vehicle is within 50 meters of the destination corresponding to the navigation task, it is determined that the current position matches the destination corresponding to the navigation task.

1004, Judging whether the vehicle runs at a low speed; if yes, go to 1005 to inquire the position of the vehicle; if not, the process proceeds to 1004 to determine whether the vehicle is traveling at a low speed.

In the embodiment of the present application, the current speed of the vehicle may be obtained first, then, whether the vehicle runs at a low speed is determined according to the current speed, and the method for determining whether the vehicle runs at a low speed according to the current speed is referred to step 603 in the embodiment shown in fig. 6, which is not described herein again.

1005, Inquiring the position of the vehicle.

1006, Judging whether the vehicle is located at a historical parking position; if yes, turning to 1008, informing the APA system to search the parking space; if the determination is negative, then go to 1007 to determine if the vehicle is at the parking location.

It can be appreciated that the method for determining whether the vehicle is located in the historical parking location according to the current location is referred to as step 605 in the embodiment shown in fig. 6, and will not be described herein.

1007, Judging whether the vehicle is at the parking place; if yes, turning to 1008, informing the APA system to search the parking space; if not, the process proceeds to 1004 to determine whether the vehicle is traveling at a low speed.

It can be appreciated that the method for determining whether the vehicle is located at the parking lot according to the current position is referred to as step 904 in the embodiment shown in fig. 9, and will not be described herein.

1008, Informing the APA system to search the parking space.

1009, Judging whether the parking space is searched; if yes, then go to 1010, report the parking space information searched; if not, go to 1009 to determine whether the parking space is searched.

And 1010, reporting the searched parking space information.

1011 To initiate the APA application to the foreground.

It will be appreciated that the method for starting the APA application to the foreground refers to step 709 of the embodiment shown in fig. 7, and will not be described herein.

1012, Judging whether the user starts parking; if yes, go to 1013 to notify APA system to park; if not, the method goes to 1017 to inform the APA system to stop searching the parking space.

1013 Notify the APA system to park.

It can be appreciated that when the user selects parking in the APA application interface and selects an operation requiring parking in the parking space, the APA system is notified to park.

1014 APA system controls the automatic parking of the vehicle.

And 1015, reporting the completion of automatic parking by the APA system.

1016, Recording the auto park position.

1017, Notifying the APA system to stop searching the parking space.

It will be appreciated that when the user selects the operation of not parking in the APA application interface, the APA system is notified to stop searching for a parking space.

In summary, the parking method can judge the parking requirement of the user according to the GPS position of the vehicle, the speed of the vehicle, the automatically memorized historical parking position, whether navigation exists in the driving process, the current position of the vehicle and the like, so that the APA system is automatically triggered to search the parking space information when the user arrives at the destination. The problem that in the scheme of manually triggering the APA system to search the parking space, the user forgets to trigger the APA system to search the parking space, so that the best opportunity for searching the parking space is missed is avoided. And under the condition of no navigation task, the situation that the APA system cannot be automatically started occurs. And when the parking space is searched, the intelligent cabin system can automatically start the APA to be applied to the central control large screen foreground, and the central control large screen foreground displays the parking space information and the looking-around auxiliary image information, so that a user can conveniently select the parking space to be parked.

It will be appreciated that the steps of the parking method shown in fig. 10 in the embodiment of the present application may include more or less steps than those described above, and that although the steps in the flowchart in the embodiment of the present application are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in any other order. Moreover, at least some of the steps in the figures may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily occurring in sequence, but may be performed alternately or alternately with other steps or at least a portion of the other steps or stages.

The embodiment of the application provides vehicle-mounted electronic equipment, which comprises an automatic parking auxiliary system and an intelligent cabin system; the intelligent cabin system is used for determining that the vehicle has no navigation task at the current moment and the speed of the vehicle is smaller than a first threshold value; the intelligent cabin system is used for acquiring the position of the vehicle at the current moment; the intelligent cabin system is used for sending a start search instruction to the automatic parking auxiliary system when the position of the vehicle is in a preset area corresponding to the current moment, wherein the preset area comprises a set range area of the historical parking position and/or a parking area; the automatic parking assist system initiates a parking space search in response to the initiation search command.

The embodiment of the application provides a vehicle, which comprises the vehicle-mounted electronic equipment.

It should be noted that in the drawings, some structural or method features may be shown in a specific arrangement and/or order. However, it should be understood that such a particular arrangement and/or ordering may not be required. Rather, in some embodiments, these features may be arranged in a different manner and/or order than shown in the illustrative figures. Additionally, the inclusion of structural or methodological features in a particular figure is not meant to imply that such features are required in all embodiments, and in some embodiments, may not be included or may be combined with other features.

It should be noted that, in the embodiments of the present application, each unit/module mentioned in each device is a logic unit/module, and in physical terms, one logic unit/module may be one physical unit/module, or may be a part of one physical unit/module, or may be implemented by a combination of multiple physical units/modules, where the physical implementation manner of the logic unit/module itself is not the most important, and the combination of functions implemented by the logic unit/module is only a key for solving the technical problem posed by the present application. Furthermore, in order to highlight the innovative part of the present application, the above-described device embodiments of the present application do not introduce units/modules that are less closely related to solving the technical problems posed by the present application, which does not indicate that the above-described device embodiments do not have other units/modules.

It should be noted that in the examples and descriptions of this patent, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitation, an element defined by the phrase "comprising" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

While the application has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the application.

Claims

1. A parking method, applied to an in-vehicle electronic device, comprising:

determining that the speed of the vehicle at the current moment is smaller than a first threshold value;

Acquiring the position of the vehicle at the current moment;

and starting parking space searching when the position of the vehicle is in a preset area corresponding to the current moment.

2. The parking method according to claim 1, wherein the preset area includes a set range area and/or a parking area of a historic parking position.

3. The parking method according to claim 2, characterized by comprising: the determining that the vehicle speed of the vehicle at the current moment is smaller than a first threshold value comprises the following steps: and determining that the vehicle has no navigation task at the current moment and the speed of the vehicle is smaller than the first threshold value.

4. A parking method according to any one of claims 1 to 3, further comprising: when a parking space is searched, controlling a central control large screen of the vehicle-mounted electronic equipment to display parking space information corresponding to the searched parking space;

when a parking instruction sent by a user is received, controlling the vehicle to park in a parking space corresponding to the parking instruction.

5. A parking method according to any one of claims 1 to 3, further comprising: when the current parking position information of the vehicle is not stored in the vehicle-mounted electronic equipment, the current parking position information of the vehicle is recorded as a historical parking position.

6. The parking method of claim 4, further comprising: the control of the central control large screen of the vehicle-mounted electronic equipment displays the parking space information corresponding to the searched parking space, and the control comprises the following steps:

And controlling a central control large screen of the vehicle-mounted electronic equipment to display a window corresponding to an automatic parking auxiliary application, wherein the window corresponding to the automatic parking auxiliary application displays the parking space information corresponding to the searched parking space.

7. The method according to claim 6, wherein the controlling the central large screen of the vehicle-mounted electronic device to display a window corresponding to an automatic parking assistance application includes:

Determining a display form of a window corresponding to the automatic parking auxiliary application based on a foreground application starting condition of a central control large screen of the vehicle-mounted electronic equipment, wherein the display form comprises full screen display, split screen display and suspension display;

And controlling a central control large screen of the vehicle-mounted electronic equipment to display a window corresponding to the automatic parking auxiliary application based on the display form.

8. The parking method of claim 7, further comprising: and when a parking instruction sent by a user is received, displaying a window corresponding to the automatic parking auxiliary application in a full screen mode.

9. A parking method according to any one of claims 1-3, wherein the position of the vehicle corresponding to the current time is in a preset area, and initiating a parking space search comprises:

And if the position of the vehicle is in the preset area corresponding to the current moment, if the number of times that the history user does not select the preset area to park is less than or equal to a second threshold value, starting parking space searching.

10. The parking method according to claim 9, wherein the position of the vehicle corresponding to the current time is in the preset area, and if it is determined that the number of times the history user does not select the preset area for parking is greater than the second threshold value, a parking space search is not started.

11. The parking method according to claim 1, wherein when it is determined that the vehicle has a navigation task and the position of the vehicle at the current time is in a set range area of a destination corresponding to the navigation task of the vehicle, a parking space search is started.

12. An electronic device, comprising: a memory for storing instructions for execution by one or more processors of the electronic device, and the processor, which is one of the one or more processors of the electronic device, for performing the parking method of any of claims 1-11.

13. A readable medium having stored thereon instructions that, when executed on an electronic device, cause the electronic device to perform the parking method of any one of claims 1 to 11.