CN114212075A - Unmanned remote control passenger-replacing parking method and system, readable storage medium and vehicle - Google Patents
Unmanned remote control passenger-replacing parking method and system, readable storage medium and vehicleDownload PDFInfo
- Publication number
- CN114212075A CN114212075ACN202111339239.8ACN202111339239ACN114212075ACN 114212075 ACN114212075 ACN 114212075ACN 202111339239 ACN202111339239 ACN 202111339239ACN 114212075 ACN114212075 ACN 114212075A
- Authority
- CN
- China
- Prior art keywords
- target
- parking
- vehicle
- target vehicle
- information
- 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
- 238000000034methodMethods0.000titleclaimsabstractdescription46
- 230000008447perceptionEffects0.000claimsabstractdescription21
- 230000000087stabilizing effectEffects0.000claimsdescription36
- 230000006641stabilisationEffects0.000claimsdescription19
- 238000011105stabilizationMethods0.000claimsdescription19
- 230000005856abnormalityEffects0.000claimsdescription5
- 238000012544monitoring processMethods0.000claimsdescription3
- 208000033748Device issuesDiseases0.000claimsdescription2
- 238000004590computer programMethods0.000claimsdescription2
- 238000012937correctionMethods0.000claimsdescription2
- 230000007613environmental effectEffects0.000abstract1
- 238000010586diagramMethods0.000description6
- 230000006870functionEffects0.000description5
- 230000002159abnormal effectEffects0.000description2
- 230000001133accelerationEffects0.000description2
- 238000013473artificial intelligenceMethods0.000description2
- 238000004891communicationMethods0.000description2
- 230000000694effectsEffects0.000description2
- 239000000463materialSubstances0.000description2
- 230000008569processEffects0.000description2
- 206010039203Road traffic accidentDiseases0.000description1
- 230000004913activationEffects0.000description1
- 230000009286beneficial effectEffects0.000description1
- 238000012790confirmationMethods0.000description1
- 238000001514detection methodMethods0.000description1
- 238000011161developmentMethods0.000description1
- 238000005516engineering processMethods0.000description1
- 230000004927fusionEffects0.000description1
- 238000012986modificationMethods0.000description1
- 230000004048modificationEffects0.000description1
- 238000012806monitoring deviceMethods0.000description1
- 230000003287optical effectEffects0.000description1
- 239000013307optical fiberSubstances0.000description1
- 238000012545processingMethods0.000description1
- 230000000007visual effectEffects0.000description1
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
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Selective Calling Equipment (AREA)
Abstract
Description
Technical Field
The invention belongs to the technical field of automatic driving, and particularly relates to an unmanned remote control passenger-replacing parking method, an unmanned remote control passenger-replacing parking system, a readable storage medium and a vehicle.
Background
With the development of economy and the rise of artificial intelligence technology, the automatic driving automobile is more and more concerned by the market. Autonomous driving of a vehicle refers to the cooperative operation of artificial intelligence, visual computing, radar, monitoring devices, and global positioning systems so that a vehicle computer can operate a motor vehicle automatically and safely without any human active operation. The market forecast of the automatic driving automobile can realize the effects of reducing the occurrence rate of traffic accidents, reducing the degree of traffic jam, reducing the cost of investing in traffic infrastructure, reducing the pollution to the environment and the like.
However, the related art in the field of automatic driving is not mature at present, so that the use of the automatic driving vehicle in the automatic driving mode has great limitation. For example, the function of automatic parking is very high for parking facilities, a clear sign line is required on the ground, and a user needs to drive a vehicle to a parking position and perform an automatic parking operation after determining the parking position.
How to realize safe, accurate and quick vehicle parking becomes a great problem to be solved urgently in the field of current automatic driving and is also a problem to be discussed intensively by the invention.
Disclosure of Invention
The invention provides an unmanned remote control passenger-replacing parking method, an unmanned remote control passenger-replacing parking system, a readable storage medium and a vehicle, which are used for solving the problem of how to realize safe, accurate and quick vehicle parking.
The unmanned remote control passenger-replacing parking method according to the embodiment of the invention comprises the following steps: acquiring environment perception information associated with a target vehicle according to a parking/fetching instruction sent by a user terminal;
analyzing the parking/taking instruction based on the environment perception information to obtain target vehicle access control data through analysis, wherein the target vehicle access control data comprise target vehicle speed information, target distance information and target gear information; establishing a handshake request of the unmanned remote control passenger-replacing parking device and an electronic stability unit of a vehicle body, and judging whether the unmanned remote control passenger-replacing parking device successfully handshakes with the electronic stability unit of the vehicle body based on handshake conditions, wherein the handshake conditions comprise that the speed of a target vehicle is less than a first preset speed value, the current gear of the target vehicle is a parking gear, an electronic parking brake system of the target vehicle is pulled up, and the parking mode of the unmanned remote control passenger-replacing parking device is a remote control parking mode; and if the unmanned remote control passenger-assistant parking device successfully handshakes with the vehicle body electronic stabilizing unit, the vehicle body electronic stabilizing unit controls the target vehicle to start running based on the acquired target vehicle speed information, the target distance information and the target gear information.
In addition, the unmanned remote control passenger-replacing parking method according to the above embodiment of the present invention may further have the following additional technical features:
further, the environment perception information comprises driving area information, parking space target information and obstacle target information.
Further, if the unmanned remote control valet parking device successfully handshakes with the vehicle body electronic stabilization unit, the vehicle body electronic stabilization unit controls the target vehicle to start driving based on the acquired target vehicle speed information, the target distance information and the target gear information, and the method further includes: according to the current environment perception information of the target vehicle acquired in real time, real-time correction is carried out on the parking/vehicle taking instruction, so that the corrected target vehicle is accessed into control data; and the vehicle body electronic stabilizing unit controls the target vehicle to run to a target position based on the corrected target vehicle access control data.
Further, if the unmanned remote control valet parking device successfully handshakes with the vehicle body electronic stabilization unit, the vehicle body electronic stabilization unit controls the target vehicle to start driving based on the acquired target vehicle speed information, the target distance information and the target gear information, and the method further includes: when the unmanned remote control passenger-assistant parking device detects abnormality and needs to actively exit, the unmanned remote control passenger-assistant parking device issues an emergency/comfortable braking requirement to the electronic vehicle body stabilizing unit, so that the electronic vehicle body stabilizing unit brakes a target vehicle and activates an electronic parking braking system.
Further, if the unmanned remote control valet parking device successfully handshakes with the vehicle body electronic stabilization unit, the vehicle body electronic stabilization unit controls the target vehicle to start driving based on the acquired target vehicle speed information, the target distance information and the target gear information, and the method further includes: when the vehicle body electronic stabilizing unit detects abnormality and needs to actively exit, the vehicle body electronic stabilizing unit brakes a target vehicle by active emergency braking and sends an exit signal to the gearbox control unit, so that the gearbox control unit executes operation of entering a parking gear when monitoring that the speed of the current target vehicle is smaller than a second preset speed value.
Further, if the unmanned remote control valet parking device successfully handshakes with the vehicle body electronic stabilization unit, the vehicle body electronic stabilization unit controls the target vehicle to start driving based on the acquired target vehicle speed information, the target distance information and the target gear information, and the method further includes: and when the vehicle body electronic stabilizing unit detects that the bus signal is lost and needs to be actively withdrawn, the vehicle body electronic stabilizing unit brakes the target vehicle by active emergency braking.
According to the embodiment of the invention, the unmanned remote control passenger-replacing parking system comprises: the acquisition module is configured to acquire environment perception information associated with a target vehicle according to a parking/picking-up instruction sent by a user terminal; the analysis module is configured to analyze the parking/picking-up instruction based on the environment perception information so as to obtain target vehicle access control data through analysis, wherein the target vehicle access control data comprise target vehicle speed information, target distance information and target gear information; the judging module is configured to establish a handshake request of the unmanned remote control valet parking device and the vehicle body electronic stabilization unit, and judge whether the unmanned remote control valet parking device successfully handshakes with the vehicle body electronic stabilization unit based on a handshake condition, wherein the handshake condition comprises that the speed of a target vehicle is less than a preset speed, the current gear of the target vehicle is a parking gear, an electronic parking brake system of the target vehicle is pulled up, and a parking mode of the unmanned remote control valet parking device is a remote control parking mode; and the output module is configured to control the target vehicle to start running based on the acquired target vehicle speed information, the target distance information and the target gear information if the unmanned remote control passenger-substituting parking device successfully handshakes with the vehicle body electronic stabilizing unit.
The present invention also provides a computer-readable storage medium having stored thereon a computer program comprising program instructions which, when executed by a computer, cause the computer to perform the steps of the unmanned remote valet parking method of any of the embodiments of the present invention.
The present invention also provides a vehicle, comprising: the parking system comprises at least one processor and a memory communicatively connected with the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the steps of the unmanned remote valet parking method according to any embodiment of the invention.
According to the unmanned remote control passenger-replacing parking method, the unmanned remote control passenger-replacing parking system, the readable storage medium and the vehicle, the parking/vehicle taking instruction is analyzed based on the acquired environment perception information associated with the target vehicle, the handshake request of the unmanned remote control passenger-replacing parking device and the vehicle body electronic stability unit is established, the target vehicle is remotely controlled through the unmanned remote control passenger-replacing parking device, and the purpose that the issuing and the control execution of instructions such as starting, advancing, parking and the like of the vehicle can be completed when a person is not on the vehicle is achieved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a flowchart of an unmanned remote control car parking assistant method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an implementation framework of an unmanned remote control valet parking system according to an embodiment of the present invention;
fig. 3 is a block diagram illustrating a structure of an unmanned remote control valet parking system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a flow chart of an unmanned remote control valet parking method according to the present application is shown.
As shown in fig. 1, an unmanned remote control car parking assistant method specifically includes the following steps: and step S101, acquiring environment perception information associated with the target vehicle according to a parking/fetching instruction sent by the user terminal.
In this embodiment, the environment awareness information includes driving area information, parking space target information, and obstacle target information.
And step S102, analyzing the parking/vehicle taking instruction based on the environment perception information, so that target vehicle access control data are obtained through analysis.
In this embodiment, the target vehicle access control data includes target vehicle speed information, target distance information, and target gear information.
Step S103, establishing a handshake request of the unmanned remote control passenger-replacing parking device and the vehicle body electronic stabilization unit, and judging whether the unmanned remote control passenger-replacing parking device successfully handshakes with the vehicle body electronic stabilization unit based on a handshake condition.
In this embodiment, the handshake conditions include that the vehicle speed of the target vehicle is less than a first preset speed value, the current gear of the target vehicle is a parking gear, the electronic parking brake system of the target vehicle is pulled up, and the parking mode of the unmanned remote controlled valet parking device is a remote controlled parking mode.
And step S104, if the unmanned remote control passenger-assisted parking device successfully handshakes with the vehicle body electronic stabilization unit, the vehicle body electronic stabilization unit controls the target vehicle to start running based on the acquired target vehicle speed information, the acquired target distance information and the acquired target gear information.
According to the method, the parking/car taking instruction is analyzed based on the acquired environment perception information associated with the target vehicle, a handshake request of the unmanned remote control passenger-replacing parking device and the electronic stability unit of the vehicle body is established, and after the unmanned remote control passenger-replacing parking device successfully handshakes with the electronic stability unit of the vehicle body, the target vehicle is remotely controlled through the unmanned remote control passenger-replacing parking device, so that the purpose that the issuing and the control execution of instructions such as starting, advancing, parking and the like of the vehicle can be completed when a person is not on the vehicle is achieved.
Referring to fig. 2, a schematic diagram of an implementation framework of an unmanned remote control valet parking system according to an embodiment of the present application is shown.
As shown in fig. 2, an unmanned remote control car parking system, which is implemented by a framework comprising: the system comprises an environment sensing unit, an unmanned remote control passenger-assistant parking device, an ESP vehicle body electronic stabilizing unit, a TCU gearbox control unit and an EMS engine control unit. The environment sensing unit mainly comprises 1 front-view camera, 1 rear-view camera, 4 AVM looking around cameras and 12 ultrasonic radar sensors surrounding the vehicle, is responsible for detecting a driving area, a parking space target and an obstacle target of Freespace, and outputs the detection results to the unmanned remote control passenger-replacing parking device; the unmanned remote control passenger-replacing parking device comprises sensor target data fusion, global target path planning and vehicle control execution, wherein the main working contents are that a coordinate model between a vehicle and a parking space is established, a drivable global path is planned, and a target speed, a target distance and a target gear request are decomposed and output to an ESP vehicle body electronic stabilization unit; the ESP vehicle body electronic stabilizing unit inputs a VLC model according to the target distance and the current vehicle speed, calculates the target acceleration/deceleration required by the vehicle, the deceleration output depends on hydraulic pressure, is realized through a caliper terminal, and the acceleration is converted into the torque percentage to be output to the EMS engine control unit and is realized through the speed increase; meanwhile, the ESP vehicle body electronic stabilizing unit outputs a target gear to the TCU gearbox control unit in real time, and forward and backward movement of the vehicle in the parking process is achieved.
The unmanned remote control passenger car parking and ESP normal handshake needs to solve several difficulties: and 1 is a judgment condition for establishing handshaking and EPB release, and 2 is a judgment condition for parking and preventing accidental wiping when PAM fails or ESP fails or when ESP bus communication is lost. The following emphasis is placed on the above problem.
Firstly, when the remote control parking function is activated, when a parking stall is found, a driver stops the vehicle, selects the parking stall and activates remote control parking, and manually switches to the P gear and pulls up the EPB. After the door is opened and the car is got off, the parking button of the APP is pressed for a long time after the confirmation of the disclaimer avoidance statement by using the mobile phone APP, and the PAM (remote control passenger parking device MCU) requests the handshake. Or the PAM receives the remote control parking-out request, the driver selects the parking-out direction, and the vehicle is detected to be in the P gear and the EPB is pulled up. After confirming the disclaimer by using the mobile phone APP, pressing a parking button of the APP for a long time, and requesting handshake by the PAM. At this time, ESP needs to be judged: 1) the vehicle speed is less than 1.0 kph; 2) the gear is P gear; 3) pulling up the EPB; 4) the PAM parking mode is a remote control parking mode; if the 4 conditions simultaneously satisfy the given Active feedback handshake is successful; if not, the standby handshake fails to be maintained. And after the PAM handshake is successful, sending the target distance, speed and gear. The ESP forwards the gear request, and after the TCU finishes P output, the EPB is released and an Active activation control request is sent to control the longitudinal speed of the vehicle.
Secondly, in the PAM failure mode, the PAM and the ESP establish a handshake process, when the PAM detects abnormal conditions and needs to be actively exited (such as a driver intervenes a steering wheel, an electronic gear shifter, an accelerator is pressed, or a parking path is invaded by an obstacle), the PAM ECU sends out exit information and an emergency/comfort braking requirement, the ESP stops the vehicle (emergency/comfort), the P gear and the EPB parking are requested and activated, and the ESP returns to the standby after receiving the EPB pulling.
And thirdly, in the ESP failure mode, when the ESP detects that the abnormality needs to be actively exited, the ESP ECU sends out exit information and brakes the vehicle by active emergency braking. The PAM feeds back the Abort status, requests emergency braking, and requests a P-gear command. Meanwhile, after the TCU detects an ESP 'Error' signal, when the monitoring vehicle speed is less than 3kph, the P entering operation is immediately executed. Then, the ESP emergently stops the vehicle and requests P gear and EPB, and the ESP returns to 'standby' after receiving the pulling-up of the EPB; if the ESP Error is caused by the EPB fault, the ESP returns to the 'standby' after the whole vehicle returns to the P gear.
And finally, when the ESP detects that the bus signal is lost (such as PAM/TCU/EMS loss connection) and needs to be actively logged out, the ESP ECU sends out a 'logging out' message and brakes the vehicle by active emergency braking under the condition of ESP bus communication loss. When the PAM detects that the ESP signal is lost or abnormal, actively feeding back an Abort state, requesting emergency braking and requesting a P-gear command. Meanwhile, the TCU executes the P-in operation immediately after detecting that the ESP signal is lost. ESP emergently stops the vehicle and requests P gear and EPB, ESP returns to 'standby' after receiving EPB pull-up; if the ESP Error is caused by the EPB fault, the ESP returns to the 'standby' after the whole vehicle returns to the P gear.
Referring to fig. 3, a block diagram of an unmanned remote control valet parking system according to the present application is shown.
As shown in fig. 3, the remote-controlledvalet parking system 200 includes an obtainingmodule 210, ananalyzing module 220, a determiningmodule 230, and anoutputting module 240.
The obtaining module 210 is configured to obtain environment perception information associated with a target vehicle according to a parking/pickup instruction sent by a user terminal; the analysis module 220 is configured to analyze the parking/pickup instruction based on the environment awareness information, so that target vehicle access control data is obtained through analysis, wherein the target vehicle access control data includes target vehicle speed information, target distance information and target gear information; the judging module 230 is configured to establish a handshake request between the unmanned remote-control valet parking device and the vehicle body electronic stabilization unit, and judge whether the unmanned remote-control valet parking device successfully handshakes with the vehicle body electronic stabilization unit based on a handshake condition, where the handshake condition includes that the vehicle speed of the target vehicle is less than a preset speed, the current gear of the target vehicle is a parking gear, an electronic parking brake system of the target vehicle is pulled up, and a parking mode of the unmanned remote-control valet parking device is a remote-control parking mode; and the output module 240 is configured to, if the unmanned remote control valet parking device successfully handshakes with the vehicle body electronic stabilizing unit, control the target vehicle to start running based on the acquired target vehicle speed information, the acquired target distance information and the acquired target gear information.
It should be understood that the modules depicted in fig. 3 correspond to various steps in the method described with reference to fig. 1. Thus, the operations and features described above for the method and the corresponding technical effects are also applicable to the modules in fig. 3, and are not described again here.
In other embodiments, an embodiment of the present invention further provides a non-volatile computer storage medium, where the computer storage medium stores computer-executable instructions, and the computer-executable instructions may execute the unmanned remote control valet parking method in any of the above method embodiments;
as one embodiment, a non-volatile computer storage medium of the present invention stores computer-executable instructions configured to:
acquiring environment perception information associated with a target vehicle according to a parking/fetching instruction sent by a user terminal;
analyzing the parking/taking instruction based on the environment perception information to obtain target vehicle access control data through analysis, wherein the target vehicle access control data comprise target vehicle speed information, target distance information and target gear information;
establishing a handshake request of the unmanned remote control passenger-replacing parking device and an electronic stability unit of a vehicle body, and judging whether the unmanned remote control passenger-replacing parking device successfully handshakes with the electronic stability unit of the vehicle body based on a handshake condition, wherein the handshake condition comprises that the speed of a target vehicle is less than a first preset speed value, the current gear of the target vehicle is a parking gear, an electronic parking brake system of the target vehicle is pulled up, and a parking mode of the unmanned remote control passenger-replacing parking device is a remote control parking mode;
and if the unmanned remote control passenger-assistant parking device successfully handshakes with the vehicle body electronic stabilizing unit, the vehicle body electronic stabilizing unit controls the target vehicle to start running based on the acquired target vehicle speed information, the target distance information and the target gear information.
Fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present invention, and as shown in fig. 4, the apparatus includes: one ormore processors 310 and amemory 320, oneprocessor 310 being illustrated in fig. 4. The device for the unmanned remote control passenger-replacing parking method can also comprise: aninput device 330 and anoutput device 340. Theprocessor 310, thememory 320, theinput device 330, and theoutput device 340 may be connected by a bus or other means, such as the bus connection in fig. 4. Thememory 320 is a non-volatile computer-readable storage medium as described above. Theprocessor 310 executes various functional applications and data processing of the server by running the nonvolatile software programs, instructions and modules stored in thememory 320, so as to implement the unmanned remote control valet parking method according to the embodiment of the method. Theinput device 330 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the unmanned remote-controlled valet parking system based on remote power-on. Theoutput device 340 may include a display device such as a display screen.
The product can execute the method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the method provided by the embodiment of the present invention.
As an embodiment, the vehicle is applied to an unmanned remote control valet parking system, and is used for a client, and the vehicle comprises: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to:
acquiring environment perception information associated with a target vehicle according to a parking/fetching instruction sent by a user terminal;
analyzing the parking/taking instruction based on the environment perception information to obtain target vehicle access control data through analysis, wherein the target vehicle access control data comprise target vehicle speed information, target distance information and target gear information;
establishing a handshake request of the unmanned remote control passenger-replacing parking device and an electronic stability unit of a vehicle body, and judging whether the unmanned remote control passenger-replacing parking device successfully handshakes with the electronic stability unit of the vehicle body based on a handshake condition, wherein the handshake condition comprises that the speed of a target vehicle is less than a first preset speed value, the current gear of the target vehicle is a parking gear, an electronic parking brake system of the target vehicle is pulled up, and a parking mode of the unmanned remote control passenger-replacing parking device is a remote control parking mode;
and if the unmanned remote control passenger-assistant parking device successfully handshakes with the vehicle body electronic stabilizing unit, the vehicle body electronic stabilizing unit controls the target vehicle to start running based on the acquired target vehicle speed information, the target distance information and the target gear information.
Those of skill in the art will understand that the logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be viewed as implementing 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 more 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). Additionally, 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 for instance 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 invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, 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.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean 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 invention. In this specification, the schematic representations of the terms used above do not necessarily 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 more embodiments or examples.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (9)
1. An unmanned remote control passenger-riding parking method is characterized by comprising the following steps:
acquiring environment perception information associated with a target vehicle according to a parking/fetching instruction sent by a user terminal;
analyzing the parking/taking instruction based on the environment perception information to obtain target vehicle access control data through analysis, wherein the target vehicle access control data comprise target vehicle speed information, target distance information and target gear information;
establishing a handshake request of the unmanned remote control passenger-replacing parking device and an electronic stability unit of a vehicle body, and judging whether the unmanned remote control passenger-replacing parking device successfully handshakes with the electronic stability unit of the vehicle body based on handshake conditions, wherein the handshake conditions comprise that the speed of a target vehicle is less than a first preset speed value, the current gear of the target vehicle is a parking gear, an electronic parking brake system of the target vehicle is pulled up, and the parking mode of the unmanned remote control passenger-replacing parking device is a remote control parking mode;
and if the unmanned remote control passenger-assistant parking device successfully handshakes with the vehicle body electronic stabilizing unit, the vehicle body electronic stabilizing unit controls the target vehicle to start running based on the acquired target vehicle speed information, the target distance information and the target gear information.
2. The method of claim 1, wherein the environment awareness information comprises driving area information, parking space target information, and obstacle target information.
3. The unmanned remote-control valet parking method according to claim 1, wherein after the body electronic stabilizing unit controls the target vehicle to start driving based on the acquired target vehicle speed information, the target distance information and the target gear information if the unmanned remote-control valet parking device successfully handshakes with the body electronic stabilizing unit, the method further comprises:
according to the current environment perception information of the target vehicle acquired in real time, real-time correction is carried out on the parking/vehicle taking instruction, so that the corrected target vehicle is accessed into control data;
and the vehicle body electronic stabilizing unit controls the target vehicle to run to a target position based on the corrected target vehicle access control data.
4. The unmanned remote-control valet parking method according to claim 1, wherein after the body electronic stabilizing unit controls the target vehicle to start driving based on the acquired target vehicle speed information, the target distance information and the target gear information if the unmanned remote-control valet parking device successfully handshakes with the body electronic stabilizing unit, the method further comprises:
when the unmanned remote control passenger-assistant parking device detects abnormality and needs to actively exit, the unmanned remote control passenger-assistant parking device issues an emergency/comfortable braking requirement to the electronic vehicle body stabilizing unit, so that the electronic vehicle body stabilizing unit brakes a target vehicle and activates an electronic parking braking system.
5. The unmanned remote-control valet parking method according to claim 1, wherein after the body electronic stabilizing unit controls the target vehicle to start driving based on the acquired target vehicle speed information, the target distance information and the target gear information if the unmanned remote-control valet parking device successfully handshakes with the body electronic stabilizing unit, the method further comprises:
when the vehicle body electronic stabilizing unit detects abnormality and needs to actively exit, the vehicle body electronic stabilizing unit brakes a target vehicle by active emergency braking and sends an exit signal to the gearbox control unit, so that the gearbox control unit executes operation of entering a parking gear when monitoring that the speed of the current target vehicle is smaller than a second preset speed value.
6. The unmanned remote-control valet parking method according to claim 1, wherein after the body electronic stabilizing unit controls the target vehicle to start driving based on the acquired target vehicle speed information, the target distance information and the target gear information if the unmanned remote-control valet parking device successfully handshakes with the body electronic stabilizing unit, the method further comprises:
and when the vehicle body electronic stabilizing unit detects that the bus signal is lost and needs to be actively withdrawn, the vehicle body electronic stabilizing unit brakes the target vehicle by active emergency braking.
7. An unmanned remote control passenger-riding parking system is characterized by comprising:
the acquisition module is configured to acquire environment perception information associated with a target vehicle according to a parking/picking-up instruction sent by a user terminal;
the analysis module is configured to analyze the parking/picking-up instruction based on the environment perception information so as to obtain target vehicle access control data through analysis, wherein the target vehicle access control data comprise target vehicle speed information, target distance information and target gear information;
the judging module is configured to establish a handshake request of the unmanned remote control valet parking device and the vehicle body electronic stabilization unit, and judge whether the unmanned remote control valet parking device successfully handshakes with the vehicle body electronic stabilization unit based on a handshake condition, wherein the handshake condition comprises that the speed of a target vehicle is less than a preset speed, the current gear of the target vehicle is a parking gear, an electronic parking brake system of the target vehicle is pulled up, and a parking mode of the unmanned remote control valet parking device is a remote control parking mode;
and the output module is configured to control the target vehicle to start running based on the acquired target vehicle speed information, the target distance information and the target gear information if the unmanned remote control passenger-substituting parking device successfully handshakes with the vehicle body electronic stabilizing unit.
8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of any one of claims 1 to 6.
9. A vehicle, characterized by comprising: at least one processor, and a memory communicatively coupled to the at least one processor, wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111339239.8ACN114212075A (en) | 2021-11-12 | 2021-11-12 | Unmanned remote control passenger-replacing parking method and system, readable storage medium and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111339239.8ACN114212075A (en) | 2021-11-12 | 2021-11-12 | Unmanned remote control passenger-replacing parking method and system, readable storage medium and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114212075Atrue CN114212075A (en) | 2022-03-22 |
Family
ID=80696988
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111339239.8APendingCN114212075A (en) | 2021-11-12 | 2021-11-12 | Unmanned remote control passenger-replacing parking method and system, readable storage medium and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114212075A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115079696A (en)* | 2022-06-28 | 2022-09-20 | 中国第一汽车股份有限公司 | A kind of valet parking exception processing method, device, electronic device and storage medium |
| CN116001750A (en)* | 2023-01-05 | 2023-04-25 | 北京新能源汽车股份有限公司 | Vehicle control method, storage medium, electronic device, vehicle |
| CN116161058A (en)* | 2023-03-28 | 2023-05-26 | 长城汽车股份有限公司 | Vehicle control method, electronic equipment and vehicle |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102018001866A1 (en)* | 2017-10-11 | 2018-07-19 | Daimler Ag | Method for automatically braking a vehicle moving during an automatic driverless parking operation |
| CN110254412A (en)* | 2019-06-21 | 2019-09-20 | 爱驰汽车有限公司 | Parking control method, system, equipment and storage medium |
| CN110497903A (en)* | 2019-09-02 | 2019-11-26 | 江铃汽车股份有限公司 | A kind of method and system of automatically parking |
| 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 |
| CN112744214A (en)* | 2021-01-19 | 2021-05-04 | 广州橙行智动汽车科技有限公司 | Control system and control method for remote control parking of vehicle and vehicle |
| CN113359759A (en)* | 2021-06-24 | 2021-09-07 | 中国第一汽车股份有限公司 | Parking control method and system based on automatic driving, vehicle and storage medium |
- 2021
- 2021-11-12CNCN202111339239.8Apatent/CN114212075A/enactivePending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102018001866A1 (en)* | 2017-10-11 | 2018-07-19 | Daimler Ag | Method for automatically braking a vehicle moving during an automatic driverless parking operation |
| CN110254412A (en)* | 2019-06-21 | 2019-09-20 | 爱驰汽车有限公司 | Parking control method, system, equipment and storage medium |
| CN110497903A (en)* | 2019-09-02 | 2019-11-26 | 江铃汽车股份有限公司 | A kind of method and system of automatically parking |
| 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 |
| CN112744214A (en)* | 2021-01-19 | 2021-05-04 | 广州橙行智动汽车科技有限公司 | Control system and control method for remote control parking of vehicle and vehicle |
| CN113359759A (en)* | 2021-06-24 | 2021-09-07 | 中国第一汽车股份有限公司 | Parking control method and system based on automatic driving, vehicle and storage medium |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115079696A (en)* | 2022-06-28 | 2022-09-20 | 中国第一汽车股份有限公司 | A kind of valet parking exception processing method, device, electronic device and storage medium |
| CN116001750A (en)* | 2023-01-05 | 2023-04-25 | 北京新能源汽车股份有限公司 | Vehicle control method, storage medium, electronic device, vehicle |
| CN116161058A (en)* | 2023-03-28 | 2023-05-26 | 长城汽车股份有限公司 | Vehicle control method, electronic equipment and vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114212075A (en) | Unmanned remote control passenger-replacing parking method and system, readable storage medium and vehicle | |
| CN108944874B (en) | Control method and system for electric automobile remote control driving | |
| CN108297864A (en) | The control method and control system of driver and the linkage of vehicle active safety technologies | |
| CN110053630B (en) | Vehicle control method and device | |
| CN107187435A (en) | A kind of electronic parking system and parking method for meeting automatic Pilot requirement | |
| CN110239540A (en) | vehicle control device | |
| DE112019002285T5 (en) | VEHICLE CONTROL DEVICE AND SYSTEM FOR AUTOMATIC DRIVING USING THE SAME | |
| CN110696820A (en) | Control system and backup method for autonomous parking | |
| CN113272195A (en) | Control system and control method for intelligent networked vehicle | |
| CN116597634B (en) | Remote operation system and abnormality notification method | |
| DE102015104851A1 (en) | Method for applying an electric parking brake system in propulsion systems of hybrid and electric vehicles | |
| US20230132179A1 (en) | Tow management systems and methods for autonomous vehicles | |
| CN115027442B (en) | Brake redundancy control method and brake redundancy control system | |
| DE102022126696A1 (en) | WIRELESS TRAILER CONNECTION | |
| CN115771572A (en) | Intelligent traction seat control method and system of semi-trailer tractor | |
| CN111724577A (en) | Method and device for remote control driving of vehicle and vehicle | |
| DE102022113661A1 (en) | Device for remote parking | |
| CN114506303A (en) | Automatic driving and braking control system and method for pure electric logistic vehicle | |
| CN217484744U (en) | Intelligent driving mine card redundant CAN bus system | |
| CN117141467A (en) | Fusion parking control method, device, equipment and storage medium | |
| CN115503713B (en) | Remote driving vehicle, remote driving system, and hunting driving suppressing method | |
| CN113002554A (en) | Redundant braking system, autonomous vehicle, and corresponding method and medium | |
| CN117858048A (en) | Information processing apparatus, information processing system, information processing method, vehicle, and non-transitory storage medium | |
| CN116039669A (en) | Remote control method based on automatic driving | |
| CN115959153A (en) | Vehicle driving mode management control method, device, equipment and storage medium |
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 | Application publication date:20220322 | |
| RJ01 | Rejection of invention patent application after publication |