# US 2017/0282913 A1 · Method, device and computer-readable storage medium for parking a self-balancing vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2017/0282913 A1 - Document ID: US20170282913A1 - Status: Published application - Kind: A1 - Application number: 15/341,913 - Filed: 2016-11-02 - Published: 2017-10-05 - Earliest claimed: 2016-03-29 - Assignees: Beijing Xiaomi Mobile Software Co., Ltd. - Applicants: Beijing Xiaomi Mobile Software Co., Ltd. - Inventors: Zhuang QIAN; Lifei XIANG; Baoke CHEN - Web page: https://patentgrep.com/patent/US20170282913A1 ## CPC - B60W 30/06: Automatic manoeuvring for parking - B60W 30/143: {Speed control (B60W30/16 takes precedence)} - B62D 15/027: {Parking aids, e.g. instruction means} - B62D 15/0285: {Parking performed automatically} - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/0238: {using obstacle or wall sensors (G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93)} - G05D 1/0891: {specially adapted for land vehicles} - G06V 20/586: {of parking space} - G08G 1/168: {Driving aids for parking, e.g. acoustic or visual feedback on parking space} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2554/00: Input parameters relating to objects - B60W 2554/80: Spatial relation or speed relative to objects - B60W 2720/00: Output or target parameters relating to overall vehicle dynamics - B60W 2720/10: Longitudinal speed - B62K 11/007: {Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider} - G08G 1/143: {inside the vehicles} - 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) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - B62K: CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDECARS, FORECARS, OR THE LIKE ## Abstract A method, device and computer-readable storage medium are provided for parking a self-balancing vehicle. The method includes: determining whether there is a target parking spot for parking a self-balancing vehicle when the self-balancing vehicle needs to be parked; controlling, when there is a target parking spot for parking the self-balancing vehicle, the self-balancing vehicle to park at the target parking spot. ## Claims ### Claim 1 A method for parking a self-balancing vehicle, comprising: determining whether there is a target parking spot for parking the self-balancing vehicle when the self-balancing vehicle needs to be parked; and when there is a target parking spot for parking the self-balancing vehicle, controlling the self-balancing vehicle to park at the target parking spot. ### Claim 2 (depends on 1) The method of claim 1, wherein determining whether there is the target parking spot for parking the self-balancing vehicle comprises: determining, by a distance sensor of the self-balancing vehicle, whether there is a reference parking spot for parking the self-balancing vehicle in an area within a set distance from a current position of the self-balancing vehicle; determining, after it is determined by the distance sensor that there is the reference parking spot for parking self-balancing vehicle, whether a distance between the current position and a position of the reference parking spot is less than a preset distance threshold; and determining the reference parking spot as the target parking spot when it is determined that the distance is less than the preset distance threshold. ### Claim 3 (depends on 2) The method of claim 2, wherein determining whether the distance between the current position and the position of the reference parking spot is less than the preset distance threshold comprises: determining, when it is determined by the distance sensor that there are two or more reference parking spots, distances between the self-balancing vehicle and the two or more reference parking spots, respectively; and determining whether a minimum distance among the distances for the two or more reference parking spots is less than the preset distance threshold. ### Claim 4 (depends on 1) The method of claim 1, wherein controlling the self-balancing vehicle to park at the target parking spot comprises: determining, by a distance sensor of the self-balancing vehicle, a driving direction of the self-balancing vehicle; and controlling the self-balancing vehicle to be driven in the driving direction to the target parking spot. ### Claim 5 (depends on 1) The method of claim 1, wherein determining whether there is the target parking spot for parking the self-balancing vehicle comprises: controlling a camera device of the self-balancing vehicle to be rotated within a preset angle range to capture images; and determining that there is a target parking spot for parking the self-balancing vehicle if there shows a parking spot for parking the self-balancing vehicle in the images captured by the camera device. ### Claim 6 (depends on 5) The method of claim 5, further comprising: determining whether there are two or more parking spots for parking the self-balancing vehicle according to the images captured by the camera device during rotation within the preset angle range; calculating, when there are two or more parking spots, complexities of driving routes along which the self-balancing vehicle would be driven from a current position of the self-balancing vehicle to the two or more parking spots, respectively; and determining, according to the complexities of the driving routes for the two or more parking spots, a parking spot which corresponds to a minimum complexity among the complexities as the target parking spot for parking the self-balancing vehicle. ### Claim 7 (depends on 6) The method of claim 6, wherein controlling the self-balancing vehicle to park at the target parking spot comprises: controlling the self-balancing vehicle to be driven along a driving route having the minimum complexity to the target parking spot to park. ### Claim 8 (depends on 1) The method of claim 1, wherein determining whether there is the target parking spot for parking the self-balancing vehicle comprises: controlling a body motor of the self-balancing vehicle to drive the self-balancing vehicle to move within a preset area at a preset speed; controlling the self-balancing vehicle in a preset speed increase manner such that the speed of the self-balancing vehicle is increased to a preset speed threshold if the self-balancing vehicle detects an obstacle during movement within the preset area; determining whether the self-balancing vehicle is able to go over the obstacle when it moves at the preset speed threshold; and determining the obstacle as the target parking spot for parking the self-balancing vehicle when it is determined that the self-balancing vehicle is not able to go over the obstacle. ### Claim 9 (depends on 1) The method of claim 1, further comprising: determining whether the self-balancing vehicle reaches the target parking spot; determining, by a balance device of the self-balancing vehicle, whether gravity center of the self-balancing vehicle has leaned against the target parking spot upon determination that the self-balancing vehicle reaches the target parking spot; and controlling the self-balancing vehicle to perform a posture adjustment if the gravity center of the self-balancing vehicle has not leaned against the target parking spot, and stopping the posture adjustment when the gravity center of the self-balancing vehicle leans against the target parking spot such that the self-balancing vehicle parks at the target parking spot. ### Claim 10 A device for parking a self-balancing vehicle, comprising: a processor; a storage for storing instructions, which are executable by the processor; wherein the processor is configured to: determine whether there is a target parking spot for parking the self-balancing vehicle, when the self-balancing vehicle needs to be parked; control, when there is a target parking spot for parking the self-balancing vehicle, the self-balancing vehicle to park at the target parking spot. ### Claim 11 (depends on 10) The device of claim 10, wherein the processor is further configured to: determine, by a distance sensor of the self-balancing vehicle, whether there is a reference parking spot for parking the self-balancing vehicle in an area within a set distance from a current position of the self-balancing vehicle; determine, after it is determined that there is a reference parking spot for parking the self-balancing vehicle, whether a distance between the current position and a position of the reference parking spotless is less than a preset distance threshold; and determine the reference parking spot as the target parking spot when it is determined that the distance is less than the preset distance threshold. ### Claim 12 (depends on 11) The device of claim 11, wherein the processor is further configured to: determine, when it is determined by the distance sensor that there are two or more reference parking spots, distances between the self-balancing vehicle and the two or more reference parking spots, respectively; and determine whether a minimum distance among the distances for the two or more reference parking spots is less than the preset distance threshold. ### Claim 13 (depends on 10) The device of claim 10, wherein the processor is further configured to: determine, by a distance sensor of the self-balancing vehicle, a driving direction of the self-balancing vehicle; and control the self-balancing vehicle to be driven in the driving direction to the target parking spot. ### Claim 14 (depends on 10) The device of claim 10, wherein the processor is further configured to: control a camera device of the self-balancing vehicle to be rotated within a preset angle range to capture images; and determine that there is a target parking spot for parking the self-balancing vehicle if there shows a parking spot for parking the self-balancing vehicle in the captured images. ### Claim 15 (depends on 14) The device of claim 14, wherein the processor is further configured to: determine whether there are two or more parking spots for parking the self-balancing vehicle according to the captured images; calculate, when it is determined that there are two or more parking spots, complexities of driving routes along which the self-balancing vehicle would be driven from a current position of the self-balancing vehicle to the two or more parking spots, respectively; and determine, according to the complexities of the driving routes for the two or more parking spots, a parking spot which corresponds to a minimum complexity among the complexities as the target parking spot for parking the self-balancing vehicle. ### Claim 16 (depends on 15) The device of claim 15, wherein the processor is further configured to: control the self-balancing vehicle to be driven along a driving route having the minimum complexity to the target parking spot to park. ### Claim 17 (depends on 10) The device of claim 10, wherein the processor is further configured to: control a body motor of the self-balancing vehicle to drive the self-balancing vehicle to move within a preset area at a preset speed; control the self-balancing vehicle in a preset speed increase manner such that the speed of the self-balancing vehicle is increased to a preset speed threshold if an obstacle is detected during movement of the self-balancing vehicle within the preset area; determine whether the self-balancing vehicle is able to go over the obstacle when it moves at the preset speed threshold; and determine the obstacle as the target parking spot for parking the self-balancing vehicle when it is determined that the self-balancing vehicle is not able to go over the obstacle. ### Claim 18 (depends on 10) The device of claim 10, wherein the processor is further configured to: determine whether the self-balancing vehicle reaches the target parking spot; determine, by a balance device of the self-balancing vehicle, whether gravity center of the self-balancing vehicle has leaned against the target parking spot when it is determined that the self-balancing vehicle reaches the target parking spot; and control, when it is determined that the gravity center of the self-balancing vehicle has not leaned against the target parking spot, the self-balancing vehicle to perform a posture adjustment, and stop the posture adjustment when the gravity center of the self-balancing vehicle leans against the target parking spot such that the self-balancing vehicle parks at the target parking spot. ### Claim 19 A non-transitory computer-readable storage medium having stored therein instructions that, when executed by a processor of a device, causes the device to perform a method for parking a self-balancing vehicle, the method comprising: determining whether there is a target parking spot for parking the self-balancing vehicle when the self-balancing vehicle needs to be parked; and controlling, when there is a target parking spot for parking the self-balancing vehicle, the self-balancing vehicle to park at the target parking spot.