CN112550281B - Automatic parking control method and device - Google Patents
Automatic parking control method and device Download PDFInfo
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- CN112550281B CN112550281B CN202011602438.9A CN202011602438A CN112550281B CN 112550281 B CN112550281 B CN 112550281B CN 202011602438 A CN202011602438 A CN 202011602438A CN 112550281 B CN112550281 B CN 112550281B
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- 230000005540 biological transmission Effects 0.000 claims description 17
- 230000004044 response Effects 0.000 claims description 9
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- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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Abstract
The embodiment of the invention provides an automatic parking control method and device, which comprises the following steps: in the automatic parking process, receiving a periodic time signal sent by a remote control terminal connected with a vehicle, wherein the time signal comprises a first sending time stamp; determining the state of the remote control terminal according to the first sending timestamp; and when the state is an abnormal state, stopping automatic parking. The state of the remote control terminal is detected by adding the sending timestamp in the signal, and when the remote control terminal is detected to be abnormal, automatic parking is stopped, so that the vehicle is stopped in place, the danger is reduced, and the safety of automatic parking is improved.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to an automatic parking control method and an automatic parking control device.
Background
As the usage rate of vehicles increases, the application of the automatic parking function is more and more common when a driver parks the vehicle. In the automatic parking function, the remote control parking configuration is also improved year by year, in the remote control parking process, a user needs to operate through a mobile phone, a key and other equipment to control the vehicle to park because a person is outside the vehicle, and if the vehicle is locked or the mobile phone is suddenly dialed in, the user cannot control the vehicle to park through the remote control equipment, and the safety of automatic parking is reduced.
In addition, because the remote control device communicates with the vehicle through a wireless network, if a lawbreaker intercepts a parking signal during parking and modifies the signal to control the vehicle, the control of the vehicle has potential safety hazards.
Disclosure of Invention
In view of the above problems, embodiments of the present invention have been made to provide an automatic parking control method and a corresponding automatic parking control apparatus that overcome or at least partially solve the above problems.
In order to solve the above problem, an embodiment of the present invention discloses an automatic parking control method, including:
in the automatic parking process, receiving a periodic time signal sent by a remote control terminal connected with a vehicle, wherein the time signal comprises a first sending time stamp;
determining the state of the remote control terminal according to the first sending timestamp;
and when the state is an abnormal state, stopping automatic parking.
Optionally, a first bluetooth module is disposed on the vehicle, a second bluetooth module is disposed on the remote control terminal, and the step of receiving a periodic time signal sent by the remote control terminal connected to the vehicle includes:
and calling the first Bluetooth assembly to receive the periodic time signal sent by the second Bluetooth assembly.
Optionally, before the step of receiving a periodic time signal transmitted by a remote control terminal connected to the vehicle, the method further includes:
and controlling the vehicle to perform automatic parking in response to an automatic parking instruction sent by the second Bluetooth module, wherein the automatic parking instruction is generated by the remote control terminal in response to an automatic parking operation of a user.
Optionally, the remote control terminal comprises a mobile communication device or a vehicle key fob.
Optionally, the step of determining the state of the remote control terminal according to the first transmission timestamp includes:
reading a second sending time stamp, wherein the second sending time stamp is generated according to the data of the first sending time stamp received last time;
the first sending time stamp and the second sending time stamp are subjected to difference value to generate a time deviation value;
and when the time deviation value meets a preset condition, determining that the state of the remote control terminal is an abnormal state.
Optionally, when the time deviation value meets a preset condition, the step of determining that the state of the remote control terminal is an abnormal state includes:
determining a cycle period value corresponding to the time signal sending period;
and when the time deviation value is smaller than the cycle period value, determining that the state of the remote control terminal is an abnormal state.
Optionally, the method further comprises:
and when the time deviation value is smaller than a preset value, refusing to respond to the control instruction sent by the remote control terminal.
The embodiment of the invention also discloses an automatic parking control device, which comprises:
the system comprises a receiving module, a sending module and a receiving module, wherein the receiving module is used for receiving a periodic time signal sent by a remote control terminal connected with a vehicle in the automatic parking process, and the time signal comprises a first sending timestamp;
the detection module is used for determining the state of the remote control terminal according to the first sending timestamp;
and the termination module is used for terminating the automatic parking when the state is an abnormal state.
The embodiment of the invention also discloses a vehicle comprising:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform one or more methods as described above.
Embodiments of the invention also disclose one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause the processors to perform one or more of the methods described above.
The embodiment of the invention has the following advantages:
the method comprises the steps that in the automatic parking process, a periodic time signal sent by a remote control terminal connected with a vehicle is received, wherein the time signal comprises a first sending timestamp; determining the state of the remote control terminal according to the first sending timestamp; and when the state is an abnormal state, stopping the automatic parking. The state of the remote control terminal is detected by adding the sending timestamp in the signal, and when the remote control terminal is detected to be abnormal, automatic parking is stopped, so that the vehicle is stopped in place, the danger is reduced, and the safety of automatic parking is improved.
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FIG. 1 is a flow chart of the steps of an embodiment of an automatic parking control method of the present invention;
fig. 2 is a block diagram of an embodiment of an automatic parking control apparatus according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1, a flowchart illustrating steps of an embodiment of an automatic parking control method according to the present invention is shown, where the method may specifically include the following steps:
it should be noted that the vehicle and the remote control terminal are connected via a wireless network.
in the process of automatic parking of the vehicle, a user controls automatic parking outside the vehicle by holding a remote control terminal; in a conventional automatic parking process, the remote control terminal does not send a time signal to the vehicle when the vehicle is automatically parked, and only when a user thinks that the vehicle is parked in a parking space, the user carries out parking operation on the remote control terminal, the remote control terminal can send a parking instruction to the vehicle in response to the parking operation of the user, and the vehicle responds to the parking instruction and stops the movement of the vehicle. In the embodiment of the invention, during the automatic parking process of the vehicle, the remote control terminal continuously and periodically sends the time signal to the vehicle, the time signal comprises the first sending time stamp, and the vehicle receives the periodic time signal sent by the remote control terminal. The sending period may be set by a person skilled in the art according to actual requirements, and the embodiment of the present invention is not limited to this. For example, the transmission period is 100ms, the current time is 250 ms at 12/20/17/46/30/250 ms in 2020, that is, the first transmission timestamp is 250 ms at 46/30/17/12/20/2020; the first transmission timestamp of the next transmission cycle is 46 minutes, 30 seconds and 350 milliseconds at 12 months, 20 days, 17 hours in 2020.
The first sending timestamp refers to a current time of the remote control terminal corresponding to a time when the remote control terminal sends the time signal, and accuracy of the first sending timestamp is in the millisecond level.
The first timestamp may be an absolute time obtained through a GPS (Global Positioning System) or a mobile internet; or may be a relative time set manually by a timing unit inside the remote control terminal.
Optionally, a first bluetooth module is disposed on the vehicle, a second bluetooth module is disposed on the remote control terminal, and the step of receiving a periodic time signal sent by the remote control terminal connected to the vehicle includes:
step S1011, invoking the first bluetooth module to receive the periodic time signal sent by the second bluetooth module.
The vehicle is provided with a first Bluetooth assembly, the remote control terminal is provided with a second Bluetooth assembly, the vehicle and the remote control terminal can be connected through a Bluetooth (bluetooth) wireless network, and the vehicle can call the first Bluetooth assembly to receive periodic time signals sent by the remote control terminal through the second Bluetooth assembly.
Before the first bluetooth component communicates with the second bluetooth component, pairing needs to be performed to establish communication via the following method:
the first Bluetooth module continuously sends a connection broadcast signal to the remote control terminal, the remote control terminal opens the radio frequency receiving window, and when only the radio frequency receiving window of the remote control terminal is successfully matched with the transmitting window sent by the broadcast, and the radio frequency channel of the broadcast and the radio frequency channel of the remote control terminal are the same channel, the first Bluetooth module in the vehicle can receive the broadcast signal of the second Bluetooth module of the remote control terminal. The first Bluetooth assembly receives a connection request of the second Bluetooth assembly, and performs handshake connection with the second Bluetooth assembly through a Bluetooth key in the connection request to establish a communication link between the first Bluetooth assembly and the second Bluetooth assembly.
Optionally, before the step of receiving a periodic time signal transmitted by a remote control terminal connected to the vehicle, the method further includes:
and step S1, responding to an automatic parking instruction sent by the second Bluetooth module, and controlling the vehicle to perform automatic parking, wherein the automatic parking instruction is generated by the remote control terminal in response to an automatic parking operation of a user.
When the user selects the automatic parking operation through the remote control terminal, the remote control terminal responds to the automatic parking operation of the user to generate an automatic parking instruction, and the automatic parking instruction is sent through the second Bluetooth module.
After the vehicle receives the automatic parking instruction, the automatic parking instruction is responded, the parking position is identified by calling sensors such as a visual sensor and a laser radar, the speed and the steering angle of the vehicle are controlled, and the vehicle is parked in the parking space.
Optionally, the remote control terminal comprises a mobile communication device or a vehicle key fob.
When the remote control terminal includes a mobile communication device, for example: mobile phones, smart wearable communication devices, and the like; taking a mobile phone as an example, when a user is outside a vehicle, an installed application program can be opened on the mobile phone, automatic parking operation of an automatic parking function in the program is selected, and the mobile phone responds to the automatic parking operation to generate an automatic parking instruction and sends the automatic parking instruction through a second Bluetooth module; the vehicle receives an automatic parking instruction by calling the first Bluetooth module, and starts to control the vehicle to automatically park.
And in the automatic parking process, the application program on the mobile phone calls the second Bluetooth module to periodically send a time signal.
When the remote control terminal includes the vehicle remote control key, and the vehicle detects that the vehicle remote control key is located outside the vehicle, the mode of detecting the position of the vehicle remote control key may be to position the vehicle key through a triangulation method, and a person skilled in the art may also select other positioning modes to detect the position of the vehicle remote control key, which is not limited in the embodiment of the present invention. The vehicle remote control key comprises a plurality of control keys, and each control key performs different operations corresponding to the control vehicle, such as: locking a car, unlocking, opening a rear tail box door, automatically parking, searching a car and flashing lights and the like; the user triggers the vehicle remote control key to generate an automatic parking instruction by selecting the control button for automatic parking, and the automatic parking instruction is sent to the vehicle through the second Bluetooth module, so that the vehicle can automatically park.
During automatic parking, the vehicle remote control key periodically sends a time signal through the second Bluetooth module.
and determining whether the state of the remote control terminal is normal or not according to the first sending time stamp.
Optionally, the step of determining the state of the remote control terminal according to the first transmission timestamp includes:
step S1021, reading a second sending time stamp, wherein the second sending time stamp is generated according to the data of the first sending time stamp received last time;
and reading time data corresponding to the first sending time stamp in the last received time signal as a second sending time stamp, wherein the reading mode can read the time corresponding to the last first sending time stamp from the historical receiving list.
Step S1022, generating a time offset value by taking a difference between the first sending timestamp and the second sending timestamp;
since the time is incremented, the time data corresponding to the first transmission timestamp minus the time data corresponding to the second transmission timestamp is used to obtain a time offset. Of course, the time data corresponding to the first sending timestamp may be subtracted from the time data corresponding to the second sending timestamp, and the absolute value of the obtained difference is removed to generate the time offset value. The skilled person can select the calculation method according to the actual requirement, and the embodiment of the present invention is not limited thereto.
For example, the second transmission timestamp is 250 ms, 46 min 30 s, 12 month, 20 day, 17 hour of 2020; the first transmission timestamp is 46 minutes, 30 seconds and 350 milliseconds at 12 months, 20 days, 17 hours in 2020. The data corresponding to the first sending time stamp minus the data corresponding to the second sending time stamp is 100 milliseconds, namely the time deviation value is 100 milliseconds.
And step S1023, when the time deviation value meets a preset condition, determining that the state of the remote control terminal is an abnormal state.
And when the time deviation value meets a preset condition, determining that the state of the remote control terminal is an abnormal state.
Optionally, when the time deviation value meets a preset condition, the step of determining that the state of the remote control terminal is an abnormal state includes:
step S10231, determining a cycle period value corresponding to the time signal sending period;
firstly, the size of the cycle period value corresponding to the time signal transmission period is determined, and the transmission period is artificially set, so the time corresponding to the transmission period is the cycle period value. For example, the transmission period is 100ms, and the corresponding cycle period value is 100.
Step S10232, when the time deviation value is smaller than the cycle period value, the state of the remote control terminal is determined to be an abnormal state.
When the time offset value is less than the cycle period value, it indicates that the time in the time signal sent by the remote control terminal is discontinuous, and the time corresponding to the first sending timestamp in the time signal may not be increased due to the loss of the time signal of the remote control terminal or due to the abnormal condition of the remote control terminal. For example, when the mobile phone is parked into a telephone or the card is dead, the time corresponding to the first sending timestamp is not increased.
For example, when the cycle period value is 100, the time offset value is 50, which is smaller than the cycle period value, and the remote control terminal status is determined to be abnormal.
In addition, in order to improve the implementation adaptability of the present invention, the state of the remote control terminal may be determined to be abnormal only when the time deviation value is less than a cycle period value of several minutes, for example, when the time deviation value is 50, the judgment of abnormal judgment is set to 20 which is one fifth of the cycle period value; the time deviation value is more than one fifth of the cycle period value; therefore, the remote control terminal is judged to be in a normal state.
Optionally, the method further comprises:
and step S2, refusing to respond to the control instruction sent by the remote control terminal when the time deviation value is smaller than a preset value.
When the time deviation value is smaller than the preset value, a man-in-the-middle attack phenomenon may occur, that is, the remote control terminal does not have a mobile terminal of the user at the moment, other people may log in the bluetooth signal sent by the remote control terminal equipment of the user through other remote control terminal equipment and then play back the bluetooth signal to the vehicle. However, since the first sending time stamp is introduced, the vehicle can compare the received time signal with the time signal acquired by the vehicle, and know that the currently received data is a historical signal rejection response, because the time does not fall back.
According to the embodiment of the invention, in the automatic parking process, a periodic time signal sent by the remote control terminal is received, wherein the time signal comprises a first sending timestamp; determining the state of the remote control terminal according to the first sending timestamp; and when the state is an abnormal state, stopping automatic parking. The state of the remote control terminal is detected by adding the sending timestamp in the signal, and when the remote control terminal is detected to be abnormal, automatic parking is stopped, so that the vehicle is stopped in place, the danger is reduced, and the safety of automatic parking is improved.
In order that those skilled in the art will be clear that the embodiments of the invention are further illustrated by the following examples:
selecting a remote control terminal as a mobile phone, and firstly, establishing a Bluetooth communication link between the mobile phone and a vehicle; the information of the mobile phone can be sent to the vehicle through the established communication link, and the vehicle can also identify and analyze the information sent by the mobile phone.
After the vehicle receives the automatic parking signal, controlling the vehicle to automatically park in the period; adding a first current transmission time stamp to a Bluetooth time signal transmitted by the mobile phone, and transmitting the current time to the vehicle by the mobile phone in a 100ms period, wherein the current time is 150 ms at 52 min 10 s at 17 st 21 st 2020, and the time after 100ms is changed to 250 ms at 52 min 10 s at 17 st 21 st 2020 st;
after being called by an application program on the mobile phone, the second Bluetooth component sends periodic time signals in a communication link;
the vehicle calls the first Bluetooth assembly to receive the time signal sent by the second Bluetooth assembly in the communication link, and analyzes the first sending time of the time signal; namely, a first time signal with a first transmission time stamp of 150 milliseconds at 12 months, 21 days, 17 hours, 52 minutes, 10 seconds is received by calling the first Bluetooth module;
acquiring a first sending time stamp of a last received time signal as a time stamp; reading the history records to know that the first sending timestamp of the last received time signal is 100 milliseconds at 12, 21, 17, 52 minutes, 10 seconds and 100 milliseconds at 12, 21, 17 and 2020 as a second sending timestamp;
subtracting 100 milliseconds from 150 milliseconds at 52 minutes and 10 seconds at 17 days of 21 days of 12 months and 21 months in 2020 to obtain a time deviation value of 50;
judging the time deviation value to be 50 small-period cycle value 100, thus determining that the mobile phone is in an abnormal state, and the mobile phone can not control the vehicle because the mobile phone is stuck at the moment;
the mobile phone is determined to be in an abnormal state through the time signal, the vehicle stops automatic parking, and the user is reminded to take over the vehicle through the situation that the headlamp is flashed every 2S.
In the automatic parking process, the embodiment of the invention receives a periodic time signal sent by the remote control terminal, wherein the time signal comprises a first sending timestamp; and determining the state of the remote control terminal by judging the relation between the time deviation value and the periodic cycle value, and stopping automatic parking when the state is an abnormal state. The state of the remote control terminal is detected by adding the sending timestamp in the signal, and when the remote control terminal is detected to be abnormal, automatic parking is stopped, so that the vehicle is stopped in place, the danger is reduced, and the safety of automatic parking is improved.
In order that those skilled in the art will be clear that the embodiments of the present invention will be further illustrated by another example:
selecting a remote control terminal as a mobile phone, and establishing a Bluetooth communication link between the mobile phone and a vehicle; the information of the mobile phone can be sent to the vehicle through the established communication link, and the vehicle can also identify and analyze the information sent by the mobile phone.
After the vehicle receives the automatic parking signal, controlling the vehicle to automatically park in the period; adding a first current transmission time stamp to a Bluetooth time signal transmitted by the mobile phone, and transmitting the current time to the vehicle by the mobile phone through a 200ms period, wherein the current time is, for example, 250 milliseconds at 52 minutes, 10 seconds at 17 hours at 12 months, 21 days and 2020;
after being called by an application program on the mobile phone, the second Bluetooth component sends a periodic time signal in a communication link; the vehicle can periodically receive the time signal by calling the first Bluetooth component;
the vehicle calls the first Bluetooth component to periodically receive the time signal sent by the second Bluetooth component in the communication link and analyzes the first sending time of the time signal; namely, a time signal with a first sending time stamp of 250 milliseconds at 12, 21, 17, 52 min, 10 sec is received by calling the first Bluetooth module;
acquiring a first sending time stamp of a last received time signal as a time stamp; reading data in the data log to know that a first sending timestamp of a last received time signal is 250 milliseconds at 17 hours 52 minutes 10 seconds at 12 months, 21 days and 2020, and 250 milliseconds at 17 hours 52 minutes 10 seconds at 12 months, 21 days and 17 days at 2020 is taken as a second sending timestamp;
subtracting 250 milliseconds of 52 minutes and 10 seconds of 17 hours of 21 days of 12 months and 21 months in 2020 from 250 milliseconds of 52 minutes and 10 seconds of 17 hours of 21 months and 21 months in 2020 to obtain a time deviation value of 0;
the time deviation value 0 is judged to be smaller than the preset value 10, at this time, the mobile phone is possibly jammed or the mobile phone is connected to a telephone, even the attack of a man-in-the-middle exists, at this time, the remote control terminal for controlling the vehicle is not the mobile phone of the user but an illegal invasive device, for safety, the vehicle is not controlled by other unauthorized devices, the vehicle stops the current automatic parking, the operation instruction of the current remote control terminal is refused to be responded, the connection of the current remote control terminal is tried to be disconnected, the vehicle warns the user through intermittent horn ringing, the running state of the mobile phone is abnormal, the vehicle cannot be controlled, the user is reminded to reestablish the connection of the vehicle to ensure the safety of the automatic parking, and the attack of the man-in-the-middle is prevented.
In the automatic parking process, the embodiment of the invention receives a periodic time signal sent by a remote control terminal connected with a vehicle, wherein the time signal comprises a first sending timestamp; and determining the state of the remote control terminal by judging the relation between the time deviation value and the periodic cycle value, and when the state is an abnormal state or a man-in-the-middle attack phenomenon occurs, stopping automatic parking and requiring the user to reestablish the connection between the vehicle. The state of the remote control terminal is detected by adding the sending timestamp in the signal, and when the remote control terminal is detected to be abnormal, automatic parking is stopped, so that the vehicle is stopped in place, the danger is reduced, and the safety of automatic parking is improved; and a time signal is introduced to prevent man-in-the-middle attacks, and when an abnormal state is detected, the operation instruction of the remote control terminal is refused to be responded, so that the information safety of the vehicle is ensured, and meanwhile, the driving safety during automatic parking is further ensured.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 2, a block diagram of an embodiment of an automatic parking control apparatus according to the present invention is shown, and the apparatus may specifically include the following modules:
the system comprises a receiving module 201, a sending module and a receiving module, wherein the receiving module is used for receiving a periodic time signal sent by a remote control terminal connected with a vehicle in an automatic parking process, and the time signal comprises a first sending time stamp;
a detection module 202, configured to determine a state of the remote control terminal according to the first sending timestamp;
and a termination module 203, configured to terminate the automatic parking when the state is an abnormal state.
Optionally, a first bluetooth module is disposed on the vehicle, a second bluetooth module is disposed on the remote control terminal, and the receiving module 201 includes:
and the receiving submodule is used for calling the first Bluetooth assembly to receive the periodic time signal sent by the second Bluetooth assembly.
Optionally, the apparatus further comprises:
and the automatic parking module is used for responding to an automatic parking instruction sent by the second Bluetooth module and controlling the vehicle to perform automatic parking, and the automatic parking instruction is generated by the remote control terminal in response to the automatic parking operation of the user.
Optionally, the remote control terminal comprises a mobile communication device or a vehicle key fob.
Optionally, the detection module 202 includes:
the reading submodule is used for reading a second sending time stamp, and the second sending time stamp is generated according to the data of the first sending time stamp received last time;
the difference submodule is used for making a difference between the first sending time stamp and the second sending time stamp to generate a time deviation value;
and the judging submodule is used for determining that the state of the remote control terminal is an abnormal state when the time deviation value meets the preset condition.
Optionally, the determining sub-module includes:
a period determining unit, configured to determine a cycle period value corresponding to the time signal transmission period;
and the judging unit is used for determining that the state of the remote control terminal is an abnormal state when the time deviation value is smaller than the cyclic period value.
Optionally, the apparatus further comprises:
and the response rejection module is used for rejecting to respond to the control instruction sent by the remote control terminal when the time deviation value is smaller than a preset value.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
An embodiment of the present invention further provides a vehicle, including:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform one or more methods as described above.
Embodiments of the invention also provide one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause the processors to perform one or more methods as described above.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The automatic parking control method and the automatic parking control device provided by the invention are described in detail, specific examples are applied in the description to explain the principle and the implementation mode of the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (9)
1. An automatic parking control method characterized by comprising:
in the automatic parking process, receiving a periodic time signal sent by a remote control terminal connected with a vehicle, wherein the time signal comprises a first sending time stamp;
determining the state of the remote control terminal according to the first sending timestamp;
when the state is an abnormal state, stopping automatic parking;
wherein the step of determining the state of the remote control terminal according to the first transmission timestamp comprises:
reading a second sending time stamp, wherein the second sending time stamp is generated according to the data of the first sending time stamp received last time;
the first sending time stamp and the second sending time stamp are subjected to difference value to generate a time deviation value;
and when the time deviation value meets a preset condition, determining that the state of the remote control terminal is an abnormal state.
2. The method of claim 1, wherein the vehicle has a first bluetooth module disposed thereon and the remote control terminal has a second bluetooth module disposed thereon, and wherein the step of receiving the periodic time signal transmitted from the remote control terminal connected to the vehicle comprises:
and calling the first Bluetooth assembly to receive the periodic time signal sent by the second Bluetooth assembly.
3. The method of claim 2, wherein prior to the step of receiving a periodic time signal transmitted by a remote control terminal connected to the vehicle, the method further comprises:
and controlling the vehicle to perform automatic parking in response to an automatic parking instruction sent by the second Bluetooth module, wherein the automatic parking instruction is generated by the remote control terminal in response to an automatic parking operation of a user.
4. The method of claim 3, wherein the remote control terminal comprises a mobile communication device or a vehicle key fob.
5. The method of claim 1, wherein the step of determining that the state of the remote control terminal is an abnormal state when the time deviation value satisfies a preset condition comprises:
determining a cycle period value corresponding to the time signal sending period;
and when the time deviation value is smaller than the cycle period value, determining that the state of the remote control terminal is an abnormal state.
6. The method of claim 1, further comprising:
and when the time deviation value is smaller than a preset value, refusing to respond to the control instruction sent by the remote control terminal.
7. An automatic parking control apparatus, characterized in that the apparatus comprises:
the system comprises a receiving module, a sending module and a receiving module, wherein the receiving module is used for receiving a periodic time signal sent by a remote control terminal connected with a vehicle in the automatic parking process, and the time signal comprises a first sending timestamp;
the detection module is used for determining the state of the remote control terminal according to the first sending timestamp;
the termination module is used for terminating the automatic parking when the state is an abnormal state;
wherein the detection module comprises:
the reading submodule is used for reading a second sending time stamp, and the second sending time stamp is generated according to the data of the first sending time stamp received last time;
the difference submodule is used for making a difference between the first sending time stamp and the second sending time stamp to generate a time deviation value;
and the judging submodule is used for determining that the state of the remote control terminal is an abnormal state when the time deviation value meets a preset condition.
8. A vehicle, characterized by comprising:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform the method of one or more of claims 1-6.
9. One or more machine readable media having instructions stored thereon that, when executed by one or more processors, cause the processors to perform the method of one or more of claims 1-6.
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| CN113329366B (en) * | 2021-04-30 | 2022-10-18 | 华人运通(上海)云计算科技有限公司 | Parking control method, device and system |
| CN113212421B (en) * | 2021-05-14 | 2023-01-17 | 东风汽车集团股份有限公司 | Key positioning automatic parking method, device, equipment and storage medium |
| CN114179787A (en) * | 2021-12-09 | 2022-03-15 | 广州小鹏自动驾驶科技有限公司 | Parking method, terminal device and computer storage medium |
| CN114475579A (en) * | 2022-01-26 | 2022-05-13 | 中国第一汽车股份有限公司 | Parking method, device, equipment and storage medium |
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