CN108490949B

CN108490949B - Method and device for controlling AVP vehicle in parking lot

Info

Publication number: CN108490949B
Application number: CN201810362511.6A
Authority: CN
Inventors: 鲜余强; 张玉新
Original assignee: Uisee Shanghai Automotive Technologies Ltd
Current assignee: Uisee Shanghai Automotive Technologies Ltd
Priority date: 2018-04-20
Filing date: 2018-04-20
Publication date: 2022-02-15
Anticipated expiration: 2038-04-20
Also published as: CN108490949A

Abstract

It is an object of the present application to provide a method, apparatus and system for controlling AVP vehicles within a parking lot. Compared with the prior art, the method and the system have the advantages that the remote equipment end and the AVP vehicle end are utilized to cooperate with each other, the vehicle state of self-service parking in the parking lot can be monitored in real time through the monitoring system and the remote assistance means, for example, the vehicle with the AVP vehicle end reports abnormal/warning information, real-time video analysis, artificial monitoring and other modes find potential dangers, the vehicle is timely and remotely assisted, efficient and reliable autonomous parking is achieved, and mass production can be achieved.

Description

Method and device for controlling AVP vehicle in parking lot

Technical Field

The application relates to the field of intelligent driving, in particular to a technology for controlling AVP vehicles in a parking lot.

Background

The automatic parking system finds a proper parking space by detecting the surrounding environment information of the vehicle, thereby controlling the steering speed of the vehicle and enabling the vehicle to drive into the parking space autonomously. However, the automatic parking system requires the driver to drive the vehicle to the side of the parking space to continue the work.

With the continuous evolution of technology, Autonomous Valet Parking (AVP) should be carried out. The AVP can autonomously drive the vehicle into the parking lot to search for a parking space, avoid obstacles if necessary and finally park the vehicle into a proper parking space only by parking the vehicle outside the parking lot by a driver.

The existing Autonomous Vehicle Parking (AVP) system is low in reliability, conditions such as missing detection, false detection and the like easily occur to key sensors, so that the use experience of the AVP is greatly reduced, and even commercial popularization and application cannot be realized in practice. Therefore, an AVP vehicle control method which can improve the reliability of automatic parking and is easy to popularize and apply is lacking in the prior art.

Disclosure of Invention

It is an object of the present application to provide a method, apparatus and system for controlling AVP vehicles within a parking lot.

According to one aspect of the application, a method at a remote device end for controlling an AVP vehicle within a parking lot is provided, wherein the method comprises:

identifying AVP vehicles needing remote assistance in a parking lot monitored by a remote device;

generating and presenting a remote assistance request with respect to the AVP vehicle;

generating a remote assistance instruction about the AVP vehicle according to remote operation of a remote user on the AVP vehicle through the remote equipment;

sending the remote assistance instruction to the AVP vehicle.

According to another aspect of the present application, there is provided a method at an AVP vehicle end for controlling an AVP vehicle within a parking lot, wherein the method comprises:

receiving a remote assistance instruction sent by a remote device, wherein the remote device is used for monitoring the parking lot;

executing the remote assistance instruction on the AVP vehicle.

According to yet another aspect of the present application, there is provided a method at a remote device end for controlling an AVP vehicle within a parking lot, wherein the remote device includes a sensing unit and a control unit, the method comprising:

the perception unit identifies AVP vehicles needing remote assistance in a parking lot monitored by the remote equipment and sends information about the AVP vehicles to be remotely assisted to the control unit;

the control unit generates and presents a remote assistance request related to the AVP vehicle according to the information to be remotely assisted;

the control unit generates a remote assistance instruction about the AVP vehicle according to remote operation of a remote user on the AVP vehicle through the remote equipment;

the control unit sends the remote assistance instruction to the AVP vehicle.

According to a further aspect of the present invention there is provided a remote device for controlling AVP vehicles in a parking lot, wherein the remote device comprises:

the device comprises an identification device, a processing device and a control device, wherein the identification device is used for identifying AVP vehicles needing remote assistance in a parking lot monitored by remote equipment;

request generating means for generating and presenting a remote assistance request with respect to the AVP vehicle;

the first instruction generating device is used for generating a remote assistance instruction related to the AVP vehicle according to the remote operation of a remote user on the AVP vehicle through the remote equipment;

a first sending device for sending the remote assistance instruction to the AVP vehicle.

According to another aspect of the present invention, there is provided an AVP vehicle apparatus for controlling an AVP vehicle in a parking lot, wherein the AVP vehicle apparatus includes:

the first receiving device is used for receiving a remote assistance instruction sent by a remote device, wherein the remote device is used for monitoring the parking lot;

and the execution device is used for executing the remote assistance instruction on the AVP vehicle.

According to another aspect of the invention, there is provided a remote device for controlling an AVP vehicle in a parking lot, wherein the remote device comprises a sensing unit and a control unit,

the perception unit is used for identifying AVP vehicles needing remote assistance in a parking lot monitored by the remote equipment and sending information about the AVP vehicles to be remotely assisted to the control unit;

the control unit is used for generating and presenting a remote assistance request related to the AVP vehicle according to the information to be remotely assisted; generating a remote assistance instruction about the AVP vehicle according to remote operation of a remote user on the AVP vehicle through the remote equipment; sending the remote assistance instruction to the AVP vehicle.

According to another aspect of the invention, there is provided a system for controlling an AVP vehicle in a parking lot, wherein the system comprises a remote device and an AVP vehicle device;

wherein the remote device comprises:

first transmitting means for transmitting the remote assistance instruction to the AVP vehicle;

wherein the AVP vehicle device includes:

wherein the remote device comprises a sensing unit and a control unit,

the control unit is used for generating and presenting a remote assistance request related to the AVP vehicle according to the information to be remotely assisted; generating a remote assistance instruction about the AVP vehicle according to remote operation of a remote user on the AVP vehicle through the remote equipment; sending the remote assistance instruction to the AVP vehicle;

wherein the AVP vehicle device includes:

According to another aspect of the invention there is provided a remote device for controlling AVP vehicles in a parking lot, comprising:

one or more processors;

a memory; and

one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for:

sending the remote assistance instruction to the AVP vehicle.

According to another aspect of the invention, there is provided a computer-readable storage medium having a computer program stored thereon, the computer program being executable by a processor to:

sending the remote assistance instruction to the AVP vehicle.

According to another aspect of the present invention, there is provided a remote device for controlling AVP vehicles in a parking lot, wherein the remote device comprises a sensing unit and a control unit, the remote device further comprising:

one or more processors;

a memory; and

the control unit sends the remote assistance instruction to the AVP vehicle.

the method comprises the steps that a perception unit identifies AVP vehicles needing remote assistance in a parking lot monitored by remote equipment, and sends information about the AVP vehicles to be remotely assisted to a control unit, wherein the remote equipment comprises the perception unit and the control unit;

the control unit sends the remote assistance instruction to the AVP vehicle.

According to another aspect of the present invention, there is provided an AVP vehicle apparatus for controlling AVP vehicles in a parking lot, comprising:

one or more processors;

a memory; and

executing the remote assistance instruction on the AVP vehicle.

Compared with the prior art, the method and the system have the advantages that the remote equipment end and the AVP vehicle end are utilized to cooperate with each other, the vehicle state of self-service parking in the parking lot can be monitored in real time through the monitoring system and the remote assistance means, for example, the vehicle with the AVP vehicle end reports abnormal/warning information, real-time video analysis, artificial monitoring and other modes find potential dangers, the vehicle is timely and remotely assisted, efficient and reliable autonomous parking is achieved, and mass production can be achieved.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

FIG. 1 illustrates a schematic view of a parking lot scenario with a remote device end installed to control AVP vehicles within the parking lot and an AVP vehicle end, according to one embodiment of the present application;

FIG. 2 illustrates a remote device architecture for controlling AVP vehicles within a parking lot in accordance with one embodiment of the present application;

FIG. 3 illustrates a block diagram of an AVP vehicle device for controlling AVP vehicles within a parking lot in accordance with one embodiment of the present application;

FIG. 4 illustrates a remote device architecture for controlling AVP vehicles within a parking lot in accordance with one embodiment of the present application;

FIG. 5 illustrates a flow chart of a method for controlling AVP vehicles within a parking lot at a remote device in accordance with one embodiment of the present application;

FIG. 6 illustrates a flowchart of a method at an AVP vehicle end for controlling AVP vehicles within a parking lot in accordance with another embodiment of the present application;

FIG. 7 illustrates a flow chart of a method for controlling AVP vehicles within a parking lot at a remote device in accordance with another embodiment of the present application;

FIG. 8 illustrates an exemplary system that can be used to implement the various embodiments described in this application.

The same or similar reference numbers in the drawings identify the same or similar elements.

Detailed Description

The present application is described in further detail below with reference to the attached figures.

In a typical configuration of the present application, the terminal, the device serving the network, and the trusted party each include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

The device referred to in this application includes, but is not limited to, a user device, a network device, or a device formed by integrating a user device and a network device through a network. The user equipment includes, but is not limited to, any mobile electronic product, such as a smart phone, a tablet computer, etc., capable of performing human-computer interaction with a user (e.g., human-computer interaction through a touch panel), and the mobile electronic product may employ any operating system, such as an android operating system, an iOS operating system, etc. The network device includes an electronic device capable of automatically performing numerical calculation and information processing according to a preset or stored instruction, and hardware thereof includes, but is not limited to, a microprocessor, an Application Specific Integrated Circuit (ASIC), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), an embedded device, and the like. The network device includes but is not limited to a computer, a network host, a single network server, a plurality of network server sets or a cloud of a plurality of servers; here, the Cloud is composed of a large number of computers or web servers based on Cloud Computing (Cloud Computing), which is a kind of distributed Computing, one virtual supercomputer consisting of a collection of loosely coupled computers. Including, but not limited to, the internet, a wide area network, a metropolitan area network, a local area network, a VPN network, a wireless Ad Hoc network (Ad Hoc network), etc. Preferably, the device may also be a program running on the user device, the network device, or a device formed by integrating the user device and the network device, the touch terminal, or the network device and the touch terminal through a network.

Of course, those skilled in the art will appreciate that the foregoing is by way of example only, and that other existing or future devices, which may be suitable for use in the present application, are also encompassed within the scope of the present application and are hereby incorporated by reference.

In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

Fig. 1 shows a schematic view of a parking lot scenario with a remote device side controlling AVP vehicles in the parking lot and AVP vehicle side installed according to one embodiment of the present application.

In the parking lot scene, a vehicle 1 is a vehicle provided with an AVP vehicle end, and a remote equipment end is deployed in a monitoring room 2; the remote equipment end can acquire the parking process of each parking space from the camera unit 3 covering the whole parking lot; the communication between the AVP vehicle end and the remote device end is performed via a communication connection 4, which may preferably be an encrypted connection.

Wherein, the remote device end may be the remote device 20 shown in fig. 2 or the remote device 40 shown in fig. 4; the AVP vehicle device may be the AVP vehicle device 30 shown in fig. 3.

Here, the AVP vehicle is a vehicle having an Autonomous Valet Parking (AVP) function, and for example, a vehicle that performs autonomous Valet Parking, a vehicle equipped with an autonomous Valet Parking system, or the like.

FIG. 2 illustrates a remote device architecture for controlling AVP vehicles within a parking lot in accordance with one embodiment of the present application; the remote device 20 includes an identification means 201, a request generation means 202, a first instruction generation means 203, and a first transmission means 204.

Wherein, the identifying device 201 identifies the AVP vehicle needing remote assistance in the parking lot monitored by the remote equipment; the request generating device 202 generates and presents a remote assistance request regarding the AVP vehicle; the first instruction generating device 203 generates a remote assistance instruction about the AVP vehicle according to the remote operation of a remote user on the AVP vehicle through the remote equipment; the first transmitting device 204 transmits the remote assistance instruction to the AVP vehicle.

Specifically, the identifying device 201 identifies an AVP vehicle that needs remote assistance in a parking lot monitored by a remote apparatus. Here, the identification device 201 acquires vehicle state information of the AVP vehicle and/or monitoring information in the parking lot by communicating with one or more AVP vehicles or monitoring devices through periodic detection, event triggering and the like; then, the identifying device 201 identifies the AVP vehicle that needs the remote assistance based on the above information.

In one implementation, the identifying means 201 may obtain vehicle status information of an AVP vehicle; and identifying the AVP vehicles needing remote assistance in the parking lot monitored by the remote equipment according to the vehicle state information. Here, the identification device 201 may acquire vehicle status information automatically uploaded by an AVP vehicle by interacting with the AVP vehicle; or, monitoring acquisition information of a monitoring device in the parking lot can be acquired to acquire vehicle state information of AVP vehicles in the parking lot; alternatively, the vehicle state information may be acquired by a combination of the two manners described above.

In one implementation, the vehicle state information includes at least any one of:

the AVP vehicle enters the parking lot status indication information: the state indication information includes information such as a driving video, a driving speed, a driving direction, and a surrounding environment, for example, when an AVP vehicle equipped with an AVP enters the parking lot, a corresponding monitoring camera or a vehicle-mounted camera is triggered to upload the driving video to the identification device 201 of the remote device 20 in real time;

status indication information of the AVP vehicle leaving a parking space in the parking lot: the state indication information includes information such as a driving video, a driving speed, a driving direction, and a surrounding environment, for example, when an AVP vehicle installed with an AVP leaves a parking space of the parking lot, a corresponding monitoring camera or a vehicle-mounted camera is triggered to upload the driving video to the recognition device 201 of the remote device 20 in real time;

vehicle state information of the AVP vehicle during driving in the parking lot: the vehicle state information comprises but is not limited to any self state information related to the vehicle running process and/or abnormal/warning information which can be judged by the vehicle, and the AVP vehicle with the AVP reports the information in real time in the running process of the parking lot;

the vehicle state information of the AVP vehicle shot by the monitoring device in the parking lot is as follows: the vehicle state information includes, but is not limited to, information such as a driving video, a driving speed, a driving direction, and a surrounding environment of the vehicle, for example, a video captured by a monitoring camera or a vehicle-mounted camera.

After the vehicle state information of the AVP vehicle is obtained, the identifying device 201 identifies the AVP vehicle that needs remote assistance in the parking lot monitored by the remote device according to the vehicle state information.

For example, when the vehicle status information includes status indication information that the AVP vehicle enters the parking lot or status indication information that the AVP vehicle leaves the parking space in the parking lot, the identifying device 201 automatically analyzes the vehicle status information, and identifies whether there is an AVP vehicle that needs remote assistance by predicting a vehicle traveling route, monitoring a vehicle speed, and the like; alternatively, upon receiving the status indication information, the identification device 201 prompts the remote operator to monitor it immediately to identify the AVP vehicle in the parking lot monitored by the remote apparatus that needs remote assistance.

Alternatively, for example, when the vehicle state information includes vehicle state information of a process in which the AVP vehicle travels in a parking lot, the identifying means 201 may identify an AVP vehicle that needs remote assistance in the parking lot monitored by a remote device through abnormality/warning information or the like included in the vehicle state information.

Or, for example, when the vehicle status information includes the vehicle status information of the AVP vehicle captured by the monitoring device in the parking lot, the recognition device 201 analyzes the video captured by the monitoring camera or the vehicle-mounted camera in real time by a video analysis visual recognition method (such as deep learning, reinforcement learning, and the like), and automatically recognizes the potential danger encountered by the AVP-mounted vehicle during the driving process in the parking lot, so as to recognize the AVP vehicle in the parking lot monitored by the remote device, which needs remote assistance.

Those skilled in the art can understand that the three modes can be used independently, and two or more of the three modes can be used in any combination, so that the generation of an abnormal state can be judged efficiently and accurately, and the AVP vehicle needing remote assistance in the parking lot monitored by the remote equipment can be effectively identified.

The request generation means 202 generates and presents a remote assistance request with respect to the AVP vehicle. Here, the request generating device 202 directly generates and presents a remote assistance request for the AVP vehicle according to the AVP vehicle requiring remote assistance; alternatively, preferably, the request generating device 202 generates and presents the remote assistance request related to the AVP vehicle according to the vehicle state information, for example, if the urgency levels corresponding to different vehicle state information are different, the generated and presented remote assistance request is also different.

In one implementation, the remote assistance request includes exception information and/or mission information of the AVP vehicle. The abnormal information includes but is not limited to vehicle faults, obstacles influencing vehicle running, unavailability of a target parking space, possible collision of adjacent vehicles and the like; the task information includes, but is not limited to, parking, driving away from the parking lot, changing a parking space, being about to park or needing to park in a particular parking space (e.g., a target parking space at a location at an exit of the parking lot, such as an exit of the parking lot), etc.

The first instruction generating device 203 generates a remote assistance instruction about the AVP vehicle according to the remote operation of a remote user on the AVP vehicle through the remote equipment; the first transmitting device 204 transmits the remote assistance instruction to the AVP vehicle.

Here, the remote user is, for example, a remote operator of the AVP system; the remote operation includes, but is not limited to, the operation of the remote user on a human-computer interaction interface, or the operation of a remote control handle, a steering wheel, a brake pedal and other 'simulated vehicle control devices' by the remote user, and the like.

It should be understood by those skilled in the art that, in the present invention, one remote user may be responsible for controlling the remote operation of multiple AVP vehicles, or multiple remote users may be responsible for controlling the remote operation of different AVP vehicles, for example, different AVP vehicles are displayed on the operation interfaces of different remote users, and the AVP vehicle that the remote user is responsible for controlling is determined based on the selection of the remote user.

In one implementation, the remote assistance instructions include at least any one of:

stopping an AVP parking operation of the AVP vehicle;

controlling an AVP parking operation of the AVP vehicle: if the AVP vehicle is remotely controlled to drive, the remote parking is continued;

repairing the vehicle fault of the AVP vehicle to continue to perform AVP parking operations: the vehicle fault is repaired remotely, so that the autonomous parking of the vehicle is recovered after the vehicle fault is repaired;

resetting a target parking space of the AVP vehicle, and controlling the AVP vehicle to execute AVP parking operation according to the target parking space: for example, according to the vehicle state of the AVP vehicle and the environmental state of the surrounding parking lot, the target parking space is selected for the AVP vehicle again, and the target parking space information is sent to the AVP vehicle, so that the AVP vehicle continues to park autonomously.

In one implementation, the remote device 20 further includes a second sending means (not shown), and in particular, when the remote user exits the remote assistance mode, the second sending means sends an exit remote assistance instruction to the AVP vehicle. When the remote user eliminates the potential danger or relieves the parking problem, the remote user exits the remote assistance mode, and the second sending device sends an exit remote assistance instruction to the AVP vehicle through the communication connection with the AVP vehicle; the AVP vehicle exits the remote assistance instruction, exits the remote assistance and continues autonomous parking until parking is completed.

In one implementation, the remote device 20 further includes a second instruction generating means (not shown) and a third transmitting means (not shown); wherein the second instruction generating device generates a remote control instruction about a related vehicle of the AVP vehicle according to remote operation of the remote user on the related vehicle through the remote equipment; the third transmitting device transmits the remote control instruction to the associated vehicle.

Here, the associated vehicles include, but are not limited to, one or more vehicles affecting the passage of the current AVP vehicle, such as vehicles passing by during the current AVP parking process, or vehicles that are traveling and may meet the current AVP vehicle, etc.; the associated vehicle includes, but is not limited to, an AVP vehicle that is already parked or is parking.

If the remote user can remotely operate the associated vehicle, the second instruction generating device generates a remote control instruction about the associated vehicle according to the remote operation of the remote user on the associated vehicle of the AVP vehicle through the remote device. The third transmitting device transmits the remote control instruction to the associated vehicle according to the communication connection between the remote device and the associated vehicle.

Here, the remote control instruction includes, but is not limited to, at least any one of:

stopping a parking operation of the associated vehicle;

controlling a parking operation of the associated vehicle: if remote control driving is performed on the associated vehicle, changing a travel route to clear a road for the AVP vehicle, and the like;

repairing the vehicle fault of the associated vehicle to continue to perform the parking operation: if the related vehicle has a fault, the fault of the vehicle is repaired remotely, so that the autonomous parking of the vehicle is recovered after the vehicle is repaired;

and resetting the target parking space of the associated vehicle, and controlling the associated vehicle to execute parking operation according to the target parking space, so as to vacate a parking space for the AVP vehicle and the like.

Through the operation, the invention can realize the position rearrangement of all the vehicles with AVPs, thereby achieving the aim of high-density parking.

In one implementation, when the associated vehicle finishes executing the remote control command, the first sending device 204 sends the remote assistance command to the AVP vehicle. Here, when the related vehicle finishes executing the remote control instruction, it is considered that the obstacle currently affecting the AVP vehicle has been eliminated (e.g., other vehicles affecting the AVP vehicle have been moved), and the first sending device 204 sends the remote assistance instruction to the AVP vehicle to control the AVP vehicle to execute the remote assistance instruction.

Here, the first instruction generating device 203 may be executed after or before the "associated vehicle executes the remote control completion instruction", or may be at least partially parallel to the "associated vehicle executes the remote control completion instruction".

In one implementation, the remote device 20 further comprises a first encryption means (not shown); wherein the first encryption apparatus establishes an encrypted communication connection of the remote device with the AVP vehicle; the first transmitting device 204 transmits the remote assistance instruction to the AVP vehicle over the encrypted communication connection.

Here, the encrypted communication connection may be established based on a predetermined encryption mechanism; in one implementation, the encryption mechanism may be based on different AVP vehicles to set different encryption schemes; in one implementation, the encrypted communication connection further includes a complete authentication mechanism and/or authorization mechanism, so as to support secure reporting of transmitted data and issuing and execution of various instructions.

FIG. 3 illustrates a block diagram of an AVP vehicle device for controlling AVP vehicles within a parking lot in accordance with one embodiment of the present application; the AVP vehicle device comprises a first receiving means 301 and an executing means 302. The AVP vehicle equipment comprises but is not limited to AVP vehicle-mounted equipment or a vehicle provided with the AVP vehicle-mounted equipment.

The first receiving apparatus 301 receives a remote assistance instruction sent by a remote device, where the remote device is used to monitor the parking lot; the execution device 302 executes the remote assistance instruction on the AVP vehicle.

Here, the first receiving apparatus 301 receives a remote assistance instruction sent by the remote device according to a communication connection established with the remote device, where the remote assistance instruction includes at least any one of the following:

stopping an AVP parking operation of the AVP vehicle;

Then, the executing device 302 uses the remote assistance instruction as an input of the AVP system to change the original AVP operation according to the obtained remote assistance instruction, or uses the remote assistance instruction as an input of a vehicle system to control the start, stop or execution configuration of the AVP system (for example, allowing the remote device to obtain the priority operation right for the AVP vehicle, or resetting the target parking space, etc.), so as to execute the remote assistance instruction on the AVP vehicle.

In one implementation, the AVP vehicle device 30 further includes a second encryption apparatus (not shown), wherein the second encryption apparatus establishes an encrypted communication connection between a remote device and the AVP vehicle, wherein the remote device is configured to monitor the parking lot; the first receiving means 301 receives the remote assistance instruction sent by the remote device through the encrypted communication connection.

Wherein the second encryption apparatus is cooperable with the first encryption apparatus of the remote device to establish an encrypted communication connection of the remote device with the AVP vehicle.

After the encrypted communication connection is established, the first receiving apparatus 301 receives the remote assistance command sent by the remote device in an encrypted manner through the encrypted communication connection.

In one implementation, when the remote assistance command is received, the executing device 302 updates the AVP vehicle to the remote assistance mode and executes the remote assistance command on the AVP vehicle. Here, the remote assistance mode includes, but is not limited to, allowing the remote device to acquire a priority operation right for the AVP vehicle, allowing the remote device to perform control of the AVP vehicle together with a current AVP vehicle controller, or allowing a specific instruction transmitted by the remote device to be transmitted. The remote assistance instruction can be executed on the AVP vehicle when the remote assistance mode is executed.

In one implementation, the AVP vehicle apparatus 30 further includes a second receiving device (not shown) and an updating device (not shown), wherein the second receiving device receives the exit remote assistance instruction sent by the remote apparatus; when the instruction for quitting the remote assistance is received, the updating device updates the AVP vehicle to be in the AVP parking mode.

Here, after the remote user eliminates the potential danger or relieves the parking problem, the remote user exits the remote assistance mode, and the second receiving device receives an exit remote assistance instruction sent by the remote device through a communication connection with the remote device; and then, the updating device exits the remote assistance instruction, exits the remote assistance, changes the AVP vehicle into an AVP parking mode, and continues to perform autonomous parking until the parking is finished.

In one implementation, the AVP vehicle device 30 may include the following elements to enable control of AVP vehicles within a parking lot at the AVP vehicle device side:

a data acquisition unit: sensors such as ultrasonic waves and cameras are used for acquiring data around the vehicle in real time, and preferably, the cameras are all-round cameras;

the remote communication unit: such as 4G, WiFi terminals, for real-time communication with remote devices;

a state collection unit: to collect the normal and/or abnormal state of the user in real time;

an in-vehicle control unit: and receiving and executing the remote assistance instruction.

FIG. 4 illustrates a remote device architecture for controlling AVP vehicles within a parking lot in accordance with one embodiment of the present application; the remote device 40 includes a sensing unit 401 and a control unit 402.

The perception unit 401 identifies an AVP vehicle requiring remote assistance in a parking lot monitored by the remote device, and sends information about the AVP vehicle to be remotely assisted to the control unit 402; the control unit 402 generates and presents a remote assistance request about the AVP vehicle according to the information to be remotely assisted; generating a remote assistance instruction about the AVP vehicle according to remote operation of a remote user on the AVP vehicle through the remote equipment; sending the remote assistance instruction to the AVP vehicle.

Here, the sensing unit 401 acquires vehicle state information of the AVP vehicle and/or monitoring information in the parking lot by communicating with one or more AVP vehicles or monitoring devices and the like through periodic detection, event triggering and the like; then, the sensing unit 401 identifies an AVP vehicle that needs remote assistance based on the above information.

The perception unit 401 then sends information about the AVP vehicle to be remotely assisted to the control unit 402 to instruct the control unit 402 to perform a subsequent operation.

In one implementation, the sensing unit 401 includes a plurality of camera units disposed in the parking lot; thus, the sensing unit 401 can perform the recognition operation by acquiring the monitoring information of the image pickup unit.

In one implementation, the sensing unit 401 acquires a plurality of pieces of video information of AVP vehicles in the parking lot through the plurality of camera units; and determining whether the AVP vehicle needs remote assistance according to the plurality of pieces of video information, and sending information about the AVP vehicle to be remotely assisted to the control unit.

Here, the sensing unit 401 acquires a plurality of pieces of video information of the AVP vehicle in the parking lot through a plurality of image capturing units, and then determines whether the AVP vehicle needs remote assistance according to the AVP vehicle position, speed, time, direction, surrounding vehicles, and other information in the video information. For example, if an AVP vehicle does not move for a long time in a certain video and does not stop in a parking space, the AVP vehicle is considered to need remote assistance; or, if the driving position of a certain AVP vehicle in a certain video does not accord with the target parking space, the AVP vehicle is considered to need remote assistance.

Then, the control unit 402 directly generates and presents a remote assistance request about the AVP vehicle according to the information to be remotely assisted; alternatively, preferably, the control unit 402 generates and presents a remote assistance request related to the AVP vehicle according to the vehicle state information, for example, if the urgency levels corresponding to different vehicle state information are different, the generated and presented remote assistance request is also different.

The control unit 402 generates a remote assistance instruction about the AVP vehicle according to remote operation of a remote user on the AVP vehicle through the remote device; and sending the remote assistance instruction to the AVP vehicle.

Here, the remote user is, for example, a remote operator of the AVP system; the remote operation includes, but is not limited to, the operation of the remote user on a human-computer interaction interface, or the operation of a remote control handle, a steering wheel, a brake pedal and other 'simulated vehicle control devices' by the remote user, and the like. The control unit 402 includes, but is not limited to, a remote control handle, a steering wheel, a brake pedal, an accelerator pedal, an emergency stop switch, a warning switch, etc., and the remote user generates a remote assistance command by operating the above devices.

Figure 5 illustrates a flow chart of a method for controlling AVP vehicles within a parking lot at a remote device end according to one embodiment of the present application.

In step S501, the remote device identifies an AVP vehicle that needs remote assistance in a parking lot monitored by the remote device; in step S503, the remote device generates and presents a remote assistance request with respect to the AVP vehicle; in step S503, the remote device generates a remote assistance instruction about the AVP vehicle according to a remote operation of a remote user on the AVP vehicle through the remote device; in step S504, the remote device sends the remote assistance instruction to the AVP vehicle.

Specifically, in step S501, the remote device identifies an AVP vehicle that needs remote assistance in a parking lot monitored by the remote device. Here, the remote device acquires vehicle state information of the AVP vehicle and/or monitoring information in the parking lot by communicating with one or more AVP vehicles or monitoring devices and the like through periodic detection, event triggering and the like; then, the remote device identifies the AVP vehicle needing remote assistance according to the information.

In one implementation, the remote device may obtain vehicle status information for an AVP vehicle; and identifying the AVP vehicles needing remote assistance in the parking lot monitored by the remote equipment according to the vehicle state information. Here, the remote device may interact with an AVP vehicle to obtain vehicle status information automatically uploaded by the AVP vehicle; or, monitoring acquisition information of a monitoring device in the parking lot can be acquired to acquire vehicle state information of AVP vehicles in the parking lot; alternatively, the vehicle state information may be acquired by a combination of the two manners described above.

the AVP vehicle enters the parking lot status indication information: the state indicating information comprises information such as a driving video, a driving speed, a driving direction and a surrounding environment, for example, when an AVP vehicle provided with an AVP enters the parking lot, a corresponding monitoring camera or a vehicle-mounted camera is triggered to upload the driving video to the remote equipment in real time;

status indication information of the AVP vehicle leaving a parking space in the parking lot: the state indicating information comprises information such as a driving video, a driving speed, a driving direction and a surrounding environment, for example, when an AVP vehicle provided with an AVP leaves a parking space of the parking lot, a corresponding monitoring camera or a vehicle-mounted camera is triggered to upload the driving video to the remote equipment in real time;

And after the vehicle state information of the AVP vehicle is acquired, the remote equipment identifies the AVP vehicle which needs remote assistance in the parking lot monitored by the remote equipment according to the vehicle state information.

For example, when the vehicle state information includes state indication information that the AVP vehicle enters the parking lot or state indication information that the AVP vehicle leaves a parking space in the parking lot, the remote device automatically analyzes the vehicle state information, and identifies whether the AVP vehicle needs remote assistance by predicting a vehicle traveling route, monitoring a vehicle speed, and the like; alternatively, upon receiving the status indication information, the remote device prompts the remote operator to immediately monitor it to identify AVP vehicles in the parking lot that the remote device is monitoring that require remote assistance.

Alternatively, for example, when the vehicle state information includes vehicle state information of a process in which the AVP vehicle is traveling in a parking lot, the remote device may identify an AVP vehicle that needs remote assistance in the parking lot monitored by the remote device through abnormality/warning information or the like included in the vehicle state information.

Or, for example, when the vehicle state information includes the vehicle state information of the AVP vehicle captured by the monitoring device in the parking lot, the remote device analyzes the video captured by the monitoring camera or the vehicle-mounted camera in real time through a video analysis visual recognition method (such as deep learning, reinforcement learning and the like), and automatically identifies the potential danger encountered by the AVP-mounted vehicle during the driving process in the parking lot, so as to identify the AVP vehicle which needs remote assistance in the parking lot monitored by the remote device.

In step S502, the remote device generates and presents a remote assistance request with respect to the AVP vehicle. Here, the remote equipment directly generates and presents a remote assistance request about the AVP vehicle according to the AVP vehicle needing remote assistance; or, preferably, the remote device generates and presents a remote assistance request regarding the AVP vehicle according to the vehicle status information, for example, if the urgency levels corresponding to different vehicle status information are different, the generated and presented remote assistance request is also different.

In step S503, the remote device generates a remote assistance instruction about the AVP vehicle according to a remote operation of a remote user on the AVP vehicle through the remote device; in step S504, the remote device sends the remote assistance instruction to the AVP vehicle.

stopping an AVP parking operation of the AVP vehicle;

In one implementation, the method further includes step S505 (not shown), and specifically, when the remote user exits the remote assistance mode, the remote device sends an exit remote assistance instruction to the AVP vehicle in step S505. When the remote user eliminates the potential danger or relieves the parking problem, the remote user exits the remote assistance mode, and the remote equipment sends an instruction of exiting the remote assistance to the AVP vehicle through the communication connection between the remote equipment and the AVP vehicle; the AVP vehicle exits the remote assistance instruction, exits the remote assistance and continues autonomous parking until parking is completed.

In one implementation, the method further includes step S506 (not shown) and step S507 (not shown); in step S506, the remote device generates a remote control instruction about an associated vehicle of the AVP vehicle according to a remote operation of the remote user on the associated vehicle through the remote device; in step S507, the remote device transmits the remote control instruction to the associated vehicle.

If the remote user can remotely operate the associated vehicle, in step S506, the remote device generates a remote control instruction about the associated vehicle according to the remote operation of the remote user on the associated vehicle of the AVP vehicle through the remote device. In step S507, the remote device sends the remote control instruction to the associated vehicle according to the communication connection between the remote device and the associated vehicle.

stopping a parking operation of the associated vehicle;

In one implementation, when the associated vehicle finishes executing the remote control command, in step S504, the remote device sends the remote assistance command to the AVP vehicle. Here, when the associated vehicle finishes executing the remote control instruction, the remote device sends the remote assistance instruction to the AVP vehicle to control the AVP vehicle to execute the remote assistance instruction if the obstacle currently affecting the AVP vehicle is considered to be eliminated (if other vehicles affecting the AVP vehicle pass through the AVP vehicle are moved away).

Here, the step S503 may be executed after or before the "associated vehicle executes the remote control completion instruction", or may be at least partially parallel to the "associated vehicle executes the remote control completion instruction".

In one implementation, the method further includes step S508 (not shown); wherein, in step S508, the remote device establishes an encrypted communication connection of the remote device with the AVP vehicle; in step S504, the remote device sends the remote assistance instruction to the AVP vehicle through the encrypted communication connection.

Figure 6 illustrates a flow chart of a method at an AVP vehicle end for controlling an AVP vehicle within a parking lot, according to another embodiment of the present application.

The AVP vehicle end is APV vehicle equipment, and the AVP vehicle equipment comprises but is not limited to AVP vehicle-mounted equipment or a vehicle provided with the AVP vehicle-mounted equipment.

In step S601, the AVP vehicle device receives a remote assistance instruction sent by a remote device, where the remote device is used to monitor the parking lot; in step S602, the AVP vehicle device executes the remote assistance instruction to the AVP vehicle.

Here, in step S601, the AVP vehicle device receives a remote assistance instruction sent by the remote device according to the communication connection established with the remote device, where the remote assistance instruction includes at least any one of:

stopping an AVP parking operation of the AVP vehicle;

Then, in step S602, the AVP vehicle device uses the remote assistance instruction as an input of the AVP system to change the original AVP operation or uses the remote assistance instruction as an input of the vehicle system to control the start, stop or execution configuration of the AVP system (for example, allowing the remote device to obtain the priority operation right for the AVP vehicle or resetting the target parking space, etc.), so as to execute the remote assistance instruction on the AVP vehicle.

In one implementation, the method further includes step S603 (not shown), wherein in step S603, the AVP vehicle device establishes an encrypted communication connection with a remote device to the AVP vehicle, wherein the remote device is configured to monitor the parking lot; in step S601, the AVP vehicular apparatus receives the remote assistance instruction transmitted by the remote apparatus through the encrypted communication connection.

Wherein the AVP vehicle device is cooperable with the remote device to establish an encrypted communication connection of the remote device with the AVP vehicle.

And after the encrypted communication connection is established, the AVP vehicle equipment receives the remote assistance instruction sent by the remote equipment in an encrypted mode through the encrypted communication connection.

In one implementation, in step S602, when the remote assistance instruction is received, the AVP vehicle device updates the AVP vehicle to the remote assistance mode and executes the remote assistance instruction on the AVP vehicle. Here, the remote assistance mode includes, but is not limited to, allowing the remote device to acquire a priority operation right for the AVP vehicle, allowing the remote device to perform control of the AVP vehicle together with a current AVP vehicle controller, or allowing a specific instruction transmitted by the remote device to be transmitted. The remote assistance instruction can be executed on the AVP vehicle when the remote assistance mode is executed.

In one implementation, the method further includes step S604 (not shown) and step S605 (not shown), wherein, in step S604, the AVP vehicle device receives an exit remote assistance instruction sent by the remote device; when the exit remote assistance instruction is received, in step S605, the AVP vehicle device updates the AVP vehicle to the AVP parking mode.

When the remote user eliminates the potential danger or relieves the parking problem, the remote user exits the remote assistance mode, and the AVP vehicle device receives an exit remote assistance instruction sent by the remote device through the communication connection with the remote device; and then the AVP vehicle equipment exits the remote assistance instruction, exits the remote assistance, changes the AVP vehicle into an AVP parking mode, and continues to perform autonomous parking until the parking is finished.

FIG. 7 illustrates a flow chart of a method for controlling AVP vehicles within a parking lot at a remote device in accordance with another embodiment of the present application; wherein the remote device comprises a sensing unit and a control unit.

In step S701, the sensing unit identifies an AVP vehicle that needs remote assistance in a parking lot monitored by the remote device, and sends information to be remotely assisted about the AVP vehicle to the control unit; in step S702, the control unit generates and presents a remote assistance request regarding the AVP vehicle according to the information to be remotely assisted; generating a remote assistance instruction about the AVP vehicle according to remote operation of a remote user on the AVP vehicle through the remote equipment; sending the remote assistance instruction to the AVP vehicle.

Here, in step S701, the sensing unit acquires vehicle state information of the AVP vehicle and/or monitoring information in the parking lot by communicating with one or more AVP vehicles or monitoring devices and the like through periodic detection, event triggering and the like; then, the perception unit identifies the AVP vehicle needing remote assistance according to the information.

The notice then sends information to be remotely assisted about the AVP vehicle to the control unit to instruct the control unit to perform a subsequent operation.

In one implementation, the sensing unit includes a plurality of camera units disposed in the parking lot; thus, the sensing unit can perform the recognition operation by acquiring the monitoring information of the image pickup unit.

In one implementation manner, the sensing unit acquires a plurality of pieces of video information of the AVP vehicle in the parking lot through the plurality of camera units; and determining whether the AVP vehicle needs remote assistance according to the plurality of pieces of video information, and sending information about the AVP vehicle to be remotely assisted to the control unit.

The sensing unit acquires a plurality of pieces of video information of the AVP vehicle in the parking lot through a plurality of camera units, and then determines whether the AVP vehicle needs remote assistance according to the information of the AVP vehicle position, speed, time, direction, surrounding vehicles and the like in the video information. For example, if an AVP vehicle does not move for a long time in a certain video and does not stop in a parking space, the AVP vehicle is considered to need remote assistance; or, if the driving position of a certain AVP vehicle in a certain video does not accord with the target parking space, the AVP vehicle is considered to need remote assistance.

Then, in step S702, the control unit directly generates and presents a remote assistance request regarding the AVP vehicle according to the information to be remotely assisted; or, preferably, the control unit generates and presents a remote assistance request regarding the AVP vehicle according to the vehicle state information, for example, if the emergency degrees corresponding to different vehicle state information are different, the generated and presented remote assistance request is also different.

The control unit generates a remote assistance instruction about the AVP vehicle according to remote operation of a remote user on the AVP vehicle through the remote equipment; and sending the remote assistance instruction to the AVP vehicle.

Here, the remote user is, for example, a remote operator of the AVP system; the remote operation includes, but is not limited to, the operation of the remote user on a human-computer interaction interface, or the operation of a remote control handle, a steering wheel, a brake pedal and other 'simulated vehicle control devices' by the remote user, and the like. Wherein, the control unit includes, but is not limited to, a remote control handle, a steering wheel, a brake pedal, an accelerator pedal, an emergency stop switch, a warning switch, etc., and the remote user generates a remote assistance command by operating the above devices.

In some embodiments, the system 800 can function as any of the remote devices or AVP vehicle devices shown in fig. 1, 2, 3, 4, 5, 6, 7, or other described embodiments. In some embodiments, system 800 may include one or more computer-readable media (e.g., system memory or NVM/storage 820) having instructions and one or more processors (e.g., processor(s) 805) coupled to the one or more computer-readable media and configured to execute the instructions to implement modules to perform the actions described herein.

For one embodiment, system control module 810 may include any suitable interface controllers to provide any suitable interface to at least one of the processor(s) 805 and/or any suitable device or component in communication with system control module 810.

The system control module 810 may include a memory controller module 830 to provide an interface to the system memory 815. The memory controller module 830 may be a hardware module, a software module, and/or a firmware module.

System memory 815 may be used, for example, to load and store data and/or instructions for system 800. For one embodiment, system memory 815 may comprise any suitable volatile memory, such as suitable DRAM. In some embodiments, the system memory 815 may include a double data rate type four synchronous dynamic random access memory (DDR4 SDRAM).

For one embodiment, system control module 810 may include one or more input/output (I/O) controllers to provide an interface to NVM/storage 820 and communication interface(s) 825.

For example, NVM/storage 820 may be used to store data and/or instructions. NVM/storage 620 may include any suitable non-volatile memory (e.g., flash memory) and/or may include any suitable non-volatile storage device(s) (e.g., one or more hard disk drive(s) (HDD (s)), one or more Compact Disc (CD) drive(s), and/or one or more Digital Versatile Disc (DVD) drive (s)).

NVM/storage 820 may include storage resources that are physically part of the device on which system 800 is installed or may be accessed by the device and not necessarily part of the device. For example, NVM/storage 820 may be accessed over a network via communication interface(s) 825.

Communication interface(s) 825 may provide an interface for system 800 to communicate over one or more networks and/or with any other suitable device. System 800 may communicate wirelessly with one or more components of a wireless network according to any of one or more wireless network standards and/or protocols.

For one embodiment, at least one of the processor(s) 805 may be packaged together with logic for one or more controllers (e.g., memory controller module 830) of system control module 810. For one embodiment, at least one of the processor(s) 805 may be packaged together with logic for one or more controllers of the system control module 810 to form a System In Package (SiP). For one embodiment, at least one of the processor(s) 805 may be integrated on the same die with logic for one or more controller(s) of the system control module 810. For one embodiment, at least one of the processor(s) 805 may be integrated on the same die with logic of one or more controllers of the system control module 610 to form a system on a chip (SoC).

In various embodiments, system 800 may be, but is not limited to being: a server, a workstation, a desktop computing device, or a mobile computing device (e.g., a laptop computing device, a handheld computing device, a tablet, a netbook, etc.). In various embodiments, system 800 may have more or fewer components and/or different architectures. For example, in some embodiments, system 800 includes one or more cameras, a keyboard, a Liquid Crystal Display (LCD) screen (including a touch screen display), a non-volatile memory port, multiple antennas, a graphics chip, an Application Specific Integrated Circuit (ASIC), and speakers.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

It should be noted that the present application may be implemented in software and/or a combination of software and hardware, for example, implemented using Application Specific Integrated Circuits (ASICs), general purpose computers or any other similar hardware devices. In one embodiment, the software programs of the present application may be executed by a processor to implement the steps or functions described above. Likewise, the software programs (including associated data structures) of the present application may be stored in a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. Additionally, some of the steps or functions of the present application may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.

In addition, some of the present application may be implemented as a computer program product, such as computer program instructions, which when executed by a computer, may invoke or provide methods and/or techniques in accordance with the present application through the operation of the computer. Those skilled in the art will appreciate that the form in which the computer program instructions reside on a computer-readable medium includes, but is not limited to, source files, executable files, installation package files, and the like, and that the manner in which the computer program instructions are executed by a computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Computer-readable media herein can be any available computer-readable storage media or communication media that can be accessed by a computer.

Communication media includes media by which communication signals, including, for example, computer readable instructions, data structures, program modules, or other data, are transmitted from one system to another. Communication media may include conductive transmission media such as cables and wires (e.g., fiber optics, coaxial, etc.) and wireless (non-conductive transmission) media capable of propagating energy waves such as acoustic, electromagnetic, RF, microwave, and infrared. Computer readable instructions, data structures, program modules, or other data may be embodied in a modulated data signal, for example, in a wireless medium such as a carrier wave or similar mechanism such as is embodied as part of spread spectrum techniques. The term "modulated data signal" means a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal. The modulation may be analog, digital or hybrid modulation techniques.

By way of example, and not limitation, computer-readable storage media may include volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules or other data. For example, computer-readable storage media include, but are not limited to, volatile memory such as random access memory (RAM, DRAM, SRAM); and non-volatile memory such as flash memory, various read-only memories (ROM, PROM, EPROM, EEPROM), magnetic and ferromagnetic/ferroelectric memories (MRAM, FeRAM); and magnetic and optical storage devices (hard disk, tape, CD, DVD); or other now known media or later developed that can store computer-readable information/data for use by a computer system.

An embodiment according to the present application comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform a method and/or a solution according to the aforementioned embodiments of the present application.

It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.

Various aspects of various embodiments are defined in the claims. These and other aspects of the various embodiments are specified in the following numbered clauses:

1. a method at a remote device end for controlling AVP vehicles within a parking lot, wherein the method comprises:

-sending the remote assistance instruction to the AVP vehicle.

2. The method of clause 1, wherein the method further comprises:

and when the remote user exits the remote assistance mode, sending an exit remote assistance instruction to the AVP vehicle.

3. The method of clause 1 or 2, wherein the identifying an AVP vehicle in a parking lot monitored by a remote device in need of remote assistance comprises:

acquiring vehicle state information of the AVP vehicle;

and identifying the AVP vehicles needing remote assistance in the parking lot monitored by the remote equipment according to the vehicle state information.

4. The method of clause 3, wherein the vehicle state information includes at least any one of:

status indication information that the AVP vehicle enters the parking lot;

status indication information that the AVP vehicle leaves a parking space in the parking lot;

vehicle state information of the AVP vehicle during driving in the parking lot;

and the vehicle state information of the AVP vehicle is shot by the monitoring device in the parking lot.

5. The method of any of clauses 1-4, wherein the remote assistance request includes exception information and/or mission information for the AVP vehicle.

6. The method of any of clauses 1-5, wherein the method further comprises:

generating a remote control instruction about an associated vehicle of the AVP vehicle according to remote operation of the remote user on the associated vehicle through the remote equipment;

sending the remote control instruction to the associated vehicle.

7. The method of clause 6, wherein the sending the remote assistance instruction to the AVP vehicle comprises:

and when the associated vehicle finishes executing the remote control instruction, sending the remote assistance instruction to the AVP vehicle.

8. The method of any of clauses 1-7, wherein the remote assistance instructions comprise at least any of:

stopping an AVP parking operation of the AVP vehicle;

controlling an AVP parking operation of the AVP vehicle;

repairing the vehicle fault of the AVP vehicle to continue to execute AVP parking operation;

and resetting the target parking space of the AVP vehicle, and controlling the AVP vehicle to execute AVP parking operation according to the target parking space.

9. The method of any of clauses 1-8, wherein the method further comprises:

establishing an encrypted communication connection of the remote device with the AVP vehicle;

wherein the sending the remote assistance instruction to the AVP vehicle comprises:

sending the remote assistance instruction to the AVP vehicle over the encrypted communication connection.

10. A method at an AVP vehicle end for controlling an AVP vehicle within a parking lot, wherein the method comprises:

executing the remote assistance instruction on the AVP vehicle.

11. The method of clause 10, wherein the method further comprises:

establishing an encrypted communication connection between a remote device and the AVP vehicle, wherein the remote device is used for monitoring the parking lot;

wherein the receiving a remote assistance instruction sent by a remote device, wherein the remote device is configured to monitor the parking lot, comprises:

receiving a remote assistance instruction sent by the remote device over the encrypted communication connection.

12. The method of clause 10 or 11, wherein the executing the remote assistance instruction on the AVP vehicle comprises:

and when the remote assistance instruction is received, updating the AVP vehicle into a remote assistance mode, and executing the remote assistance instruction on the AVP vehicle.

13. The method of clause 12, wherein the method further comprises:

receiving an exit remote assistance instruction sent by the remote equipment;

and when the instruction for quitting the remote assistance is received, updating the AVP vehicle to be in the AVP parking mode.

14. A method at a remote device for controlling AVP vehicles within a parking lot, wherein the remote device includes a sensing unit and a control unit, the method comprising:

the control unit sends the remote assistance instruction to the AVP vehicle.

15. The method of clause 14, wherein the perceiving unit comprises a plurality of camera units deployed in the parking lot.

16. The method of clause 15, wherein the perceiving unit identifies AVP vehicles in the parking lot monitored by the remote device that require remote assistance, comprising:

the sensing unit acquires a plurality of pieces of video information of AVP vehicles in the parking lot through the plurality of camera units; determining whether the AVP vehicle requires remote assistance based on the plurality of video information.

17. A remote device for controlling AVP vehicles within a parking lot, wherein the remote device comprises:

18. The remote device of clause 17, wherein the remote device further comprises:

and the second sending device is used for sending a remote assistance quitting instruction to the AVP vehicle when the remote user quits the remote assistance mode.

19. The remote device of clause 17 or 18, wherein the identifying means is for:

acquiring vehicle state information of the AVP vehicle;

20. The remote device of clause 19, wherein the vehicle status information includes at least any one of:

status indication information that the AVP vehicle enters the parking lot;

vehicle state information of the AVP vehicle during driving in the parking lot;

21. The remote device of any of clauses 17-20, wherein the remote assistance request includes exception information and/or mission information for the AVP vehicle.

22. The remote device of any of clauses 17 to 21, wherein the remote device further comprises:

second instruction generating means for generating a remote control instruction about an associated vehicle of the AVP vehicle according to a remote operation of the associated vehicle by the remote user through the remote device;

third transmitting means for transmitting the remote control instruction to the associated vehicle.

23. The remote device of clause 22, wherein the first transmitting means is for:

24. The remote device of any of clauses 17 to 23, wherein the remote assistance instructions comprise at least any of:

stopping an AVP parking operation of the AVP vehicle;

controlling an AVP parking operation of the AVP vehicle;

25. The remote device of any of clauses 17 to 24, wherein the remote device further comprises:

first encryption means for establishing an encrypted communication connection of the remote device with the AVP vehicle;

wherein the first sending device is configured to:

26. An AVP vehicle apparatus for controlling AVP vehicles within a parking lot, wherein the AVP vehicle apparatus comprises:

27. The AVP vehicle apparatus of clause 26, wherein the AVP vehicle apparatus further comprises:

the second encryption device is used for establishing an encrypted communication connection between a remote device and the AVP vehicle, wherein the remote device is used for monitoring the parking lot;

wherein the first receiving means is configured to:

28. The AVP vehicle apparatus of clause 26 or 27, wherein the execution means is configured to:

29. The AVP vehicle apparatus of clause 28, wherein the AVP vehicle apparatus further comprises:

second receiving means for receiving an instruction to quit remote assistance sent by the remote device;

and the updating device is used for updating the AVP vehicle into the AVP parking mode when the remote assistance quitting instruction is received.

30. A remote device for controlling AVP vehicles in a parking lot, wherein the remote device comprises a sensing unit and a control unit,

31. The remote device of clause 30, wherein the perceiving unit comprises a plurality of camera units deployed in the parking lot.

32. The remote device of clause 31, wherein the perceiving unit is to:

acquiring a plurality of video information of AVP vehicles in the parking lot through the plurality of camera units; and determining whether the AVP vehicle needs remote assistance according to the plurality of pieces of video information, and sending information about the AVP vehicle to be remotely assisted to the control unit.

33. A system for controlling an AVP vehicle within a parking lot, wherein the system comprises a remote device as set forth in any of clauses 17-25 and an AVP vehicle device as set forth in any of clauses 26-29.

34. A system for controlling an AVP vehicle within a parking lot, wherein the system comprises a remote device as set forth in any of clauses 30-32 and an AVP vehicle device as set forth in any of clauses 26-29.

35. A remote device for controlling AVP vehicles within a parking lot, comprising:

one or more processors;

a memory; and

one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for performing the method of any of clauses 1-9.

36. A computer-readable storage medium having stored thereon a computer program executable by a processor to perform the method of any of clauses 1-9.

37. A remote device for controlling AVP vehicles within a parking lot, comprising:

one or more processors;

a memory; and

one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for performing the method of any of clauses 14-16.

38. A computer-readable storage medium having stored thereon a computer program executable by a processor to perform the method of any of clauses 14-16.

39. An AVP vehicle apparatus for controlling AVP vehicles within a parking lot, comprising:

one or more processors;

a memory; and

one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for performing the method of any of clauses 10-13.

40. A computer-readable storage medium having stored thereon a computer program executable by a processor to perform the method of any of clauses 10-13.

Claims

acquiring vehicle state information of the AVP vehicle;

identifying AVP vehicles needing remote assistance in a parking lot monitored by remote equipment according to the vehicle state information;

generating and presenting a remote assistance request regarding the AVP vehicle, the remote assistance request including exception information and/or mission information of the AVP vehicle;

sending the remote assistance instruction to the AVP vehicle;

according to remote operation of the remote user on an associated vehicle of the AVP vehicle through the remote equipment, generating a remote control instruction about the associated vehicle, wherein the associated vehicle is one or more vehicles influencing the AVP vehicle to pass;

sending the remote control instruction to the associated vehicle.

2. The method of claim 1, wherein the method further comprises:

3. The method of claim 1, wherein the vehicle state information includes at least any one of:

status indication information that the AVP vehicle enters the parking lot;

vehicle state information of the AVP vehicle during driving in the parking lot;

4. The method according to any of claims 1 to 3, wherein the remote assistance request comprises exception information and/or mission information of the AVP vehicle.

5. The method of claim 1, wherein the sending the remote assistance instruction to the AVP vehicle comprises:

6. The method according to any one of claims 1 to 3, 5, wherein the remote assistance instruction comprises at least any one of:

stopping an AVP parking operation of the AVP vehicle;

controlling an AVP parking operation of the AVP vehicle;

7. The method of any of claims 1-3, 5, wherein the method further comprises:

8. A remote device for controlling AVP vehicles within a parking lot, wherein the remote device comprises:

the identifying device is used for acquiring vehicle state information of the AVP vehicle; identifying AVP vehicles needing remote assistance in a parking lot monitored by remote equipment according to the vehicle state information;

request generating means for generating and presenting a remote assistance request regarding the AVP vehicle, the remote assistance request including abnormality information and/or task information of the AVP vehicle;

second instruction generating means for generating a remote control instruction about an associated vehicle of the AVP vehicle according to a remote operation of the remote user on the associated vehicle through the remote device, the associated vehicle being one or more vehicles affecting the AVP vehicle to pass through;

9. The remote device of claim 8, wherein the remote device further comprises:

10. The remote device of claim 8, wherein the vehicle status information comprises at least any one of:

status indication information that the AVP vehicle enters the parking lot;

vehicle state information of the AVP vehicle during driving in the parking lot;

11. The remote device of any of claims 8 to 10, wherein the remote assistance request includes exception information and/or mission information of the AVP vehicle.

12. The remote device of claim 8, wherein the first transmitting means is to:

13. The remote device of any of claims 8-10, 12, wherein the remote assistance instruction comprises at least any of:

stopping an AVP parking operation of the AVP vehicle;

controlling an AVP parking operation of the AVP vehicle;

14. The remote device of any of claims 8-10, 12, wherein the remote device further comprises:

wherein the first sending device is configured to:

15. A system for controlling AVP vehicles within a parking lot, wherein the system comprises a remote device as claimed in any one of claims 8 to 14.

16. A remote device for controlling AVP vehicles within a parking lot, comprising:

one or more processors;

a memory; and

one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for performing the method of any of claims 1-7.

17. A computer-readable storage medium, on which a computer program is stored, which computer program can be executed by a processor to perform the method according to any of claims 1-7.