US 11,745,730 B2
Automatic parking control method and apparatus
Tong Gao, Baoding (CN); Dongchun Xu, Baoding (CN); Zhichao Fan, Baoding (CN); Hong Wei, Baoding (CN); Jinbiao Bai, Baoding (CN); Shasha Gao, Baoding (CN); Zhen Yang, Baoding (CN); and Xiaolong Tian, Baoding (CN)
Assigned to GREAT WALL MOTOR COMPANY LIMITED, Baoding (CN)
Appl. No. 17/765,217
Filed by GREAT WALL MOTOR COMPANY LIMITED, Baoding (CN)
PCT Filed Nov. 27, 2020, PCT No. PCT/CN2020/132384
§ 371(c)(1), (2) Date Mar. 30, 2022,
PCT Pub. No. WO2021/104476, PCT Pub. Date Jun. 3, 2021.
Claims priority of application No. 201911206068.4 (CN), filed on Nov. 29, 2019.
Prior Publication US 2022/0340127 A1, Oct. 27, 2022
Int. Cl. H04N 5/44 (2011.01); B60W 30/06 (2006.01); G06V 10/82 (2022.01); G06V 20/58 (2022.01); B60W 40/105 (2012.01); B60W 50/02 (2012.01); B60W 50/14 (2020.01); G01S 13/931 (2020.01)
CPC B60W 30/06 (2013.01) [B60W 40/105 (2013.01); B60W 50/0205 (2013.01); B60W 50/14 (2013.01); G01S 13/931 (2013.01); G06V 10/82 (2022.01); G06V 20/586 (2022.01); B60W 2050/0215 (2013.01); B60W 2050/146 (2013.01); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01); B60W 2556/20 (2020.02); B60W 2556/35 (2020.02); G01S 2013/9314 (2013.01)] 19 Claims
OG exemplary drawing
 
1. An automatic parking control method, wherein, the method is applied to a vehicle comprising a sensor, the method comprises:
by using a first collection processor, when a speed of the vehicle is in a preset speed range, and time that the speed of the vehicle is in the preset speed range is greater than or equal to preset time, collecting image data and radar data around the vehicle through the sensor;
by using a neural network processor, inputting the image data and the radar data into a preset convolutional neural network model to acquire at least one parking slot information output by the convolutional neural network model, wherein the convolutional neural network model is trained by image training data and radar training data collected in a plurality of parking slot scenes;
by using a parking-in selection processor, when a current gear of the vehicle is a forward gear or a neutral gear, selecting target parking slot information from the at least one parking slot information according to a received parking-in selection operation; and
by using a parking-in track processor, according to the target parking slot information, generating a vehicle parking-in track for the vehicle to automatically park according to the vehicle parking-in track.