CN105118321B - A kind of intelligent extract method of the vehicles, system and the vehicles - Google Patents
A kind of intelligent extract method of the vehicles, system and the vehicles Download PDFInfo
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- CN105118321B CN105118321B CN201510640824.XA CN201510640824A CN105118321B CN 105118321 B CN105118321 B CN 105118321B CN 201510640824 A CN201510640824 A CN 201510640824A CN 105118321 B CN105118321 B CN 105118321B
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Abstract
The present invention carries a kind of intelligent extract method of the vehicles, including：Send the first startup order and switched to the driving model for making the vehicles and start the automatic driving mode that order matches with first；The vehicles are carried out with preliminary examination and judges whether energy normally travel；If so, performing next step；If it is not, then feeding back from instruction fetch to Remote equipment to point out user's vehicles need to ask for；The current GPS location information of the Remote equipment positional information current to obtain user is collected, while collecting the current GPS location information of the vehicles；The positional information current to user and the current GPS location information of the vehicles perform the prefabricated treatment related to intelligent extraction and automatically extract path to plan；Send the second startup order makes vehicles edge extract route to the current positional information of user to activate driving.The usable family of the present invention is home-confined to realize that intelligence is picked up the car, and meets the individual demand of user Geng Gao, fills up vehicle remote control pick-up technological gap.
Description
Technical field
The invention belongs to technical field of vehicle control, it is related to a kind of extracting method and system, more particularly to a kind of traffic
The intelligent extract method of instrument, system and the vehicles.
Background technology
At present, the technology application that in the market is not picked up the car also for vehicle remote control intelligence, it is existing to be directed to automobile
The new technology of drive manner, such as automated driving system, vehicle parking assistance device, automated parking system etc..
The Vehicular automatic driving system that there is now, is only limitted in terms of vehicle drive mode, more intelligent driving side
Formula, preferably realizes and how preferably to realize intellectuality in future automobile automatic Pilot technology application.For example：A kind of vehicle
Automatic Pilot control device and method, the safe operation of auxiliary or automated driving system is driven for map connection, according to driving
Situation, by the operational mode of the adjustment map connection system such as restricted operation, normal operation, urgent operation.
Although Vehicular automatic driving technology is very intelligent, based on Vehicular automatic driving function and remote control
Vehicular field, long-distance intelligent pick-up function is not implemented, or in daily life because of inconvenience of being picked up the car under the special states such as weather
Situation realizes intelligent pick-up function, it is impossible to meet users ' individualized requirement.
Therefore, a kind of intelligent extract method of the vehicles, system and the vehicles how are provided, with the prior art not
Can realize failing that long-distance intelligent pick-up function is better achieved in other words, especially in daily life because of special states such as weather
The situation of lower inconvenience of picking up the car realizes intelligent pick-up function to meet many disadvantages such as the individual demand of user, real to have turned into ability
Domain practitioner technical problem urgently to be resolved hurrily.
The content of the invention
The shortcoming of prior art in view of the above, it is an object of the invention to provide a kind of intelligent extraction of the vehicles
Method, system and the vehicles, for solving to fail to realize failing long-distance intelligent is better achieved in other words taking in the prior art
Car function, especially in daily life because the situation of inconvenience of being picked up the car under the special states such as weather realizes intelligent pick-up function with full
The problem of the individual demand of sufficient user.
In order to achieve the above objects and other related objects, one aspect of the present invention provides a kind of intelligent extraction side of the vehicles
Method, is applied to the vehicles of the driving model including non-automatic driving model and automatic driving mode, the vehicles configuration
The intelligent extract method for having Remote equipment, the vehicles is comprised the following steps：Send first and start order to make
The driving model for stating the vehicles switches to the automatic driving mode for starting with described first and ordering and match；To the traffic work
Tool carries out preliminary examination to judge whether it can normally travel；If so, continuing executing with next step；If it is not, then feeding back from instruction fetch extremely
The Remote equipment need to be asked for pointing out the vehicles described in user；Collect the Remote equipment current GPS
Confidence ceases the positional information current to obtain user, while collecting the current GPS location information of the vehicles；To the use
The current GPS location information of the current positional information in family and the vehicles perform the prefabricated treatment related to intelligent extraction with
Planning automatically extracts path；Send the second startup order makes the vehicles extract route extremely along described to activate driving
The current positional information of the user.
Alternatively, the preliminary examination for being carried out to the vehicles includes the drive parameter of the detection vehicles and described
Each functional part of the vehicles.
Alternatively, the prefabricated treatment related to intelligent extraction includes：The user for receiving the Remote equipment transmission works as
Preceding positional information；Store the current GPS location information of the current positional information of the user and the vehicles；It is to be stored
Afterwards, judge whether abnormality processing occur in prefabricated processing procedure is performed, if it is not, then performing next step；If so, returning to feedback
From instruction fetch to the Remote equipment with the step of pointing out the vehicles described in user need to ask for；Start the vehicles
The vehicular map of upper configuration, searches and locks the positional information current with the user and described on the vehicular map respectively
The corresponding map position information of the current location information of the vehicles；According to the current positional information of the user and the friendship
Path is automatically extracted described in the corresponding map position information planning of the current location information of logical instrument.
Alternatively, the transmission second starts order makes the vehicles along the extraction route to activate driving
The step of to the user current positional information, also includes：In the vehicles path row is automatically extracted according to what is planned
When sailing, the front of real-time detection in the process of moving traffic information, according to the amendment of real-time road condition information travel direction until arriving at institute
State the current positional information of user.
Alternatively, the vehicles include automobile, motorcycle, and/or bus.
Another aspect of the present invention also provides a kind of intelligent extraction system of vehicles, be applied to driving model include it is non-from
The vehicles of dynamic driving model and automatic driving mode, the vehicles are configured with Remote equipment, the traffic work
The intelligent extraction system of tool includes：Initialization module, starts order to make the driving mould of the vehicles for sending first
Formula is switched to and starts the automatic driving mode that order matches with described first；Preliminary examination module, is connected with the initialization module,
For carrying out preliminary examination to the vehicles to judge whether it can normally travel；If so, calling described long-range distant for collecting
The current GPS location information of control equipment is obtaining the first locating module of the current positional information of user and for collecting the friendship
Second locating module of the current GPS location information of logical instrument；If it is not, calling for feeding back from instruction fetch to the Remote
Feedback module of the equipment to point out the vehicles described in user to ask for；Message processing module, with first locating module and
Second locating module is connected, for the current GPS location information to the current positional information of the user and the vehicles
Perform the prefabricated treatment related to intelligent extraction and automatically extract path to plan；Control module, connects with described information processing module
Connect, the vehicles is worked as along the extraction route to the user to activate driving for sending the second startup order
Preceding positional information.
Alternatively, the preliminary examination module is additionally operable to detect the drive parameter and the vehicles of the vehicles
Each functional part.
Alternatively, described information processing module also includes：Receiving unit, for receiving what the Remote equipment sent
The current positional information of user；Memory cell, is connected with the receiving unit, the positional information current for storing the user
With the current GPS location information of the vehicles；Judging unit, is connected, with the receiving unit and memory cell for treating
After storage, judge whether abnormality processing occur in prefabricated processing procedure is performed, if it is not, calling for starting the vehicles
The vehicular map of upper configuration, searches and locks the positional information current with the user and described on the vehicular map respectively
The vehicular map start unit of the corresponding map position information of the current location information of the vehicles；If so, calling described anti-
Feedback module；Path planning unit, is connected with the judging unit and vehicular map start unit, for current according to the user
Positional information it is corresponding with the current location information of the vehicles map position information planning described in automatically extract road
Footpath.
Alternatively, the control module is additionally operable to automatically extract route according to what is planned in the vehicles
When, the front of real-time detection in the process of moving traffic information, according to the amendment of real-time road condition information travel direction until described in arriving at
The current positional information of user.
The present invention also provides a kind of Remote equipment, and the Remote equipment includes：Initialization unit, for sending
First starts order switches to the automatic Pilot mould matched with the described first startup order with the driving model for making the vehicles
Formula；First positioning unit, is connected with the initialization unit, and the current GPS location for collecting the Remote equipment is believed
The breath positional information current to obtain user；First receiving unit, for receive whne the vehicles cannot normally travel when
Feedback from instruction fetch；Tip element, is connected with first receiving unit, for receive it is described from after instruction fetch to refer to
Determining mode points out the vehicles described in user need to ask for.
Alternatively, the Remote equipment is Intelligent key.
The present invention provides a kind of vehicles, including Remote equipment again；With the Remote equipment wireless connection
The vehicles car body；The car body of the vehicles includes：Previewing unit, for the vehicles are carried out preliminary examination with
Judge whether it can normally travel；If so, calling second of the current GPS location information for collecting the vehicles to position
Unit；If it is not, calling for feeding back from instruction fetch to the Remote equipment to point out the vehicles described in user need to ask for
Feedback unit；Information process unit, is connected with second locating module, the position letter current for obtaining the user
Breath, and the current GPS location information of the positional information current to the user and the vehicles performs and intelligent extraction phase
The prefabricated treatment closed automatically extracts path to plan；Control unit, is connected with described information processing unit, is opened for sending second
Dynamic order makes the vehicles along the extraction route to the current positional information of the user to activate to drive.
As described above, the intelligent extract method of the vehicles of the invention, system and the vehicles, with following beneficial effect
Really：
The intelligent extract method of the vehicles of the present invention, system and the vehicles be it is a kind of efficiently, easily car
Remote controlled manner, it is possible to use family is home-confined to realize that intelligence is picked up the car, and meets the individual demand of user Geng Gao, fills up
Vehicle remote controls the blank of pick-up technology, especially has expansion functionally to the Automobile Design development of future automobile
Property.
Brief description of the drawings
Fig. 1 is shown as the intelligent extract method schematic flow sheet of the vehicles of the invention.
Fig. 2 is shown as the idiographic flow schematic diagram of step S4 in the intelligent extract method of the vehicles of the invention.
Fig. 3 is shown as the theory structure schematic diagram of the intelligent extraction system of the vehicles of the invention.
The theory structure that Fig. 4 is shown as message processing module in the intelligent extraction system of the vehicles of the invention is illustrated
Figure.
Fig. 5 is shown as the theory structure schematic diagram of Remote equipment of the invention.
Fig. 6 is shown as the theory structure schematic diagram of the vehicles of the invention.
Component label instructions
The intelligent extraction system of 1 vehicles
11 initialization modules
12 preliminary examination modules
13 first locating modules
14 second locating modules
15 feedback modules
16 message processing modules
17 control modules
161 receiving units
162 memory cell
163 judging units
164 vehicular map start units
165 path planning units
2 vehicles
20 Remote equipment
201 initialization units
202 first positioning units
203 first transmitting elements
204 first receiving units
205 Tip elements
The car body of 21 vehicles
211 previewing units
212 second positioning units
213 feedback units
214 information process units
215 control units
S1~S5 steps
S41~S45 steps
Specific embodiment
Embodiments of the present invention are illustrated below by way of specific instantiation, those skilled in the art can be by this specification
Disclosed content understands other advantages of the invention and effect easily.The present invention can also be by specific realities different in addition
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints with application, without departing from
Various modifications or alterations are carried out under spirit of the invention.It should be noted that, in the case where not conflicting, following examples and implementation
Feature in example can be mutually combined.
It should be noted that the diagram provided in following examples only illustrates basic structure of the invention in a schematic way
Think, component count, shape and size when only display is with relevant component in the present invention rather than according to actual implementation in schema then
Draw, it is actual when the implementing kenel of each component, quantity and ratio can be a kind of random change, and its assembly layout kenel
It is likely more complexity.
The know-why of the intelligent extract method, system and the vehicles of the vehicles of the present invention is as follows：
The present invention will be based on the wireless communication technologys such as bluetooth, high frequency communication system, GPS positioning technology with existing automobile certainly
Dynamic control loop；By adding radio communication and the GPS location functions such as bluetooth, high frequency communication system in car key, with vehicle
Control loop carries out wireless communication connection, realizes the remote control for automobile so that remote activation automatic vehicle control system
Afterwards, vehicle carries out state preliminary examination and according to intelligent driving system to the correct of occupant position information, road markings, and route planning
After judgement, autonomous driving vehicle is travelled to car owner position, it is possible to achieve without pick-up of being in the action, and controls vehicle automatic seeking
Occupant position is looked for, it is more intelligent, it is more convenient；The present invention includes that the control unit for vehicle based on Function for Automatic Pilot, GPS are accurate
Alignment system, information transceiving device, record " automatic to pick up the car " instruction and send using control unit for vehicle by Precise Position System
Positional information and traffic information, stored by information transceiving device；At control unit for vehicle connection vehicular map
Reason, after determining exact position and road information, sends " driving " instruction activation automated driving system, according to the road information side of carrying out
To amendment, until vehicle is travelled to car owner position.
Embodiment one
The present embodiment provides a kind of intelligent extract method of the vehicles, and being applied to driving model includes non-automatic driving mould
The vehicles of formula and automatic driving mode, the vehicles are configured with Remote equipment.The intelligence of the vehicles
Extracting method is applied to the vehicles of the driving model including non-automatic driving model and automatic driving mode, the vehicles
It is configured with Remote equipment.The instrument of handing over includes automobile, motorcycle, and/or bus, described in the present embodiment
The vehicles choose automobile.Prior art to there is many descriptions to automatic Pilot in the automobile with automatic driving mode, this
Place repeats no more.Fig. 1 is referred to, the intelligent extract method schematic flow sheet of the vehicles is shown.As shown in figure 1, the traffic
The intelligent extract method of instrument is comprised the following steps：
S1, is sent the first startup order and is switched to the driving model for making the automobile and the described first startup order phase
The automatic driving mode matched somebody with somebody.In the present embodiment, Vehicular automatic driving control device, the vehicle are installed on the automobile
Automatic Pilot control device includes input unit, and the input unit, receive driver's input controls phase with the automatic Pilot of vehicle
The order of pass；Coordinated signals judging part, after the order is transfused to, judges the automatic Pilot control of the vehicle based on road information
It is whether feasible；And automatic Pilot control unit, when being judged as that the automatic Pilot control of the vehicle based on the road information is feasible, profit
With the automatic Pilot of vehicle described in vehicle sensors and Navigation Control, it is judged as that the automatic of the vehicle based on the road information is driven
Sail control it is infeasible when, the automatic Pilot of the vehicle is only controlled using the vehicle sensors.In the present embodiment, automobile exists
Receive it is described first start order after start the Vehicular automatic driving control device make automobile be in automatic driving mode.
Whether S2, preliminary examination is carried out to the automobile can normally travel to judge it；If so, continue executing with next step, i.e.,
Perform step S3；If it is not, then performing step S6, that is, feedback is performed from instruction fetch to the Remote equipment to point out user institute
The step of stating automobile and need to ask for.In the present embodiment, the preliminary examination that preliminary examination is carried out to the automobile to be carried out includes the detection automobile
Drive parameter and the automobile each functional part, that is, detection automobile drive parameter and automobile each functional part
It is whether abnormal, if to meet normal driving conditions.
S3, collects the current GPS location information of the Remote equipment positional information current to obtain user, while
Collect the current GPS location information of the automobile.The current positional information of the user includes geographical coordinate, the Yong Husuo of user
Locate the latitude and longitude information of position, landmark, user present position near user present position nearby commercial circle information and
Public transport information etc. near user present position.The current GPS location information of the automobile includes position residing for automobile
The geographical coordinate put, the latitude and longitude information of automobile present position, the landmark near automobile present position, residing for automobile
Public transport information etc. near the neighbouring commercial circle information in position and automobile present position.In the present embodiment, by wireless hair
The current GPS location information for penetrating the Remote equipment that mode will be collected into is sent to automobile.
S4, the positional information current to the user and the current GPS location information of the automobile are performed and intelligent extraction
Related prefabricated treatment automatically extracts path to plan.Fig. 2 is referred to, the idiographic flow schematic diagram of step S4 is shown as.Such as Fig. 2
Shown, the step S4 specifically includes following steps：
S41, receives the current positional information of the user of the Remote equipment transmission.
S42, stores the current GPS location information of the current positional information of the user and the automobile.
S43, it is to be stored after, judge whether abnormality processing occur in prefabricated processing procedure is performed, if it is not, then performing next
Step, that is, perform step S44；If so, return to step S4, feeds back from instruction fetch to the Remote equipment to point out user institute
The step of stating automobile and need to ask for.In the present embodiment, performing the abnormality processing occurred in prefabrication process includes：Do not receive described
The situation of the current positional information of user that Remote equipment sends, vehicular map starts failure, and locking map location occurs
Exception leads to not lock, and other position failures etc..
S44, starts the vehicular map configured on the automobile, searched on the vehicular map respectively and locked with it is described
The current positional information of the user map position information corresponding with the current location information of the automobile.The vehicular map is deposited
Contain accurate map datum.
S45, according to the current positional information of the user map position corresponding with the current location information of the automobile
Put and path is automatically extracted described in information planning.In the present embodiment, can essence according to positional informations such as gps coordinate and latitude and longitude informations
Really lock the current map location information of the current map position information of user and automobile.
S5, send the second startup order makes the automobile work as along the extraction route to the user to activate driving
Preceding positional information.Described second starts order to drive order.In the present embodiment, the step is additionally included in the automobile root
According to having planned when automatically extracting route, the front of real-time detection in the process of moving traffic information is believed according to real-time road
Breath travel direction amendment is until arrive at the current positional information of the user.The front traffic information includes：Identification traffic letter
Signal lamp and pedestrian information, determine the information of distance between surrounding objects and vehicle, and obstacle information, road obstacle information (is repaired the roads
Cannot pass through, river course, and influence the road conditions factor of normally travel etc.) etc..
The intelligent extract method of the vehicles described in the present embodiment be it is a kind of efficiently, easily vehicle remote controlling party
Formula, it is possible to use family is home-confined to realize that intelligence is picked up the car, and meets the individual demand of user Geng Gao, has filled up vehicle remote control
The blank of driving skills art is produced, the especially Automobile Design to future automobile develops the expansion having functionally.
Embodiment two
The present embodiment provides a kind of intelligent extraction system 1 of the vehicles, and being applied to driving model includes non-automatic driving
The vehicles of pattern and automatic driving mode, the vehicles are configured with Remote equipment.The intelligence of the vehicles
Energy extracting method is applied to the vehicles of the driving model including non-automatic driving model and automatic driving mode, the traffic work
Tool is configured with Remote equipment.The instrument of handing over includes automobile, motorcycle, and/or bus, in the present embodiment, institute
State the vehicles and choose automobile.Prior art to there is many descriptions to automatic Pilot in the automobile with automatic driving mode,
Here is omitted.Fig. 3 is referred to, the theory structure schematic diagram of the intelligent extraction system of the vehicles is shown.As shown in figure 3,
The intelligent extraction system 1 of the vehicles includes：Initialization module 11, preliminary examination module 12, the first locating module 13, second are determined
Position module 14, feedback module 15, message processing module 16 and control module 17.
The initialization module 11 is used for the startup order of transmission first and is switched to and institute with the driving model for making the automobile
State the automatic driving mode that the first startup order matches.In the present embodiment, vehicle is installed on the automobile to drive automatically
Control device is sailed, the Vehicular automatic driving control device includes input unit, and the input unit receives driver is input into and car
The related order of automatic Pilot control；Coordinated signals judging part, after the order is transfused to, judges based on road information
The automatic Pilot of vehicle controls whether feasible；And automatic Pilot control unit, be judged as based on the road information vehicle from
When dynamic Driving control is feasible, using the automatic Pilot of vehicle described in vehicle sensors and Navigation Control, it is judged as based on the road
When the automatic Pilot control of the vehicle of road information is infeasible, only the automatic of the vehicle is controlled to drive using the vehicle sensors
Sail.In the present embodiment, automobile starts the Vehicular automatic driving control device and makes after the first startup order is received
Automobile is in automatic driving mode.
The preliminary examination module 12 being connected with the initialization module 11 is used to that whether the automobile to be carried out preliminary examination to judge it
Can normally travel；If so, calling the locating module 14 of first locating module 13 and second simultaneously；If it is not, then calling for anti-
Present the feedback module 15 from instruction fetch to the Remote equipment to point out automobile described in user to ask for.In the present embodiment
In, the preliminary examination module 12 is used to detect the drive parameter of the automobile and each functional part of the automobile, that is, detects
Whether the drive parameter of automobile and each functional part of automobile are abnormal, if meet normal driving conditions.
First locating module 13 is used to collect the current GPS location information of the Remote equipment to obtain user
Current positional information.The current positional information of the user includes geographical coordinate, the longitude and latitude of user present position of user
Information, nearby commercial circle information and user present position are attached for landmark, user present position near user present position
Nearly public transport information etc..In the present embodiment, the Remote that first locating module 13 will be collected into
The current GPS location information of equipment is wirelessly launched to automobile.
Second locating module 14 is used to be collected in the first locating module 13 the current GPS location letter of the Remote equipment
The current GPS location information of the automobile is collected while breath.The current GPS location information of the automobile includes position residing for automobile
The geographical coordinate put, the latitude and longitude information of automobile present position, the landmark near automobile present position, residing for automobile
Public transport information etc. near the neighbouring commercial circle information in position and automobile present position.
With the wireless connection of the first locating module 13, the message processing module 16 being connected with second locating module 14
Performed for the current GPS location information to the current positional information of the user and the automobile related to intelligent extraction pre-
System treatment automatically extracts path to plan.Fig. 4 is referred to, the theory structure schematic diagram of message processing module is shown as.Such as Fig. 4 institutes
Show, described information processing module 16 includes：Receiving unit 161, memory cell 162, judging unit 163, vehicular map start single
Unit 164 and path planning unit 165.
The positional information current for receiving the user of the Remote equipment transmission of the receiving unit 161.
The memory cell 162 being connected with the receiving unit 161 is used to store the current positional information of the user and institute
State the current GPS location information of automobile.In the present embodiment, the memory cell 162 can be any with store function
Hardware storage device.
The judging unit 163 being connected with 161 memory cell 162 of the receiving unit be used for it is to be stored after, judge
Whether there is abnormality processing in prefabricated processing procedure is performed, if it is not, then calling the vehicular map start unit 164；If so,
The feedback module is then called, performs feedback from instruction fetch to the Remote equipment to point out automobile need described in user certainly
Take.In the present embodiment, performing the abnormality processing occurred in prefabrication process includes：The Remote equipment is not received to send
The current positional information of user situation, vehicular map starts failure, locking map location occur it is abnormal leads to not locking,
And other position failures etc..
The vehicular map start unit 164 being connected with judging unit 163 is used to start the car configured on the automobile
Map is carried, the current of the positional information current with the user and the automobile is searched and lock on the vehicular map respectively
The corresponding map position information of positional information.The accurate map that is stored with is provided with the vehicular map start unit 164
The vehicular map of data.
The path planning unit 165 being connected with the judging unit 163 and vehicular map start unit 164 is used for root
It is described according to the map position information planning corresponding with the current location information of the automobile of the current positional information of the user
Automatically extract path.In the present embodiment, user can be accurately locked according to positional informations such as gps coordinate and latitude and longitude informations to work as
Preceding map position information and the current map location information of automobile.
The control module 17 being connected with described information processing module 16 is used to send the second startup and order to make to activate driving
The automobile is along the extraction route to the current positional information of the user.Described second starts order to drive life
Order.The control module 17 specifically in automobile according to having planned when automatically extracting route, it is real in the process of moving
When detection front traffic information, according to the amendment of real-time road condition information travel direction until arrive at the user it is current position letter
Breath.The front traffic information includes：Identification traffic lights and pedestrian information, determine distance between surrounding objects and vehicle
Information, obstacle information, road obstacle information (repairing the roads to pass through, river course, and influences road conditions factor of normally travel etc.) etc..
The control module 17 is according to the miscellaneous part configured on the automobile, for example, being used to recognize traffic lights and pedestrian information
Camera, the vehicle body range sensor for determining the information of distance between surrounding objects and vehicle, for measure traveling away from
From wheel on position stroke sensor, for probe vehicle Friday barrier and drawing three-dimensional road conditions subway, transmission is driven in time
Laser scanner of system etc. part is sailed to obtain traffic information.
The intelligent extraction system of the vehicles described in the present embodiment can realize efficiently, easily vehicle remote controlling party
Formula, it is possible to use family is home-confined to realize that intelligence is picked up the car, and meets the individual demand of user Geng Gao, has filled up vehicle remote control
The blank of driving skills art is produced, the especially Automobile Design to future automobile develops the expansion having functionally.
Embodiment three
The present embodiment provides a kind of Remote equipment 20, refers to Fig. 5, is shown as the theory structure of Remote equipment
Schematic diagram.As shown in figure 5, the Remote equipment 20 includes：Initialization unit 201, the first positioning unit 202, first are sent out
Send unit 203, the first receiving unit 204 and Tip element 205.In the present embodiment, the Remote equipment 20 is intelligence
Key.The initialization unit 201, the first positioning unit 202, the first transmitting element 203, the first receiving unit 204 and prompting
Unit 205 can be being built in the function that the circuit chip inside the Intelligent key realizes the above each unit.
The initialization unit 201 is used to sending first and starts order and switched to and described the with the driving model for making automobile
One starts the automatic driving mode that order matches.
First positioning unit 202 being connected with the initialization unit 201 is used to collect the Remote equipment
The current GPS location information positional information current to obtain user.First locating module 202 is a GPS locator.
The first transmitting element 203 being connected with first positioning unit 202 is used to wirelessly send describedly
The current GPS location information of the Remote equipment that positioning unit 202 is collected into.In the present embodiment, first hair
It can be a radio communication microprocessor control chip to send unit 203.
The first receiving unit 204 being connected with first positioning unit 202 treats the vehicles, example for reception
Such as, in the present embodiment automobile cannot normally travel when feed back from instruction fetch.
The Tip element 205 being connected with first receiving unit 204 be used for receive it is described from after instruction fetch to refer to
Determine mode, for example, indicator lamp, alarm, or both combine etc. mode and point out the vehicles described in user need to ask for.
Example IV
The present embodiment provides a kind of vehicles 2, refers to Fig. 6, is shown as the theory structure schematic diagram of the vehicles.Institute
Stating the vehicles 2 includes automobile, motorcycle, and/or bus, and the present embodiment is by taking automobile as an example.As shown in fig. 6, the friendship
Logical instrument 2 includes the Remote equipment 20 described in above-described embodiment, and the friendship with the Remote equipment wireless connection
The car body 21 of logical instrument.The car body 21 of the vehicles includes：Previewing unit 211, the second positioning unit 212, feedback unit
213rd, information process unit 214 and control unit 215.
Whether the previewing unit 211 is used to carry out preliminary examination to the automobile can normally travel to judge it；If so, simultaneously
Call the positioning unit 212 of first positioning unit 202 and second；If it is not, then calling for feeding back from instruction fetch to described remote
Feedback unit 213 of the journey remote control equipment to point out automobile described in user to ask for.In the present embodiment, the preliminary examination module 211
For detecting the drive parameter of the automobile and each functional part of the automobile, that is, detection automobile drive parameter and
Whether each functional part of automobile is abnormal, if meet normal driving conditions.
Second positioning unit 212 is used to be collected in the first locating module 13 current GPS location of the Remote equipment
The current GPS location information of the automobile is collected while information.The current GPS location information of the automobile is included residing for automobile
The geographical coordinate of position, the latitude and longitude information of automobile present position, landmark, automobile institute near automobile present position
Locate the neighbouring commercial circle information in position and automobile present position public transport information etc. nearby.Second locating module 212
It is a GPS locator.
The information process unit 214 being connected with second positioning unit 212 is used for the position current to the user to be believed
The current GPS location information of breath and the automobile performs the prefabricated treatment related to intelligent extraction and automatically extracts path to plan.
Described information processing unit 214 can perform following functions：
Receive the current positional information of the user of the Remote equipment transmission.
Store the current GPS location information of the current positional information of the user and the automobile.
After to be stored, judge whether abnormality processing occur in prefabricated processing procedure is performed, if it is not, then starting the automobile
The vehicular map of upper configuration, searches and locks the positional information current with the user and described on the vehicular map respectively
The corresponding map position information of the current location information of the vehicles.It is provided with the vehicular map start unit 215 and is deposited
Contain the vehicular map of accurate map datum.If so, then performing feedback from instruction fetch to the Remote equipment to point out
Automobile described in user need to be asked for.In the present embodiment, performing the abnormality processing occurred in prefabrication process includes：Do not receive described
The situation of the current positional information of user that Remote equipment sends, vehicular map starts failure, and locking map location occurs
Exception leads to not lock, and other position failures etc..
According to the current positional information of the user map position corresponding with the current location information of the vehicles
Put and path is automatically extracted described in information planning.In the present embodiment, can essence according to positional informations such as gps coordinate and latitude and longitude informations
Really lock the current map location information of the current map position information of user and automobile.
The control unit 215 being connected with described information processing unit 214 is used to send the second startup order to activate driving
Make the vehicles along the extraction route to the current positional information of the user.Described second starts order to drive
Sail order.The control module 215, according to having planned when automatically extracting route, is running over journey specifically in automobile
Middle real-time detection front traffic information, according to the amendment of real-time road condition information travel direction until arriving at the current position of the user
Information.The front traffic information includes：Identification traffic lights and pedestrian information, determine distance between surrounding objects and vehicle
Information, obstacle information, road obstacle information (repairing the roads to pass through, river course, and influence normally travel road conditions factor etc.)
Deng.The control module 215 is according to the miscellaneous part configured on the automobile, for example, being used to recognize traffic lights and pedestrian
The camera of information, the vehicle body range sensor for determining the information of distance between surrounding objects and vehicle, for measuring row
The position stroke sensor on the wheel of distance is sailed, simultaneously drawing three-dimensional road conditions subway is passed in time for probe vehicle Friday barrier
The laser scanner of defeated control loop etc. part obtains traffic information.
In sum, the intelligent extract method of the vehicles of the present invention, system and the vehicles can realize efficiently,
Easily vehicle remote control mode, it is possible to use family is home-confined to realize that intelligence is picked up the car, and meets the personalization of user Geng Gao
Demand, has filled up the blank that vehicle remote controls pick-up technology, and the especially Automobile Design development to future automobile has function
On expansion.So, the present invention effectively overcomes various shortcoming of the prior art and has high industrial utilization.
The above-described embodiments merely illustrate the principles and effects of the present invention, not for the limitation present invention.It is any ripe
The personage for knowing this technology all can carry out modifications and changes under without prejudice to spirit and scope of the invention to above-described embodiment.Cause
This, those of ordinary skill in the art is complete with institute under technological thought without departing from disclosed spirit such as
Into all equivalent modifications or change, should be covered by claim of the invention.
Claims (8)
1. a kind of intelligent extract method of the vehicles, it is characterised in that being applied to driving model includes non-automatic driving model
With the vehicles of automatic driving mode, the vehicles are configured with Remote equipment, and the intelligence of the vehicles is carried
The method of taking is comprised the following steps：
Send the first startup order and switched to the driving model for making the vehicles and match with the described first startup order
Automatic driving mode；
The vehicles are carried out with preliminary examination whether can normally travel to judge it；If so, continuing executing with next step；If it is not,
Then feed back from instruction fetch to the Remote equipment to point out the vehicles described in user need to ask for；
The current GPS location information of the Remote equipment positional information current to obtain user is collected, while collecting institute
State the current GPS location information of the vehicles；
The positional information current to the user and the current GPS location information of the vehicles perform related to intelligent extraction
Prefabricated treatment automatically extract path to plan；
Send the second startup order makes the vehicles current to the user along the extraction route to activate driving
Positional information；
The prefabricated treatment related to intelligent extraction includes：
Receive the current positional information of the user of the Remote equipment transmission；
Store the current GPS location information of the current positional information of the user and the vehicles；
After to be stored, judge whether abnormality processing occur in prefabricated processing procedure is performed, if it is not, then performing next step；If
Be return feedback from instruction fetch to the Remote equipment to point out the vehicles described in user need to ask for the step of；
Start the vehicular map configured on the vehicles, searched on the vehicular map respectively and locked and the user
The current positional information map position information corresponding with the current location information of the vehicles；
According to the current positional information of the user map location letter corresponding with the current location information of the vehicles
Path is automatically extracted described in breath planning.
2. the intelligent extract method of the vehicles according to claim 1, it is characterised in that：The vehicles are carried out
Preliminary examination include the drive parameter of the detection vehicles and each functional part of the vehicles.
3. the intelligent extract method of the vehicles according to claim 1, it is characterised in that：It is described to send the second startup life
Order drives the step of making the vehicles along extraction route to the user current positional information also to activate
Including：In the vehicles according to having planned when automatically extracting route, the front of real-time detection in the process of moving road
Condition information, according to the amendment of real-time road condition information travel direction until arriving at the current positional information of the user.
4. the intelligent extract method of the vehicles according to claim 1, it is characterised in that：The vehicles include vapour
Car, motorcycle, and/or bus.
5. the intelligent extraction system of a kind of vehicles, it is characterised in that being applied to driving model includes non-automatic driving model
With the vehicles of automatic driving mode, the vehicles are configured with Remote equipment, and the intelligence of the vehicles is carried
The system of taking includes：
Initialization module, is switched to and described first for sending the first startup order with the driving model for making the vehicles
Start the automatic driving mode that order matches；
Whether preliminary examination module, is connected with the initialization module, can be just to judge it for carrying out preliminary examination to the vehicles
Often travel；If so, calling for the current GPS location information for collecting the Remote equipment position current to obtain user
First locating module of information and the second locating module for collecting the current GPS location information of the vehicles；If it is not,
Call for feeding back the feedback module from instruction fetch to the Remote equipment to point out the vehicles described in user to ask for；
Message processing module, is connected with first locating module and the second locating module, for the position current to the user
The current GPS location information of confidence breath and the vehicles performs the prefabricated treatment related to intelligent extraction and is carried automatically with planning
Take path；
Control module, is connected with described information processing module, and the traffic is made to activate driving for sending the second startup order
Instrument is along the extraction route to the current positional information of the user；
Described information processing module also includes：
Receiving unit, the positional information current for receiving user that the Remote equipment sends；
Memory cell, is connected with the receiving unit, for storing the current positional information of the user and the vehicles
Current GPS location information；
Judging unit, is connected with the receiving unit and memory cell, after to be stored, judges performing prefabricated processing procedure
In whether there is abnormality processing, if it is not, call for start on the vehicles configure vehicular map, respectively in the car
Carry searched on map and locked the positional information current with the user and the vehicles current location information it is corresponding
Map position information vehicular map start unit；If so, calling the feedback module；
Path planning unit, is connected with the judging unit and vehicular map start unit, for current according to the user
Path is automatically extracted described in the positional information map position information planning corresponding with the current location information of the vehicles.
6. the intelligent extraction system of the vehicles according to claim 5, it is characterised in that：The preliminary examination module is additionally operable to
Detect the drive parameter of the vehicles and each functional part of the vehicles.
7. the intelligent extraction system of the vehicles according to claim 5, it is characterised in that：The control module is additionally operable to
In the vehicles according to having planned when automatically extracting route, the front of real-time detection in the process of moving road conditions are believed
Breath, according to the amendment of real-time road condition information travel direction until arriving at the current positional information of the user.
8. a kind of vehicles, it is characterised in that including Remote equipment；
The Remote equipment includes：
Initialization unit, for sending, the first startup order is switched to the driving model for making the vehicles and described first starts
The automatic driving mode that order matches；
First positioning unit, is connected with the initialization unit, and the current GPS location for collecting the Remote equipment is believed
The breath positional information current to obtain user；
First receiving unit, for receive whne the vehicles cannot normally travel when feed back from instruction fetch；
Tip element, is connected with first receiving unit, for described being pointed out with specific mode from after instruction fetch receiving
The vehicles described in user need to be asked for；
With the car body of the vehicles of the Remote equipment wireless connection；The car body of the vehicles includes：
Previewing unit, for carrying out preliminary examination to the vehicles to judge whether it can normally travel；If so, calling for receiving
Collect the second positioning unit of the current GPS location information of the vehicles；If it is not, calling for feeding back from instruction fetch to described
Feedback unit of the Remote equipment to point out the vehicles described in user to ask for；
Information process unit, is connected with second locating module, the positional information current for obtaining the user, and to institute
The current GPS location information for stating the current positional information of user and the vehicles performs the prefabricated place related to intelligent extraction
Reason automatically extracts path to plan；
Control unit, is connected with described information processing unit, and the traffic is made to activate driving for sending the second startup order
Instrument is along the extraction route to the current positional information of the user.
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| CN106598045A (en) * | 2016-11-25 | 2017-04-26 | 百度在线网络技术（北京）有限公司 | Intelligent car hailing method and device |
| CN108248611B (en) * | 2016-12-29 | 2020-08-25 | 华为技术有限公司 | Automatic driving method, automobile control equipment, automobile and system |
| CN106845659A (en) * | 2017-02-03 | 2017-06-13 | 驭势科技（北京）有限公司 | Self checking method, intelligent vehicle and its operation system, vehicle computing device and computer-readable medium after intelligent vehicle Chinese herbaceous peony |
| CN108627864B (en) * | 2017-03-24 | 2022-01-25 | 纵目科技（上海）股份有限公司 | Positioning method and system based on automobile key and unmanned automobile system |
| CN106971607B (en) * | 2017-04-18 | 2020-10-02 | 广东浪潮大数据研究有限公司 | Full-automatic intelligent parking method and device |
| US10308242B2 (en) * | 2017-07-01 | 2019-06-04 | TuSimple | System and method for using human driving patterns to detect and correct abnormal driving behaviors of autonomous vehicles |
| CN108062101A (en) * | 2017-12-20 | 2018-05-22 | 驭势科技（北京）有限公司 | The intelligent personal vehicles and its control method, dispatching method and storage medium |
| CN108616807A (en) * | 2018-03-14 | 2018-10-02 | 斑马网络技术有限公司 | Intelligent pick-up method and its vehicle-mounted central control system |
| CN110766960A (en) * | 2018-07-27 | 2020-02-07 | 比亚迪股份有限公司 | Server, mobile terminal, vehicle-mounted terminal and vehicle searching control method |
| CN110766961B (en) * | 2018-07-27 | 2022-03-18 | 比亚迪股份有限公司 | Vehicle searching method, device and system |
| CN109878450A (en) * | 2019-03-26 | 2019-06-14 | 河北易卡易行科技有限公司 | A kind of Novel remote-control people vehicle mutually seeks system |
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| CN116366691A (en) * | 2019-07-22 | 2023-06-30 | 华为技术有限公司 | Communication method and device |
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