CN114299741A - Vehicle control method and device based on auxiliary driving system - Google Patents
Vehicle control method and device based on auxiliary driving system Download PDFInfo
- Publication number
- CN114299741A CN114299741A CN202111663344.7A CN202111663344A CN114299741A CN 114299741 A CN114299741 A CN 114299741A CN 202111663344 A CN202111663344 A CN 202111663344A CN 114299741 A CN114299741 A CN 114299741A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- path
- point
- mobile terminal
- starting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 66
- 238000004590 computer program Methods 0.000 claims description 6
- 238000012795 verification Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 5
- 238000004891 communication Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000000802 evaporation-induced self-assembly Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Landscapes
- Traffic Control Systems (AREA)
Abstract
The invention provides a vehicle control method and a vehicle control device based on a driving assistance system, which relate to the technical field of vehicle control, and the method is applied to the driving assistance system of a vehicle and comprises the following steps: firstly, receiving a vehicle calling signal sent by a mobile terminal and starting a power supply, and then determining a first path based on the vehicle calling signal and a pre-acquired parking lot map; the starting point of the first path is the current parking point of the vehicle in the parking lot, and the end point of the first path is the boarding point of the user; and after receiving a starting signal sent by the mobile terminal, starting the auxiliary driving system and driving the vehicle according to the first path. By the method, the technical problems of limitation of an application scene and high vehicle searching difficulty in the prior art can be solved, and the effects of enlarging the application scene and reducing the vehicle searching difficulty are realized.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle control method and device based on an auxiliary driving system.
Background
In real life, due to the fact that the scales of some parking lots are too large, especially the underground parking lots lack the information of indoor positioning and the loss of direction sense, the vehicles are driven into the parking lots and then get the vehicles just like a sea fishing needle, and the vehicle searching difficulty is large. Although there are some mature car-searching schemes such as "remote whistle" and "remote flashing light", such schemes are often only suitable for near-end scenes, and a driver must be away from the car by a certain distance to transmit a signal to search for the car, and cannot respond when the distance exceeds a certain distance.
That is to say, in the scheme of present seeking the vehicle in the parking area, there are the problem that the applicable scene is limited, the car degree of difficulty is big.
Disclosure of Invention
The invention aims to provide a vehicle control method and device based on an auxiliary driving system, so as to relieve the technical problems of application scene limitation and high vehicle searching difficulty in the prior art.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a vehicle control method based on a driving assistance system, which is applied to a driving assistance system of a vehicle, and the method includes:
receiving a vehicle calling signal sent by a mobile terminal, and starting a power supply of the vehicle;
determining a first path based on a vehicle calling signal and a pre-acquired parking lot map; the starting point of the first path is the current parking point of the vehicle in the parking lot, and the end point of the first path is the boarding point of the user;
and after receiving the starting signal sent by the mobile terminal, starting an auxiliary driving system and driving the vehicle according to the first path.
In some possible embodiments, the vehicle call signal includes identity information of the mobile terminal; after receiving a vehicle call signal sent by a mobile terminal and turning on a power supply of the vehicle, the method further comprises the following steps: and verifying the identity information, sending a connection request to the mobile terminal after the identity information passes the verification, and receiving a vehicle starting signal sent by the mobile terminal.
In some possible embodiments, determining the first path based on the vehicle call signal and the pre-acquired parking lot map includes: determining a first pedestrian entrance and exit based on a pre-acquired parking lot map; the first pedestrian doorway includes: a pedestrian entrance/exit of the parking lot closest to the parking point or a pedestrian entrance/exit of the parking lot closest to the starting point position of the user; and determining a first path according to the position of the first pedestrian entrance and the position of the current parking point of the vehicle.
In some possible embodiments, after determining the first pedestrian entrance based on the pre-acquired parking lot map, the method further includes: pushing the first pedestrian entrance to the moving end as a boarding point; the mobile terminal is used for generating a walking navigation path according to the starting point position of the user and the boarding point; the walking navigation path is used for guiding the user to move from the current position to the boarding point.
In some possible embodiments, the method further comprises: determining a first estimated time for the vehicle to reach the pick-up point based on the first path; determining a first difference between the first estimated time and a second estimated time; the second predicted time is determined by the mobile terminal according to the walking navigation path; when the first difference is greater than or equal to zero, immediately starting the vehicle and driving to the upper vehicle point according to the first path; and when the first difference is less than zero, starting the vehicle after the time of the first difference is passed, and driving to the upper vehicle point according to the first path.
In some possible embodiments, the method further comprises: determining a second path according to the real-time traffic flow condition of the parking lot; the starting point of the second path includes the first pedestrian entrance; the end point of the second path includes a first vehicle exit.
In some possible embodiments, the method further comprises: and sending the first path and the real-time position information of the vehicle to the mobile terminal so that the mobile terminal can display the state information of the vehicle in real time.
In a second aspect, an embodiment of the present invention provides a vehicle control apparatus based on a driving assistance system, including:
the first receiving module is used for receiving a vehicle calling signal sent by the mobile terminal and turning on a power supply of the vehicle;
the first determining module is used for determining a first path based on the vehicle calling signal and a pre-acquired parking lot map; the starting point of the first path is the current parking point of the vehicle in the parking lot, and the end point of the first path is the boarding point of the user;
and the second receiving module is used for starting an auxiliary driving system after receiving the starting signal sent by the mobile terminal and driving the vehicle according to the first path.
In a third aspect, an embodiment of the present invention provides an electronic device, including a memory and a processor, where the memory stores a computer program operable on the processor, and the processor implements the steps of the method according to any one of the first aspect when executing the computer program.
In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium storing machine executable instructions that, when invoked and executed by a processor, cause the processor to perform the method of any of the first aspects.
The invention provides a vehicle control method and a vehicle control device based on a driving assistance system, wherein the method is applied to the driving assistance system of a vehicle and comprises the following steps: firstly, receiving a vehicle calling signal sent by a mobile terminal, starting a vehicle power supply, and then determining a first path based on the vehicle calling signal and a pre-acquired parking lot map; the starting point of the first path is the current parking point of the vehicle in the parking lot, and the end point of the first path is the boarding point of the user; and after receiving a starting signal sent by the mobile terminal, starting the auxiliary driving system and driving the vehicle according to the first path. By the method, the technical problems of limitation of an application scene and high vehicle searching difficulty in the prior art can be solved, and the effects of enlarging the application scene and reducing the vehicle searching difficulty are realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flow chart of a vehicle control method based on an assisted driving system according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of another vehicle control method based on an assistant driving system according to an embodiment of the invention;
fig. 3 is a schematic structural diagram of a vehicle control device based on a driving assistance system according to an embodiment of the invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
In real life, due to the fact that the scales of some parking lots are too large, especially the underground parking lots lack the information of indoor positioning and the loss of direction sense, the vehicles are driven into the parking lots and then get the vehicles just like a sea fishing needle, and the vehicle searching difficulty is large. Although there are some mature car-searching schemes such as "remote whistle" and "remote flashing light", such schemes are often only suitable for near-end scenes, and a driver must be away from the car by a certain distance to transmit a signal to search for the car, and cannot respond when the distance exceeds a certain distance. That is to say, in the scheme of present seeking the vehicle in the parking area, there are the problem that the applicable scene is limited, the car degree of difficulty is big.
Based on the above, the embodiment of the invention provides a vehicle control method and device based on an auxiliary driving system, so as to alleviate the technical problems of application scene limitation and great vehicle searching difficulty in the prior art.
For the understanding of the present embodiment, first, a detailed description is given to a vehicle control method based on a driving assistance system disclosed in the embodiment of the present invention, referring to a flowchart of the vehicle control method based on a driving assistance system shown in fig. 1, where the method may be executed by an electronic device and mainly includes the following steps S110 to S130:
s110: receiving a vehicle calling signal sent by a mobile terminal, and starting a power supply of a vehicle;
the mobile terminal may be a mobile electronic device that stores a parking lot map in advance, such as: mobile phones, tablet computers, and the like. The mobile terminal is held by a user or a driver, and the parking lot can be an underground parking lot of a large building such as a shopping mall, an airport, a railway station and the like. The vehicle may have an Automated Valet Parking (AVP) function to assist driving.
S120: determining a first path based on a vehicle calling signal and a pre-acquired parking lot map;
the starting point of the first path is the current parking point of the vehicle in the parking lot, and the end point of the first path is the boarding point of the user;
s130: and after receiving a starting signal sent by the mobile terminal, starting the auxiliary driving system and driving the vehicle according to the first path.
In one embodiment, the vehicle call signal includes identity information of the mobile terminal. Therefore, after the step S110, the method may further include: and verifying the identity information, sending a connection request to the mobile terminal after the verification is passed, and receiving a vehicle starting signal sent by the mobile terminal.
In one embodiment, the vehicle call signal may further include a current location of the mobile terminal, i.e., a starting location of the user. Therefore, the step S120 specifically includes:
s21: determining a first pedestrian entrance and exit based on a pre-acquired parking lot map;
as a specific example, the first pedestrian doorway may include: the pedestrian entrance and exit of the parking lot closest to the parking point or the pedestrian entrance and exit of the parking lot closest to the starting point position of the user;
s22: and determining a first path according to the position of the first pedestrian entrance and exit and the position of the current parking point of the vehicle.
In one embodiment, after the step of S21, the method may further include:
s23: taking the first pedestrian entrance as a boarding point and pushing the first pedestrian entrance to a moving end;
the mobile terminal can generate a walking navigation path according to the starting point position and the boarding point of the user; the walking navigation path is used for guiding the user to move from the current position to the vehicle-entering point.
In an embodiment, referring to fig. 2, after the step S120, the method may further include:
s31: determining a first predicted time for the vehicle to reach the boarding point according to the first path;
s32: determining a first difference between the first expected time and the second expected time; the second predicted time is determined by the mobile terminal according to the walking navigation path;
s33: when the first difference value is larger than or equal to zero, starting the vehicle immediately, and driving to a vehicle-entering point according to the first path;
s34: when the first difference is less than zero, the vehicle is started after the time of the first difference elapses, and travels to the boarding point according to the first path.
In an embodiment, after the step S130, the method may further include:
s140: and sending the first path and the real-time position information of the vehicle to the mobile terminal so that the mobile terminal can display the state information of the vehicle in real time.
S150: determining a second path according to the real-time traffic flow condition of the parking lot; the starting point of the second path is a first pedestrian entrance; the end point of the second path is a first vehicle exit.
The second path may be a shortest time path from the first pedestrian entrance to the first vehicle exit. That is to say, in the vehicle control method based on the driving assistance system provided in the embodiment of the present application, the first path may be determined according to the shortest time from the vehicle sending from the parking point to the getting-on point to the user; and determining the second path according to the shortest time for the vehicle to leave the parking lot from the vehicle-entering point, so that the shortest time for the vehicle to leave the parking lot from the vehicle-entering point to the vehicle-entering point and receive the user is ensured.
Alternatively, the second path may be a shortest distance from the first pedestrian entrance to the first vehicle exit. That is, the first path may be determined according to the shortest distance from the vehicle to the user from the parking spot to the boarding spot; and determining a second path according to the shortest distance of the vehicle from the parking point to the parking lot, so as to ensure that the distance of the vehicle from the parking point to the user is shortest.
The invention provides a vehicle control method based on a driving assistance system, which is applied to the driving assistance system of a vehicle and comprises the following steps: firstly, receiving a vehicle calling signal sent by a mobile terminal and starting a power supply, and then determining a first path based on the vehicle calling signal and a pre-acquired parking lot map; the starting point of the first path is the current parking point of the vehicle in the parking lot, and the end point of the first path is the boarding point of the user; and after receiving a starting signal sent by the mobile terminal, starting the auxiliary driving system and driving the vehicle according to the first path. By the method, the technical problems of limitation of an application scene and high vehicle searching difficulty in the prior art can be solved, and the effects of enlarging the application scene and reducing the vehicle searching difficulty are realized.
As a specific example, an embodiment of the present invention provides an automatic parking method for a vehicle based on a driving assistance system, including:
(1) a driver drives a vehicle to drive into an underground parking lot;
(2) the vehicle identifies corresponding underground parking lot information through a navigation map, acquires a high-precision map of the parking lot from the cloud, and completes the AVP function of the vehicle through the high-precision map, a laser radar and other sensors;
(3) the driver can choose whether to turn on AVP:
a. if the AVP is started, selecting a nearest elevator entrance S coordinate as a destination coordinate of path planning through a high-precision map, taking the destination coordinate as a next default boarding point S, planning a path to reach a destination position through an A star algorithm, and sending an instruction to find a parking space to park through a mobile terminal after a person gets off the vehicle;
b. if the AVP is not started, the car owner finds the parking position to park by himself, and an elevator port closest to the current parking position is set as a default boarding point;
(4) the vehicle finishes parking and sends a parking success signal to the mobile terminal.
Furthermore, as a specific example, an embodiment of the present invention further provides a vehicle summoning method based on an assisted driving system, where the method includes:
(1) the mobile terminal starts a vehicle discovery service and searches for a vehicle with a response through the vehicle discovery service;
(2) the vehicle end receives the broadcast signal sent by the mobile end, and confirms whether to establish a connection request with the mobile end by verifying the identity information of the signal source;
(3) if the connection request is established, the mobile terminal sends a vehicle electrifying signal to the vehicle terminal;
(4) setting the current vehicle position coordinate as an initial position;
(5) the position of the boarding point is set by a driver through a mobile terminal, if the terminal coordinate is not set, the position is the default boarding point S, and if the position needs to be changed, the position is changed by the following two modes:
a. if the navigation map can inquire the position of the elevator which is closest to the user and leads to the parking lot, the destination coordinate is sent to the vehicle end according to the position information of the elevator, and the position of the previous elevator is confirmed as a boarding point;
b. if the navigation map can not inquire the elevator position information nearest to the user and the elevator has the Bluetooth function, the elevator can be connected through Bluetooth to acquire the nearest elevator information and send the destination coordinate of the elevator to the vehicle end, and the current elevator position is determined as the boarding point;
(6) sending a user path planning signal according to the starting point coordinate and the end point coordinate;
(7) the user arrives at the appointed boarding point through the corresponding elevator;
(8) the vehicle plans a path, and sends the real-time position of the vehicle to the mobile terminal, so that a user can obtain the real-time state information of the vehicle;
(9) and driving the vehicle to the boarding point through the auxiliary driving system to finish vehicle calling.
The embodiment provides a vehicle parking and calling method based on an auxiliary driving system, wherein the terminal position is determined according to the elevator position of a person getting-off point or the elevator information of the nearest position of the person, a path planning signal is sent to a vehicle end, and the vehicle end receives the signal planning path to complete vehicle calling.
An embodiment of the present invention provides a vehicle control device based on a driving assistance system, and referring to fig. 3, the device includes:
the first receiving module 310 is configured to receive a vehicle call signal sent by a mobile terminal, and turn on a power supply of a vehicle;
the first determining module 320 is used for determining a first path based on the vehicle calling signal and a pre-acquired parking lot map; the starting point of the first path is the current parking point of the vehicle in the parking lot, and the end point of the first path is the boarding point of the user;
the second receiving module 330 is configured to start the assistant driving system after receiving the start signal sent by the mobile terminal, and drive the vehicle according to the first path.
As a specific example, the embodiment of the present invention further provides a vehicle control system based on a driving assistance system, including: the system comprises a safety authentication module, a communication module, a path planning module and a vehicle state display module.
The vehicle state display module is used for receiving and displaying real-time position and vehicle body state information sent by a vehicle through the mobile terminal; the path planning module is used for planning a path through the destination position and the vehicle initial position sent by the mobile terminal; the communication module is used for receiving and sending data signal instructions of the mobile terminal and the vehicle terminal, such as power-on signals, path planning signals and the like; the security authentication module is used for authenticating identity information of an external device (mobile terminal) connected to the vehicle terminal.
The vehicle control device based on the driving assistance system provided by the embodiment of the application can be specific hardware on equipment, or software or firmware installed on the equipment, and the like. The device provided by the embodiment of the present application has the same implementation principle and technical effect as the foregoing method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the foregoing method embodiments where no part of the device embodiments is mentioned. It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the foregoing systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. The vehicle control device based on the driving assistance system provided by the embodiment of the application has the same technical characteristics as the vehicle control method based on the driving assistance system provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
The embodiment of the application further provides an electronic device, and specifically, the electronic device comprises a processor and a storage device; the storage means has stored thereon a computer program which, when executed by the processor, performs the method of any of the above described embodiments.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application, where the electronic device 400 includes: a processor 40, a memory 41, a bus 42 and a communication interface 43, wherein the processor 40, the communication interface 43 and the memory 41 are connected through the bus 42; the processor 40 is arranged to execute executable modules, such as computer programs, stored in the memory 41.
The Memory 41 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 43 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, etc. may be used.
The bus 42 may be an ISA bus, PCI bus, EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 4, but that does not indicate only one bus or one type of bus.
The memory 41 is used for storing a program, the processor 40 executes the program after receiving an execution instruction, and the method executed by the apparatus defined by the flow process disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 40, or implemented by the processor 40.
The processor 40 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 40. The Processor 40 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory 41, and the processor 40 reads the information in the memory 41 and completes the steps of the method in combination with the hardware thereof.
Corresponding to the method, the embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores machine executable instructions, and when the computer executable instructions are called and executed by a processor, the computer executable instructions cause the processor to execute the steps of the method.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, an electronic device, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It should be noted that: like reference numbers and letters indicate like items in the figures, and thus once an item is defined in a figure, it need not be further defined or explained in subsequent figures, and moreover, the terms "first," "second," "third," etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A vehicle control method based on a driving assistance system is characterized in that the method is applied to the driving assistance system of a vehicle, and comprises the following steps:
receiving a vehicle calling signal sent by a mobile terminal, and starting a power supply of the vehicle;
determining a first path based on the vehicle calling signal and a pre-acquired parking lot map; the starting point of the first path is the current parking point of the vehicle in the parking lot, and the end point of the first path is the getting-on point of the user;
and after receiving a starting signal sent by the mobile terminal, starting an auxiliary driving system, and driving the vehicle according to the first path.
2. The method according to claim 1, wherein the vehicle call signal includes identity information of the mobile terminal; after receiving a vehicle calling signal sent by a mobile terminal and turning on the power supply of the vehicle, the method further comprises the following steps:
and verifying the identity information, sending a connection request to the mobile terminal after the identity information passes the verification, and receiving a vehicle starting signal sent by the mobile terminal.
3. The method of claim 1, wherein determining a first path based on the vehicle call signal and a pre-acquired parking lot map comprises:
determining a first pedestrian entrance and exit based on a pre-acquired parking lot map; the first pedestrian doorway includes: the pedestrian entrance and exit of the parking lot is closest to the parking point, or the pedestrian entrance and exit of the parking lot is closest to the starting point position of the user;
and determining a first path according to the position of the first pedestrian entrance and exit and the position of the current parking point of the vehicle.
4. The method according to claim 3, wherein after determining the first pedestrian entrance based on the parking lot map acquired in advance, the method further comprises:
pushing the first pedestrian entrance and exit to the moving end as a boarding point; the mobile terminal is used for generating a walking navigation path according to the starting point position of the user and the boarding point; the walking navigation path is used for guiding the user to move to the boarding point from the current position.
5. The method of claim 4, wherein after determining the first path based on the vehicle call signal and a pre-acquired parking lot map, the method further comprises:
determining a first predicted time for the vehicle to reach the boarding point according to the first path;
determining a first difference between the first expected time and a second expected time; the second predicted time is determined by the mobile terminal according to the walking navigation path;
when the first difference value is larger than or equal to zero, immediately starting the vehicle and driving to the vehicle-entering point according to the first path;
and when the first difference value is less than zero, starting the vehicle after the time of the first difference value is passed, and driving to the upper vehicle point according to the first path.
6. The method according to any one of claims 3 to 5, further comprising:
determining a second path according to the real-time traffic flow condition of the parking lot; the starting point of the second path is the first pedestrian entrance; the end point of the second path is a first vehicle exit.
7. The method of claim 1, further comprising:
and sending the real-time position information of the first path and the vehicle to the mobile terminal so that the mobile terminal can display the state information of the vehicle in real time.
8. A driving assistance system-based vehicle control apparatus, characterized by comprising:
the first receiving module is used for receiving a vehicle calling signal sent by the mobile terminal and turning on a power supply of the vehicle;
the first determining module is used for determining a first path based on the vehicle calling signal and a pre-acquired parking lot map; the starting point of the first path is the current parking point of the vehicle in the parking lot, and the end point of the first path is the getting-on point of the user;
and the second receiving module is used for starting an auxiliary driving system after receiving the starting signal sent by the mobile terminal, and driving the vehicle according to the first path.
9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program operable on the processor, and wherein the processor implements the steps of the method of any of claims 1 to 7 when executing the computer program.
10. A computer readable storage medium having stored thereon machine executable instructions which, when invoked and executed by a processor, cause the processor to execute the method of any of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111663344.7A CN114299741B (en) | 2021-12-31 | 2021-12-31 | Vehicle control method and device based on auxiliary driving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111663344.7A CN114299741B (en) | 2021-12-31 | 2021-12-31 | Vehicle control method and device based on auxiliary driving system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114299741A true CN114299741A (en) | 2022-04-08 |
| CN114299741B CN114299741B (en) | 2023-11-10 |
Family
ID=80973303
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111663344.7A Active CN114299741B (en) | 2021-12-31 | 2021-12-31 | Vehicle control method and device based on auxiliary driving system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114299741B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115273526A (en) * | 2022-06-20 | 2022-11-01 | 广州小鹏汽车科技有限公司 | Method, vehicle and mobile terminal for providing route guidance |
| CN115497324A (en) * | 2022-11-16 | 2022-12-20 | 广汽埃安新能源汽车股份有限公司 | Method, apparatus, device and computer readable medium for controlling pick-up of a vehicle |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016020023A1 (en) * | 2014-08-07 | 2016-02-11 | Daimler Ag | Method and device for carrying out a parking process of a vehicle in a parking garage |
| CN106601019A (en) * | 2016-12-19 | 2017-04-26 | 常州工学院 | Parking information management and intelligent parking communication system and method |
| CN110136426A (en) * | 2019-04-15 | 2019-08-16 | 武汉环宇智行科技有限公司 | One kind, which is returned the car, recruits vehicle system and method |
| CN110766960A (en) * | 2018-07-27 | 2020-02-07 | 比亚迪股份有限公司 | Server, mobile terminal, vehicle-mounted terminal and vehicle searching control method |
| US20200148197A1 (en) * | 2018-11-09 | 2020-05-14 | Hyundai Motor Company | System, method, infrastructure, and vehicle for automated valet parking |
| CN111179620A (en) * | 2018-11-09 | 2020-05-19 | 现代自动车株式会社 | Autonomous passenger-replacing parking method and device for vehicle |
| US20200207338A1 (en) * | 2018-12-28 | 2020-07-02 | Hyundai Motor Company | System, Method, Infrastructure, and Vehicle for Automated Valet Parking |
| US20200385016A1 (en) * | 2019-05-24 | 2020-12-10 | Honda Motor Co., Ltd. | Control device, getting-into/out facility, control method, and storage medium |
| US20200402402A1 (en) * | 2017-06-15 | 2020-12-24 | Ubipark Pty Ltd | Computer-implemented systems for locating a vehicular parking space and controlling access thereto. |
| CN112614369A (en) * | 2020-12-15 | 2021-04-06 | 苏州触达信息技术有限公司 | Parking system and method based on automatic driving |
| CN112747761A (en) * | 2020-12-28 | 2021-05-04 | 北京航迹科技有限公司 | Navigation method and system based on travel of automatic driving vehicle |
| CN112863240A (en) * | 2021-01-12 | 2021-05-28 | 北京航空航天大学 | Intelligent navigation system and method for commercial complex underground garage |
| US20210162989A1 (en) * | 2019-11-29 | 2021-06-03 | Hyundai Motor Company | System, method, infrastructure, and vehicle for automated valet parking |
| CN113203421A (en) * | 2021-05-11 | 2021-08-03 | 陈广平 | Navigation method and system for searching vehicle, electronic equipment and storage medium |
| US20210262805A1 (en) * | 2018-08-30 | 2021-08-26 | Continental Automotive Gmbh | Indoor navigation method and parking management system |
-
2021
- 2021-12-31 CN CN202111663344.7A patent/CN114299741B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016020023A1 (en) * | 2014-08-07 | 2016-02-11 | Daimler Ag | Method and device for carrying out a parking process of a vehicle in a parking garage |
| CN106601019A (en) * | 2016-12-19 | 2017-04-26 | 常州工学院 | Parking information management and intelligent parking communication system and method |
| US20200402402A1 (en) * | 2017-06-15 | 2020-12-24 | Ubipark Pty Ltd | Computer-implemented systems for locating a vehicular parking space and controlling access thereto. |
| CN110766960A (en) * | 2018-07-27 | 2020-02-07 | 比亚迪股份有限公司 | Server, mobile terminal, vehicle-mounted terminal and vehicle searching control method |
| US20210262805A1 (en) * | 2018-08-30 | 2021-08-26 | Continental Automotive Gmbh | Indoor navigation method and parking management system |
| US20200148197A1 (en) * | 2018-11-09 | 2020-05-14 | Hyundai Motor Company | System, method, infrastructure, and vehicle for automated valet parking |
| CN111179620A (en) * | 2018-11-09 | 2020-05-19 | 现代自动车株式会社 | Autonomous passenger-replacing parking method and device for vehicle |
| US20200207338A1 (en) * | 2018-12-28 | 2020-07-02 | Hyundai Motor Company | System, Method, Infrastructure, and Vehicle for Automated Valet Parking |
| CN110136426A (en) * | 2019-04-15 | 2019-08-16 | 武汉环宇智行科技有限公司 | One kind, which is returned the car, recruits vehicle system and method |
| US20200385016A1 (en) * | 2019-05-24 | 2020-12-10 | Honda Motor Co., Ltd. | Control device, getting-into/out facility, control method, and storage medium |
| US20210162989A1 (en) * | 2019-11-29 | 2021-06-03 | Hyundai Motor Company | System, method, infrastructure, and vehicle for automated valet parking |
| CN112614369A (en) * | 2020-12-15 | 2021-04-06 | 苏州触达信息技术有限公司 | Parking system and method based on automatic driving |
| CN112747761A (en) * | 2020-12-28 | 2021-05-04 | 北京航迹科技有限公司 | Navigation method and system based on travel of automatic driving vehicle |
| CN112863240A (en) * | 2021-01-12 | 2021-05-28 | 北京航空航天大学 | Intelligent navigation system and method for commercial complex underground garage |
| CN113203421A (en) * | 2021-05-11 | 2021-08-03 | 陈广平 | Navigation method and system for searching vehicle, electronic equipment and storage medium |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115273526A (en) * | 2022-06-20 | 2022-11-01 | 广州小鹏汽车科技有限公司 | Method, vehicle and mobile terminal for providing route guidance |
| CN115497324A (en) * | 2022-11-16 | 2022-12-20 | 广汽埃安新能源汽车股份有限公司 | Method, apparatus, device and computer readable medium for controlling pick-up of a vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114299741B (en) | 2023-11-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20220017046A1 (en) | Vehicle dispatch management system and vehicle dispatch management server | |
| US10745050B2 (en) | Automated vehicle parking | |
| JP6885298B2 (en) | Self-driving vehicle | |
| US20190228664A1 (en) | Vehicle calling system | |
| CN112071110A (en) | Autonomous parking method, apparatus, system, computer device and storage medium | |
| US10866106B2 (en) | Driverless transportation system | |
| CN114299741A (en) | Vehicle control method and device based on auxiliary driving system | |
| JP2016006603A (en) | Parking management system, management device, and parking management method | |
| WO2022057238A1 (en) | Remote control parking control method and device, vehicle, and storage medium | |
| CN112419771B (en) | Parking method and device based on message broadcasting, computer equipment and storage medium | |
| CN105206100A (en) | Auxiliary parking method, device and system | |
| CN112562389A (en) | Parking method and device based on remote control, computer equipment and storage medium | |
| EP3968305A1 (en) | Method, computer program and apparatus for controlling operation of a vehicle equipped with an automated driving function | |
| JP2014240244A (en) | Parking support device | |
| CN109147382A (en) | A kind of intelligent parking method and system | |
| CN113788009A (en) | Method and device for indicating parking mode and electronic equipment | |
| EP3813035A1 (en) | Vehicle control method and device | |
| TWI709947B (en) | Method for locating vehicle, electronic device, vehicle, and storage medium | |
| US11184586B2 (en) | Server, vehicle image capturing system, and vehicle image capturing method | |
| US11113968B2 (en) | Method for mobile parking assistance | |
| CN113788027B (en) | Method, device, equipment and storage medium for autonomous parking | |
| CN113223316A (en) | Method for quickly finding unmanned vehicle, control equipment and unmanned vehicle | |
| CN112562356A (en) | Parking lot cooperative type autonomous parking method and device, computer equipment and storage medium | |
| CN112498370A (en) | Vehicle control method and device and electronic equipment | |
| CN112947409A (en) | Electric bicycle control method and system with unmanned function and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Vehicle control method and device based on assisted driving system Granted publication date: 20231110 Pledgee: SHANDONG WEIQIAO PIONEERING GROUP Co.,Ltd. Pledgor: Shanghai Luoke Intelligent Technology Co.,Ltd. Registration number: Y2024980017205 |