Patent Description:
With the rise of vehicle technologies, autonomous driving technologies have attracted more and more attention. The automatic driving technologies comprise such a function of automatic parking.

At present, a realization process of the automatic parking function is as follows: a driver drives a vehicle to a position which is in front of and proximate to a parking slot, then manually enables the automatic parking function, and then the vehicle automatically reverses into the parking slot to complete automatic parking. However, as the control distance of automatic parking is very short, the workload for the driver to realize automatic parking is heavy, the driving duration is relatively long, and the convenience of parking is low. <CIT> discloses an intelligent parking method, wherein the intelligent parking method is applied to a vehicle, and the method comprises: determining a target parking route from at least one pre-stored parking route; determining a target position point in the target parking route closest to a vehicle; sending a prompt message for driving the vehicle to the target position point to a driver of the vehicle when a current position point of the vehicle and the target position point satisfy a proximity matching condition;and when the vehicle is driven to the target position point, controlling the vehicle to park according to the target parking route from the target position point.

In view of this, the present invention aims to propose an intelligent parking method and apparatus to solve the problems in the prior art that the workload for the driver to realize automatic parking is heavy, the driving duration is long, and the convenience of parking is low due to the short control distance of automatic parking.

To achieve the above objects, the technical solutions of the present invention are implemented as follows:
In a first aspect, an intelligent parking method applied to a vehicle is provided, comprising the features of claim <NUM>. It comprises:.

Further, before the step of determining the target position point from the at least one pre-stored parking route, the method further comprises:.

Further, the step of sending the prompt message for driving the vehicle to the target position point to the driver of the vehicle when the current position point of the vehicle and the target position point satisfy the proximity matching condition comprises:.

Further, before the step of, when the vehicle drives to the target position point, controlling the vehicle to park according to the target parking route from the target position point, the method further comprises:.

Further, the step of determining the target position point in the target parking route closest to the vehicle comprises:.

Compared with the prior art, the intelligent parking method according to the present invention invention has the following advantages:
In the embodiment of the present invention, the vehicle receives a parking instruction, in response to the parking instruction, determines the target parking route from the at least one pre-stored parking route and determines the target position point closest to the vehicle in the target parking route; when the current position point of the vehicle and the target position point satisfy the proximity matching condition, that is, when the vehicle is in a vicinity of the target parking route, controls the vehicle to drive to the target position point, and controls the vehicle to park according to the target parking route from the target position point. Thus, the driver merely needs to drive the vehicle to the vicinity of the target parking route, and the vehicle may perform intelligent parking. In the embodiment of the present invention, the vehicle may complete intelligent parking at a longer distance, without driving the vehicle to a position in front of a parking slot and immediately adjacent to the parking slot for automatic parking, thereby saving the workload and the driving duration of the driver for achieving automatic parking, and improving the convenience of parking.

Another object of the present invention aims at providing an intelligent parking apparatus according to claim <NUM>. comprising:.

Further, the apparatus further comprises:.

Further, the second determining module comprises:.

The intelligent parking apparatus has the same advantages as that of the above-mentioned intelligent parking method relative to the prior art, which will not be elaborated herein.

The above description is merely a summary of the technical solutions of the present invention. In order to more clearly know the technical means of the present invention to enable the implementation according to the contents of the description, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, the particular embodiments of the present invention are provided below.

In order to more clearly illustrate the technical solutions of the embodiments of the present invention or the prior art, the drawings that are required to describe the embodiments or the prior art will be briefly introduced below.

Drawings constituting a part of the present invention here serve to provide a further understanding of the present invention, and the illustrative embodiments of the present invention and together with the description thereof serve to explain the present invention, and do not constitute inappropriate restriction to the present invention. In the drawings:.

In order to make the objects, the technical solutions and the advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. Apparently, the described embodiments are merely certain embodiments of the present invention, rather than all of the embodiments.

The present invention will be explained in detail with reference to the accompanying drawings and embodiments hereinafter.

<FIG> shows a flow chart of an intelligent parking method provided by the first embodiment of the present invention. The intelligent parking method is applied to a vehicle, as shown in <FIG>, the method includes:.

In the embodiment of the present invention, when the vehicle is driven to the target position point, the vehicle may automatically park according to the target parking route from the target position point until the vehicle is driven to an ending point of the target parking route, thus completing automatic parking.

In the embodiment of the present invention, the vehicle determines the target parking route from the at least one pre-stored parking route and determines the target position point closest to the vehicle in the target parking route; sends the prompt message of driving the vehicle to the target position point to the driver of the vehicle when the current position point of the vehicle and the target position point satisfy the proximity matching condition, that is, when the vehicle is in a vicinity of the target parking route, controls the vehicle to park according to the target parking route from the target position point when the vehicle is driven to the target position point. Thus, the driver merely needs to drive the vehicle to the vicinity of the target parking route, and the vehicle may perform intelligent parking. In the embodiment of the present invention, the vehicle may complete intelligent parking at a longer distance, without driving the vehicle to a position which is close to the front adjacent parking slot to perform automatic parking, thereby saving the workload and the driving duration of the driver for achieving automatic parking, and improving the convenience of parking.

<FIG> shows a flow chart of an intelligent parking method provided by the second embodiment of the present invention. The intelligent parking method is applied to a vehicle, as shown in <FIG>, the method comprises:
Step <NUM>: shooting a plurality of driving images when receiving a route learning instruction.

In the embodiment of the present invention, a user may click a "Route learning" option in an intelligent parking interface to trigger a route learning instruction. When the vehicle receives the route learning instruction, the vehicle will start an Around View Monitor (AVM) system thereof. The vehicle may shoot a plurality of driving images in a driving process through an ultrasonic radar and a panoramic camera in the AVM system. The driving image may include surrounding objects during the driving process, such as fixed parking signs, parking slot lines or fixed buildings.

For example, <FIG> shows an interface diagram of an intelligent parking interface provided by the second embodiment of the present invention. As shown in <FIG>, the intelligent parking interface <NUM> includes the "Route learning" option <NUM>. When the user clicks the "Route learning" option <NUM> in the intelligent parking interface <NUM>, the vehicle may shoot a plurality of images during a driving process through the panoramic camera.

Optionally, <FIG> shows a block diagram of a system of the vehicle provided by the second embodiment of the present invention, including: a sensor <NUM>. The sensor <NUM> includes an ultrasonic sensor in an ultrasonic radar and an image sensor in a panoramic camera, and is mainly configured for collecting information about a surrounding environment of the vehicle. The vehicle may complete the step of shooting various driving images through the sensor <NUM>.

Optionally, referring to <FIG>, the system of the vehicle further includes a display unit <NUM>. The display unit <NUM> may be configured for interface displaying, so the step of displaying the intelligent parking interface may be completed through the display unit <NUM>.

Optionally, before step <NUM>, the vehicle may also detect environmental parameters.

In the embodiment of the present invention, the environmental parameters include a learning environmental parameter and a parking environmental parameter, wherein the learning environmental parameter includes an illumination intensity of the environment, and the parking environmental parameter includes whether a surrounding scene is any one of an indoor parking slot, a crowded built community or a company, and the like.

In addition, the vehicle may get the parking environmental parameter by analyzing the images shot by the panoramic camera in the vehicle, and the vehicle may acquire the illumination intensity through an illumination sensor in the vehicle.

Then, when the environmental parameter satisfies a preset parking route environmental condition, step <NUM> is performed. When the environmental parameter does not satisfy the preset parking route environmental condition, fault information may be displayed on the intelligent display interface <NUM>. The fault information may be that: the environment does not satisfy the route learning condition, and route learning cannot be performed.

In the embodiment of the present invention, the preset parking route environment condition includes the illumination intensity being greater than <NUM> Lux and the surrounding scene is any one of an indoor parking slot, a crowded built community or a company, and the like.

Moreover, on one aspect, when the illumination parameter is greater than <NUM> Lux, indicating that the illumination is sufficient, which makes brightness, contrast and other parameters of the plurality of driving images shot by the panoramic camera better, which is beneficial for the vehicle to perform image analysis and ensures the availability of the plurality of driving images. On the other aspect, when the surrounding scene is any one of an indoor parking slot, a crowded built community or a company, there are many objects with symbolic features in the surrounding scene, such as fixed parking signs, parking slot lines and the like, which is conducive to obtain moving tracks of more feature objects, and further conducive to accurately deduce a moving track of the vehicle according to the moving tracks of the plurality of feature objects, i.e., conducive to the accurate generation of the parking route.

Optionally, referring to <FIG>, the system of the vehicle further includes: an Auto Parking Assist Electronic Control Unit (APA ECU) <NUM>. The APA ECU <NUM> is connected with the sensor <NUM>. The APA ECU <NUM> and the sensor <NUM> sever as a core system M. The APA ECU <NUM> is provided with an image recognition algorithm therein, which is configured to drive the sensor <NUM> and perform filtering and calculating to information of the images shot by the sensor <NUM>, so as to obtain information of the surrounding environment of the vehicle after performing filtering and calculating. The environmental parameter may be detected through the APA ECU <NUM>. The display unit <NUM> is connected with the core system M.

Optionally, when a man-made emergency operation is detected in the process of shooting the plurality of driving images in step <NUM>, the shooting is first suspended. Then, when receiving a fault-solved instruction, the driver is prompted to return to a position where the shooting is suspended to trigger the vehicle to continue shooting.

For example, when the user puts the vehicle into a Parking (P) gear, the panoramic camera in the vehicle should stop shooting, and fault information may be displayed on the intelligent display interface <NUM>. For example, the fault information may be that the route learning process is stopped as the user puts the vehicle into the P gear. When the user switches to a Drive (D) gear, that is, when the vehicle receives the fault-solved instruction, the driver is prompted to return to the position where the shooting is suspended to trigger the vehicle to continue shooting.

For another example, when the user avoids pedestrians urgently, a point of inflection point will appear in this case. The panoramic camera in the vehicle should stop shooting, and a fault information may be displayed on the intelligent display interface <NUM>. For example, the fault information may be that the route learning process is suspended as the point of inflection appears in a driving route of the user. When the user switches to the Drive (D) gear, that is, when the vehicle receives the fault-solved instruction, the driver is prompted to return to the position where the shooting is suspended to trigger the vehicle to continue shooting.

In the embodiment of the present invention, when the vehicle drives to an ending position, the user may click a "Learning completed" option in a pop-up window that appears on the intelligent parking interface <NUM>.

Step <NUM>: determining moving tracks of at least one feature object in a driving environment in the plurality of driving images, respectively.

In the embodiment of the present invention, obvious objects and objects with constant positions in the driving environment may be regarded as feature objects, for example, both parking signs and parking slot lines in the driving environment may be regarded as feature objects. The vehicle may determine the moving tracks of the at least one feature object in the driving environment in the plurality of driving images by a simultaneous localization and mapping (SLAM) algorithm, respectively.

Specifically, the SLAM algorithm is mainly divided into two parts: a front end and a rear end, wherein the front end is a visual odometer (VO), which determines a movement situation of the panoramic camera according to adjacent driving images and provides an initial value for the rear end.

Wherein, the visual odometer identifies the feature point (feature object) from the plurality of driving images and matches the feature points in each of the driving images. The feature points of the driving images are composed of a key point and a descriptor. The key point refers to a position of the feature point in the driving image, and some key points also have at least one of direction and scale information. The descriptor is usually a vector that describes information of pixels around the key point in a preset way. Usually, the descriptor is designed according to the fact that feature points with similar appearance which should have similar descriptors. Therefore, when matching the feature points, as long as the descriptors of two feature points are close in vector space, the two feature points may be regarded as the same feature point, so a process of identifying, matching and obtaining the moving tracks may include:.

For example, take Oriented FAST and Rotated BRIEF (ORB) feature points as an example. The ORB feature points will not change with the movement and rotation of the camera or change of illumination. The key points in the driving images are quickly extracted by using a Features from Accelerated Segment Test (FAST) feature extraction algorithm. The key points are called FAST corner points, and the ORB feature points are described by BRIEF descriptors. The descriptors of the at least one feature point in the driving environment are matched in the plurality of driving images, respectively, the position information of the successfully matched descriptors is recorded, and the position information is connected according to the time sequence to obtain the moving tracks of the at least one ORB feature point in the plurality of driving images respectively.

Optionally, referring to <FIG>, the vehicle may execute the above-mentioned step <NUM> by the APA ECU <NUM>.

Step <NUM>: determining a target parking route according to each moving track.

Optionally, step <NUM> may be implemented as follows: determining the target parking route of the vehicle by the SLAM algorithm according to each moving track.

In the embodiment of the present invention, the vehicle may, according to each moving track, optimize each moving track through the rear end of the SLAM algorithm firstly, and then map a distance relationship between each optimized moving track and the panoramic camera through the rear end of the SLAM algorithm, and finally determine the target parking route of the vehicle.

Step <NUM>: storing the target parking route.

In the embodiment of the present invention, the vehicle stores all the key points and descriptors corresponding to the feature points in the target parking route into a point cloud database of the map built by the SLAM algorithm, and stores a starting position photo and an ending position photo of the target parking route into the point cloud database.

Step <NUM>: determining the target parking route from at least one pre-stored parking route.

In the embodiment of the present invention, the above-mentioned step <NUM> may be implemented as follows:
Step <NUM>: displaying an intelligent parking interface, the intelligent parking interface includes a starting position photo and an ending position photo of each parking route.

In the embodiment of the present invention, the vehicle may display the intelligent parking interface. The intelligent parking interface includes the starting position photo and the ending position photo of each parking route, and the user may intuitively know which parking route each parking route corresponds to.

For example, referring to <FIG>, the intelligent parking interface <NUM> comprises a "Route I" option <NUM> and a "Route II" option <NUM>. The "Route I" option <NUM> includes a starting position photo A and an ending position photo B of this parking route, and the "Route II" option <NUM> includes a starting position photo C and an ending position photo D of this parking route.

Step <NUM>: receiving a parking instruction in the intelligent parking interface.

In the embodiment of the present invention, the intelligent parking interface includes a parking route playback option, and the user may select the parking route playback option to trigger the parking instruction.

Step <NUM>: determining the target parking route from the at least one pre-stored parking route.

In the embodiment of the present invention, after the user selects the parking route playback option, the intelligent parking interface includes a "Park by this route" option corresponding to the starting position photo and the ending position photo of each parking route, and the user may click the corresponding "Park by this route" option according to the needed parking route, that is, determine the target parking route.

For example, referring to <FIG>, the intelligent parking interface <NUM> includes a "Park by this route" option <NUM>. The user may select a parking route through the starting position photo and the ending position photo of the parking route. After determining the selected parking route, the user may click the corresponding "Park by this route" option, and then the parking route is the target parking route.

For further example, referring to <FIG>, the intelligent parking interface <NUM> further includes a "Delete route" option <NUM>, and the user may click this option to delete the corresponding parking route.

Optionally, referring to <FIG>, the vehicle may execute the above-mentioned step <NUM> by the display unit <NUM> and the APA ECU <NUM>.

Optionally, when the position information in the target parking route is Global Positioning System (GPS) location information, so when the vehicle enables the GPS positioning function, and the vehicle drives to a vicinity of the GPS location information in the target parking route again, and the vehicle speed is lower than a preset vehicle speed, the target parking route may be successfully matched with the current vehicle automatically, and display a prompt message in the intelligent parking interface, wherein the prompt message may be that: there is a pre-stored driving route near you, please keep the current low speed and drive. The preset vehicle speed may be <NUM>/h, which is not limited by the embodiment of the present invention.

Optionally, referring to <FIG>, the system of the vehicle include a GPS <NUM>, which is configured to complete the GPS positioning of the vehicle. The GPS <NUM> is connected with the core system M, and the vehicle may perform the above-mentioned vehicle matching by GPS through the GPS <NUM>.

Step <NUM>: determining a target position point in the target parking route closest to the vehicle.

In the embodiment of the present invention, the above-mentioned step <NUM> may be implemented as follows:
Step <NUM>: detecting a vehicle parameter, the vehicle parameter includes at least one of a tire pressure, a door state and a rearview mirror state.

In the embodiment of the present invention, it is necessary to detect the vehicle parameter, which may improve the safety during driving, wherein the vehicle parameter may include the tire pressure, the door state, the rearview mirror state and a state of the panoramic camera.

Optionally, referring to <FIG>, the system of the vehicle further includes: a Body Control Module (BCM)<NUM>. The BCM <NUM> is connected with the core system M. The BCM <NUM> is mainly configured to feedback the door state and control a state of a door lock. The door state may be detected by the BCM <NUM>.

Step <NUM>: when the vehicle parameter satisfies a preset condition, determining the target position point in the target parking route closest to the vehicle.

In the embodiment of the present invention, the tire pressure should be less than or equal to <NUM> Pa, the door state should be closed, the rearview mirror should be unfolded, and an occluded part of the panoramic camera should be less than or equal to <NUM>%. The embodiment of the present invention does not specifically limit a preset value of the tire pressure and a proportion of the occluded part of the panoramic camera.

In addition, the vehicle may determine the target position point closest to the vehicle in the target parking route through calculation and comparison. When there are a plurality of closet target position points, the unique closet target position point should be determined according to a current driving direction and environmental parameters of the vehicle.

Optionally, when the vehicle parameter does not satisfy the preset condition, fault information is output.

For example, when the tire pressure is greater than <NUM> Pa, the fault information may be: the tire pressure is too high and automatic parking cannot be continued. When the door state is open, the fault information may be: the door is open and automatic parking cannot be continued. When the rearview mirror is folded, the fault information may be: the rearview mirror is folded and automatic parking cannot be continued. When the occluded part of the panoramic camera is more than <NUM>%, the fault information may be: the panoramic camera is occluded and automatic parking cannot be continued.

Optionally, referring to <FIG>, the system of the vehicle further includes: an Electronic Stability Program (ESP) <NUM>. The ESP <NUM> is connected with the core system M. The ESP <NUM> is mainly used for feeding back driving distance information of the vehicle and performing a steering wheel rotation operation. Then, the vehicle may determine the target position point closest to the vehicle in the target parking route through executing step <NUM> by the ESP <NUM>.

Step <NUM>: sending a prompt message for driving the vehicle to the target position point to the driver of the vehicle when a current position point of the vehicle and the target position point satisfy a proximity matching condition.

In the embodiment of the present invention, the above-mentioned step <NUM> may be implemented as follows:.

Step <NUM>: determining an actual distance between the current position point of the vehicle and the target position point.

In the embodiment of the present invention, the actual distance may be: a length of a line segment of connecting the current position point of the vehicle with the target position point.

<FIG> shows a schematic scene diagram of the current position point and the target position point of the vehicle provided by the second embodiment of the present invention. The actual distance D between the current position point <NUM> of the vehicle and the target position point <NUM> is as shown in <FIG>.

Step <NUM>: determining a first distance that the actual distance is projected to a first direction, the first direction being a tangent direction of the target parking route at the target position point.

For example, referring to <FIG>, the first direction X is the tangent direction of the target parking route S at the target position point <NUM>, then the first distance L1 that the actual distance D is projected to the first direction X is as shown in <FIG>.

Step <NUM>: determining a second distance that the actual distance is projected to a second direction, the second direction being perpendicular to the first direction.

For example, referring to <FIG>, the second direction Y is perpendicular to the first direction X, then the second distance L2 that the actual distance is projected to the second direction Y is as shown in <FIG>.

Step <NUM>: determining a heading angle between a current driving direction of the vehicle and the first direction.

For example, referring to <FIG>, the heading angle Q is an angle between the current driving direction E of the vehicle and the first direction X.

Optionally, referring to <FIG>, the system of the vehicle further includes: an Electric Power Steering (EPS) <NUM>. The EPS <NUM> is connected with the core system M, and is mainly configured for feeding back steering wheel angle information of the vehicle to the APA ECU <NUM> and executing steering wheel rotation. Then the vehicle may execute step <NUM> by the EPS <NUM> to determine the heading angle between the current driving direction of the vehicle and the first direction.

Step <NUM>: when at least one of the conditions that the first distance being less than or equal to a first preset value, the second distance being less than or equal to a second preset value, and the heading angle being less than or equal to a third preset value is satisfied, sending a prompt message for driving the vehicle to the target position point to the driver of the vehicle.

In the embodiment of the present invention, the first preset value may be in a few hundred meters from the target driving route, the second preset value may be <NUM>, and the third preset value may be <NUM> degrees, which are not specifically limited in the embodiment of the present invention. In the current position point, when at least one of the conditions that the first distance being less than or equal to the first preset value, the second distance being less than or equal to the second preset value, and the heading angle being less than or equal to the third preset value is satisfied, the vehicle may display the prompt message for driving the vehicle to the target position point to the driver of the vehicle in the intelligent parking interface. The prompt message may be that: please keep the current low speed and drive straight for <NUM> meters to reach the target position point. The embodiment of the present invention does not limit the specific content of the prompt message.

Step <NUM>: when the vehicle is driven to the target position point, controlling the vehicle to park according to the target parking route from the target position point.

In the embodiment of the present invention, the above-mentioned step <NUM> may be implemented as follows:
Step <NUM>: outputting a prompt message configured for indicating to brake at the target position point.

In the embodiment of the present invention, the vehicle outputs the prompt message in the intelligent parking interface, and the prompt message is configured for indicating the user to brake at the target position point. The prompt message may be that: please brake to ensure that the vehicle may safely complete automatic parking.

Optionally, referring to <FIG>, the system of the vehicle further includes: a Transmission Control Unit (TCU) <NUM>. The TCU <NUM> is connected with the core system M, and the TCU <NUM> is mainly configured for feeding back current gear information to the APA ECU <NUM> and completing gear switching. Then, the vehicle may execute step <NUM> by the TCU <NUM>, and complete braking after outputting the prompt message for indicating to brake at the target position point.

Step <NUM>: when the vehicle is driven to the target position point and a vehicle speed is detected to be zero, controlling the vehicle to park according to the target parking route from the target position point.

Wherein, when the vehicle speed is zero, the vehicle may safely complete the automatic parking process.

Optionally, step <NUM> may be specifically implemented as follows:
First of all, when the vehicle is driven to the target position point and the vehicle speed is detected to be zero, the vehicle outputs a prompt message for prompting to select a parking mode.

In the embodiment of the present invention, when the vehicle is driven to the target position point and the vehicle speed is detected to be zero, the intelligent parking interface of the vehicle may display the prompt message for prompting to select the parking mode. The parking mode may include an in-vehicle playback mode and a remote playback mode.

Then, the vehicle is parked according to target parking route in the selected parking mode.

In the embodiment of the present invention, the in-vehicle playback mode refers to that the user monitors a state of the vehicle in the vehicle, and the vehicle may park according to the target parking route. After the parking is completed, the user takes over the vehicle to complete operations such as flameout and locking. The remote playback mode refers to that the user may get off the vehicle, communicate with the vehicle through a Bluetooth key of the vehicle, and control the vehicle to park according to the target parking route. After the parking is completed, the user may remotely control the operations such as flameout and locking.

Optionally, referring to <FIG>, the system of the vehicle further includes: Passive Entry Passive Start (PEPS) system <NUM>. The PEPS system <NUM> is connected with the core system M, and the PEPS system <NUM> is interacted with the BCM <NUM>. The PEPS system <NUM> is mainly configured for switching management of a power supply system, ignition start control of an engine, anti-theft control and receiving and executing of key instructions. Then, the operations such as flameout and locking may be completed by the PEPS system <NUM>.

Optionally, referring to <FIG>, the system of the vehicle further includes: a Bluetooth module <NUM> and a Bluetooth key <NUM>. The Bluetooth key may be a key equipped with a mobile terminal, the Bluetooth module <NUM> is connected with the core system M, and the Bluetooth key <NUM> is connected with the Bluetooth module <NUM>. The Bluetooth module <NUM> is mainly used as an interactive medium for receiving and sending information with the mobile terminal. The Bluetooth key <NUM> is mainly configured for sending an unlocking instruction or locking instruction, and is further configured for sending a parking function instruction. The Bluetooth key <NUM> interacts information with the PEPS system <NUM>. Then, when the remote playback mode is selected, the vehicle may be parked through the Bluetooth module <NUM>, the Bluetooth key <NUM> and the APA ECU <NUM>.

For example, <FIG> shows a schematic diagram of signaling transmission for parking according to the remote playback mode provided by the second embodiment of the present invention. As shown in <FIG>, when a user <NUM> selects the remote playback mode, a remote parking-in signaling may be transmitted to a Head Unit (HU) <NUM> of the vehicle, and a multimedia display screen <NUM> may transmit the remote parking-in signaling to a Highly Automated Parking (HAP) system <NUM>, and the memory parking system <NUM> sends a remote parking request to the Bluetooth module (BTM) <NUM> of the vehicle. The user <NUM> opens a Bluetooth Application (APP) <NUM> of a handheld mobile terminal, the Bluetooth APP <NUM> and the Bluetooth module <NUM> send connection and authentication requests, the Bluetooth module <NUM> replies an authentication succeed signaling to the Bluetooth APP <NUM>, and the Bluetooth module <NUM> sends a connection situation of the Bluetooth APP <NUM> to the memory parking system <NUM>. The memory parking system <NUM> sends a signaling requesting approval to start parking to the Bluetooth module <NUM>, the Bluetooth module <NUM> sends a signaling notifying of jumping to the parking interface to the Bluetooth APP <NUM>, and the Bluetooth APP <NUM> feeds back a signaling already in the parking interface to the Bluetooth module <NUM>. The user <NUM> keeps sliding the mobile phone, and the Bluetooth APP <NUM> sends a signaling that the user continuously slides the mobile phone to the Bluetooth module <NUM>, the Bluetooth module <NUM> sends a signaling showing a control state of the user to the memory parking system <NUM>, and the memory parking system <NUM> sends a signaling of automatic parking preparation completion to the Bluetooth module <NUM>. The Bluetooth module <NUM> sends a notice of jumping to a parking-in-progress interface to the Bluetooth APP <NUM>, and the memory parking system <NUM> starts parking according to the target parking route. After the parking is completed, the memory parking system <NUM> sends a parking-in success signaling to the Bluetooth module <NUM>, and the Bluetooth module <NUM> sends an instruction of being switched to the parking success interface to request the user to confirm whether to execute flameout to the Bluetooth APP <NUM>. The user <NUM> sends an instruction of confirming flameout to the Bluetooth APP <NUM>, the Bluetooth APP <NUM> sends a request for turning off the engine to the Bluetooth module <NUM>, and the Bluetooth module <NUM> controls the vehicle to complete the instructions of flameout, raising the windows and locking the door.

Step <NUM>: in the process of controlling the vehicle to park according to the target parking route from the target position point, suspending driving when a man-made emergency operation is detected.

In the embodiment of the present invention, the man-made emergency operation may be that the user brakes the vehicle, which is not limited by the embodiment of the present invention.

Optionally, referring to <FIG>, the sensor <NUM> further includes: a seat belt sensor and a seat pressure sensor, which are mainly configured for feeding back state information of the user in the vehicle to the APA ECU <NUM>, so that the APA ECU <NUM> may analyze and determine an intention of the user. Therefore, the vehicle may execute the above-mentioned step <NUM> by the sensor <NUM>, and suspend driving when the man-made emergency operation is detected.

Step <NUM>: when receiving a fault-solved instruction, continuously parking according to the target parking route.

For example, when the user puts the vehicle into the P gear, the vehicle should stop driving, and fault information may be displayed on the intelligent display interface <NUM>. For example, the fault information may be that the user puts the vehicle in the P gear which is not capable to continue automatic parking. When the user switches to the Drive (D) gear, that is, when the vehicle receives the fault-solved instruction, the vehicle returns to the position where the driving is suspended to continue parking according to the target parking route.

Optionally, when a fault-unresolved instruction is received, the fault information is displayed.

For example, when the fault is that the user puts the vehicle into the P gear, the displayed fault information may be: the user puts the vehicle in the P gear which is not capable to continue automatic parking.

Optionally, referring to <FIG>, the system of the vehicle further includes an Embedded Controller (EC) <NUM>. The EC <NUM> is connected with the core system M, and the EC <NUM> is configured for executing a specified independent control function.

In the embodiment of the present invention, when the vehicle receives the route learning instruction, shoots the plurality of driving images, and determines the moving tracks of the at least one feature object in the driving environment in the plurality of driving images, respectively, determines the target parking route according to each of the moving tracks, and stores the target parking route, such that the driver may store a plurality of parking routes in the vehicle by route learning, so that the driver may use the automatic parking function in a plurality of scenes. Next, the vehicle determines the target parking route from the at least one pre-stored parking route and determines the target position point closest to the vehicle in the target parking route; sends the prompt message of driving the vehicle to the target position point to the driver of the vehicle when the current position point of the vehicle and the target position point satisfy the proximity matching condition, that is, when the vehicle is in a vicinity of the target parking route, and controls the vehicle to park according to the target parking route from the target position point when the vehicle drives to the target position point. Thus, the driver merely needs to drive the vehicle to the vicinity of the target parking route, and the vehicle may perform intelligent parking. In the embodiment of the present invention, the vehicle may complete intelligent parking at a longer distance, without driving the vehicle to a position in front of a parking slot and immediately adjacent to the parking slot for automatic parking, thereby saving the workload and the driving duration of the driver for achieving automatic parking, and improving the convenience of parking.

<FIG> is a structural block diagram of an intelligent parking apparatus provided by the third embodiment of the present invention. The intelligent parking apparatus <NUM> includes:.

The specific implementations of each module in the embodiments of the present invention is introduced in detail at the method aspect, and will not be repeated here.

In the embodiment of the present invention, the vehicle determines the target parking route from the at least one pre-stored parking route via the first determining module and determines the target position point closest to the vehicle in the target parking route via the second determining module; and then, sends the prompt message of driving the vehicle to the target position point to the driver of the vehicle via the sending module when the current position point of the vehicle and the target position point satisfy the proximity matching condition, that is, when the vehicle is in a vicinity of the target parking route, and finally controls the vehicle to park according to the target parking route from the target position point via the control module when the vehicle drives to the target position point. Thus, the driver merely needs to drive the vehicle to the vicinity of the target parking route, and the vehicle may perform intelligent parking. In the embodiment of the present invention, the vehicle may complete intelligent parking at a longer distance, without driving the vehicle to a position in front of a parking slot and immediately adjacent to the parking slot for automatic parking, thereby saving the workload and the driving duration of the driver for achieving automatic parking, and improving the convenience of parking.

<FIG> is a structural block diagram of an intelligent parking apparatus provided by the fourth embodiment of the present invention. The intelligent parking apparatus <NUM> includes:.

Optionally, referring to <FIG>, the intelligent parking apparatus <NUM> further includes:.

Optionally, referring to <FIG>, the sending module <NUM> includes:.

a sending submodule <NUM> configured for, when at least one of the conditions that the first distance being less than or equal to a first preset value, the second distance being less than or equal to a second preset value, and the heading angle being less than or equal to a third preset value is satisfied, sending a prompt message for driving the vehicle to the target position point to the driver of the vehicle.

Optionally, referring to <FIG>, the second determining module <NUM> includes:.

The specific implementations of each module in the embodiments of the present invention are introduced in detail at the method aspect, and will not be repeated here.

In the embodiment of the present invention, when receiving the route learning instruction, the vehicle shoots the plurality of driving images via the shooting module, and determines the moving tracks of the at least one feature object in the driving environment in the plurality of driving images respectively via the third determining module, determines the target parking route according to each moving track via the fourth determining module, and stores the target parking route via the storage module, such that the driver may store a plurality of parking routes in the vehicle by route learning, so that the driver may use the automatic parking function in a plurality of scenes. Next, the vehicle determines the target parking route from the at least one pre-stored parking route via the first determining module and determines the target position point closest to the vehicle in the target parking route via the second determining module; and then, sends the prompt message of driving the vehicle to the target position point to the driver of the vehicle via the sending module when the current position point of the vehicle and the target position point satisfy the proximity matching condition, that is, when the vehicle is in a vicinity of the target parking route, and finally controls the vehicle to park according to the target parking route from the target position point via the control module when the vehicle drives to the target position point. Thus, the driver merely needs to drive the vehicle to the vicinity of the target parking route, and the vehicle may perform intelligent parking. In the embodiment of the present invention, the vehicle may complete intelligent parking at a longer distance, without driving the vehicle to a position in front of a parking slot and immediately adjacent to the parking slot for automatic parking, thereby saving the workload and the driving duration of the driver for achieving automatic parking, and improving the convenience of parking.

Those described above are merely preferred embodiments of the present invention, but are not intended to limit the present invention. Any modifications and equivalent substitutions made without departing from the principle of the present invention shall all fall within the protection scope of the present invention.

The above-described apparatus embodiments are merely illustrative, wherein the units that are described as separate components may or may not be physically separate, and the components that are displayed as units may or may not be physical units; in other words, they may be located at the same one location, and may also be distributed to a plurality of network units. Part or all of the modules may be selected according to the actual demands to realize the purposes of the solutions of the embodiments. A person skilled in the art may understand and implement the technical solutions without paying creative work.

Each component embodiment of the present invention may be implemented by hardware, or by software modules that are operated on one or more processors, or by a combination thereof. A person skilled in the art should understand that some or all of the functions of some or all of the components of the calculating and processing device according to the embodiments of the present invention may be implemented by using a microprocessor or a digital signal processor (DSP) in practice. The present invention may also be implemented as device or apparatus programs (for example, computer programs and computer program products) for implementing part of or the whole of the method described herein. Such programs for implementing the present invention may be stored in a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from an Internet website, or provided on a carrier signal, or provided in any other forms.

For example, <FIG> shows a calculating and processing device that may implement the method according to the present invention. The calculating and processing device traditionally comprises a processor <NUM> and a computer program product or computer-readable medium in the form of a memory <NUM>. The memory <NUM> may be electronic memories such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk or ROM. The memory <NUM> has a storage space <NUM> of a program code <NUM> for implementing any steps of the above method. For example, the storage space <NUM> for program code may contain program codes <NUM> for individually implementing each of the steps of the above method. Those program codes may be read from one or more computer program products or be written into the one or more computer program products. Those computer program products include program code carriers such as hard disk, compact disk (CD), memory card or floppy disk. Such computer program products are usually portable or fixed storage units as shown in <FIG>. The storage unit may have storage segments or storage spaces with similar arrangement to the memory <NUM> of the calculating and processing device in <FIG>. The program codes may for example be compressed in a suitable form. Generally, the storage unit contains a computer-readable code <NUM>', which may be read by a processor like <NUM>. When those codes are executed by the calculating and processing device, the codes cause the calculating and processing device to implement each of the steps of the method described above.

The "one embodiment", "an embodiment" or "one or more embodiments" as used herein means that particular features, structures or characteristics described with reference to an embodiment are included in at least one embodiment of the present invention. Moreover, it should be noted that here an example using the wording "in an embodiment" does not necessarily refer to the same one embodiment.

The description provided herein describes many concrete details. However, it may be understood that the embodiments of the present invention may be implemented without those concrete details. In some of the embodiments, well-known processes, structures and techniques are not described in detail, so as not to affect the understanding of the description.

In the claims, any reference signs between parentheses should not be construed as limiting the claims. The word "comprise" does not exclude elements or steps that are not listed in the claims. The word "a" or "an" preceding an element does not exclude the existing of a plurality of such elements. The present invention may be implemented by means of hardware comprising several different elements and by means of a properly programmed computer. In unit claims that list several devices, some of those apparatuses may be embodied by the same item of hardware. The words first, second, third and so on do not denote any order. Those words may be interpreted as names. third preset value is satisfied, sending a prompt message for driving the vehicle to the target position point to the driver of the vehicle.

The specific implementations of each module in the embodiments of the present disclosure are introduced in detail at the method aspect, and will not be repeated here.

In the embodiment of the present disclosure, when receiving the route learning instruction, the vehicle shoots the plurality of driving images via the shooting module, and determines the moving tracks of the at least one feature object in the driving environment in the plurality of driving images respectively via the third determining module, determines the target parking route according to each moving track via the fourth determining module, and stores the target parking route via the storage module, such that the driver may store a plurality of parking routes in the vehicle by route learning, so that the driver may use the automatic parking function in a plurality of scenes. Next, the vehicle determines the target parking route from the at least one pre-stored parking route via the first determining module and determines the target position point closest to the vehicle in the target parking route via the second determining module; and then, sends the prompt message of driving the vehicle to the target position point to the driver of the vehicle via the sending module when the current position point of the vehicle and the target position point satisfy the proximity matching condition, that is, when the vehicle is in a vicinity of the target parking route, and finally controls the vehicle to park according to the target parking route from the target position point via the control module when the vehicle drives to the target position point. Thus, the driver merely needs to drive the vehicle to the vicinity of the target parking route, and the vehicle may perform intelligent parking. In the embodiment of the present disclosure, the vehicle may complete intelligent parking at a longer distance, without driving the vehicle to a position in front of a parking slot and immediately adjacent to the parking slot for automatic parking, thereby saving the workload and the driving duration of the driver for achieving automatic parking, and improving the convenience of parking.

Those described above are merely preferred embodiments of the present disclosure, but are not intended to limit the present disclosure.

Each component embodiment of the present disclosure may be implemented by hardware, or by software modules that are operated on one or more processors, or by a combination thereof. A person skilled in the art should understand that some or all of the functions of some or all of the components of the calculating and processing device according to the embodiments of the present disclosure may be implemented by using a microprocessor or a digital signal processor (DSP) in practice. The present disclosure may also be implemented as device or apparatus programs (for example, computer programs and computer program products) for implementing part of or the whole of the method described herein. Such programs for implementing the present disclosure may be stored in a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from an Internet website, or provided on a carrier signal, or provided in any other forms.

For example, <FIG> shows a calculating and processing device that may implement the method according to the present disclosure. The calculating and processing device traditionally comprises a processor <NUM> and a computer program product or computer-readable medium in the form of a memory <NUM>. The memory <NUM> may be electronic memories such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk or ROM. The memory <NUM> has a storage space <NUM> of a program code <NUM> for implementing any steps of the above method. For example, the storage space <NUM> for program code may contain program codes <NUM> for individually implementing each of the steps of the above method. Those program codes may be read from one or more computer program products or be written into the one or more computer program products. Those computer program products include program code carriers such as hard disk, compact disk (CD), memory card or floppy disk. Such computer program products are usually portable or fixed storage units as shown in <FIG>. The storage unit may have storage segments or storage spaces with similar arrangement to the memory <NUM> of the calculating and processing device in <FIG>. The program codes may for example be compressed in a suitable form. Generally, the storage unit contains a computer-readable code <NUM>', which may be read by a processor like <NUM>. When those codes are executed by the calculating and processing device, the codes cause the calculating and processing device to implement each of the steps of the method described above.

The "one embodiment", "an embodiment" or "one or more embodiments" as used herein means that particular features, structures or characteristics described with reference to an embodiment are included in at least one embodiment of the present disclosure. Moreover, it should be noted that here an example using the wording "in an embodiment" does not necessarily refer to the same one embodiment.

The description provided herein describes many concrete details. However, it may be understood that the embodiments of the present disclosure may be implemented without those concrete details. In some of the embodiments, well-known processes, structures and techniques are not described in detail, so as not to affect the understanding of the description.

In the claims, any reference signs between parentheses should not be construed as limiting the claims. The word "comprise" does not exclude elements or steps that are not listed in the claims. The word "a" or "an" preceding an element does not exclude the existing of a plurality of such elements. The present disclosure may be implemented by means of hardware comprising several different elements and by means of a properly programmed computer. In unit claims that list several devices, some of those apparatuses may be embodied by the same item of hardware. The words first, second, third and so on do not denote any order. Those words may be interpreted as names.

Claim 1:
An intelligent parking method, wherein the intelligent parking method is applied to a vehicle, and the method comprises:
determining a target parking route from at least one pre-stored parking route;
determining a target position point (<NUM>) in the target parking route closest to a vehicle;
sending a prompt message for driving the vehicle to the target position point (<NUM>) to a driver of the vehicle when a current position point (<NUM>) of the vehicle and the target position point (<NUM>) satisfy a proximity matching condition; and
when the vehicle is driven to the target position point (<NUM>), controlling the vehicle to park according to the target parking route from the target position point (<NUM>),
wherein the step of sending the prompt message for driving the vehicle to the target position point (<NUM>) to the driver of the vehicle when the current position point (<NUM>) of the vehicle and the target position point (<NUM>) satisfy the proximity matching condition comprises:
determining an actual distance between the current position point (<NUM>) of the vehicle and the target position point (<NUM>);
determining a first distance that the actual distance is projected to a first direction, the first direction being a tangent direction of the target parking route at the target position point (<NUM>);
determining a second distance that the actual distance is projected to a second direction, the second direction being perpendicular to the first direction;
determining a heading angle between a current driving direction of the vehicle and the first direction; and
when at least one of the first distance being less than or equal to a first preset value, the second distance being less than or equal to a second preset value, and the heading angle being less than or equal to a third preset value is satisfied, sending a prompt message for driving the vehicle to the target position point (<NUM>) to the driver of the vehicle.