# US 11,897,454 B2 · Method and apparatus for determining automatic parking strategy > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,454 B2 - Document ID: US11897454B2 - Status: Granted - Kind: B2 - Application number: 17/134,858 - Filed: 2020-12-28 - Published: 2021-04-22 - Granted: 2024-02-13 - Earliest claimed: 2018-06-29 - Assignees: Huawei Technologies Co., Ltd. - Applicants: Huawei Technologies Co., Ltd. - Inventors: Yuzheng Zhuang; Qiang Gu; Wulong Liu - Web page: https://patentgrep.com/patent/US11897454B2 ## CPC - B60W 30/06: Automatic manoeuvring for parking - B62D 15/0285: {Parking performed automatically} - B60W 60/001: {Planning or execution of driving tasks} - B60W 2510/20: Steering systems - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract This application provides a method for determining an automatic parking strategy. The method includes: determining, a target parking action corresponding to a current parking stage performing the target parking action; obtaining feedback information, where the feedback information is used to indicate 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. In the foregoing method, the entire parking process is divided into several parking stages, and a control strategy is obtained by using a different method at each stage. This can increase a success rate of automatic parking in a complex parking scenario. ## Claims ### Claim 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  θ t - 1   θ t  . ### Claim 2 (depends on 1) The method according to claim 1, wherein before the determining, according to an automatic parking strategy, a target parking action corresponding to a current parking stage, the method further comprises: determining the current parking stage based on an included angle between a current preset direction of the vehicle and a reference direction, wherein there is a preset correspondence between the current parking stage and the included angle. ### Claim 3 (depends on 2) The method according to claim 2, wherein the preset direction of the vehicle is a longitudinal axis direction of the vehicle, the reference direction is a longitudinal axis direction of the target parking spot, and the included angle is an acute angle or a right angle. ### Claim 4 (depends on 3) The method according to claim 3, wherein the determining the current parking stage based on an included angle between a current preset direction of the vehicle and a reference direction comprises: when the included angle is greater than or equal to a first included angle threshold, determining that the current parking stage is an initial stage, wherein the first included angle threshold is less than 90 degrees. ### Claim 5 (depends on 4) The method according to claim 4, wherein the target parking action is driving into the target parking spot at a first steering angle, wherein the first steering angle is less than a maximum steering angle of the vehicle; and the predetermined objective is that the included angle is less than or equal to the first included angle threshold and the vehicle enters the target parking spot. ### Claim 6 (depends on 4) The method according to claim 4, wherein the automatic parking strategy comprises 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; and the updating the automatic parking strategy based on the feedback information comprises: when the feedback information comprises the included angles at two adjacent moments during the target parking action, and an absolute value of a difference between the included angles at the two adjacent moments is greater than a preset included angle threshold, reducing a value of the target parking action. ### Claim 7 (depends on 3) The method according to claim 3, wherein the determining the current parking stage based on an included angle between a current preset direction of the vehicle and a reference direction comprises: when the included angle is greater than a second included angle threshold and less than the first included angle threshold, determining that the current parking stage is a transition stage, wherein both the first included angle threshold and the second included angle threshold are less than 90 degrees, and the second included angle threshold is less than the first included angle threshold. ### Claim 8 (depends on 7) The method according to claim 7, wherein the target parking action is driving to the target parking spot at a second steering angle, wherein the second steering angle is equal to the maximum steering angle of the vehicle; and the predetermined objective is that the included angle is less than or equal to the second included angle threshold and the vehicle enters the target parking spot. ### Claim 9 (depends on 3) The method according to claim 3, wherein the determining the current parking stage based on an included angle between a current preset direction of the vehicle and a reference direction comprises: when the included angle is less than or equal to the second included angle threshold, determining that the current parking stage is a fine-tuning stage, wherein the second included angle threshold is less than 90 degrees. ### Claim 10 An apparatus for determining an automatic parking strategy, comprising: at least one processor; a non-transitory computer-readable storage medium coupled to the at least one processor and storing programming instructions for execution by the at least one processor, the programming instructions instruct the at least one processor to perform the following operations: 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 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  θ t - 1   θ t  . ### Claim 11 (depends on 10) The apparatus according to claim 10, wherein before determining, according to the automatic parking strategy, the target parking action corresponding to the current parking stage, the programming instructions instruct the at least one processor to perform: determining the current parking stage based on an included angle between a current preset direction of the vehicle and a reference direction, wherein there is a preset correspondence between the current parking stage and the included angle. ### Claim 12 (depends on 11) The apparatus according to claim 11, wherein the preset direction of the vehicle is a longitudinal axis direction of the vehicle, the reference direction is a longitudinal axis direction of the target parking spot, and the included angle is an acute angle or a right angle. ### Claim 13 (depends on 12) The apparatus according to claim 12, wherein the programming instructions instruct the at least one processor to perform: determining, when the included angle is greater than or equal to a first included angle threshold, the current parking stage is an initial stage, wherein the first included angle threshold is less than 90 degrees. ### Claim 14 (depends on 13) The apparatus according to claim 13, wherein the programming instructions instruct the at least one processor to perform: driving the target parking action into the target parking spot at a first steering angle, wherein the first steering angle is less than a maximum steering angle of the vehicle; and the predetermined objective is that the included angle is less than or equal to the first included angle threshold and the vehicle enters the target parking spot. ### Claim 15 (depends on 14) The apparatus according to claim 14, wherein the programming instructions instruct the at least one processor to perform: determining the automatic parking strategy, as the target parking action, a parking action with a highest value in a plurality of parking actions corresponding to the current parking stage; reducing a value of the target parking action when the feedback information comprising the included angles at two adjacent moments during the target parking action, and an absolute value of a difference between the included angles at the two adjacent moments is greater than a preset included angle threshold. ### Claim 16 (depends on 15) The apparatus according to claim 15, wherein the programming instructions instruct the at least one processor to perform: determining the current parking stage is a transition stage when the included angle is greater than a second included angle threshold and less than the first included angle threshold, wherein both the first included angle threshold and the second included angle threshold are less than 90 degrees, and the second included angle threshold is less than the first included angle threshold. ### Claim 17 (depends on 16) The apparatus according to claim 16, wherein the programming instructions instruct the at least one processor to perform: driving the target parking action to the target parking spot at a second steering angle, wherein the second steering angle is equal to the maximum steering angle of the vehicle; and the predetermined objective is that the included angle is less than or equal to the second included angle threshold and the vehicle enters the target parking spot. ### Claim 18 A computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program enables a computer to perform a method 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 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  θ t - 1   θ t  .