CN117565860A - Remote automatic parking method, system, terminal equipment and storage medium - Google Patents
Remote automatic parking method, system, terminal equipment and storage medium Download PDFInfo
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- 238000004590 computer program Methods 0.000 claims description 13
- 238000011065 in-situ storage Methods 0.000 claims description 8
- 230000000284 resting effect Effects 0.000 claims description 5
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Classifications
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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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- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0063—Manual parameter input, manual setting means, manual initialising or calibrating means
- B60W2050/0064—Manual parameter input, manual setting means, manual initialising or calibrating means using a remote, e.g. cordless, transmitter or receiver unit, e.g. remote keypad or mobile phone
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/55—External transmission of data to or from the vehicle using telemetry
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- Automation & Control Theory (AREA)
- Transportation (AREA)
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Abstract
The application provides a method, a system, terminal equipment and a storage medium for remote automatic parking, which belong to the technical field of automobiles, and the method comprises the following steps: receiving a parking control signal; generating a first parking path from the first vehicle to the first parking space according to the parking control signal; acquiring first image information and/or first radar information of a second parking space adjacent to a first parking space in the process that a first vehicle parks in the first parking space according to a first parking path; if the first image information and/or the first radar information indicate that the second vehicle in the second parking space is in a state of exiting the second parking space, the first parking path is adjusted, and a second parking path is obtained; controlling the first vehicle to park in the first parking space according to the second parking path; by the method, the situation that the vehicle is scratched with the second vehicles on the other side or two sides can not be realized when the vehicle door is opened.
Description
Technical Field
The application relates to the technical field of automobiles, in particular to a method, a system, terminal equipment and a storage medium for remote automatic parking.
Background
In the prior art, when parking is performed, the size of a parking space is generally detected by a vehicle body sensor, and if the size of the parking space is matched with the size of the vehicle body, a vehicle is controlled to enter the parking space according to a preset parking path;
however, when the vehicle enters the parking space according to a preset parking path, the state of surrounding vehicles cannot be checked, so that after the vehicle is parked in the parking space, if the vehicle door is opened, the vehicle door is easily scratched with the vehicle on one side, or the condition that the vehicle door cannot be normally opened occurs;
in summary, there is no solution to the above problem in the prior art.
Disclosure of Invention
The purpose of the application is to provide a method, a system, a terminal device and a storage medium for remote automatic parking aiming at the problems;
in a first aspect, the present application provides a method of remote automatic parking, the method comprising:
receiving a parking control signal;
generating a first parking path from the first vehicle to the first parking space according to the parking control signal;
acquiring first image information and/or first radar information of a second parking space adjacent to the first parking space in the process that the first vehicle parks in the first parking space according to the first parking path;
If the first image information and/or the first radar information indicate that a second vehicle in the second parking space is in a state of exiting the second parking space, the first parking path is adjusted to obtain a second parking path, the first parking path indicates that the distance between the first vehicle and the second parking space is a first distance after the first vehicle is parked in the first parking space, and the second parking path indicates that the distance between the first vehicle and the second parking space is a second distance after the first vehicle is parked in the first parking space, and the first distance is larger than the second distance;
and controlling the first vehicle to park in the first parking space according to the second parking path.
According to the technical scheme provided by the application, the method further comprises the following steps:
and if the first image information and/or the first radar information indicate that the second vehicle in the second parking space is in a state of resting the second parking space, controlling the first vehicle to wait in situ, and when the time of waiting in situ of the first vehicle exceeds a first preset duration, controlling the first vehicle to enter the first parking space according to the first parking path.
According to the technical scheme provided by the application, the method further comprises the following steps:
detecting a first real-time distance between the first vehicle and the second vehicle;
the controlling the first vehicle to enter the first parking space according to the first parking path includes:
when the first real-time distance is greater than or equal to a first preset distance, controlling the first vehicle to park in the first parking space according to the first parking path;
when the first real-time distance is smaller than a first preset distance, a third parking path is generated, and after the third parking path indicates that the first vehicle is parked in the first parking space, the distance between the main driving side of the first vehicle and the second parking space is a third distance, and the third distance is larger than a fourth distance; the fourth distance is a distance between the main driving side of the first vehicle and the second parking space after the first vehicle is parked in the first parking space according to the first parking path;
and controlling the first vehicle to park in the first parking space according to the third parking path.
According to the technical scheme provided by the application, the method further comprises the following steps:
detecting a second real-time distance between the first vehicle tail end and the first parking space;
The controlling the first vehicle to park in the first parking space according to the second parking path comprises the following steps:
and when the second real-time distance is smaller than a second preset distance, controlling the first vehicle to stop into the first parking space.
According to the technical scheme provided by the application, the method further comprises the following steps:
the first image information and/or the first radar information are/is also used for representing the front wheel state and the car light state of the second vehicle; the front wheel state comprises a static state and a non-static state, and the car light state comprises a lighting state and a extinguishing state;
and when the front wheel state is in a non-static state or the car light state is in a bright state, representing that a second vehicle in the second parking space is in a state of exiting the second parking space.
According to the technical scheme provided by the application, the method further comprises the following steps:
collecting second image information and/or second radar information of the first parking space;
the controlling the first vehicle to park in the first parking space includes:
controlling the first vehicle to park into the first parking space if the second image information and/or the second radar information indicate that no obstacle exists in the first parking space;
And if the second image information and/or the second radar information indicate that the obstacle exists in the second parking space, the second image information and/or the second radar information is sent to a mobile terminal, and the first vehicle is controlled to be parked in the first parking space according to a control instruction fed back by the mobile terminal.
In a second aspect, the present application also provides a remote automatic parking system, including:
the first receiving module is configured to receive a parking control signal;
the first generation module is configured to generate a first parking path from a first vehicle to a first parking space according to the parking control signal;
the first acquisition module is configured to acquire first image information and/or first radar information of a second parking space adjacent to the first parking space in the process that the first vehicle parks in the first parking space according to the first parking path;
the first adjustment module is configured to adjust the first parking path to obtain a second parking path if the first image information and/or the first radar information indicate that a second vehicle in the second parking space is in a state of exiting the second parking space, the first parking path indicates that a distance between the first vehicle and the second parking space is a first distance after the first vehicle is parked in the first parking space, and the second parking path indicates that a distance between the first vehicle and the second parking space is a second distance after the first vehicle is parked in the first parking space, and the first distance is greater than the second distance;
And the first control module is configured to control the first vehicle to park in the first parking space according to the second parking path.
According to the technical scheme provided by the application, the remote automatic parking system further comprises a second control module, wherein the second control module is configured to control the first vehicle to wait in place when the second vehicle representing the second parking space is in a state of being stationary in the second parking space if the first image information and/or the first radar information, and control the first vehicle to enter the first parking space according to the first parking path when the time of waiting in place of the first vehicle exceeds a first preset time period.
According to the technical scheme provided by the application, the remote automatic parking system further comprises a first detection module, wherein the first detection module is configured to detect a first real-time distance between the first vehicle and the second vehicle;
the controlling the first vehicle to enter the first parking space according to the first parking path includes:
the first control module is further configured to control the first vehicle to park into the first parking space according to the first parking path when the first real-time distance is greater than or equal to a first preset distance;
The first adjustment module is further configured to generate a third parking path when the first real-time distance is smaller than a first preset distance, wherein the third parking path indicates that after the first vehicle is parked in the first parking space, the distance between the main driving side of the first vehicle and the second parking space is a third distance, and the third distance is larger than a fourth distance; the fourth distance is a distance between the main driving side of the first vehicle and the second parking space after the first vehicle is parked in the first parking space according to the first parking path;
the first control module is further configured to control the first vehicle to park in the first parking space according to the third parking path.
According to the technical scheme provided by the application, the first detection module is configured to detect a second real-time distance between the tail end of the first vehicle and the first parking space;
the first control module is further configured to control the first vehicle to park in the first parking space according to the second parking path, including:
the first control module is further configured to control the first vehicle to park in the first parking space when the second real-time distance is less than a second preset distance.
According to the technical scheme provided by the application, the first acquisition module is configured to be further used for representing the front wheel state and the car light state of the second car, and/or the first image information and/or the first radar information; the front wheel state comprises a static state and a non-static state, and the car light state comprises a lighting state and a extinguishing state;
and when the front wheel state is in a non-static state or the car light state is in a bright state, representing that a second vehicle in the second parking space is in a state of exiting the second parking space.
According to the technical scheme provided by the application, the first acquisition module is configured to acquire the second image information and/or the second radar information of the first parking space;
the controlling the first vehicle to park in the first parking space includes:
the first control module is further configured to control the first vehicle to park into the first parking space if the second image information and/or the second radar information indicates that no obstacle exists in the first parking space;
the first control module is further configured to send the second image information and/or the second radar information to a mobile terminal if the second image information and/or the second radar information indicates that an obstacle exists in the second parking space, and control the first vehicle to stop in the first parking space according to a control instruction fed back by the mobile terminal.
In a third aspect, the present application provides a terminal device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor;
the computer program, when executed by the processor, implements the steps of the remote auto-park method as defined in any one of the preceding claims.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a remote automatic parking program which, when executed by a processor, implements the steps of the remote automatic parking method as defined in any one of the above.
Compared with the prior art, the beneficial effect of this application: firstly, a parking control signal sent by a mobile terminal is received, a first parking path from a first vehicle to a first parking space is generated according to the content of the received parking control signal, first image information and/or first radar information of a second parking space adjacent to the first parking space are collected in the process that the first vehicle parks in the first parking space according to the first parking path, if the first image information and/or the first radar information indicate that the second vehicle in the second parking space is in a state of making out of the second parking space, the first parking path is adjusted to obtain a second parking path, and the first vehicle is controlled to park in the first parking space according to the second parking path;
In the use process, firstly, a parking control signal sent by a mobile terminal is received, a first parking path from a first vehicle to a first parking space is generated according to the parking control signal, in the process that the first vehicle parks in the first parking space according to the first parking path, first image information and/or first radar information of a second parking space adjacent to the first parking space are collected, when the first image information and/or the first radar information represent that a second vehicle in the second parking space has an intention to exit, the first parking path is adjusted, a second parking path is generated, the first vehicle is controlled, and the first vehicle is parked in the first parking space according to the second parking path;
through the method, the state of the second parking space adjacent to the first parking space can be acquired in real time in the process of parking the first vehicle into the first parking space, so that the first vehicle can be adjusted in time to ensure that the first vehicle driving into the first parking space can be prevented from being scratched with the second vehicle on the other side or two sides when the vehicle door is opened.
Drawings
Fig. 1 is a flowchart of a remote automatic parking method according to an embodiment of the present application;
FIG. 2 is a block flow diagram provided in an embodiment of the present application;
Fig. 3 is a schematic structural diagram of a server provided in an embodiment of the present application.
Detailed Description
In order that those skilled in the art may better understand the technical solutions of the present application, the following detailed description of the present application is provided by way of example and illustration only, and should not be construed to limit the scope of the present application in any way.
In the prior art, when parking is performed, the size of a parking space is generally detected by a vehicle body sensor, and if the size of the parking space is matched with the size of the vehicle body, a vehicle is controlled to enter the parking space according to a preset parking path;
however, when the vehicle enters the parking space according to a preset parking path, the state of surrounding vehicles cannot be checked, so that after the vehicle is parked in the parking space, if the vehicle door is opened, the vehicle door is easily scratched with the vehicle on one side, or the condition that the vehicle door cannot be normally opened occurs;
the present application provides a method for remote automatic parking, as shown in fig. 1, aiming at the above problems:
in the embodiments described herein, a plurality of cameras and a plurality of lidar sensors are mounted on a first vehicle; among them, in the field of autopilot, a lidar sensor is an important sensor. The distance is calculated by measuring the laser pulse time difference reflected from the object, and the surrounding environment can be sensed actively and omnidirectionally in real time by 360 degrees. Unlike cameras and millimeter wave radar sensors, lidar can sense objects that are not detectable by vision and infrared, such as objects covered by smoke, dust, heavy rain, or snow.
In addition, the laser radar can also measure data such as the speed, the size, the direction and the like of an object, and can accurately distinguish the types of the object, such as vehicles, pedestrians, bicycles and the like. This helps the automated driving car system to accurately judge traffic conditions and make correct driving decisions.
S1, receiving a parking control signal;
s2, generating a first parking path from the first vehicle to a first parking space according to the parking control signal;
s3, acquiring first image information and/or first radar information of a second parking space adjacent to the first parking space in the process that the first vehicle parks in the first parking space according to the first parking path;
s4, if the first image information and/or the first radar information indicate that a second vehicle in the second parking space is in a state of exiting the second parking space, the first parking path is adjusted to obtain a second parking path, the first parking path indicates that the distance between the first vehicle and the second parking space is a first distance after the first vehicle is parked in the first parking space, the second parking path indicates that the distance between the first vehicle and the second parking space is a second distance after the first vehicle is parked in the first parking space, and the first distance is larger than the second distance;
S5, controlling the first vehicle to park in the first parking space according to the second parking path.
Specifically, in this embodiment, a first vehicle receives a parking control signal sent by a mobile terminal, and generates a first parking path from a first vehicle to a first parking space according to the parking control signal, in the process of controlling the first vehicle to enter the first parking space according to the first parking path, first image information and/or first radar information of a second parking space adjacent to the first parking space are collected in real time, if the first image information and/or the first radar information indicates that a second vehicle in the second parking space is in a state of exiting the second parking space, the first parking path needs to be adjusted to obtain a second parking path, wherein the first parking path indicates that a distance between the first vehicle and the second parking space is a first distance after the first vehicle is parked to the first parking space, and the second parking path indicates that a distance between the first vehicle and the second parking space is a second distance after the first vehicle is parked to the first parking space, and the second parking path is controlled to be greater than the first distance;
In the use process, firstly, a parking control signal sent by a mobile terminal is received, a first parking path from a first vehicle to a first parking space is generated according to the parking control signal, in the process that the first vehicle parks in the first parking space according to the first parking path, first image information and/or first radar information of a second parking space adjacent to the first parking space are collected, when the first image information and/or the first radar information represent that a second vehicle in the second parking space has an intention to exit, the first parking path is adjusted, a second parking path is generated, the first vehicle is controlled, and the first vehicle is parked in the first parking space according to the second parking path;
through the method, the state of the second parking space adjacent to the first parking space can be acquired in real time in the process of parking the first vehicle into the first parking space, so that the first vehicle can be adjusted in time to ensure that the first vehicle driving into the first parking space can be prevented from being scratched with the second vehicle on the other side or two sides when the vehicle door is opened.
Further, the method further comprises:
and if the first image information and/or the first radar information indicate that the second vehicle in the second parking space is in a state of resting the second parking space, controlling the first vehicle to wait in situ, and when the time of waiting in situ of the first vehicle exceeds a first preset duration, controlling the first vehicle to enter the first parking space according to the first parking path.
Specifically, in this embodiment, if the first image information and/or the first radar information indicate that the second vehicle in the second parking space is in a stationary state, that is, when the second vehicle in the second parking space has no intention to leave, the first vehicle is controlled to wait in situ, and when the duration of the first vehicle waiting in situ exceeds a first preset duration, the second vehicle in the second parking space still has no intention to leave, so that the first vehicle needs to be controlled to stop into the first parking space according to the first parking path, where the first preset duration is manually specified, and may also be output according to actual experience.
Further, the method further comprises:
detecting a first real-time distance between the first vehicle and the second vehicle;
the controlling the first vehicle to enter the first parking space according to the first parking path includes:
when the first real-time distance is greater than or equal to a first preset distance, controlling the first vehicle to park in the first parking space according to the first parking path;
when the first real-time distance is smaller than a first preset distance, a third parking path is generated, and after the third parking path indicates that the first vehicle is parked in the first parking space, the distance between the main driving side of the first vehicle and the second parking space is a third distance, and the third distance is larger than a fourth distance; the fourth distance is a distance between the main driving side of the first vehicle and the second parking space after the first vehicle is parked in the first parking space according to the first parking path;
And controlling the first vehicle to park in the first parking space according to the third parking path.
Specifically, in this embodiment, the first preset distance is a safety distance between the first vehicle and the second vehicle, where no scratch occurs when the door is opened, and the first preset distance is manually specified, or may be obtained according to actual experience;
when the first real-time distance between the first vehicle and the second vehicle is required to be detected in real time in the process of controlling the first vehicle to park into the first parking space according to the first parking path, and when the first real-time distance is larger than or equal to a first preset distance, the first vehicle is proved to park into the first parking space according to the first parking path, then the door of the first vehicle is opened, and no scratch is generated between the door of the first vehicle and the vehicle body of the second vehicle, so that the first vehicle is controlled to park into the first parking space according to the first parking path; when the first real-time distance is detected to be smaller than the first preset distance, it is proved that if the first vehicle is still parked in the first parking space according to the first parking path, a scratch occurs between the first vehicle and the second vehicle when the door of the first vehicle is opened, so that a third parking path needs to be generated, wherein the third parking path is the distance between the main driving side of the first vehicle and the second parking space after the first vehicle is parked in the first parking space, the distance is the third distance, and the third distance is larger than the fourth distance, and the fourth distance is the distance between the main driving side of the first vehicle and the second parking space after the first vehicle is parked in the first parking space according to the first parking path, and a driver can normally get on and off the vehicle without a scratch occurring between the first vehicle and the second vehicle after the first vehicle is parked in the first parking space according to the third parking path.
Further, the method further comprises:
detecting a second real-time distance between the first vehicle tail end and the first parking space;
the controlling the first vehicle to park in the first parking space according to the second parking path comprises the following steps:
and when the second real-time distance is smaller than a second preset distance, controlling the first vehicle to stop into the first parking space.
Specifically, in this embodiment, the second preset distance is a safe distance between the tail end of the first vehicle and the first parking space after the first parking space is parked by the vehicle;
and in the process that the first vehicle parks into the first parking space according to the first parking path/the second parking path/the third parking path, detecting a second real-time distance between the tail end of the first vehicle and the first parking space, and when the second real-time distance is smaller than a second preset distance, proving that the tail end of the first vehicle is close to a rear-end parking line of the first parking space immediately, controlling the first vehicle to park at the moment so as to finish automatic parking into the first parking space.
Further, the method further comprises:
The first image information and/or the first radar information are/is also used for representing the front wheel state and the car light state of the second vehicle; the front wheel state comprises a static state and a non-static state, and the car light state comprises a lighting state and a extinguishing state;
and when the front wheel state is in a non-static state or the car light state is in a bright state, representing that a second vehicle in the second parking space is in a state of exiting the second parking space.
Specifically, in this embodiment, the first image information and/or the first radar information is further used to characterize a front wheel state and a vehicle lamp state of the second vehicle, where the front wheel state includes a stationary state and a non-stationary state, and the vehicle lamp state includes a light-up state and a light-off state, when the front wheel state is in the non-stationary state or the vehicle lamp state is in the light-up state, it is proven that the second vehicle has a possibility of exiting the second parking space, and when the front wheel state is in the stationary state or the vehicle lamp state is in the light-off state, it is proven that the second vehicle does not have an intention to exit the second parking space.
Further, the method further comprises:
Collecting second image information and/or second radar information of the first parking space;
the controlling the first vehicle to park in the first parking space includes:
controlling the first vehicle to park into the first parking space if the second image information and/or the second radar information indicate that no obstacle exists in the first parking space;
and if the second image information and/or the second radar information indicate that the obstacle exists in the second parking space, the second image information and/or the second radar information is sent to a mobile terminal, and the first vehicle is controlled to be parked in the first parking space according to a control instruction fed back by the mobile terminal.
Specifically, in this embodiment, the method further includes collecting second image information and/or first radar information of the first parking space, if the second image information and/or the first radar information indicates that no obstacle exists in the first parking space, controlling the first vehicle to park into the first parking space, and if the second image information and/or the first radar information indicates that no obstacle exists in the first parking space, sending the second image information and/or the first radar information to a mobile terminal, and controlling the first vehicle to park into the first parking space according to a control instruction fed back by the mobile terminal.
The embodiment of the application also provides a remote automatic parking system, which comprises:
a first receiving module 101, the first receiving module 101 being configured to receive a parking control signal;
a first generation module 201, where the first generation module 201 is configured to generate a first parking path from a first vehicle to a first parking space according to the parking control signal;
the first collecting module 301 is configured to collect first image information and/or first radar information of a second parking space adjacent to the first parking space during the process that the first vehicle parks in the first parking space according to the first parking path;
the first adjustment module 401 is configured to adjust the first parking path to obtain a second parking path if the first image information and/or the first radar information indicate that the second vehicle in the second parking space is in a state of exiting the second parking space, and after the first parking path indicates that the first vehicle is parked in the first parking space, the distance between the first vehicle and the second parking space is a first distance, and after the second parking path indicates that the first vehicle is parked in the first parking space, the distance between the first vehicle and the second parking space is a second distance, and the first distance is greater than the second distance;
The first control module 501 is configured to control the first vehicle to park in the first parking space according to the second parking path.
Specifically, in this embodiment, as shown in fig. 2, the first receiving module 101 is configured to receive a parking control signal, the first receiving module 101 is connected to a first generating module 201, the first generating module 201 is configured to generate a first parking path from a first vehicle to a first parking space according to the parking control signal, the first generating module 201 is connected to a first collecting module 301, the first collecting module 301 is configured to collect, in a process that the first vehicle parks in the first parking space along the first parking path, first image information and/or first radar information of a second parking space adjacent to the first parking space, the first collecting module 301 is connected to a first adjusting module 401, if the first image information and/or the first radar information indicate that a second vehicle in the second parking space is in a state of exiting the second parking space, the first collecting module 301 is connected to the first parking path, the first distance between the first vehicle and the first parking space is controlled, and the first distance between the first vehicle and the first parking module is controlled, and the first distance between the first vehicle is controlled to enter the first parking space, and the first distance between the first collecting module 501 is controlled.
Further, the second control module 502 is configured to control the first vehicle to wait in place if the second vehicle representing the second parking space is in a state of resting the second parking space, and control the first vehicle to enter the first parking space according to the first parking path when the time of waiting in place of the first vehicle exceeds a first preset time period, if the first image information and/or the first radar information.
Specifically, in this embodiment, the first control module 501 is connected to the second control module 502, where the second control module 502 is configured to control the first vehicle to wait in place if the second vehicle representing the second parking space is in a state of resting the second parking space, and control the first vehicle to enter the first parking space according to the first parking path when the time of waiting in place of the first vehicle exceeds a first preset duration.
Further, a first detection module 701, the first detection module 701 being configured to detect a first real-time distance between the first vehicle and the second vehicle;
The controlling the first vehicle to enter the first parking space according to the first parking path includes:
the first control module 501 is further configured to control the first vehicle to park in the first parking space according to the first parking path when the first real-time distance is greater than or equal to a first preset distance;
the first adjustment module 401 is further configured to generate a third parking path when the first real-time distance is less than a first preset distance, where the third parking path indicates that, after the first vehicle is parked in the first parking space, a distance between a main driving side of the first vehicle and the second parking space is a third distance, and the third distance is greater than a fourth distance; the fourth distance is a distance between the main driving side of the first vehicle and the second parking space after the first vehicle is parked in the first parking space according to the first parking path;
the first control module 501 is further configured to control the first vehicle to park in the first parking space according to the third parking path.
Specifically, in this embodiment, the second control module 502 is connected to a first detection module 701, where the first detection module 701 is configured to detect a first real-time distance between the first vehicle and the second vehicle, and the first control module 501 is further configured to control the first vehicle to park in the first parking space according to the first parking path when the first real-time distance is greater than or equal to a first preset distance; the first adjustment module 401 is further configured to generate a third parking path when the first real-time distance is less than a first preset distance, where the third parking path indicates that, after the first vehicle is parked in the first parking space, a distance between a main driving side of the first vehicle and the second parking space is a third distance, and the third distance is greater than a fourth distance; the fourth distance is a distance between the main driving side of the first vehicle and the second parking space after the first vehicle is parked in the first parking space according to the first parking path; the first control module 501 is further configured to control the first vehicle to park in the first parking space according to the third parking path.
Further, the first detecting module 701 is configured to detect a second real-time distance between the first vehicle tail end and the first parking space;
the first control module 501 is further configured to control the first vehicle to park in the first parking space according to the second parking path, including:
the first control module 501 is further configured to control the first vehicle to park in the first parking space when the second real-time distance is less than a second preset distance.
Specifically, in this embodiment, the first detecting module 701 is configured to further detect a second real-time distance between the first vehicle tail end and the first parking space;
the first control module 501 is further configured to control the first vehicle to park in the first parking space when the second real-time distance is less than a second preset distance.
Further, the first acquisition module 301 is configured to be further used for the first image information and/or the first radar information to be further used for representing a front wheel state and a vehicle lamp state of the second vehicle; the front wheel state comprises a static state and a non-static state, and the car light state comprises a lighting state and a extinguishing state;
And when the front wheel state is in a non-static state or the car light state is in a bright state, representing that a second vehicle in the second parking space is in a state of exiting the second parking space.
Specifically, in this embodiment, the first acquisition module 301 is configured to be further configured to characterize a front wheel state and a vehicle lamp state of the second vehicle according to the first image information and/or the first radar information; the front wheel state comprises a static state and a non-static state, and the car light state comprises a lighting state and a extinguishing state; and when the front wheel state is in a non-static state or the car light state is in a bright state, representing that a second vehicle in the second parking space is in a state of exiting the second parking space.
Further, the first acquisition module 301 is configured to acquire second image information and/or second radar information of the first parking space;
the controlling the first vehicle to park in the first parking space includes:
the first control module 501 is further configured to control the first vehicle to park into the first parking space if the second image information and/or the second radar information indicates that no obstacle exists in the first parking space;
The first control module 501 is further configured to send the second image information and/or the second radar information to a mobile terminal if the second image information and/or the second radar information indicates that an obstacle exists in the second parking space, and control the first vehicle to stop in the first parking space according to a control instruction fed back by the mobile terminal.
Specifically, in this embodiment, the first acquisition module 301 is configured to acquire the second image information and/or the second radar information of the first parking space, and the first control module 501 is configured to control the first vehicle to park in the first parking space if the second image information and/or the second radar information indicates that no obstacle exists in the first parking space; the first control module 501 is further configured to send the second image information and/or the second radar information to a mobile terminal if the second image information and/or the second radar information indicates that an obstacle exists in the second parking space, and control the first vehicle to stop in the first parking space according to a control instruction fed back by the mobile terminal.
The present embodiment provides a terminal device, including:
A memory, a processor, and a computer program stored on the memory and executable on the processor;
the computer program when executed by the processor implements the steps of a remote auto-park method as in fig. 1.
The present embodiment provides a computer-readable storage medium having stored thereon a remote automatic parking program which, when executed by a processor, implements the steps of the remote automatic parking method as in fig. 1.
The present embodiment provides a server, as shown in fig. 3, whose computer system 600 includes a CPU (Central-Processing-Unit) 601, which can perform various appropriate actions and processes according to a program stored in ROM (read only memory) 602 or a program loaded from a storage section 608 into RAM (Random Access Memory) 603. In the RAM603, various programs and data required for system operation are also stored. The CPU601, ROM602, and RAM603 are connected to each other through a bus 604. An I/O interface 605 is also connected to bus 604. The following components are connected to the I/O interface 605: an input portion 606 including a keyboard, mouse, etc.; an output portion 607 including a Cathode Ray Tube (CRT-Cathode Ray Tube), a Liquid Crystal Display (LCD), and a speaker; a storage section 608 including a hard disk and the like; and a communication section 609 including a network interface card such as a LAN card, a modem, or the like. The communication section 609 performs communication processing via a network such as the internet. The drives are also connected to the I/O interface 605 as needed. Removable media 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed as needed on drive 610 so that a computer program read therefrom is installed as needed into storage section 608.
In particular, according to embodiments of the present application, the process described above with reference to flowchart 1 may be implemented as a computer software program. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such embodiments, the computer program may be downloaded and installed from a network via a communication portion, and/or installed from a removable medium. When executed by the CPU601, the computer program performs the functions defined above in the present computer system 600.
It should be noted that the computer readable medium shown in the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present application, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present application may be implemented by means of software, or may be implemented by means of hardware, and the described units may also be provided in a processor. Wherein the names of the units do not constitute a limitation of the units themselves in some cases. The described units or modules may also be provided in a processor, for example, as: a processor includes a first acquisition module, a second acquisition module, a first control module, a second control module, and a first detection module. Wherein the names of the units or modules do not in some cases constitute a limitation of the units or modules themselves.
As another aspect, the present application also provides a computer-readable medium that may be contained in the electronic device described in the above embodiment; or may exist alone without being incorporated into the electronic device. The computer readable medium carries one or more programs which, when executed by one of the electronic devices, cause the electronic device to implement the mobile terminal remote parking method as described in the above embodiments.
For example, the electronic device may implement the method as shown in fig. 1: step S1, a parking control signal is received; step S2, generating a first parking path from a first vehicle to a first parking space according to the parking control signal; step S3, acquiring first image information and/or first radar information of a second parking space adjacent to the first parking space in the process that the first vehicle parks in the first parking space according to the first parking path; step S4, if the first image information and/or the first radar information indicate that a second vehicle in the second parking space is in a state of exiting the second parking space, the first parking path is adjusted to obtain a second parking path, the first parking path indicates that the distance between the first vehicle and the second parking space is a first distance after the first vehicle is parked in the first parking space, the second parking path indicates that the distance between the first vehicle and the second parking space is a second distance after the first vehicle is parked in the first parking space, and the first distance is larger than the second distance; and S5, controlling the first vehicle to park in the first parking space according to the second parking path. As another example, the electronic device may implement the steps of fig. 1.
It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more modules or units described above may be embodied in one module or unit in accordance with embodiments disclosed herein. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.
Furthermore, although the various steps of the methods herein are depicted in the accompanying drawings in a particular order, this is not required to either suggest that the steps must be performed in that particular order, or that all of the illustrated steps must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform, etc.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware.
Specific examples are set forth herein to illustrate the principles and embodiments of the present application, and the description of the examples above is only intended to assist in understanding the methods of the present application and their core ideas. The foregoing is merely a preferred embodiment of the present application, and it should be noted that, due to the limited text expressions, there is virtually no limit to the specific structure, and that, for a person skilled in the art, modifications, alterations and combinations of the above described features may be made in an appropriate manner without departing from the principles of the present application; such modifications, variations and combinations, or the direct application of the concepts and aspects of the invention in other applications without modification, are intended to be within the scope of this application.
Claims (10)
1. A method of remote automatic parking comprising the steps of:
receiving a parking control signal;
generating a first parking path from the first vehicle to the first parking space according to the parking control signal;
acquiring first image information and/or first radar information of a second parking space adjacent to the first parking space in the process that the first vehicle parks in the first parking space according to the first parking path;
If the first image information and/or the first radar information indicate that a second vehicle in the second parking space is in a state of exiting the second parking space, the first parking path is adjusted to obtain a second parking path, the first parking path indicates that the distance between the first vehicle and the second parking space is a first distance after the first vehicle is parked in the first parking space, and the second parking path indicates that the distance between the first vehicle and the second parking space is a second distance after the first vehicle is parked in the first parking space, and the first distance is larger than the second distance;
and controlling the first vehicle to park in the first parking space according to the second parking path.
2. The method of remote automatic parking according to claim 1, further comprising:
and if the first image information and/or the first radar information indicate that the second vehicle in the second parking space is in a state of resting the second parking space, controlling the first vehicle to wait in situ, and when the time of waiting in situ of the first vehicle exceeds a first preset duration, controlling the first vehicle to enter the first parking space according to the first parking path.
3. The method of remote automatic parking according to claim 2, further comprising:
detecting a first real-time distance between the first vehicle and the second vehicle;
the controlling the first vehicle to enter the first parking space according to the first parking path includes:
when the first real-time distance is greater than or equal to a first preset distance, controlling the first vehicle to park in the first parking space according to the first parking path;
when the first real-time distance is smaller than a first preset distance, a third parking path is generated, and after the third parking path indicates that the first vehicle is parked in the first parking space, the distance between the main driving side of the first vehicle and the second parking space is a third distance, and the third distance is larger than a fourth distance; the fourth distance is a distance between the main driving side of the first vehicle and the second parking space after the first vehicle is parked in the first parking space according to the first parking path;
and controlling the first vehicle to park in the first parking space according to the third parking path.
4. The method of remote automatic parking according to claim 1, further comprising:
Detecting a second real-time distance between the first vehicle tail end and the first parking space;
the controlling the first vehicle to park in the first parking space according to the second parking path comprises the following steps:
and when the second real-time distance is smaller than a second preset distance, controlling the first vehicle to stop into the first parking space.
5. The method of remote automatic parking according to claim 1, further comprising:
the first image information and/or the first radar information are/is also used for representing the front wheel state and the car light state of the second vehicle; the front wheel state comprises a static state and a non-static state, and the car light state comprises a lighting state and a extinguishing state;
and when the front wheel state is in a non-static state or the car light state is in a bright state, representing that a second vehicle in the second parking space is in a state of exiting the second parking space.
6. The method of remote automatic parking according to claim 1, further comprising:
collecting second image information and/or second radar information of the first parking space;
the controlling the first vehicle to park in the first parking space includes:
Controlling the first vehicle to park into the first parking space if the second image information and/or the second radar information indicate that no obstacle exists in the first parking space;
and if the second image information and/or the second radar information indicate that the obstacle exists in the second parking space, the second image information and/or the second radar information is sent to a mobile terminal, and the first vehicle is controlled to be parked in the first parking space according to a control instruction fed back by the mobile terminal.
7. A remote automatic parking system, comprising:
the first receiving module is configured to receive a parking control signal;
the first generation module is configured to generate a first parking path from a first vehicle to a first parking space according to the parking control signal;
the first acquisition module is configured to acquire first image information and/or first radar information of a second parking space adjacent to the first parking space in the process that the first vehicle parks in the first parking space according to the first parking path;
the first adjustment module is configured to adjust the first parking path to obtain a second parking path if the first image information and/or the first radar information indicate that a second vehicle in the second parking space is in a state of exiting the second parking space, the first parking path indicates that a distance between the first vehicle and the second parking space is a first distance after the first vehicle is parked in the first parking space, and the second parking path indicates that a distance between the first vehicle and the second parking space is a second distance after the first vehicle is parked in the first parking space, and the first distance is greater than the second distance;
And the first control module is configured to control the first vehicle to park in the first parking space according to the second parking path.
8. The remote automatic parking system according to claim 7, comprising:
and the second control module is configured to control the first vehicle to wait in place when the second vehicle representing the second parking space is in a state of being stationary in the second parking space if the first image information and/or the first radar information, and control the first vehicle to enter the first parking space according to the first parking path when the time of waiting in place of the first vehicle exceeds a first preset duration.
9. A terminal device, characterized in that the terminal device comprises: a memory, a processor, and a computer program stored on the memory and executable on the processor;
the computer program, when executed by the processor, implements the steps of the remote automatic parking method as defined in any one of claims 1 to 6.
10. A computer readable storage medium, characterized in that it has stored thereon a remote automatic parking program, which when executed by a processor, implements the steps of the remote automatic parking method according to any one of claims 1 to 6.
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| CN117565860B (en) | 2024-03-19 |
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