Elements of the surrounding environment	Status of state
		Pedestrian	Number, behavior and orientation of people
Vehicle with a steering wheel	Behavior and orientation
		Others are	Lanes, obstacles, etc

Optionally, in an embodiment of the present application, matching a corresponding optimal interaction manner according to an element state includes: if the target is a pedestrian, identifying the actual view direction of the pedestrian according to the element state, and determining that the pedestrian notices the vehicle according to the actual view direction, wherein the optimal interaction mode is matched to be voice or voice reminding; and if the target is other vehicles, acquiring the actual driving direction, the horn signal and/or the light signal of the other vehicles according to the element state, and determining that the best interaction mode is matched as text or image reminding when the other vehicles pay attention to the vehicles according to the actual driving direction, the horn signal and/or the light signal of the other vehicles.

In the actual implementation process, the embodiment of the application can match the corresponding optimal interaction mode according to the element states, for example, various states of autonomous parking of the vehicle shown in table 2 are detected, and various visual and audio display modes shown in table 3 are formulated according to the various states of autonomous parking, so that the vehicle exterior interactivity of autonomous parking is improved.

Table 2 includes, but is not limited to, various states of autonomous parking of the following vehicles, namely:

TABLE 2

Autonomous parking state	Specific state of the art
		Whether or not to open	In opening
Behavior	Turning, advancing, backing in and out of garage
		System capability	High, medium, low
Reminding information	Please note, please take caution, etc
		Interactive information	Thank sence and identity

Table 3 includes, but is not limited to, the following various display modes for visual and audio purposes:

TABLE 3

Display modality	Display mode
		Visual display mode	Words, icons, cartoon and lamp strip
Auditory display mode	Prompt tone and voice

For example, when the target is a pedestrian, the actual view direction of the pedestrian is identified according to the element state, the autonomous parking behavior of the current vehicle type is prompted by sound or voice according to the actual view direction when the pedestrian notices the vehicle, when the target is other vehicles, the actual driving direction, the horn signal and/or the light signal of the other vehicles are obtained according to the element state, and when the other vehicles notice the vehicle is determined according to the actual driving direction, the horn signal and/or the light signal of the other vehicles, the optimal interaction mode is text or image prompting, so that the other vehicles can be warned, the driving of the other vehicles is not disturbed excessively, and the applicability of the autonomous parking vehicle-exterior interaction is improved.

In step S103, at least one acoustic warning device and/or at least one optical display device of the vehicle are controlled to perform an interactive action according to the optimal interaction manner, so as to prompt that the vehicle is in the autonomous parking mode.

It can be understood that the embodiment of the present application may control at least one acoustic prompting device of the vehicle according to the optimal interaction manner, for example, send out a voice prompt through a speaker device or a speaker device to perform the interaction action, and/or at least one optical display device, for example, flash a headlight to prompt the vehicle to be in the autonomous parking mode, prompt pedestrians or vehicles to avoid emergently, reduce the occurrence of traffic accidents, and improve the safety of autonomous parking.

Optionally, in an embodiment of the present application, before controlling at least one acoustic reminding device and/or at least one optical display device of the vehicle to perform the interaction, the method further includes: collecting the actual position of a target; and matching the best device in the at least one acoustic reminding device and/or the at least one optical display device according to the actual position.

For example, as shown in fig. 2, in the embodiment of the present application, one or more display devices may be added to the vehicle head, two sides of the vehicle body, the vehicle tail, and the vehicle roof, and may be a screen, a light strip, a projection device, and a holographic device, and may display on the display screen, the windshield, the periphery of the vehicle body, and the like, and sound generating devices, such as a speaker, a power amplifier, and the like, are added to the vehicle head, the two sides of the vehicle body, the vehicle tail, and the vehicle roof, and during the autonomous parking process, the vehicle defines an external interaction logic based on the recognized states of the pedestrians and vehicles outside the vehicle, and dynamically displays different states of the autonomous parking in a visual and sound display manner.

For example, as shown in fig. 3, according to the positional relationship between the pedestrians and vehicles outside the vehicle and the host vehicle, the embodiment of the present application may display/broadcast the related information at different positions of the host vehicle, so as to ensure complete identification of the pedestrians and vehicles outside the vehicle, when the pedestrians and vehicles are in front of the host vehicle, display "please note safety" and broadcast the related information through the speaker "in the forward direction of the vehicle" at the head position of the host vehicle, display "please note safety" and broadcast the related information through the speaker "at the backward direction of the vehicle" at the tail position of the host vehicle, display "turn right of the vehicle please note safety" and broadcast the related information through the speaker "at the left side position of the host vehicle when the pedestrians and vehicles are in the right side of the host vehicle, and display/broadcast the related information" turn right of the vehicle, please note safety "and broadcast the related information through the speaker" at the right side position of the host vehicle when the pedestrians and vehicles are in the right side of the host vehicle, wherein the display/broadcast related information may be customized by a user, thereby enhancing the personalized experience of the user.

For example, in the embodiment of the application, it is detected that the vehicle is in an autonomous parking state, the vehicle moves forward to a predetermined parking space, it is recognized that another vehicle in front approaches to the vehicle and travels in the vehicle lane through a vehicle body camera, the vehicle reminds the other party of the vehicle to pay attention through a horn sound, characters of "the vehicle is in the autonomous parking state at present and please pay attention to safety during the forward movement" are displayed through a vehicle head display device, and forward arrow symbols are displayed, so that the vehicle in front is reminded to give way, and the risk of traffic accidents is reduced.

For another example, the embodiment of the application detects that the vehicle is in an autonomous parking state, when the vehicle is ready to be backed into a garage, the vehicle body camera recognizes that a pedestrian approaches the front right, and the pedestrian notices the vehicle, the vehicle passes through the display device on the right side, and the display device displays that the vehicle is currently in the autonomous parking state and please notice safety during backing, and the reminding information is transferred to the vehicle head display as the pedestrian walks to the front of the vehicle head of the vehicle, so that the vehicle exterior interactivity of autonomous parking is improved.

For another example, the vehicle is detected to be in an autonomous parking state, when the vehicle is about to turn right, the vehicle body camera detects that a pedestrian approaches the opposite side, the vehicle passes through the vehicle head display device to display that the vehicle is currently in the autonomous parking state and please pay attention to safety during the right turn, the pedestrian stops walking after seeing the information and makes a courtesy behavior, and the vehicle passes through the vehicle head display device to display that the vehicle is currently in the autonomous parking state and is thank for courtesy and smiling face during the right turn, so that the vehicle-exterior interactivity of the autonomous parking is improved, and the technological sense is improved.

In addition, when the embodiment of the application recognizes that the pedestrian or the vehicle does not notice the vehicle, or the pedestrian or the vehicle is at a great risk of causing a safety accident with the vehicle, for example, the pedestrian faces away from the vehicle or communicates with other people, and when other vehicles and the vehicle run in the same lane, the safety is attracted to the attention of the other party by sound or voice, for example, the vehicle goes ahead, please notice the other party, and the other party is reminded to be alert, so that the safety of autonomous parking is improved.

Optionally, in an embodiment of the present application, the method of the embodiment of the present application further includes: extracting at least one interactive feature of the target; and recognizing the interactive action of the target according to the at least one interactive feature, generating a feedback action of the vehicle according to the interactive action of the target, and controlling at least one acoustic reminding device and/or at least one optical display device to execute the feedback action.

In an actual execution process, at least one interactive feature of a target can be extracted, and an interactive action of the target is recognized according to the interactive feature, for example, when a pedestrian stops advancing and avoids a vehicle is collected through a vehicle body camera, a vehicle generates a feedback action of the vehicle according to the interactive action of the pedestrian, so that a head display device displays a smiling face while the vehicle autonomously parks and advances and thanks you for passing through voice, and further the excitement and identity information of the pedestrian is expressed, the applicability of the external interaction of the autonomously parked vehicle is effectively improved, the scientific and technological feeling of the vehicle is improved, and the vehicle using requirements of a user are met.

As shown in fig. 4, the working principle of the embodiment of the present application is explained in detail in the following with a specific embodiment of the present application.

Step S401: whether the autonomous parking function is started or not.

That is, the embodiment of the present application may determine whether to start the autonomous parking function, and when the autonomous parking function is started, execute step S402, otherwise, there is no reminder.

Step S402: and displaying the autonomous parking in text and graphics.

That is to say, after the autonomous parking function is started, the autonomous parking starting can be displayed in text and graphics through the vehicle display device, so that the feasibility of vehicle-outside interaction is improved.

Step S403: whether there are external pedestrians and/or vehicles.

That is, the embodiment of the present application may determine whether there is a pedestrian and/or a vehicle outside the host vehicle, and when it is determined that there is a pedestrian and/or a vehicle outside the host vehicle, step S404 is executed, otherwise, step S403 is executed.

Step S404: whether the pedestrian or the vehicle notices the vehicle.

That is, the embodiment of the present application may determine whether the pedestrian or the vehicle notices the host vehicle, and execute step S406 when the pedestrian or the vehicle notices the host vehicle, otherwise execute step S405.

Step S405: sound, voice prompt.

That is to say, the embodiment of the application can remind pedestrians and vehicles of paying attention to driving safety through the loudspeaker when the pedestrians and the vehicles do not notice the vehicle, so that the safety of autonomous parking is improved.

Step S406: and displaying the autonomous parking behavior and reminding information in text and graph.

That is to say, the embodiment of the application can display the autonomous parking behavior in text and graphics through the vehicle display device when the pedestrian and the vehicle notice the vehicle, for example, the vehicle is moving forward, and display the prompting information in text and graphics while displaying the arrow indication of the moving forward direction, for example, please notice the safety when the vehicle is moving forward, thereby improving the vehicle exterior interactivity of autonomous parking.

Step S407: whether pedestrians and vehicles pay attention to the interaction or not.

That is to say, the embodiment of the application can identify whether the pedestrian and the vehicle pay attention to the interaction, such as the user stopping walking and giving way to the vehicle, or the vehicle making way around and giving way.

Step S408: text, graphics, voice, etc. display the interactive information.

That is to say, according to the embodiment of the application, when a pedestrian or a vehicle is identified to give way, the vehicle display device can display text, graphics, voice and other display interaction information, for example, the vehicle gives way while moving forward, and a smiling face image is displayed, so that the vehicle exterior interactivity of autonomous parking is improved, and the applicability and the safety of the autonomous parking are improved.

According to the method for the vehicle external interaction of the autonomous parking of the vehicle, the element state of the target can be determined according to the plurality of external environment elements of the vehicle, the corresponding optimal interaction mode is matched, the acoustic reminding device or the optical display device of the vehicle is controlled to execute the interaction action, the vehicle is prompted to be in the autonomous parking mode, certain guidance and interaction can be conducted on the external element state, the safety and the interactivity of the autonomous parking are improved, and the external interaction requirement of the autonomous parking is effectively met. Therefore, the technical problems that in the related art, the external environment cannot be informed of the vehicle parking state in an explicit mode, and pedestrians or vehicles outside the vehicle cannot be guided and interacted to a certain extent, so that the safety and the interactivity of the autonomous parking are reduced, and the vehicle outside interaction requirement of the autonomous parking cannot be met are solved.

An autonomously parked vehicle exterior interaction device of a vehicle according to an embodiment of the present application is described next with reference to the drawings.

Fig. 5 is a block schematic diagram of an autonomous-parking vehicle external interaction device of a vehicle according to an embodiment of the present application.

As shown in fig. 5, the autonomous parking vehicleexterior interaction device 10 of the vehicle includes: anidentification module 100, amatching module 200 and acontrol module 300.

Specifically, theidentification module 100 is configured to identify a plurality of environment elements outside the vehicle of the vehicle in the autonomous parking mode.

And thematching module 200 is used for determining the element state of the target according to the plurality of the environment elements outside the vehicle and matching the corresponding optimal interaction mode according to the element state.

And thecontrol module 300 is used for controlling at least one acoustic reminding device and/or at least one optical display device of the vehicle to execute an interactive action according to the optimal interactive mode so as to prompt the vehicle to be in an autonomous parking mode.

Optionally, in an embodiment of the present application, thematching module 200 includes: a first matching unit and a second matching unit.

When the target is a pedestrian, the first matching unit identifies the actual view field direction of the pedestrian according to the element state, and determines that the pedestrian notices the vehicle according to the actual view field direction, and the best matching interaction mode is voice or voice reminding.

And the second matching unit is used for acquiring the actual driving direction, the horn signal and/or the light signal of the other vehicle according to the element state when the target is the other vehicle, and matching the optimal interactive mode to remind a text or an image when the other vehicle notices the vehicle according to the actual driving direction, the horn signal and/or the light signal of the other vehicle.

Optionally, in an embodiment of the present application, theapparatus 10 of the embodiment of the present application further includes: the device comprises an acquisition module and a matching module.

The system comprises a collecting module and a processing module, wherein the collecting module is used for collecting the actual position of a target before at least one acoustic reminding device and/or at least one optical display device for controlling a vehicle executes interactive action.

And the matching module is used for matching the best equipment in the at least one acoustic reminding device and/or the at least one optical display device according to the actual position before the at least one acoustic reminding device and/or the at least one optical display device of the vehicle are controlled to perform the interaction.

Optionally, in an embodiment of the present application, theapparatus 10 of the embodiment of the present application further includes: the device comprises an extraction module and a processing module.

The extraction module is used for extracting at least one interactive feature of the target.

And the processing module is used for identifying the interactive action of the target according to the at least one interactive feature, generating a feedback action of the vehicle according to the interactive action of the target, and controlling the at least one acoustic reminding device and/or the at least one optical display device to execute the feedback action.

Optionally, in an embodiment of the present application, theapparatus 10 of the embodiment of the present application further includes: the device comprises a detection module and a control module.

The system comprises a detection module, a processing module and a control module, wherein the detection module is used for detecting whether a vehicle meets the external interaction of a preset autonomous parking vehicle before identifying a plurality of external environment elements of the vehicle in the autonomous parking mode;

the control module is used for controlling the vehicle to enter the autonomous parking mode and simultaneously controlling the vehicle to start an external interactive function of the autonomous parking vehicle when detecting that a preset external interactive condition of the autonomous parking vehicle is met before identifying a plurality of external environment elements of the vehicle in the autonomous parking mode.

It should be noted that the foregoing explanation on the embodiment of the vehicle external interaction method for autonomous parking of a vehicle also applies to the vehicle external interaction device for autonomous parking of a vehicle of this embodiment, and details are not repeated here.

According to the vehicle external interaction device for autonomous parking of the vehicle, the element states of the target can be determined according to the plurality of external environment elements of the vehicle, the corresponding optimal interaction modes are matched, the acoustic reminding device or the optical display device of the vehicle is controlled to execute the interaction action, the vehicle is prompted to be in the autonomous parking mode, certain guidance and interaction can be conducted on the external element states, the safety and the interactivity of autonomous parking are improved, and the external interaction requirements of the autonomous parking are effectively met. Therefore, the technical problems that in the related art, the external environment cannot be informed of the vehicle parking state in an explicit mode, and pedestrians or vehicles outside the vehicle cannot be guided and interacted to a certain extent, so that the safety and the interactivity of the autonomous parking are reduced, and the vehicle outside interaction requirement of the autonomous parking cannot be met are solved.

Fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:

memory 601,processor 602, and computer programs stored onmemory 601 and executable onprocessor 602.

Theprocessor 602, when executing the program, implements the autonomous-parking off-board interaction method of the vehicle provided in the above-described embodiments.

Further, the vehicle further includes:

acommunication interface 603 for communication between thememory 601 and theprocessor 602.

Thememory 601 is used for storing computer programs that can be run on theprocessor 602.

Memory 601 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

If thememory 601, theprocessor 602 and thecommunication interface 603 are implemented independently, thecommunication interface 603, thememory 601 and theprocessor 602 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 6, but this is not intended to represent only one bus or type of bus.

Alternatively, in practical implementation, if thememory 601, theprocessor 602, and thecommunication interface 603 are integrated on a chip, thememory 601, theprocessor 602, and thecommunication interface 603 may complete communication with each other through an internal interface.

Theprocessor 602 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.

The present embodiment also provides a computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements the autonomous-parking off-board interaction method of a vehicle as above.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Further, the computer readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer-readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.