US 11,897,454 B2
Method and apparatus for determining automatic parking strategy
Yuzheng Zhuang, Shenzhen (CN); Qiang Gu, Beijing (CN); and Wulong Liu, Beijing (CN)
Assigned to HUAWEI TECHNOLOGIES CO., LTD., Shenzhen (CN)
Filed by HUAWEI TECHNOLOGIES CO., LTD., Guangdong (CN)
Filed on Dec. 28, 2020, as Appl. No. 17/134,858.
Application 17/134,858 is a continuation of application No. PCT/CN2019/092722, filed on Jun. 25, 2019.
Claims priority of application No. 201810696037.0 (CN), filed on Jun. 29, 2018.
Prior Publication US 2021/0114587 A1, Apr. 22, 2021
Int. Cl. B60W 30/06 (2006.01); B60W 60/00 (2020.01)
CPC B60W 30/06 (2013.01) [B60W 60/001 (2020.02); B60W 2510/20 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method for determining an automatic parking strategy, comprising:
determining, according to an automatic parking strategy, a target parking action corresponding to a current parking stage, wherein the current parking stage is one of a plurality of parking stages comprised in a parking process of a vehicle, wherein the automatic parking strategy is determining, as the target parking action, a parking action with a highest value in a plurality of parking actions corresponding to the current parking stage;
performing the target parking action;
obtaining feedback information, wherein the feedback information is used to indicates whether a result of performing the target parking action reaches a predetermined objective, and the predetermined objective is a predetermined position of the vehicle relative to a target parking spot, and/or the predetermined objective is a status of the vehicle in the parking process; and
updating the automatic parking strategy based on the feedback information, where when the feedback information is θt and θt−1, and |θt|<|θt−1|, increasing the value of the target parking action based on θt and θt−1, wherein θt and θt−1 are the included angles at the two adjacent moments, θt≠0, and the value of the target parking action is proportional to

OG Complex Work Unit Math