WO2021254187A1

WO2021254187A1 - Remote vehicle-moving system and method, vehicle, and storage medium

Info

Publication number: WO2021254187A1
Application number: PCT/CN2021/098534
Authority: WO
Inventors: 王丽丽; 闫力博; 连桂有; 崔茂源; 尹震宇; 侯坤锋
Original assignee: 中国第一汽车股份有限公司
Priority date: 2020-06-15
Filing date: 2021-06-07
Publication date: 2021-12-23
Also published as: CN111674380A; CN111674380B

Abstract

A remote vehicle-moving system and method, a vehicle (11), and a storage medium. The system comprises: a user terminal (10) and a vehicle (11). The user terminal (10) is configured to determine vehicle control information according to panoramic image information sent by the vehicle (11) and send the vehicle control information to the vehicle (11). The vehicle (11) comprises a panoramic image controller (111), a vehicle-mounted communication terminal (112), and a parking domain controller (113). The vehicle-mounted communication terminal (112) is connected to the user terminal (10), the panoramic image controller (111), and the parking domain controller (113), respectively. The panoramic image controller (111) is communicatively connected to a preset number of cameras (114), respectively. The vehicle-mounted communication terminal (112) is configured to forward acquired panoramic image information to the user terminal (10) and receive vehicle control information and send same to the parking domain controller (113). The parking domain controller (113), according to the vehicle control information, controls the vehicle (11) to move.

Description

Remote car moving system, method, vehicle and storage medium

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office with an application number of 202010546653.5 on June 15, 2020, and the entire content of this application is incorporated into this application by reference.

Technical field

The embodiments of the present application relate to the technical field of vehicle remote control, for example, to a remote car moving system, method, vehicle, and storage medium.

Background technique

With the rapid increase in the number of vehicles in the city, parking difficulties and random parking problems inevitably arise. The situation where one's own vehicle is blocked by another's vehicle or another's vehicle needs to be moved from time to time.

When the vehicle affects the travel of others and needs to move the vehicle, the owner of the obstructing vehicle needs to be contacted through the moving phone placed on the vehicle to move the vehicle. In the related art, when the car needs to be moved, the owner often needs to arrive at the parking space to drive the vehicle in person to move the car. When moving a car remotely, the owner is often used to send a preset parking position to the vehicle. The vehicle automatically plans the route and automatically drives from the current parking position to the preset parking position to solve the situation that the owner cannot be present. Figure 1 shows a This is a schematic diagram of the structure of a remote car-moving system.

However, when it is necessary to move the car on the spot, the car owner is often far away from the parking place or is busy dealing with things, and cannot reach the position of the vehicle in time to move the car, which can easily cause contradictions and conflicts. When moving a car through remote operation, it is necessary to install multiple cameras and millimeter wave sensors on the vehicle to perceive the surrounding information in real time, realize path planning, and the calculation is complicated. In actual use, the path planning is unreasonable due to sensor limitations. Repeatedly or even failed.

Summary of the invention

The present application provides a remote car-moving system, method, vehicle, and storage medium, so as to realize the function of the vehicle owner to remotely control the vehicle to move, reduce the difficulty of remote control of the vehicle, and improve the rationality of vehicle movement path planning.

In the first aspect, this application provides a remote car manoeuvring system, including: a user terminal and a vehicle;

The user terminal is configured to determine vehicle control information according to the panoramic image information sent by the vehicle, and send the vehicle control information to the vehicle;

The vehicle includes a panoramic image controller, a vehicle-mounted communication terminal, and a parking domain controller, and the vehicle-mounted communication terminal is respectively communicatively connected with the user terminal, the panoramic image controller, and the parking domain controller; wherein, The panoramic image controller is respectively communicatively connected with a preset number of cameras;

The in-vehicle communication terminal is configured to forward the panoramic image information obtained by the panoramic image controller to the user terminal, and receive the vehicle control information and send it to the parking domain controller;

The parking domain controller controls the vehicle to move according to the vehicle control information.

In the second aspect, this application also provides a remote car manoeuvring method applied to a vehicle, including:

Receiving the vehicle control information sent by the user terminal, and controlling the vehicle to move according to the vehicle control information, wherein the vehicle control information is determined by the user terminal according to the panoramic image information sent by the vehicle.

In the third aspect, this application also provides a vehicle, which includes:

The camera is set to collect image information around the vehicle;

Ultrasonic sensor, set to collect ultrasonic sensor information;

Vehicle communication terminal;

At least two controllers, the at least two controllers include at least a panoramic image controller and a parking domain controller;

The storage device is set to store at least one program;

When the at least one program is executed by the at least two controllers, the at least two controllers implement the remote car moving method provided in the second aspect of the present application.

In a fourth aspect, the present application also provides a storage medium containing computer-executable instructions, when the computer-executable instructions are executed by a computer processor, they are used to execute the remote moving method provided in the second aspect of the present application.

Description of the drawings

Figure 1 is a schematic structural diagram of a remote car manoeuvring system in related technologies;

Figure 2 is a schematic structural diagram of a remote car manoeuvring system in the first embodiment of the present application;

Fig. 3 is a schematic structural diagram of a remote car manoeuvring system in the second embodiment of the present application;

Fig. 4 is an example diagram of a first control interface in the second embodiment of the present application;

FIG. 5 is an example diagram of a second control interface in the second embodiment of the present application;

FIG. 6 is a flowchart of a method for remotely moving a car in the third embodiment of the present application;

FIG. 7 is a schematic structural diagram of a vehicle in the fourth embodiment of the present application.

detailed description

The application will be described in detail below with reference to the drawings and embodiments.

Example one

FIG. 2 is a schematic structural diagram of a remote car manoeuvring system provided by Embodiment 1 of the application. The remote car manoeuvring system includes: a user terminal 10 and a vehicle 11.

The user terminal 10 is configured to determine the vehicle control information according to the panoramic image information sent by the vehicle 11 and send the vehicle control information to the vehicle 11.

The vehicle 11 includes a panoramic image controller 111, an in-vehicle communication terminal 112, and a parking domain controller 113. The in-vehicle communication terminal 112 communicates with the user terminal 10, the panoramic image controller 111, and the parking domain controller 113, respectively; among them, the panoramic image control The camera is respectively communicatively connected with a preset number of cameras 114.

The in-vehicle communication terminal 112 is configured to forward the panoramic image information obtained by the panoramic image controller 111 to the user terminal 10, and receive the vehicle control information and send it to the parking domain controller 113.

The parking domain controller 113 controls the vehicle 11 to move according to the vehicle control information.

Among them, the user terminal 10 can be understood as a computing device configured to receive and send data information and have certain data processing capabilities. Optionally, the user terminal 10 in this application can be a mobile phone, a bracelet, a remote control device, a tablet computer, etc.

Among them, the vehicle control information can be understood as the instruction information used to control the movement of the vehicle, which is determined by the user's input instruction information according to the panoramic image information displayed by the user terminal 10. Exemplarily, the vehicle control information may include instruction information for controlling the vehicle to perform at least one of starting, forwarding, reversing, turning, and stopping movement.

Among them, the panoramic image controller 111 can be understood as an image processing device installed on a vehicle, and is configured to receive image information collected by each camera 114, stitch a preset number of image information to generate panoramic image information, and combine the panoramic image information. The image information is compressed and sent to the user terminal 10 through the in-vehicle communication terminal 112.

Exemplarily, the panoramic image controller 111 receives image information collected by a preset number of cameras 114 communicatively connected with it, detects key points in the image information collected by the adjacent cameras 114, and performs local invariant features in the image information. Extract and match the features between the image information collected by the adjacent cameras 114, and use the matching algorithm to use the matched feature vectors to match and connect the preset number of image information to synthesize a complete image as panoramic image information, The panoramic image information is compressed and sent to the user terminal 10 via the in-vehicle communication terminal 112. Optionally, the matching algorithm may be a Random Sample Consensus (RANSAC) algorithm, a homography algorithm, etc., which are not limited in the embodiment of the present application. Optionally, the preset number of cameras 114 may be four, which are separately installed on the front grille, the left and right exterior rear-view mirrors, and the back door, which is not limited in the embodiment of the present application.

Among them, the vehicle-mounted communication terminal 112 can be understood as an information relay device, which is configured to communicate between the vehicle and the outside world and multiple modules in the vehicle. The parking domain controller 113 can be understood as a computing unit that centrally manages a variety of chips used to control vehicle movement and electronic control units (ECUs) with different functions.

Exemplarily, the in-vehicle communication terminal 112 communicates with the user terminal 10 and the panoramic image controller 111 and the parking domain controller 113 in the vehicle 11 respectively. The panoramic image controller 111 receives the image information collected by the cameras 114 respectively communicatively connected to it, and performs splicing processing on the aforementioned image information to obtain panoramic image information. The vehicle-mounted communication terminal 112 forwards the panoramic image information compressed by the panoramic image controller 111 to User terminal 10. The user terminal 10 displays the panoramic image information, and allows the user to determine how the vehicle 11 moves based on the panoramic image information, and input instruction information for controlling the movement of the vehicle, and send the instruction information to the vehicle-mounted communication terminal 112 as vehicle control information, and then The in-vehicle communication terminal 112 sends to the parking domain controller 113. The parking domain controller 113 controls the vehicle 11 to move according to the received vehicle control information.

The technical solution of this embodiment provides a remote car manoeuvring system, including: a user terminal and a vehicle, the user terminal is configured to determine vehicle control information according to the panoramic image information sent by the vehicle, and combine the vehicle control information Sent to the vehicle; the vehicle includes a panoramic image controller, a vehicle-mounted communication terminal, and a parking domain controller, and the vehicle-mounted communication terminal is connected to the user terminal, the panoramic image controller, and the parking domain controller, respectively Device communication connection; wherein the panoramic image controller is in communication connection with a preset number of cameras; the vehicle-mounted communication terminal is configured to forward the panoramic image information obtained by the panoramic image controller to the user terminal, and receive The vehicle control information is sent to the parking domain controller; the parking domain controller controls the vehicle to move according to the vehicle control information. By sending the panoramic image information to the user terminal, the vehicle control information determined by the user terminal is controlled by the parking domain controller to move the vehicle, which solves the need for a large number of environment sensing equipment when the parking domain controller is completely relied on for remote car movement. The problem of complex calculation and low rationality of path planning reduces the number of camera equipment and sensor equipment required in the process of remote manoeuvring, reduces the difficulty of remote control of the vehicle, and improves the rationality of vehicle movement path planning.

Example two

FIG. 3 is a schematic structural diagram of a remote car manoeuvring system provided by the second embodiment of the application. The technical solution of this embodiment is refined on the basis of the above technical solutions. The remote car manoeuvring system includes: a user terminal 10 and a vehicle 11.

Optionally, the user terminal 10 is configured to: when in the control mode, display a first control interface and receive a first control instruction input by the user, and send the first control instruction as vehicle control information to the vehicle-mounted communication terminal 112; A control instruction includes one of a forward instruction, a backward instruction, and a steering instruction, or the first control instruction includes a forward instruction and a steering instruction, or the first control instruction includes a backward instruction and a steering instruction.

Among them, the control mode can be understood as a command issuing mode for the user to control the movement direction and movement state of the vehicle 11 in real time according to the panoramic image information around the vehicle 11. The first control interface can be understood as the display interface of the user terminal 10 in the control mode. Optionally, the display content of the first control interface can include panoramic image information around the vehicle 11, the position of the virtual vehicle in the panoramic image information, and operation buttons , For example, FIG. 4 is an example diagram of a first control interface provided by an embodiment of the application.

Exemplarily, when in the control mode, the user terminal 10 displays a first control interface containing panoramic image information of the current surroundings of the vehicle 11, receives a first control instruction input by the user through a plurality of operation keys on the first control interface, and connects The first control instruction is sent to the in-vehicle communication terminal 112 as vehicle control information so that the vehicle 11 moves according to the first control instruction in the vehicle control information. Wherein, the panoramic image information around the vehicle displayed on the first control interface changes in real time as the vehicle position changes. The first control instruction includes one of a forward instruction, a backward instruction and a steering instruction, or the first control instruction includes a forward instruction and a steering instruction. The instruction, or the first control instruction, includes a backward instruction and a steering instruction.

Optionally, the user terminal 10 is configured to: when in the path mode, display the second control interface and receive the path planning information and the second control instruction input by the user, and send the path planning information and the second control instruction as vehicle control information to the vehicle. Communication terminal 112; wherein, the second control instruction includes a start instruction or a stop instruction.

Among them, the path mode can be understood as a mode in which the user plans a travel path within a preset distance for the vehicle 11 and controls the vehicle to travel along the path according to the panoramic image information around the vehicle 11. The second control interface can be understood as the display interface of the user terminal 10 in the path mode. Optionally, the display content of the second control interface can include panoramic image information around the vehicle 11 and the position of the virtual vehicle in the panoramic image information. After sliding the path planning information on the second control interface, the second control interface adds control buttons on the original basis to receive the second control instruction from the user. Illustratively, FIG. 5 is a second control instruction provided by an embodiment of the application. Example diagram of the control interface.

Exemplarily, when in the path mode, the user terminal 10 displays the second control interface containing the panoramic image information of the current surroundings of the vehicle 11, receives the path planning information input by the user sliding on the second control interface and jumps to the control button The second control interface of the vehicle 11 receives the second control instruction input by the user, and sends the route planning information and the second control instruction as the vehicle control information to the vehicle communication terminal 112 so that the vehicle 11 follows the second control instruction in the vehicle control information Move along the planned path. Wherein, the panoramic image information around the vehicle displayed on the second control interface changes in real time as the position of the vehicle changes, and the second control instruction includes a start instruction or a stop instruction. Optionally, the path planning information input by the user sliding on the second control interface may be path information within 6m of the forward direction of the vehicle 11, and the user may adjust and update the path planning information in real time during the movement of the vehicle. There is no restriction on this.

Optionally, the parking domain controller 113 is configured to: when the vehicle control information is the first control instruction, control the vehicle 11 to move according to the first control instruction; when the vehicle control information is the path planning information and the second control instruction, according to The path planning information determines the vehicle travel path, and controls the vehicle 11 to move along the vehicle travel path according to the second control instruction.

Exemplarily, when the vehicle control information received by the parking domain controller 113 is the first control instruction, it is considered that the user is directly controlling the driving state of the vehicle. At this time, the parking domain controller 113 receives the first control command in real time. The instruction controls the vehicle to move, wherein the first control instruction can be a single control instruction or a combined control instruction. Exemplarily, when the first control command is a forward command, the parking domain controller 113 controls the vehicle 11 to move forward from the current position. When the first control command is a forward command and a left turn command, the parking domain controller 113 The vehicle 11 is controlled to make a left turn while moving forward from the current position. When the vehicle control information received by the parking domain controller 113 is the path planning information and the second control instruction, the parking domain controller 113 first optimizes the received path planning information to obtain the vehicle driving path, and then according to the real-time The received second control instruction controls the vehicle 11 to move along the determined vehicle travel path. Optionally, when the parking domain controller 113 controls the vehicle 11 to move, the vehicle 11 is in a low-speed driving state, and its speed can be less than 3km/h, so as to stop in time when a collision risk is found. The size is not limited.

Optionally, the vehicle 11 further includes: an ultrasonic sensor 115; the ultrasonic sensor 115 is in communication connection with the parking domain controller 113; the ultrasonic sensor 115 is configured to obtain ultrasonic sensor information and send the ultrasonic sensor information to the parking domain controller 113: When the parking domain controller 113 determines that there is a risk of collision based on the ultrasonic sensor information, it controls the vehicle 11 to perform collision avoidance processing.

The collision avoidance process can be understood as the process of stopping or moving away from the obstacle when the distance is less than a preset distance threshold according to the distance relationship between the obstacle in the surrounding environment and the vehicle itself. Optionally, ultrasonic sensors can be installed on the front and rear bumpers of the vehicle to detect the distance between obstacles around the vehicle and the vehicle.

When the parking domain controller 113 controls the movement of the vehicle 11, the ultrasonic sensor 115 detects the ultrasonic sensor information between the obstacles around the vehicle 11 and the vehicle 11 in real time, and sends the ultrasonic sensor information to the parking domain controller 113. The car domain controller 113 determines the distance between the surrounding obstacles and the vehicle 11 based on the ultrasonic sensing information. When the distance is less than the preset distance threshold, it is considered that there is a risk of collision between the vehicle 11 and the obstacle, and the parking domain controller 113 controls The vehicle 11 stops driving or travels away from the obstacle to avoid the collision of the vehicle 11, and at the same time sends the message to the user terminal 10 to let the user know the specific situation and provide a reference for the subsequent determination of vehicle control information.

The technical solution of this embodiment selects different operation modes on the user side to remotely control the vehicle to move in different ways. When the control mode is used for remote control, only a small number of cameras need to send panoramic image information to the user terminal. It can control the movement of the vehicle according to the control instructions transmitted in real time from the user end; when the route mode is used for remote control, the parking domain controller does not need to determine the driving path of the vehicle based on the surrounding influence information and sensor information, but only needs to be real-time to the user end The transmitted path planning information is optimized to obtain the vehicle travel path, and the vehicle is controlled to move according to the vehicle travel path according to the control instructions transmitted by the user terminal. The number of required camera equipment and the types of sensing equipment are reduced, the calculation difficulty is reduced, the accuracy of vehicle remote control is improved, and the rationality of vehicle movement path planning is improved. At the same time, in the process of moving the vehicle, the ultrasonic sensor is used to obtain ultrasonic sensing information in real time, and the surrounding environment of the vehicle is judged through the ultrasonic sensing information, and collision avoidance processing is performed when it is judged that there is a risk of collision, which improves the safety of remote control of the vehicle. .

Example three

Fig. 6 is a flowchart of a remote car-moving method provided by Embodiment 3 of this application. This embodiment is applicable to a situation where a user remotely controls a vehicle to move. The method can be executed by a remote car-moving system. The system may be implemented by at least one of software and hardware, and the remote car manoeuvring system may be configured on a computing device, including steps S201 to S202.

S201: The user terminal determines vehicle control information according to the panoramic image information sent by the vehicle, and sends the vehicle control information to the vehicle.

The vehicle collects surrounding image information through the surround view camera arranged on it, and processes the image information collected by multiple cameras into panoramic image information and sends it to the user terminal. The user terminal displays the received panoramic image information, and the user performs The displayed panoramic image information is determined and a control instruction is input, and the control instruction is sent to the vehicle as vehicle control information. Among them, the user terminal can determine the vehicle control information through the control mode or path mode, and input control instructions through different control interfaces. Optionally, the vehicle control information can include forward instructions, reverse instructions, steering instructions, path planning information, and start. At least one of the above instructions and stop instructions.

S202: The vehicle receives vehicle control information, and controls the vehicle to move according to the vehicle control information.

When the control information received by the vehicle is a control command sent by the user terminal in the control mode, the vehicle will directly move according to the control command sent by the user; when the control information received by the vehicle is a control command sent by the user terminal in the route mode, then The route planning information sent by the user is first optimized to obtain the vehicle travel path, and the vehicle travels or stops along the vehicle travel path according to the start instruction or the stop instruction in the control instruction sent by the user.

Optionally, when controlling the vehicle to move according to the vehicle control information, it further includes: acquiring ultrasonic sensing information, and when the vehicle is determined to be at risk of collision based on the ultrasonic sensing information, controlling the vehicle to perform collision avoidance processing.

When the vehicle is moving according to the vehicle control information, the ultrasonic sensor detects the ultrasonic sensor information between the surrounding obstacles and the vehicle in real time, and determines the distance between the surrounding obstacles and the vehicle according to the ultrasonic sensor information. When the distance is less than the preset When the distance threshold is used, it is considered that there is a risk of collision between the vehicle and the obstacle. At this time, the vehicle is controlled to stop or move away from the obstacle to avoid collision and avoid the vehicle's rubbing and safety problems during the long-distance manoeuvring process.

In the technical solution of this embodiment, the user terminal determines the vehicle control information according to the panoramic image information sent by the vehicle, and sends the vehicle control information to the vehicle; the vehicle receives the vehicle control information and controls the vehicle to move according to the vehicle control information. By sending the panoramic image information to the user terminal, and the user terminal determines the vehicle control information to control the vehicle to move, it solves the need to install a large number of environmental awareness equipment in the vehicle when the vehicle is completely relied on the parking domain controller in the vehicle to move the car remotely , The problem of complex calculation and low rationality of path planning reduces the number of camera equipment and sensor equipment required in the process of remote manoeuvring, reduces the difficulty of remote control of the vehicle, and improves the rationality of vehicle movement path planning.

Embodiment four

FIG. 7 is a schematic structural diagram of a vehicle provided in the fourth embodiment of the application. As shown in FIG. 7, the vehicle includes a camera 31, an ultrasonic sensor 32, a vehicle-mounted communication terminal 33, at least two controllers 34, a storage device 35, and input Device 36 and output device 37; the number of controllers 34 in the vehicle can be at least two, including at least a panoramic image controller 38 and a parking domain controller 39. In Figure 7, the panoramic image controller 38 and the parking domain controller 39 are used as Example: The camera 31, ultrasonic sensor 32, vehicle-mounted communication terminal 33, storage device 35, input device 36, output device 37, panoramic image controller 38, and parking domain controller 39 in the vehicle can be connected by bus or other means, Figure 7 Take the bus connection as an example.

The camera 31 is configured to collect image information around the vehicle.

The ultrasonic sensor 32 is configured to collect ultrasonic sensor information.

As a computer-readable storage medium, the storage device 35 can be configured to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the remote moving method in the embodiment of the present application. The controller 34 executes various functional applications and data processing of the vehicle by running the software programs, instructions, and modules stored in the storage device 35, that is, realizing the above-mentioned remote car moving method.

The storage device 35 may mainly include a storage program area and a storage data area. The storage program area may store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the terminal, and the like. In addition, the storage device 35 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some examples, the storage device 35 may include memories remotely provided with respect to the controller 34, and these remote memories may be connected to the vehicle through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 36 may be configured to receive input numeric or character information, and to generate key signal inputs related to user settings and function control of the vehicle. The output device 37 may include a display device such as a display screen.

Embodiment five

The fifth embodiment of the present application also provides a storage medium containing computer-executable instructions. The computer-executable instructions are used to execute a remote car manoeuvring method when the computer-executable instructions are executed by a computer processor. The method includes:

Of course, a storage medium containing computer-executable instructions provided by the embodiments of the present application, and the computer-executable instructions are not limited to the method operations described above, and can also execute the remote car-moving method provided in any embodiment of the present application. Related operations.

Through the above description of the implementation manners, those skilled in the art can clearly understand that the present application can be implemented by software and necessary general-purpose hardware, and of course, it can also be implemented by hardware. Based on this understanding, the technical solution of this application essentially or the part that contributes to the related technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, Read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), flash memory (FLASH), hard disk or optical disk, etc., including several instructions to make a computer device (which can be a personal computer, A server, or a network device, etc.) execute the method described in each embodiment of the present application.

It is worth noting that, in the above embodiment of the search device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding function can be realized; in addition, each function The names of the units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application.

Claims

A remote car moving system, including: a user terminal and a vehicle,

The user terminal is configured to determine vehicle control information according to the panoramic image information sent by the vehicle, and send the vehicle control information to the vehicle;

The vehicle includes a panoramic image controller, a vehicle-mounted communication terminal, and a parking domain controller, and the vehicle-mounted communication terminal is respectively communicatively connected with the user terminal, the panoramic image controller, and the parking domain controller; wherein, The panoramic image controller is respectively communicatively connected with a preset number of cameras;

The in-vehicle communication terminal is configured to forward the panoramic image information obtained by the panoramic image controller to the user terminal, and receive the vehicle control information and send it to the parking domain controller;

The parking domain controller controls the vehicle to move according to the vehicle control information.
The system according to claim 1, wherein the panoramic image controller is configured to receive image information collected by each of the cameras, stitch a preset number of the image information to generate the panoramic image information, and The panoramic image information is compressed and sent to the user terminal through the in-vehicle communication terminal.
The system according to claim 1, wherein the user terminal is set to:

In response to being in the control mode, displaying a first control interface and receiving a first control instruction input by a user, and sending the first control instruction as the vehicle control information to the vehicle-mounted communication terminal;

Wherein, the first control instruction includes one of a forward instruction, a backward instruction, and a steering instruction, or the first control instruction includes a forward instruction and a steering instruction, or the first control instruction includes a backward instruction and a steering instruction.
The system according to claim 1, wherein the user terminal is set to:

In response to being in the path mode, display a second control interface and receive path planning information and a second control instruction input by the user, and send the path planning information and the second control instruction as the vehicle control information to the in-vehicle communication terminal;

Wherein, the second control instruction includes a start instruction or a stop instruction.
The system according to claim 3 or 4, wherein the parking domain controller is set to:

In the case that the vehicle control information is the first control instruction, control the vehicle to move in accordance with the first control instruction;

In the case where the vehicle control information is the route planning information and the second control instruction, the vehicle travel path is determined according to the route planning information, and the vehicle is controlled to follow the vehicle according to the second control instruction The driving path moves.
The system according to claim 1, wherein the vehicle further comprises: an ultrasonic sensor;

The ultrasonic sensor is in communication connection with the parking domain controller;

The ultrasonic sensor is configured to obtain ultrasonic sensor information, and send the ultrasonic sensor information to the parking domain controller;

In response to determining that there is a risk of collision according to the ultrasonic sensor information, the parking domain controller controls the vehicle to perform collision avoidance processing.
A remote car manoeuvring method, applied to a vehicle, includes:

Receiving the vehicle control information sent by the user terminal, and controlling the vehicle to move according to the vehicle control information, wherein the vehicle control information is determined by the user terminal according to the panoramic image information sent by the vehicle.
The method according to claim 7, when said controlling said vehicle to move according to said vehicle control information, further comprising:

Obtain ultrasonic sensor information;

In response to the vehicle determining that there is a risk of collision according to the ultrasonic sensor information, the vehicle is controlled to perform collision avoidance processing.
A vehicle including:

The camera is set to collect image information around the vehicle;

Ultrasonic sensor, set to collect ultrasonic sensor information;

Vehicle communication terminal;

At least two controllers, the at least two controllers include at least a panoramic image controller and a parking domain controller;

The storage device is set to store at least one program;

When the at least one program is executed by the at least two controllers, the at least two controllers realize the remote car moving method according to any one of claims 7-8.
A storage medium containing computer-executable instructions, when the computer-executable instructions are executed by a computer processor, they are used to execute the remote car manoeuvring method according to any one of claims 7-8.