CN114013425B - Remote parking control method, system, storage medium and equipment - Google Patents
Remote parking control method, system, storage medium and equipment Download PDFInfo
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- CN114013425B CN114013425B CN202111148369.3A CN202111148369A CN114013425B CN 114013425 B CN114013425 B CN 114013425B CN 202111148369 A CN202111148369 A CN 202111148369A CN 114013425 B CN114013425 B CN 114013425B
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- 238000012216 screening Methods 0.000 claims abstract description 16
- 238000004891 communication Methods 0.000 claims description 10
- 239000003550 marker Substances 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 7
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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
- B60W30/06—Automatic manoeuvring for parking
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Abstract
The invention provides a remote parking control method, a remote parking control system, a storage medium and a remote parking control device, wherein the method comprises the following steps: screening a corresponding preset parking route according to a parking garage place where a target vehicle is to be parked, and acquiring the position information of each locating point on the preset parking route; acquiring a positioning image of a preset parking route according to the position information of each positioning point on the preset parking route; acquiring a surrounding environment image of a target vehicle; matching the surrounding environment image of the target vehicle with a positioning image of a preset parking route, and judging whether the matching is successful or not; if so, acquiring the current position of the target vehicle, and sending a parking start instruction, the current position of the target vehicle and a preset parking route to the target vehicle, so that the target vehicle can conduct navigation parking according to the preset parking route by taking the current position of the target vehicle as a parking start point, the vehicle can be ensured to be on a correct parking route before automatic parking operation is executed, and parking failure caused by position deviation is avoided.
Description
Technical Field
The present invention relates to the field of automobiles, and in particular, to a remote parking control method, system, storage medium and device.
Background
With the development of the automobile industry, the automatic driving technology is mature, the existing automatic driving technology can realize full-automatic parking, but the whole parking process is controlled by a system, a driver must be in the automobile, the activation of the parking function and the safety monitoring of the automobile are completed by the driver, and the parking mode of the driver must be in the automobile so that part of use scenes are limited: for some narrow parking spaces, after a vehicle is parked, a vehicle door cannot be opened, and a driver cannot get off the vehicle; for the parking space in which water accumulation easily occurs, the driver can not get on or off the vehicle conveniently after the vehicle is parked in the parking space. Accordingly, there is a need to provide a technique capable of remotely controlling a vehicle to achieve parking to solve the problem of parking in a vehicle that a driver must stay on the vehicle.
Disclosure of Invention
The invention aims to provide a remote parking control method, a system, a storage medium and equipment, which are used for solving the problems that the prior automatic driving technology can realize full-automatic parking, but the whole parking process is controlled by the system, a driver must be in a vehicle, the activation of a parking function and the safety monitoring of the vehicle are finished by the driver, and the partial use scene is limited due to the parking mode of the driver in the vehicle.
The invention provides a remote parking control method which is applied to a mobile terminal, wherein the mobile terminal is in wireless communication connection with a vehicle, and the method comprises the following steps:
inputting a parking garage position where a target vehicle is to be parked, screening a corresponding preset parking route from a parking route database according to the parking garage position where the target vehicle is to be parked, and acquiring the position information of each positioning point on the preset parking route;
acquiring a positioning image of the preset parking route according to the position information of each positioning point on the preset parking route;
acquiring a surrounding environment image of the target vehicle captured by a camera of the target vehicle;
matching the surrounding environment image of the target vehicle with the positioning image of the preset parking route, and judging whether the matching is successful or not;
if so, acquiring the current position of the target vehicle, and sending a parking start instruction, the current position of the target vehicle and the preset parking route to the target vehicle, so that the target vehicle uses the current position of the target vehicle as a parking start point to conduct navigation parking according to the preset parking route.
The remote parking control method provided by the invention has the following beneficial effects:
the method comprises the steps of inputting a parking garage position where a target vehicle is to be parked, screening a corresponding preset parking route from a parking route database according to the parking garage position where the target vehicle is to be parked, and obtaining position information of each positioning point on the preset parking route; acquiring a positioning image of the preset parking route according to the position information of each positioning point on the preset parking route; acquiring a surrounding environment image of the target vehicle captured by a camera of the target vehicle; matching the surrounding environment image of the target vehicle with the positioning image of the preset parking route, and judging whether the real-time target vehicle is on the preset parking route or not; if the feature matching is successful, determining that the target vehicle is on the preset parking route, and then sending a parking start instruction and the preset parking route to the target vehicle, so that the target vehicle uses the current position of the target vehicle as a parking start point to conduct navigation parking according to the preset parking route, and the situation that the vehicle is on the correct parking route before automatic parking operation is executed can be ensured, and parking failure caused by position deviation is avoided;
according to the invention, the positioning image around the target vehicle is matched with the positioning image of the preset parking route, but not with the positioning image of the route starting point of the preset parking route, so that the vehicle can execute automatic parking operation by taking any point on the preset parking route as the parking starting point, and the matching degree and the parking efficiency of the vehicle and the parking route are greatly improved.
In addition, the remote parking control method provided by the invention can also have the following additional technical characteristics:
further, the preset parking route includes a plurality of parking destination points, each parking destination point corresponds to one parking space, and the step of sending a parking start instruction and the preset parking route to the target vehicle so that the target vehicle performs navigation parking according to the preset parking route by taking the current position of the target vehicle as a parking start point includes:
acquiring position information of each parking destination point from the parking route database;
acquiring surrounding environment information detected by the target vehicle in real time;
judging whether other vehicles are parked on a parking destination point adjacent to the target vehicle according to the position information of the parking destination point adjacent to the target vehicle and the surrounding environment information;
if not, sending a parking instruction and position information of a parking destination point adjacent to the target vehicle so as to enable the target vehicle to park in the parking destination point adjacent to the target vehicle.
Further, the step of determining whether other vehicles are parked on the parking destination point adjacent to the target vehicle according to the position information of the parking destination point adjacent to the target vehicle and the surrounding environment information further includes:
if yes, the parking instruction is not sent, so that the target vehicle runs to a next parking destination point along the preset parking route;
until a parking destination point without other vehicles is found on the preset parking route.
Further, the step of acquiring the positioning image of the preset parking route according to the position information of each positioning point on the preset parking route includes:
GPS positioning is carried out on each positioning point so as to obtain a positioning image of the periphery of each positioning point, and the positioning points are uniformly distributed on the preset parking route at intervals;
and continuously integrating the positioning images around all the positioning points to obtain the positioning image of the preset parking route.
Further, the step of matching the surrounding image of the target vehicle with the positioning image of the preset parking route and judging whether the matching is successful includes:
extracting the marker features on the preset parking route from the positioning image of the preset parking route and generating a preset parking route feature set;
extracting a marker feature of the periphery of the target vehicle from the periphery environment image of the target vehicle;
and carrying out matching analysis on the identifier characteristics around the target vehicle and the identifier characteristics on the preset parking route in the preset parking route characteristic set, and judging whether the identifier characteristics around the target vehicle and the identifier characteristics on the preset parking route in the preset parking route characteristic set have high matching degree or not.
Further, if so, acquiring the current position of the target vehicle, and sending a parking start instruction, the current position of the target vehicle and the preset parking route to the target vehicle, so that the target vehicle uses the current position of the target vehicle as a parking start point to perform navigation parking according to the preset parking route, and then the method further comprises the following steps:
acquiring GPS position information of the target vehicle in real time;
acquiring position information of a parking destination point of the preset parking route from the parking route database;
judging whether the target vehicle reaches the parking destination point on the preset parking route or not according to the position information of the parking destination point of the preset parking route and the GPS position information of the target vehicle;
if yes, determining that the target vehicle is parked, and generating a parking completion prompt.
Further, before the step of inputting the parking garage location where the target vehicle is to be parked, screening a corresponding preset parking route from a parking route database according to the parking garage location where the target vehicle is to be parked and acquiring the position information of each positioning point on the preset parking route, the method further comprises:
collecting parking routes of N parking garages and corresponding route information, wherein the route information comprises position information of a plurality of positioning points and parking destination points on the parking routes;
and a large amount of learning is carried out on the parking route of each parking garage and the corresponding route information, and the parking route database is established.
The invention also provides a remote parking control system which is applied to the mobile terminal, wherein the mobile terminal is in wireless communication connection with a vehicle and comprises the following components:
and a screening module: the method comprises the steps of inputting a parking garage position where a target vehicle is to be parked, screening a corresponding preset parking route from a parking route database according to the parking garage position where the target vehicle is to be parked, and obtaining position information of each locating point on the preset parking route;
a first acquisition module: the positioning image of the preset parking route is obtained according to the position information of each positioning point on the preset parking route;
and a second acquisition module: the method comprises the steps of acquiring a surrounding environment image of the target vehicle captured by a camera of the target vehicle;
and a matching module: the method comprises the steps of matching the surrounding environment image of the target vehicle with the positioning image of the preset parking route, and judging whether the matching is successful or not;
parking module: if yes, acquiring the current position of the target vehicle, and sending a parking start instruction, the current position of the target vehicle and the preset parking route to the target vehicle, so that the target vehicle uses the current position of the target vehicle as a parking start point to conduct navigation parking according to the preset parking route.
The invention also provides a computer readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the remote parking control method described above.
The invention also provides a remote parking control device which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the remote parking control method when executing the program.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
fig. 1 is a flowchart of a remote parking control method according to a first embodiment of the present invention;
FIG. 2 is a system block diagram of a remote parking control system according to a second embodiment of the present invention;
fig. 3 is a schematic structural view of a remote parking control apparatus according to a third embodiment of the present invention.
Detailed Description
In order that the objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. Several embodiments of the invention are presented in the figures. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Example 1
As shown in fig. 1, an embodiment of the present invention provides a remote parking control method applied to a mobile terminal, where the mobile terminal includes, but is not limited to, a mobile phone, a computer, a watch, and the like, and the mobile terminal is in wireless communication connection with a vehicle, and includes steps S101 to S105.
According to the embodiment of the invention, the mobile terminal is in communication connection with the vehicle-mounted Bluetooth key module through the Bluetooth module, and then the vehicle-mounted Bluetooth key module is in communication connection with the parking controller through the CAN line, so that the mobile terminal indirectly realizes communication interaction with the parking controller, and handshake communication is carried out between the parking controller and the vehicle-mounted associated controller.
S101, inputting a parking garage place where a target vehicle is to be parked, screening a corresponding preset parking route from a parking route database according to the parking garage place where the target vehicle is to be parked, and acquiring position information of each positioning point on the preset parking route.
The parking database is used for storing parking routes and corresponding route information of N parking garages, the route information comprises position information of a plurality of locating points and parking destination points on the parking routes, the parking places and the parking routes and the corresponding route information are in one-to-one correspondence in the parking database, a parking place is input, and the corresponding parking routes and the corresponding route information can be obtained from the parking database.
The step of inputting the parking garage location where the target vehicle is to be parked, screening a corresponding preset parking route from a parking route database according to the parking garage location where the target vehicle is to be parked, and acquiring the position information of each positioning point on the preset parking route further comprises the following steps:
collecting parking routes of N parking garages and corresponding route information, wherein the route information comprises position information of a plurality of positioning points and parking destination points on the parking routes;
and a large amount of learning is carried out on the parking route of each parking garage and the corresponding route information, and the parking route database is established.
Specifically, parking routes of six parking libraries and corresponding route information, such as parking libraries of residence, parking libraries of companies and the like, can be learned.
S102, acquiring a positioning image of the preset parking route according to the position information of each positioning point on the preset parking route.
The step of obtaining the positioning image of the preset parking route according to the position information of each positioning point on the preset parking route comprises the following steps:
GPS positioning is carried out on each positioning point so as to obtain a positioning image of the periphery of each positioning point, and the positioning points are uniformly distributed on the preset parking route at intervals;
and continuously integrating the positioning images around all the positioning points to obtain the positioning image of the preset parking route.
Specifically, a positioning image of the periphery of each positioning point is obtained through a mobile terminal positioning module.
S103, acquiring surrounding environment images of the target vehicle, which are captured by a camera of the target vehicle.
Specifically, the surrounding environment image of the target vehicle captured by the camera of the target vehicle is sent to the parking controller, and is sent to the vehicle-mounted Bluetooth module by the parking controller, and then is sent to the Bluetooth module of the mobile terminal by the vehicle-mounted Bluetooth module.
And S104, matching the surrounding environment image of the target vehicle with the positioning image of the preset parking route, and judging whether the matching is successful.
The step of matching the surrounding image of the target vehicle with the positioning image of the preset parking route and judging whether the matching is successful comprises the following steps:
extracting the marker features on the preset parking route from the positioning image of the preset parking route and generating a preset parking route feature set;
extracting a marker feature of the periphery of the target vehicle from the periphery environment image of the target vehicle;
and carrying out matching analysis on the identifier characteristics around the target vehicle and the identifier characteristics on the preset parking route in the preset parking route characteristic set, and judging whether the identifier characteristics around the target vehicle and the identifier characteristics on the preset parking route in the preset parking route characteristic set have high matching degree or not.
And S105, if so, acquiring the current position of the target vehicle, and sending a parking start instruction, the current position of the target vehicle and the preset parking route to the target vehicle so that the target vehicle performs navigation parking according to the preset parking route by taking the current position of the target vehicle as a parking start point.
The step of sending a parking start instruction and the preset parking route to the target vehicle so that the target vehicle uses the current position of the target vehicle as a parking start point to conduct navigation parking according to the preset parking route comprises the following steps of:
acquiring position information of each parking destination point from the parking route database;
acquiring surrounding environment information detected by the target vehicle in real time;
judging whether other vehicles are parked on a parking destination point adjacent to the target vehicle according to the position information of the parking destination point adjacent to the target vehicle and the surrounding environment information;
if not, sending a parking instruction and position information of a parking destination point adjacent to the target vehicle so as to enable the target vehicle to park in the parking destination point adjacent to the target vehicle.
Specifically, an ultrasonic radar system and a front camera around the vehicle body detect surrounding environment information of the target vehicle in real time, the surrounding environment information of the target vehicle is sent to a parking controller, and the parking controller sends the surrounding environment information to a mobile terminal through a vehicle-mounted Bluetooth key module.
The step of judging whether other vehicles are parked on the parking destination point adjacent to the target vehicle according to the position information of the parking destination point adjacent to the target vehicle and the surrounding environment information further comprises the following steps:
if yes, the parking instruction is not sent, so that the target vehicle runs to a next parking destination point along the preset parking route;
until a parking destination point without other vehicles is found on the preset parking route.
Specifically, for some parking spaces of mobile parking spaces, such as company parking spaces, the parking spaces into which vehicles can park are usually random, but the parking spaces in the parking spaces are mostly arranged in a regular manner, such as in rows, and one parking route can usually pass through a plurality of parking spaces, so if a plurality of parking destination points are sequentially arranged on one parking route to correspond to the plurality of parking spaces on the parking route, in the process of driving along the parking route, a target vehicle can detect whether the adjacent parking destination points on the parking route are empty in advance, if so, the target vehicle is parked, if not, the target vehicle can drive to the next parking destination point of the parking route until the empty parking space is found, and therefore, the automatic parking problem under the scene of no fixed parking space can be well solved, and the vehicle can conveniently and rapidly find the empty parking space, so that the vehicle is prevented from being diffusely found in the garage.
If so, acquiring the current position of the target vehicle, and sending a parking start instruction, the current position of the target vehicle and the preset parking route to the target vehicle, so that the target vehicle uses the current position of the target vehicle as a parking start point to perform navigation parking according to the preset parking route, and the method further comprises the following steps:
acquiring GPS position information of the target vehicle in real time;
acquiring position information of a parking destination point of the preset parking route from the parking route database;
judging whether the target vehicle reaches the parking destination point on the preset parking route or not according to the position information of the parking destination point of the preset parking route and the GPS position information of the target vehicle;
if yes, determining that the target vehicle is parked, and generating a parking completion prompt.
Specifically, the vehicle positioning navigation system sends real-time positioning navigation information of the vehicle to the parking controller, and the parking controller transmits the real-time positioning navigation information to the mobile terminal through the vehicle-mounted Bluetooth key module.
The steps can prompt the user when parking is completed smoothly, and practicality and convenience are improved.
In summary, the remote parking control method provided by the invention has the beneficial effects that: the method comprises the steps of inputting a parking garage position where a target vehicle is to be parked, screening a corresponding preset parking route from a parking route database according to the parking garage position where the target vehicle is to be parked, and obtaining position information of each positioning point on the preset parking route; acquiring a positioning image of the preset parking route according to the position information of each positioning point on the preset parking route; acquiring a surrounding environment image of the target vehicle captured by a camera of the target vehicle; matching the surrounding environment image of the target vehicle with the positioning image of the preset parking route, and judging whether the real-time target vehicle is on the preset parking route or not; if the feature matching is successful, determining that the target vehicle is on the preset parking route, and then sending a parking start instruction and the preset parking route to the target vehicle, so that the target vehicle uses the current position of the target vehicle as a parking start point to conduct navigation parking according to the preset parking route, and the situation that the vehicle is on the correct parking route before automatic parking operation is executed can be ensured, and parking failure caused by position deviation is avoided;
according to the invention, the positioning image features around the target vehicle are matched with the positioning image features of the preset parking route, but not with the positioning image features of the route starting point of the preset parking route, so that the vehicle can execute automatic parking operation by taking any point on the preset parking route as the parking starting point, and the matching degree and the parking efficiency of the vehicle and the parking route are greatly improved.
Example 2
Referring to fig. 2, the present embodiment provides a remote parking control system, which is applied to a mobile terminal, wherein the mobile terminal is connected with a vehicle in a wireless communication manner, and includes:
and a screening module: the method comprises the steps of inputting a parking garage position where a target vehicle is to be parked, screening a corresponding preset parking route from a parking route database according to the parking garage position where the target vehicle is to be parked, and obtaining position information of each locating point on the preset parking route.
The screening module is further configured to:
collecting parking routes of N parking garages and corresponding route information, wherein the route information comprises position information of a plurality of positioning points and parking destination points on the parking routes;
and a large amount of learning is carried out on the parking route of each parking garage and the corresponding route information, and the parking route database is established.
A first acquisition module: and the positioning image of the preset parking route is acquired according to the position information of each positioning point on the preset parking route.
The first acquisition module is further configured to:
GPS positioning is carried out on each positioning point so as to obtain a positioning image of the periphery of each positioning point, and the positioning points are uniformly distributed on the preset parking route at intervals;
and continuously integrating the positioning images around all the positioning points to obtain the positioning image of the preset parking route.
And a second acquisition module: and the camera is used for acquiring the surrounding environment image of the target vehicle captured by the camera of the target vehicle.
And a matching module: and the method is used for matching the surrounding environment image of the target vehicle with the positioning image of the preset parking route and judging whether the matching is successful or not.
The matching module is also used for:
extracting the marker features on the preset parking route from the positioning image of the preset parking route and generating a preset parking route feature set;
extracting a marker feature of the periphery of the target vehicle from the periphery environment image of the target vehicle;
and carrying out matching analysis on the identifier characteristics around the target vehicle and the identifier characteristics on the preset parking route in the preset parking route characteristic set, and judging whether the identifier characteristics around the target vehicle and the identifier characteristics on the preset parking route in the preset parking route characteristic set have high matching degree or not.
Parking module: if yes, acquiring the current position of the target vehicle, and sending a parking start instruction, the current position of the target vehicle and the preset parking route to the target vehicle, so that the target vehicle uses the current position of the target vehicle as a parking start point to conduct navigation parking according to the preset parking route.
The parking module is further configured to:
acquiring position information of each parking destination point from the parking route database;
acquiring surrounding environment information detected by the target vehicle in real time;
judging whether other vehicles are parked on a parking destination point adjacent to the target vehicle according to the position information of the parking destination point adjacent to the target vehicle and the surrounding environment information;
if not, sending a parking instruction and position information of a parking destination point adjacent to the target vehicle so as to enable the target vehicle to park in the parking destination point adjacent to the target vehicle.
The parking module is further configured to:
if yes, the parking instruction is not sent, so that the target vehicle runs to a next parking destination point along the preset parking route;
until a parking destination point without other vehicles is found on the preset parking route.
The parking module is further configured to:
acquiring GPS position information of the target vehicle in real time;
acquiring position information of a parking destination point of the preset parking route from the parking route database;
judging whether the target vehicle reaches the parking destination point on the preset parking route or not according to the position information of the parking destination point of the preset parking route and the GPS position information of the target vehicle;
if yes, determining that the target vehicle is parked, and generating a parking completion prompt.
Example 3
Referring to fig. 3, the present invention further provides a remote parking control apparatus, which is a remote parking control apparatus according to a third embodiment of the present invention, and includes a memory 20, a processor 10, and a computer program 30 stored in the memory and executable on the processor, wherein the processor 10 implements the remote parking control method as described above when executing the computer program 30.
The remote parking control device may be a computer, a server, an upper computer, etc., and the processor 10 may be a central processing unit (Central Processing Unit, CPU), a controller, a microcontroller, a microprocessor, or other data processing chip in some embodiments, for running program codes or processing data stored in the memory 20, such as executing an access restriction program, etc.
The memory 20 includes at least one type of readable storage medium including flash memory, a hard disk, a multimedia card, a card memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, etc. The memory 20 may in some embodiments be an internal storage unit of a remote parking control device, such as a hard disk of the remote parking control device. The memory 20 may also be an external storage device of the remote parking control apparatus in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the remote parking control apparatus. Further, the memory 20 may also include both an internal storage unit and an external storage device of the remote parking control apparatus. The memory 20 may be used not only to store application software installed in the remote parking control apparatus and various types of data, but also to temporarily store data that has been output or is to be output.
It should be noted that the configuration shown in fig. 3 does not constitute a limitation of the remote parking control apparatus, and in other embodiments, the remote parking control apparatus may include fewer or more components than shown, or may combine certain components, or may have a different arrangement of components.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the remote parking control method as described above.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (8)
1. A remote parking control method, applied to a mobile terminal, the mobile terminal being in wireless communication connection with a vehicle, the method comprising:
inputting a parking garage position where a target vehicle is to be parked, screening a corresponding preset parking route from a parking route database according to the parking garage position where the target vehicle is to be parked, and acquiring the position information of each positioning point on the preset parking route;
acquiring a positioning image of the preset parking route according to the position information of each positioning point on the preset parking route;
acquiring a surrounding environment image of the target vehicle captured by a camera of the target vehicle;
matching the surrounding environment image of the target vehicle with the positioning image of the preset parking route, and judging whether the matching is successful or not;
if yes, acquiring the current position of the target vehicle, and sending a parking start instruction, the current position of the target vehicle and the preset parking route to the target vehicle, so that the target vehicle uses the current position of the target vehicle as a parking start point to conduct navigation parking according to the preset parking route;
the preset parking route comprises a plurality of parking destination points, each parking destination point corresponds to one parking space, and the step of sending the preset parking route to the target vehicle so that the target vehicle can navigate and park according to the preset parking route by taking the current position of the target vehicle as a parking starting point comprises the following steps:
acquiring position information of each parking destination point from the parking route database;
acquiring surrounding environment information detected by the target vehicle in real time;
judging whether other vehicles are parked on a parking destination point adjacent to the target vehicle according to the position information of the parking destination point adjacent to the target vehicle and the surrounding environment information;
if not, sending a parking instruction and position information of a parking destination point adjacent to the target vehicle so as to enable the target vehicle to park in the parking destination point adjacent to the target vehicle;
the step of judging whether other vehicles are parked on the parking destination point adjacent to the target vehicle according to the position information of the parking destination point adjacent to the target vehicle and the surrounding environment information further comprises the following steps:
if yes, the parking instruction is not sent, so that the target vehicle runs to a next parking destination point along the preset parking route;
until a parking destination point without other vehicles is found on the preset parking route.
2. The remote parking control method according to claim 1, wherein the step of acquiring a location image of the preset parking route based on the location information of each location point on the preset parking route includes:
GPS positioning is carried out on each positioning point so as to obtain a positioning image of the periphery of each positioning point, and the positioning points are uniformly distributed on the preset parking route at intervals;
and continuously integrating the positioning images around all the positioning points to obtain the positioning image of the preset parking route.
3. The remote parking control method according to claim 1, wherein the step of matching the surroundings image of the target vehicle with the positioning image of the preset parking route and judging whether the matching is successful includes:
extracting the marker features on the preset parking route from the positioning image of the preset parking route and generating a preset parking route feature set;
extracting a marker feature of the periphery of the target vehicle from the periphery environment image of the target vehicle;
and carrying out matching analysis on the identifier characteristics around the target vehicle and the identifier characteristics on the preset parking route in the preset parking route characteristic set, and judging whether the identifier characteristics around the target vehicle and the identifier characteristics on the preset parking route in the preset parking route characteristic set have high matching degree or not.
4. The remote parking control method according to claim 1, wherein if the target vehicle is a vehicle, the step of acquiring the current position of the target vehicle, and transmitting a parking start instruction, the current position of the target vehicle, and the preset parking route to the target vehicle, so that the target vehicle performs navigation and parking according to the preset parking route with the current position of the target vehicle as a parking start point further comprises:
acquiring GPS position information of the target vehicle in real time;
acquiring position information of a parking destination point of the preset parking route from the parking route database;
judging whether the target vehicle reaches the parking destination point on the preset parking route or not according to the position information of the parking destination point of the preset parking route and the GPS position information of the target vehicle;
if yes, determining that the target vehicle is parked, and generating a parking completion prompt.
5. The remote parking control method according to claim 1, wherein the step of inputting a parking garage location where a target vehicle is to be parked, screening a corresponding preset parking route from a parking route database according to the parking garage location where the target vehicle is to be parked, and acquiring position information of each positioning point on the preset parking route further comprises, before:
collecting parking routes of N parking garages and corresponding route information, wherein the route information comprises position information of a plurality of positioning points and parking destination points on the parking routes;
and a large amount of learning is carried out on the parking route of each parking garage and the corresponding route information, and the parking route database is established.
6. A remote parking control system, characterized by being applied to a mobile terminal, the mobile terminal being in wireless communication connection with a vehicle, comprising:
and a screening module: the method comprises the steps of inputting a parking garage position where a target vehicle is to be parked, screening a corresponding preset parking route from a parking route database according to the parking garage position where the target vehicle is to be parked, and obtaining position information of each locating point on the preset parking route;
a first acquisition module: the positioning image of the preset parking route is obtained according to the position information of each positioning point on the preset parking route;
and a second acquisition module: the method comprises the steps of acquiring a surrounding environment image of the target vehicle captured by a camera of the target vehicle;
and a matching module: the method comprises the steps of matching the surrounding environment image of the target vehicle with the positioning image of the preset parking route, and judging whether the matching is successful or not;
parking module: if yes, acquiring the current position of the target vehicle, and sending a parking start instruction, the current position of the target vehicle and the preset parking route to the target vehicle, so that the target vehicle uses the current position of the target vehicle as a parking start point to conduct navigation parking according to the preset parking route;
the preset parking route comprises a plurality of parking destination points, each parking destination point corresponds to one parking space, and the step of sending the preset parking route to the target vehicle so that the target vehicle can navigate and park according to the preset parking route by taking the current position of the target vehicle as a parking starting point comprises the following steps:
acquiring position information of each parking destination point from the parking route database;
acquiring surrounding environment information detected by the target vehicle in real time;
judging whether other vehicles are parked on a parking destination point adjacent to the target vehicle according to the position information of the parking destination point adjacent to the target vehicle and the surrounding environment information;
if not, sending a parking instruction and position information of a parking destination point adjacent to the target vehicle so as to enable the target vehicle to park in the parking destination point adjacent to the target vehicle;
the step of judging whether other vehicles are parked on the parking destination point adjacent to the target vehicle according to the position information of the parking destination point adjacent to the target vehicle and the surrounding environment information further comprises the following steps:
if yes, the parking instruction is not sent, so that the target vehicle runs to a next parking destination point along the preset parking route;
until a parking destination point without other vehicles is found on the preset parking route.
7. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements a remote parking control method as claimed in any one of claims 1-5.
8. A remote parking control apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the remote parking control method according to any one of claims 1-5 when executing the program.
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