CN112224199A - Remote control parking control method and device, vehicle and storage medium - Google Patents
Remote control parking control method and device, vehicle and storage mediumDownload PDFInfo
- Publication number
- CN112224199A CN112224199ACN202010969047.4ACN202010969047ACN112224199ACN 112224199 ACN112224199 ACN 112224199ACN 202010969047 ACN202010969047 ACN 202010969047ACN 112224199 ACN112224199 ACN 112224199A
- Authority
- CN
- China
- Prior art keywords
- parking
- current
- path
- remote
- moving body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20212—Image combination
- G06T2207/20221—Image fusion; Image merging
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30264—Parking
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Technical Field
The invention relates to the field of intelligent driving, in particular to a remote control parking control method, a remote control parking control device, a remote control parking control vehicle and a storage medium.
Background
Vehicles are a means of transportation, and are receiving continuous attention at present when road traffic is more and more developed and urban areas are more and more enlarged. Various technologies are being developed for use in vehicles, and one of them is a driving assistance control technology. The driving auxiliary control technology can assist or replace a driver to operate the vehicle in a specific scene, and the comfort of the vehicle is improved.
The automatic parking control technology is one of the driving assistance control technologies which are commonly applied to vehicles at present, and measures the distance and the angle between the vehicle and surrounding obstacles through an ultrasonic probe distributed around the vehicle body, and then calculates the driving track required by the vehicle to park in/out of a parking space through a semi-automatic parking control unit. The automatic parking control technology can assist driving when backing a car, and guides a driver through detecting ultrasonic waves or a camera, so that traffic accidents caused by the fact that the rear of a vehicle is in a sight blind area when backing the car are avoided. However, the existing automatic parking control method only supports parallel parking or vertical parking, the parking direction is fixed, the parking direction cannot be adjusted according to the position of the user, and the user experience effect is poor.
Disclosure of Invention
Aiming at the problem that the existing automatic parking control method has a fixed parking direction and cannot adjust the parking direction according to the position of a user, the remote control parking control method, the remote control parking control device, the remote control parking control vehicle and the storage medium are provided, and the parking direction can be set according to the position of the user.
The invention provides a remote control parking control method, which is applied to a moving body and comprises the following steps:
receiving parking space parking-out information sent by a mobile terminal associated with the moving body, wherein the parking space parking-out information comprises a parking space parking-out request and the current position of the mobile terminal;
acquiring a current parking position of the moving body;
detecting the position relation between the current position and the current parking position, and determining the parking direction according to the position relation;
and generating a parking out path according to the current parking position and the parking direction according to the parking out request.
Optionally, the parking directions include forward parking, backward parking, leftward parking, rightward parking, leftward forward parking, rightward forward parking, leftward backward parking, and rightward backward parking.
Optionally, the method further includes:
and controlling the moving body to park out the current parking position according to the parking-out path.
Optionally, the controlling the moving body to park out the current parking position according to the parking-out path further includes:
detecting whether the parking-out path meets a preset condition;
and if the parking path meets the preset condition, controlling the moving body to park out of the current parking position according to the parking path.
Optionally, the method further includes:
and if the parking path does not meet the preset condition, generating a message that the current position of the mobile terminal cannot be used for parking, and sending the message to the mobile terminal.
Optionally, the preset condition is that there is no obstacle target in the exit path.
Optionally, detecting whether the parking path meets a preset condition includes:
and detecting whether an obstacle target exists in the parking path or not by adopting an ultrasonic radar in the parking auxiliary device.
The invention also provides a remote control parking control device, which is applied to a moving body and comprises the following components:
the parking space parking information comprises a parking space parking request and the current position of the mobile terminal;
an acquisition unit configured to acquire a current parking position of the moving body;
the determining unit is used for detecting the position relation between the current position and the current parking position and determining the parking direction according to the position relation;
and the generating unit is used for generating a parking exit path according to the current parking position and the parking direction according to the parking exit request.
Optionally, the parking directions include forward parking, backward parking, leftward parking, rightward parking, leftward forward parking, rightward forward parking, leftward backward parking, and rightward backward parking.
Optionally, the method further includes:
and the execution unit is used for controlling the moving body to park out of the current parking position according to the parking-out path.
Optionally, the method further includes:
the detection unit is used for detecting whether the parking path meets a preset condition or not;
the execution unit is used for controlling the moving body to park out of the current parking position according to the parking-out path when the parking-out path meets the preset condition.
Optionally, the method further includes:
and the prompting unit is used for generating a message that the current position of the mobile terminal cannot be parked when the parking path does not meet the preset condition, and sending the message to the mobile terminal.
Optionally, the preset condition is that there is no obstacle target in the exit path.
Optionally, the detection unit is configured to detect whether there is an obstacle target in the parking path by using an ultrasonic radar in the parking assist apparatus.
The invention also provides a vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the above method when executing the computer program.
The invention also provides a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
According to the remote control parking control method, the remote control parking control device, the remote control parking control vehicle and the storage medium, the current parking position of the moving body can be obtained after parking space parking information sent by a user through the mobile terminal is received, the position relation between the mobile terminal and the moving body is identified according to the position relation between the current position of the mobile terminal and the current parking position, so that the parking direction is determined, a parking path is generated according to the parking direction and the current parking position, the moving body can drive into the position nearby the position of the mobile terminal from the current parking position according to the parking path, the operation of the user is reduced, and the user experience effect is improved.
Drawings
Fig. 1 is a flowchart illustrating a remote parking control method according to an embodiment of the present invention;
fig. 2 is a flowchart of an embodiment of a remote parking control method according to a second embodiment of the present invention;
fig. 3 is a flowchart of another embodiment of the remote parking control method according to the second embodiment of the present invention;
fig. 4 is a block diagram of an embodiment of a remote parking control apparatus according to the present invention;
fig. 5 is a block diagram of another embodiment of the remote parking control apparatus of the present invention;
fig. 6 is a hardware architecture diagram of one embodiment of the vehicle of the present invention.
Detailed Description
The advantages of the invention are further illustrated in the following description of specific embodiments in conjunction with the accompanying drawings.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
In the description of the present invention, it should be understood that the numerical references before the steps do not identify the order of performing the steps, but merely serve to facilitate the description of the present invention and to distinguish each step, and thus should not be construed as limiting the present invention.
The moving body of the embodiment of the invention can adopt new energy vehicles such as pure electric vehicles, hybrid electric vehicles and the like, and the moving body can be provided with a Parking controller, an Automatic Parking Assist (APA) and an HMI interactive device. Among them, the parking controller is implemented using a microcomputer including a Central Processing Unit (CPU), a communication unit, a memory, and an Electronic Power Steering (EPS). The parking controller installs a computer program for causing a microcomputer to have a function as an on-vehicle computer (ECU) in the microcomputer to execute. The parking controller has a function of controlling the operation of the mobile body. The communication unit can comprise a WiFi module, a Bluetooth module and the like, can support 4G and 5G communication modes, and can be used for communicating with an associated mobile terminal; the parking assistance apparatus includes a plurality of ultrasonic radars that can be provided at positions such as a front bumper, a rear bumper, and a skin near a tire of the moving body, and a surrounding camera. The distance between the moving body and the obstacle target is detected by the ultrasonic radar moving body. The surrounding cameras are arranged around the moving body, images around the moving body are collected through the surrounding cameras, the images collected by the cameras are combined, a full-angle visual image overlooked from the upper side of the moving body is obtained, and the cameras cannot shoot vehicles, so that the vehicle icons are adopted to replace actual images of the vehicles in the panoramic image. The HMI interaction device may include a display unit and an audio acquisition unit. The display unit is provided with a touch screen (central control screen) for inputting various control operations on the vehicle. The audio acquisition unit is arranged in the mobile body and is used for adopting the voice signal of the user so as to execute corresponding operation based on the voice signal.
The remote control parking control method, the remote control parking control device, the vehicle and the storage medium can be applied to the situation that a moving body arrives at a navigation destination, such as: after parking places of shopping malls, houses, parking lots and charging stations (charging piles), the moving body needs to be parked out of the parking place.
In the embodiment of the invention, a user can send a control request (such as a parking space parking request) to a communication unit of the mobile body through a mobile terminal associated with the mobile body. The mobile body can obtain the current parking position of the mobile body after receiving parking space parking-out information sent by a user through the mobile terminal, and the position relation between the mobile terminal and the mobile body is identified according to the position relation between the current position of the mobile terminal and the current parking position, so that the parking direction is determined, a parking-out path is generated according to the parking direction and the current parking position, the mobile body can drive into the position near the position of the mobile terminal from the current parking position according to the parking-out path, the operation of the user is reduced, and the user experience effect is improved.
Example one
Referring to fig. 1, a remote parking control method according to the present embodiment is applied to a moving object, and the method may include the following steps:
s1, receiving parking space parking information sent by a mobile terminal associated with the moving body.
The parking space parking-out information comprises a parking space parking-out request and the current position of the mobile terminal.
It should be noted that: the mobile terminal can be a smart phone carried by a user or a remote control key of a mobile body.
In the embodiment, when a user needs to park the mobile body from the current parking position, parking space parking information can be sent to the mobile body through the mobile terminal associated with the mobile body in a region (such as a region of 1m-5 m) near the mobile body.
And S2, acquiring the current parking position of the moving body.
In this embodiment, a positioning unit (e.g., a GPS module) inside the mobile body may be used to obtain the current position.
And S3, detecting the position relation between the current position and the current parking position, and determining the parking direction according to the position relation.
The parking directions may include forward parking, backward parking, leftward parking, rightward parking, leftward forward parking, rightward forward parking, leftward backward parking, and rightward backward parking.
It should be noted that: the current parking position includes coordinates of the current parking position and a parking direction.
Specifically, a position included angle between the position of the mobile terminal and the position of the mobile body is calculated according to the coordinates of the current parking position, the parking direction and the coordinates of the current position; and each parking direction corresponds to an angle range, the angle range matched with the position included angle is obtained, and the parking direction corresponding to the angle range is used as the parking direction of the moving body.
And S4, generating a parking exit path according to the current parking position and the parking direction according to the parking exit request.
The current parking position can also comprise parking types, and the parking types comprise non-linear parking spaces, oblique line parking spaces, linear parking spaces, parking spaces close to one side of the pillar and the like.
Further, step S4 may further include:
acquiring images around a moving body through a camera of a parking assistance device installed on the moving body, and generating a full-angle visual image of the moving body; detecting the position of an obstacle of a moving body within a first preset range through an ultrasonic radar in the parking assist device; forming an auxiliary image based on the position of the obstacle in the full-angle visual image, and acquiring the parking type of the moving body according to the position of the current parking position of the moving body in the auxiliary image; and planning a global path and a parking path according to the parking direction, the shape parameters of the moving body, the parking type corresponding to the current parking position and the current position of the mobile terminal, and splicing, node optimization, smoothing and path fitting the global path and the parking path to obtain a smoothly-transitional parking path.
In this embodiment, the remote-control parking control method may obtain a current parking position of the mobile body after receiving parking space exiting information sent by a user through the mobile terminal, and identify a position relationship between the mobile terminal and the mobile body according to the position relationship between the current position of the mobile terminal and the current parking position, so as to determine a parking direction, so as to generate a parking exiting path according to the parking direction and the current parking position, so that the mobile body enters the vicinity of the position where the mobile terminal is located from the current parking position according to the parking exiting path, reduce user operations, and improve user experience effects.
Example two
Referring to fig. 2, a remote parking control method according to the present embodiment is applied to a moving object, and the method may include the following steps:
s1, receiving parking space parking information sent by a mobile terminal associated with the moving body.
The parking space parking-out information comprises a parking space parking-out request and the current position of the mobile terminal.
And S2, acquiring the current parking position of the moving body.
And S3, detecting the position relation between the current position and the current parking position, and determining the parking direction according to the position relation.
And S4, generating a parking exit path according to the current parking position and the parking direction according to the parking exit request.
And S5, controlling the moving body to park out of the current parking position according to the parking path.
In this embodiment, after the parking path is generated, the electronic power steering mechanism may control the moving object to move from the current parking position to the area accessory where the mobile terminal is located according to the parking path, so as to complete the parking operation.
In an embodiment, before performing step S5, referring to fig. 3, the method may further include:
A1. detecting whether the parking path meets a preset condition, if so, executing step S5; if not, go to step A2.
Wherein the preset condition is that no obstacle target exists in the parking path, namely that no obstacle target exists in an area corresponding to the driving direction when the moving body moves out of the current parking position
Specifically, it is possible to detect whether there is an obstacle target in the parking path using an ultrasonic radar in the parking assist apparatus.
In the present embodiment, the parking route refers to a traveling direction of the moving object when the moving object is moving out of the target position. The obstacle target is an obstacle (including a dynamic obstacle and a static obstacle) which obstructs the travel of the mobile body in the traveling direction, such as: a running vehicle, a pedestrian, a stake bucket, a post, a small animal, etc.
A2. And generating a message that the current position of the mobile terminal cannot be used for parking, and sending the message to the mobile terminal.
In this embodiment, when there is an obstacle obstructing the moving object from traveling in the traveling direction of the parking route, a message of failing to park is generated to prompt the user that the mobile terminal cannot park at the current location.
EXAMPLE III
Referring to fig. 4, a remoteparking control apparatus 1 according to the present embodiment is applied to a moving object, and includes: a receivingunit 11, an acquiringunit 12, a determiningunit 13 and a generatingunit 14.
And the receivingunit 11 is used for receiving the parking space parking-out information sent by the mobile terminal associated with the moving body.
The parking space parking-out information comprises a parking space parking-out request and the current position of the mobile terminal.
It should be noted that: the mobile terminal can be a smart phone carried by a user or a remote control key of a mobile body.
In this embodiment, when the user wants to park the mobile body from the current parking position, the parking space parking information may be transmitted to the receivingunit 11 of the mobile body through the mobile terminal associated with the mobile body in a region (e.g., a region of 1m to 5 m) near the mobile body.
Anacquisition unit 12 for acquiring a current parking position of the moving body.
Specifically, the current position may be acquired using a GPS module inside the mobile body.
The determiningunit 13 is configured to detect a position relationship between the current position and the current parking position, and determine a parking direction according to the position relationship.
The parking directions comprise forward parking, backward parking, leftward parking, rightward parking, leftward forward parking, rightward forward parking, leftward backward parking and rightward backward parking.
It should be noted that: the current parking position includes coordinates of the current parking position and a parking direction.
Specifically, the determiningunit 13 calculates a position included angle between the position of the mobile terminal and the position of the mobile body according to the coordinates of the current parking position, the parking direction and the coordinates of the current position; and each parking direction corresponds to an angle range, the angle range matched with the position included angle is obtained, and the parking direction corresponding to the angle range is used as the parking direction of the moving body.
And the generatingunit 14 is configured to generate a parking exit path according to the current parking position and the parking direction according to the parking exit request.
The current parking position can also comprise parking types, and the parking types comprise non-linear parking spaces, oblique line parking spaces, linear parking spaces, parking spaces close to one side of the pillar and the like.
Further, the process of generating the outbound path using the generatingunit 14 may include:
acquiring images around a moving body through a camera of a parking assistance device installed on the moving body, and generating a full-angle visual image of the moving body; detecting the position of an obstacle of a moving body within a first preset range through an ultrasonic radar in the parking assist device; forming an auxiliary image based on the position of the obstacle in the full-angle visual image, and acquiring the parking type of the moving body according to the position of the current parking position of the moving body in the auxiliary image; and planning a global path and a parking path according to the parking direction, the shape parameters of the moving body, the parking type corresponding to the current parking position and the current position of the mobile terminal, and splicing, node optimization, smoothing and path fitting the global path and the parking path to obtain a smoothly-transitional parking path.
In this embodiment, the remoteparking control device 1 receives parking space exiting information sent by a user through a mobile terminal by using the receivingunit 11, acquires a current parking position of a mobile body by using the acquiringunit 12, and identifies a position relationship between the mobile terminal and the mobile body according to the position relationship between the current position of the mobile terminal and the current parking position by using the determiningunit 13, so as to determine a parking direction, so that a parking exit path is generated by using the generatingunit 14 according to the parking direction and the current parking position, so that the mobile body travels from the current parking position to a position near the position where the mobile terminal is located according to the parking exit path, thereby reducing user operations and improving user experience.
In an embodiment, the remoteparking control apparatus 1 shown in fig. 5 may further include: anexecution unit 15.
And anexecution unit 15 for controlling the moving body to park out the current parking position according to the parking-out path.
In this embodiment, after the parking path is generated, theexecution unit 15 may control the moving object to move from the current parking position to the area accessory where the mobile terminal is located according to the parking path by using the electronic power steering mechanism, so as to complete the parking operation.
In a preferred embodiment, the remoteparking control apparatus 1 shown with reference to fig. 5 may further include: adetection unit 16.
A detectingunit 16, configured to detect whether the outbound path meets a preset condition.
Wherein the preset condition is that no obstacle target exists in the pull-in path.
Further, thedetection unit 16 is configured to detect whether there is an obstacle target in the parking path by an ultrasonic radar in the parking assist apparatus.
In the present embodiment, the parking route refers to a traveling direction of the moving object when the moving object is moving out of the target position. The obstacle target is an obstacle (including a dynamic obstacle and a static obstacle) which obstructs the travel of the mobile body in the traveling direction, such as: a running vehicle, a pedestrian, a stake bucket, a post, a small animal, etc.
Theexecution unit 15 is configured to control the moving object to park out of the current parking position according to the parking-out path when the parking-out path meets a preset condition.
In an embodiment, the remoteparking control apparatus 1 shown in fig. 5 may further include: and aprompt unit 17.
And the promptingunit 17 is configured to generate a message that the current position of the mobile terminal cannot be used for parking when the parking route does not meet a preset condition, and send the message to the mobile terminal.
In this embodiment, when there is an obstacle obstructing the moving object from traveling in the traveling direction of the parking route, the promptingunit 17 generates a message that the mobile terminal cannot park, so as to prompt the user that the mobile terminal cannot park at the current position.
Example four
In order to achieve the above object, the present invention further provides avehicle 2, where thevehicle 2 of the present embodiment at least includes, but is not limited to: amemory 21, aprocessor 23, anetwork interface 22, and the remote parking control apparatus 1 (refer to fig. 6) that are communicably connected to each other through a system bus. It should be noted that fig. 6 only shows thevehicle 2 with components, but it should be understood that not all of the shown components are required to be implemented, and that more or fewer components may be implemented instead.
In this embodiment, thememory 21 includes at least one type of computer-readable storage medium, which includes a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, and the like. In some embodiments, thestorage 21 may be an internal storage unit of thevehicle 2, such as a hard disk or a memory of thevehicle 2. In other embodiments, thememory 21 may be an external storage device of thevehicle 2, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, provided on thevehicle 2. Of course, thememory 21 may also comprise both an internal storage unit of thevehicle 2 and an external storage device thereof. In this embodiment, thememory 21 is generally used to store an operating system installed in thevehicle 2 and various types of application software, such as program codes of the remote parking control methods in the first embodiment and the second embodiment. Further, thememory 21 may also be used to temporarily store various types of data that have been output or are to be output.
Theprocessor 23 may be a Central Processing Unit (CPU), a controller, a microcontroller, a microprocessor, or other data Processing chip in some embodiments. Theprocessor 23 is generally used to control the overall operation of thevehicle 2, such as performing control and processing related to data interaction or communication with thevehicle 2. In this embodiment, theprocessor 23 is configured to operate the program codes or the processing data stored in thememory 21, for example, operate the remoteparking control apparatus 1.
Thenetwork interface 22 may comprise a wireless network interface or a wired network interface, and thenetwork interface 22 is typically used to establish communication connections between thevehicle 2 andother vehicles 2. For example, thenetwork interface 22 is used to connect thevehicle 2 with an external terminal through a network, establish a data transmission channel and a communication connection between thevehicle 2 and the external terminal, and the like. The network may be a wireless or wired network such as an Intranet (Intranet), the Internet (Internet), a Global System of Mobile communication (GSM), Wideband Code Division Multiple Access (WCDMA), a 4G network, a 5G network, Bluetooth (Bluetooth), Wi-Fi, and the like.
It should be noted that fig. 6 only shows thevehicle 2 with the components 21-23, but it should be understood that not all of the shown components are required to be implemented, and that more or fewer components may be implemented instead.
In this embodiment, the remoteparking control apparatus 1 stored in thememory 21 may be further divided into one or more program modules, and the one or more program modules are stored in thememory 21 and executed by one or more processors (in this embodiment, the processor 23) to complete the present invention.
EXAMPLE five
To achieve the above objects, the present invention also provides a computer-readable storage medium including a plurality of storage media such as a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, a server, an App application store, etc., on which a computer program is stored, which when executed by theprocessor 23, implements corresponding functions. The computer-readable storage medium of the present embodiment is used for storing the remoteparking control apparatus 1, and when being executed by theprocessor 23, the computer-readable storage medium implements the remote parking control method of the first embodiment and the second embodiment.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (16)
1. A remote control parking control method applied to a moving body, characterized by comprising:
receiving parking space parking-out information sent by a mobile terminal associated with the moving body, wherein the parking space parking-out information comprises a parking space parking-out request and the current position of the mobile terminal;
acquiring a current parking position of the moving body;
detecting the position relation between the current position and the current parking position, and determining the parking direction according to the position relation;
and generating a parking out path according to the current parking position and the parking direction according to the parking out request.
2. The remote parking control method according to claim 1, wherein the parking directions include forward parking, backward parking, leftward parking, rightward parking, leftward forward parking, rightward forward parking, leftward backward parking, and rightward backward parking.
3. The remote control parking control method according to claim 1, further comprising:
and controlling the moving body to park out the current parking position according to the parking-out path.
4. The remote parking control method according to claim 3, wherein controlling the moving body to park out of the current parking position according to the parking out path further comprises:
detecting whether the parking-out path meets a preset condition;
and if the parking path meets the preset condition, controlling the moving body to park out of the current parking position according to the parking path.
5. The remote control parking control method according to claim 4, further comprising:
and if the parking path does not meet the preset condition, generating a message that the current position of the mobile terminal cannot be used for parking, and sending the message to the mobile terminal.
6. The remote parking control method according to claim 4, wherein the preset condition is that there is no obstacle target in the parking path.
7. The remote control parking control method according to claim 6, wherein detecting whether the parking path meets a preset condition includes:
and detecting whether an obstacle target exists in the parking path or not by adopting an ultrasonic radar in the parking auxiliary device.
8. A remote parking control apparatus for a mobile body, comprising:
the parking space parking information comprises a parking space parking request and the current position of the mobile terminal;
an acquisition unit configured to acquire a current parking position of the moving body;
the determining unit is used for detecting the position relation between the current position and the current parking position and determining the parking direction according to the position relation;
and the generating unit is used for generating a parking exit path according to the current parking position and the parking direction according to the parking exit request.
9. The remote parking control apparatus according to claim 8, wherein the parking directions include forward parking, backward parking, leftward parking, rightward parking, leftward forward parking, rightward forward parking, leftward backward parking, and rightward backward parking.
10. The remote parking control apparatus according to claim 8, further comprising:
and the execution unit is used for controlling the moving body to park out of the current parking position according to the parking-out path.
11. The remote parking control apparatus according to claim 10, further comprising:
the detection unit is used for detecting whether the parking path meets a preset condition or not;
the execution unit is used for controlling the moving body to park out of the current parking position according to the parking-out path when the parking-out path meets the preset condition.
12. The remote parking control apparatus according to claim 11, further comprising:
and the prompting unit is used for generating a message that the current position of the mobile terminal cannot be parked when the parking path does not meet the preset condition, and sending the message to the mobile terminal.
13. The remote parking control apparatus according to claim 11, wherein the preset condition is that there is no obstacle target in the parking path.
14. The remote parking control apparatus according to claim 13, wherein the detection unit is configured to detect whether there is an obstacle target in the parking path by an ultrasonic radar in a parking assist apparatus.
15. A vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any one of claims 1 to 7 when executing the computer program.
16. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010969047.4ACN112224199A (en) | 2020-09-15 | 2020-09-15 | Remote control parking control method and device, vehicle and storage medium |
| PCT/CN2021/084454WO2022057238A1 (en) | 2020-09-15 | 2021-03-31 | Remote control parking control method and device, vehicle, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010969047.4ACN112224199A (en) | 2020-09-15 | 2020-09-15 | Remote control parking control method and device, vehicle and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112224199Atrue CN112224199A (en) | 2021-01-15 |
Family
ID=74117139
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010969047.4APendingCN112224199A (en) | 2020-09-15 | 2020-09-15 | Remote control parking control method and device, vehicle and storage medium |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN112224199A (en) |
| WO (1) | WO2022057238A1 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112896148A (en)* | 2021-01-18 | 2021-06-04 | 浙江吉利控股集团有限公司 | Vehicle parking-out control method and device, electronic equipment and storage medium |
| CN113561965A (en)* | 2021-08-06 | 2021-10-29 | 上汽通用五菱汽车股份有限公司 | Vehicle control method, vehicle, and computer-readable storage medium |
| WO2022057238A1 (en)* | 2020-09-15 | 2022-03-24 | 华人运通(上海)自动驾驶科技有限公司 | Remote control parking control method and device, vehicle, and storage medium |
| CN114312758A (en)* | 2022-01-04 | 2022-04-12 | 岚图汽车科技有限公司 | Remote vehicle moving control method, device and equipment and readable storage medium |
| WO2023010267A1 (en)* | 2021-08-03 | 2023-02-09 | 华为技术有限公司 | Method and apparatus for determining direction for pulling out |
| CN116009553A (en)* | 2023-01-19 | 2023-04-25 | 重庆赛力斯新能源汽车设计院有限公司 | Vehicle parking method, electronic device and storage medium |
| WO2024139092A1 (en)* | 2022-12-26 | 2024-07-04 | 惠州市德赛西威汽车电子股份有限公司 | Automatic parking method and system, and storage medium |
| CN119590412A (en)* | 2024-12-10 | 2025-03-11 | 岚图汽车科技有限公司 | Parking method, device, equipment and storage medium based on Bluetooth location |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114995399A (en)* | 2022-05-17 | 2022-09-02 | 中国第一汽车股份有限公司 | Method, device and vehicle for controlling vehicle parking |
| CN115171420B (en)* | 2022-05-30 | 2024-01-30 | 东风柳州汽车有限公司 | Vehicle parking and taking control method, device, equipment and storage medium |
| CN115063776A (en)* | 2022-06-23 | 2022-09-16 | 长春一汽富晟集团有限公司 | Parking space detection method based on image processing |
| CN116039615A (en)* | 2023-01-03 | 2023-05-02 | 重庆长安汽车股份有限公司 | Parking auxiliary method, system and program product based on off-board voice |
| CN116022129A (en)* | 2023-01-18 | 2023-04-28 | 华为技术有限公司 | Parking method and device and intelligent driving equipment |
| CN116279429A (en)* | 2023-03-27 | 2023-06-23 | 重庆长安汽车股份有限公司 | Intelligent parking method and device based on UWB digital key, vehicle and medium |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2316709A2 (en)* | 2009-10-30 | 2011-05-04 | Audi AG | Motor vehicle, external control device and method for moving a motor vehicle out of a parking place |
| DE102015118584A1 (en)* | 2015-10-30 | 2017-05-04 | Valeo Schalter Und Sensoren Gmbh | A method for at least semi-autonomous maneuvering of a motor vehicle with determination of a target angle for the exit from a parking space, driver assistance system and motor vehicle |
| CN106985815A (en)* | 2017-03-14 | 2017-07-28 | 重庆长安汽车股份有限公司 | Remote control parking system and method |
| CN108819939A (en)* | 2018-07-06 | 2018-11-16 | 奇瑞汽车股份有限公司 | Automated parking system |
| CN109131318A (en)* | 2018-10-19 | 2019-01-04 | 清华大学 | A kind of autonomous parking path coordination approach based on topological map |
| CN109987086A (en)* | 2018-01-03 | 2019-07-09 | 现代自动车株式会社 | Remote parking control device, the system and method including the device |
| DE102018202738A1 (en)* | 2018-02-23 | 2019-08-29 | Bayerische Motoren Werke Aktiengesellschaft | Remote-controlled parking assistance system with autonomous decision on the presence of a parking or Ausparkituation and corresponding parking method |
| CN110187711A (en)* | 2019-07-04 | 2019-08-30 | 爱驰汽车有限公司 | Trick vehicle control method, system, equipment and the storage medium of autonomous driving vehicle |
| CN110901631A (en)* | 2019-11-29 | 2020-03-24 | 长城汽车股份有限公司 | Automatic parking method, device and system |
| CN111137278A (en)* | 2019-12-26 | 2020-05-12 | 奇瑞汽车股份有限公司 | Vehicle parking control method, device and storage medium |
| CN111532259A (en)* | 2020-05-09 | 2020-08-14 | 奇瑞汽车股份有限公司 | Remote control method and device for automobile and storage medium |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102013224198A1 (en)* | 2013-11-27 | 2015-05-28 | Robert Bosch Gmbh | Procedure for parking an parked vehicle, computer program product, vehicle, remote control device, server and system |
| CN106671976A (en)* | 2016-12-30 | 2017-05-17 | 东风汽车公司 | Automatic parking system controlled by remote key and method of automatic parking system |
| DE102018200770A1 (en)* | 2017-04-20 | 2018-10-25 | Ford Global Technologies, Llc | Method for transferring the vehicle control to a driver following a remote-controlled parking operation |
| CN107776570B (en)* | 2017-09-19 | 2020-09-01 | 广州汽车集团股份有限公司 | Full-automatic parking method and full-automatic parking system |
| CN109885064A (en)* | 2019-03-18 | 2019-06-14 | 重庆长安汽车股份有限公司 | Remote control based on mobile phone interconnection APP is parked method, system and computer readable storage medium |
| CN111081064B (en)* | 2019-12-11 | 2021-12-14 | 上海赫千电子科技有限公司 | Automatic parking system and automatic passenger-replacing parking method of vehicle-mounted Ethernet |
| CN112224199A (en)* | 2020-09-15 | 2021-01-15 | 华人运通(上海)自动驾驶科技有限公司 | Remote control parking control method and device, vehicle and storage medium |
- 2020
- 2020-09-15CNCN202010969047.4Apatent/CN112224199A/enactivePending
- 2021
- 2021-03-31WOPCT/CN2021/084454patent/WO2022057238A1/ennot_activeCeased
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2316709A2 (en)* | 2009-10-30 | 2011-05-04 | Audi AG | Motor vehicle, external control device and method for moving a motor vehicle out of a parking place |
| DE102015118584A1 (en)* | 2015-10-30 | 2017-05-04 | Valeo Schalter Und Sensoren Gmbh | A method for at least semi-autonomous maneuvering of a motor vehicle with determination of a target angle for the exit from a parking space, driver assistance system and motor vehicle |
| CN106985815A (en)* | 2017-03-14 | 2017-07-28 | 重庆长安汽车股份有限公司 | Remote control parking system and method |
| CN109987086A (en)* | 2018-01-03 | 2019-07-09 | 现代自动车株式会社 | Remote parking control device, the system and method including the device |
| DE102018202738A1 (en)* | 2018-02-23 | 2019-08-29 | Bayerische Motoren Werke Aktiengesellschaft | Remote-controlled parking assistance system with autonomous decision on the presence of a parking or Ausparkituation and corresponding parking method |
| CN108819939A (en)* | 2018-07-06 | 2018-11-16 | 奇瑞汽车股份有限公司 | Automated parking system |
| CN109131318A (en)* | 2018-10-19 | 2019-01-04 | 清华大学 | A kind of autonomous parking path coordination approach based on topological map |
| CN110187711A (en)* | 2019-07-04 | 2019-08-30 | 爱驰汽车有限公司 | Trick vehicle control method, system, equipment and the storage medium of autonomous driving vehicle |
| CN110901631A (en)* | 2019-11-29 | 2020-03-24 | 长城汽车股份有限公司 | Automatic parking method, device and system |
| CN111137278A (en)* | 2019-12-26 | 2020-05-12 | 奇瑞汽车股份有限公司 | Vehicle parking control method, device and storage medium |
| CN111532259A (en)* | 2020-05-09 | 2020-08-14 | 奇瑞汽车股份有限公司 | Remote control method and device for automobile and storage medium |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022057238A1 (en)* | 2020-09-15 | 2022-03-24 | 华人运通(上海)自动驾驶科技有限公司 | Remote control parking control method and device, vehicle, and storage medium |
| CN112896148A (en)* | 2021-01-18 | 2021-06-04 | 浙江吉利控股集团有限公司 | Vehicle parking-out control method and device, electronic equipment and storage medium |
| CN112896148B (en)* | 2021-01-18 | 2022-12-06 | 浙江吉利控股集团有限公司 | A vehicle parking control method, device, electronic equipment and storage medium |
| WO2023010267A1 (en)* | 2021-08-03 | 2023-02-09 | 华为技术有限公司 | Method and apparatus for determining direction for pulling out |
| CN113561965A (en)* | 2021-08-06 | 2021-10-29 | 上汽通用五菱汽车股份有限公司 | Vehicle control method, vehicle, and computer-readable storage medium |
| CN113561965B (en)* | 2021-08-06 | 2023-05-12 | 上汽通用五菱汽车股份有限公司 | Vehicle control method, vehicle, and computer-readable storage medium |
| CN114312758A (en)* | 2022-01-04 | 2022-04-12 | 岚图汽车科技有限公司 | Remote vehicle moving control method, device and equipment and readable storage medium |
| CN114312758B (en)* | 2022-01-04 | 2023-08-08 | 岚图汽车科技有限公司 | A remote control method, device, equipment and readable storage medium for moving a vehicle |
| WO2024139092A1 (en)* | 2022-12-26 | 2024-07-04 | 惠州市德赛西威汽车电子股份有限公司 | Automatic parking method and system, and storage medium |
| CN116009553A (en)* | 2023-01-19 | 2023-04-25 | 重庆赛力斯新能源汽车设计院有限公司 | Vehicle parking method, electronic device and storage medium |
| WO2024152835A1 (en)* | 2023-01-19 | 2024-07-25 | 重庆赛力斯新能源汽车设计院有限公司 | Vehicle pull-out method, electronic device and storage medium |
| CN119590412A (en)* | 2024-12-10 | 2025-03-11 | 岚图汽车科技有限公司 | Parking method, device, equipment and storage medium based on Bluetooth location |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022057238A1 (en) | 2022-03-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112224199A (en) | Remote control parking control method and device, vehicle and storage medium | |
| CN112224198A (en) | Parking space parking method and device, vehicle and storage medium | |
| CN111976720B (en) | Autonomous passenger-replacing parking method, device, equipment and storage medium | |
| CN112216136A (en) | Parking space detection method and device, vehicle and storage medium | |
| CN108140319B (en) | Parking assistance method and parking assistance device | |
| CN112172793B (en) | Parking path planning method and device, vehicle and storage medium | |
| JP7505927B2 (en) | In-vehicle device and control method | |
| CN110696822A (en) | Automatic parking control method, device, equipment and storage medium | |
| CN112406855A (en) | Automatic parking method and device, vehicle and storage medium | |
| US20140309834A1 (en) | Apparatus and method for parking assistance | |
| RU2720501C1 (en) | Method for determining interference, method of parking assistance, method of departure assistance and device for determining interference | |
| CN111746504A (en) | Memory parking method, system, device and computer readable storage medium | |
| US10916126B2 (en) | Driving assistance apparatus, imaging apparatus, imaging system, driving assistance system, vehicle, and driving assistance method | |
| CN112799391A (en) | Parking method and device for narrow parking space, vehicle and storage medium | |
| CN111443705A (en) | In-vehicle processing device and control method for in-vehicle processing device | |
| CN112261357A (en) | Remote vehicle moving method and device, vehicle and storage medium | |
| JP2014125195A (en) | Parking support unit, parking support system, and parking support method | |
| CN113581164A (en) | Parking control method, device and system and storage medium | |
| CN110907980A (en) | V2X position accuracy enhancement | |
| US20240371267A1 (en) | Vehicle and control method thereof | |
| US10049573B1 (en) | Active park assist detection of semi-trailer overhang | |
| CN116080683A (en) | Driving method and device, vehicle and storage medium | |
| CN112172794A (en) | Parking control method and device, vehicle and storage medium | |
| US12214776B2 (en) | Parking assistance device and parking assistance method | |
| CN113460035B (en) | Containment Area Management Device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20210115 |