CN106965757A - The method for moving car method, system and increase parking stall quantity based on mobile terminal - Google Patents
The method for moving car method, system and increase parking stall quantity based on mobile terminal Download PDFInfo
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- CN106965757A CN106965757A CN201610038581.7A CN201610038581A CN106965757A CN 106965757 A CN106965757 A CN 106965757A CN 201610038581 A CN201610038581 A CN 201610038581A CN 106965757 A CN106965757 A CN 106965757A
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- car
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- mobile terminal
- moving
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M11/00—Telephonic communication systems specially adapted for combination with other electrical systems
- H04M11/007—Telephonic communication systems specially adapted for combination with other electrical systems with remote control systems
Abstract
Car method moved based on mobile terminal the invention discloses a kind of, belongs to mobile internet technical field；Comprise the following steps：Moving car, person obtains the telephone number of car owner and in-vehicle wireless communication module, move Che Zhexiang and move car electronic control unit (ECU), obtain moving after car mandate for ECU, move the entrance of car application program and move car operation interface, move Che Zhexiang and move car ECU and send and move car instruction, the target location do not interfered is driven to according to instruction vehicle, car is moved and finishes, move Che Zhexiang and move car ECU transmission instructions, close engine；The inventive method is not in the case where increasing any facility input, make the parking stall maximum increase by 35% in existing parking lot, for there is the driver of waiting demand to be quickly found parking stall, the problem of partly solving parking difficulty improves the operating efficiency of society；Invention also discloses moving car system based on mobile terminal, the method for driving skills art increase Parking bit quantity is moved and a kind of with the automobile for moving car electronic control unit based on mobile terminal.
Description
Technical field
Car method and system are moved based on mobile terminal the invention discloses a kind of, belong to development of Mobile Internet technology
Field.Invention also discloses a kind of side that driving skills art increase Parking bit quantity is moved based on mobile terminal
Method and a kind of with moving the automobile of car electronic control unit.
Background technology
Universally acknowledged automobile inventor is this thatch of German CALVER Li Teliqi.He ground in 1885
Make first carriage formula three-wheeled motor car in the world and apply for patent, on January 29th, 1886, karr sheet
First three-wheeled motor car in the world of thatch invention is obtained " automobile making patent right ".This day is most of
Person is that Hyundai Motor is born day, and Ben Ci is also described as " father of automobile " by descendant.
Automobile while being offered convenience for society, has also occurred in that many problems since the birth.Current vapour
Car brings four big social concerns, is that energy resource consumption, environmental pollution, road safety and city are gathered around respectively
It is stifled.To 2014 end of the years, there are 1.05 hundred million private car travelings in China in the road network in city.These vehicles
Great amount of fuel oil is consumed, a large amount of pernicious gases have been discharged, and cause traffic congestion.It is expected that 2015 end of the years
Chinese private car sum reaches 1.25 hundred million, and 2016 end of the years reached 1.4 hundred million, and Chinese city will be gathered around more
Stifled, air quality will more deteriorate.
In a word, in the case where urban road and urban parking area growth are limited, driving hardly possible and parking difficulty are still
Can long-term existence.Driving hardly possible is characterized in that the average passage rate of vehicle on urban road is low, substantial amounts of vehicle
It is trapped in the road network in city；Parking difficulty is characterized in that parking stall, car are difficult to find that after vehicle is arrived at
Main to take more time searching parking stall, this also increases the time that vehicle is detained in road network.OK
Difficult and parking difficulty the direct result of car is the increase in the road network holding time of vehicle, adds fuel consumption, increases
Invalid exhaust emissions is added, while also reducing the whole work efficiency of society.
Under Chinese city vehicle year by year increased overall background, solve difficult and parking difficulty the fundamental solution of driving and exist
In the progress of technology, existing several technologies are to solve the problems, such as to specify direction：
(1), satellite navigation system
Beidou satellite navigation system (BDS) be after the U.S. global positioning system (GPS), Russia Ge Luona
After this (GLONASS), there is provided positioning, navigation and time service clothes for global 3rd ripe satellite navigation system
Business.
For satellite navigation system, positioning precision is the key index of systematic function.At present, Beidou
The civilian service precision of alignment system is up to 10 meters, and latest generation navigation chip positioning precision is up to 2.5 meters,
The precision of marine Big Dipper strengthening system has even more been promoted to 3 centimetres of ranks.
China is planned now, and the difference station of the thousands of Big Dippeves is built in whole regional, works as difference
After station is built up, the precision that dipper system is provided will be below meter level, even up to Centimeter Level.
(2) forth generation, the 5th third-generation mobile communication technology
In afternoon on December 4th, 2013, the Ministry of Industry and Information Technology is to China Mobile, China Telecom, middle League of Nations
It is logical formal to have provided forth generation mobile communication business licence plate (i.e. 4G licence plates), China Mobile, China Telecom,
CHINAUNICOM three obtains TD-LTE licence plates, when this measure indicates that China Telecommunications Industry formally enters 4G
Generation.
4G refers to forth generation mobile communication technology, and the technology includes two kinds of standards of TD-LTE and FDD-LTE.4G
It is to integrate 3G and WLAN, and can quickly transmits data, audio, video and image etc..4G can be with
More than 100Mbps speed is downloaded, and than fast 25 times former of family expenses broadband A/D SL (4,000,000), and can be expired
Requirement of the nearly all user of foot for wireless service.In addition, 4G can be in DSL and cable television modulation /demodulation
The place deployment that device is not covered with, then expands to whole distract again.It is obvious that 4G has incomparable
Superiority.
Although the construction peak period of 4G networks has not elapsed, the mainstream telecommunications equipment vendor such as Huawei grinding for 5G
Expansion but like a raging fire already is sent out, 5G standard formulations work, 2018 will be played an active part in before the end of the year of Huawei 2018
It year will take the lead in combining with affiliate and open 5G examination commercial networks, and promote within 2019 industrial chain to improve and complete mutually
Join interoperability test, the year two thousand twenty is formally commercial.
Although industry not yet has 5G to be specifically defined, unification has been formed in key technique and key index.
Following 5G user can experience 10Gbps speed and 1ms time delay.If insensitive to this data,
Exemplified by downloading 8GB high-definition movie, only needed under 5G network environments 7 seconds, in 4G networks
7 minutes are needed under environment, and 70 minutes are then needed under 3G network environment, so 5G networks are than 4G net
Network is about fast 60 times.
So fast network speed and low time delay will exactly meet the growing connection requirement in the whole world.According to Ericsson
's《Movement Report》It has been shown that, to the year two thousand twenty, advanced mobile technology will be ubiquitous, smart phone user
6,100,000,000 are up to, compared with increasing by more than 1 times today, global interconnection terminal is up to 26,000,000,000.It is so huge
Connection will be not solely restricted to the connection of person to person, be more the connection of people and thing, thing and thing.
The fast development of Internet of Things not only proposes requirement, the company that can more provide network to the capacity of network
Connecing number has the requirement of the order of magnitude.Industry predicts the year two thousand twenty, and the capacity requirement of mobile communications network is current net
1000 times of network, connection number will be present 10-100 times.
Compared with existing mobile communication technology, 5G has three revolutionary progress：The connection quantity of hundred billion ranks,
1 millisecond of ultralow time delay, network peak speed reaches 10Gbps ranks.
These features make 5G be not only brand-new mobile communication technology, may also help in us and overcome current skill
The insurmountable lot of challenges of art, while also by the critical infrastructures as the full connection world.With 5G's
Promote, it will expedite the emergence of countless new opplications, new business mode, or even NPD projects.
(3) intelligent transportation system
It is a global problem that traffic congestion air, which deteriorates,.Every country provide solution be：Adopt
Use intelligent transportation system.
The big city of China is using mostly comparison being external exploitation " intelligent transportation system " at present.From report
On see, the big city such as Beijing, Shanghai, Guangzhou has used this set system.In terms of the effect of report：Have certain
Effect, but system complex invests huge, and laying needs to excavate road.
Application No. CN201410248079.X patent application document, discloses road in front of a kind of simultaneous display
The system and method for mouth traffic signal light condition, including：Intelligent traffic lamp system, is installed on each road
Mouthful, " time set information and the current status information " of crossroad traffic signal lamp is sent to system service
Device；Intelligent vehicle mounted terminal system, be positioned over it is in-car by global position system vehicle itself is carried out positioning and
Orientation, retrieves the traffic lights that " coding of junction ahead " asks for junction ahead to system server
" status information ", receives and runs that traffic lights subprograms will " institute's travel be at junction ahead pair after information
The status display of the traffic lights group answered " reminds driving on screen in the way of numeral, figure or sound
Person predicts the state of junction ahead traffic lights in advance, can aid in Driving Decision-making；System server, to intelligence
Vehicle in energy traffic signal lamp system and intelligent vehicle mounted terminal system and road network be uniformly controlled realizing car
The function of interior traffic lights.The patented method can extract the lights state of intelligent traffic lamp system
Come and be supplied to driver, it is possible to increase the service efficiency of city road network, realize energy-saving and emission-reduction and reduce haze.
The content of the invention
An object of the present invention be to provide it is a kind of car method is moved based on mobile terminal, moving car, person passes through intelligence
Mobile phone simultaneously runs corresponding application software, makes the car owner of another car without reaching parking scene, and the person that moves car is just
Another car for blocking oneself car can be moved out.
The second object of the present invention be to provide it is a kind of car system is moved based on mobile terminal, including move car person and Che
The intelligent mobile terminal of instigator, the wireless communication module being connected with vehicle netbios and moves car Electronic Control
Unit (moves car ECU), and the operational order of the intelligent mobile terminal for the person that moves car after car owner authorizes passes through wireless
What communication module reached vehicle netbios moves car electronic control unit (moving car ECU), and control automobile movement is set
Fixed distance.
The third object of the present invention is to provide one kind and moves driving skills art increase Parking digit based on mobile terminal
The method of amount, in the case of existing Parking position layout is indeclinable, driving skills art is moved based on mobile terminal
Parking bit quantity is set to increase by 20%；In the case of the wide dimension layout change of Parking bit length, base
Parking bit quantity is set to increase by 20% in automatic parking technology.
The fourth object of the present invention is to provide a kind of automobile for carrying and moving car electronic control unit, above-mentioned to promote
The realization of three purposes.
To reach above-mentioned first purpose, the technical proposal of the invention is realized in this way：One kind is based on movement
Terminal moves car method, it is characterised in that comprise the following steps：
Step1：Car application program is moved in operation in the mobile terminal for the person that moves car, by inputting or scanning car owner stays
Under telephone number, the 2 D code information that leaves of scanning car owner or bar code information, scanning number-plate number letter
Breath, moves car application program and results in the telephone number of car owner or obtain car owner and in-vehicle wireless communication simultaneously
The telephone number of module；
Step2：Car application program of moving in the person's mobile terminal that moves car passes through in-vehicle wireless communication module and vehicle-mounted net
Network system, to moving car electronic control unit (hereinafter referred to as：Move car ECU) propose to move car application；Or, move car
Car application program of moving in person's mobile terminal directly proposes to move car application to the mobile terminal of car owner；
Step3：Move car ECU confirm to have obtained car owner move car mandate in advance in the case of, directly to moving
Car person transmission can move the information of car；Move car ECU confirm no car owner move car mandate in advance in the case of,
The information waited to the person that moves car transmission, and transmit to car owner it has been proposed that move the information of car application, moving car ECU
Obtain car owner move car mandate in the case of, can move the information of car to the person that moves car transmission；Moving car, person is direct
To car owner propose move car application in the case of, car owner to move car ECU provide move car mandate while will also move
The telephone number of car person, which is sent to, moves car ECU, and moving car ECU, person's transmission can move the information of car to moving car；
Step4：The person that moves car obtains and moved after car mandate, moves car application program and enters and moves car operation interface, the person that moves car
By sliding the arrow on touch-screen, send to the car ECU that moves of automobile and move the direction of car and apart from instruction；
Step5：Move car ECU and automobile is started according to instruction, by obtaining and handling various onboard sensor data,
Control automobile is according to the distance for moving the setting of car direction running；
Step6：Step4 and Step5 is repeated several times, moving car, person drives to vehicle the target location do not interfered；
Step7：Move car to finish, moving car, person sends out by moving car application program to car ECU transmission instructions, closing is moved
Motivation.
Preferably, the mobile terminal of the person that moves car, the mobile terminal of the car owner and the onboard wireless are logical
Letter module is any all to enter row information exchange by private server between the two, and its step is as follows：
Step1：Car application program is moved in operation in the mobile terminal for the person that moves car, is left by directly inputting car owner
The method of telephone number, or the method by scanning 2 D code information/bar code information that car owner leaves, or
Person by be sent to after photograph private server end carry out image recognition method (or mobile terminal carry out
Image recognition), car owner and Che can directly or indirectly be obtained by moving car application program and server-side application
The telephone number of carrier radio communication module, also results in the number-plate number of vehicle；
Step2：Car application program is moved by private server in the person's mobile terminal that moves car, then passes through vehicle-mounted nothing
Line communication module and vehicle netbios, propose to move car application to car electronic control unit (moving car ECU) is moved；
Or, the car application program of moving in the person's mobile terminal that moves car passes through private server directly to the mobile end of car owner
Car application is moved in end proposition；
Step3：Move car ECU confirm obtained car owner in advance move car mandate in the case of, by special
Directly to moving car, person's transmission can move the information of car to server；Confirm moving in advance for no car owner moving car ECU
In the case of car mandate, by private server, to moving car, person transmits the information waited, and passes through service-specific
Device is transmitted it has been proposed that move the information of car application to car owner, is moving car ECU and obtain the feelings for moving car mandate of car owner
Under condition, by private server, to moving car, person's transmission can move the information of car；Moving car, person passes through service-specific
Device directly to car owner propose move car application in the case of, car owner by private server to move car ECU provide
Also the telephone number for the person that moves car is sent to while moving car mandate and moves car ECU, car ECU is moved and passes through service-specific
To moving car, person's transmission can move the information of car to device；
Step4：The person that moves car obtains and moved after car mandate, moves car application program and enters and moves car operation interface, the person that moves car
By sliding the arrow on touch-screen, send to the car ECU that moves of automobile by private server and move the direction of car
With distance instruction；
Step5：Move car ECU and automobile is started according to instruction, by obtaining and handling various onboard sensor data,
Automobile is controlled in the case where ensureing safety according to the distance for moving the setting of car direction running；
Step6：Step4 and Step5 is repeated several times, moving car, person drives to vehicle the target location do not interfered；
Step7：Car application program is moved by private server in the person's mobile terminal that moves car, then passes through vehicle-mounted nothing
Line communication module and vehicle netbios, send instruction to car electronic control unit (moving car ECU) is moved, close
Engine.
Preferably, while the person that moves car carries out moving car using mobile terminal, it can will move car process and be recorded a video simultaneously
It is sent to the mobile terminal of car owner.
Preferably, move car to finish, the person that moves car is by moving car application program or described moving car electronic control unit
(moving car ECU) sends to the mobile terminal of car owner and moves the information that car is finished.
It is a kind of that car system is moved based on mobile terminal, it is characterised in that mobile terminal, car including the person that moves car
Main mobile terminal and the in-vehicle wireless communication module being connected with vehicle netbios and move car electronic control unit
(moving car ECU), mobile terminal, the mobile terminal of the car owner and the onboard wireless of the person that moves car is logical
Letter module can arbitrarily enter row information exchange between the two, and the car electronic control unit that moves passes through vehicle-mounted net
Network system is entered row information with the in-vehicle wireless communication module and exchanged；The running of mobile terminal of the person that moves car
Move car application program be used for directly or indirectly acquisition car owner and in-vehicle wireless communication module telephone number, also can
Enough obtain the number-plate number of vehicle and carried to the mobile terminal for moving car electronic control unit or the car owner
Go out to move car application；The car application program of moving of the running of mobile terminal of the car owner is used to move car electronics control to described
Unit processed or the mobile terminal of the person that moves car, which are provided, moves car mandate；It is described to move the operation of car electronic control unit
Move car application program, for forwarding moving car mandate and receiving institute for car owner to the mobile terminal of the person that moves car
The instruction that the mobile terminal for the person that moves car is sent is stated, is completed as started automobile, the target position do not interfered is driven to
Put, the operation such as closing automobile.
Preferably, car electronic control unit (moving car ECU) and the in-vehicle wireless communication module collection are moved by described
As a vehicle module.
Preferably, car electronic control unit (moving car ECU) is moved described in being replaced with automatic parking ECU, by right
Software in automatic parking ECU is redesigned, and makes automatic parking ECU be provided simultaneously with moving car function and oneself
Dynamic function of parking.
A kind of method that driving skills art increase Parking bit quantity is moved based on mobile terminal, it is characterised in that
Comprise the following steps：
Existing Parking position layout it is indeclinable in the case of, on the runway in existing parking lot according to
Direction of traffic cooks up a number of parking stall, or in the wide dimension layout change of Parking bit length
In the case of, reduce the width on existing parking stall；
In the case where Parking condition possesses, newly cooked up being parked in the automobile for moving car electronic control unit
Parking stall on.
It is a kind of to carry the automobile for moving car electronic control unit, it is characterised in that to increase in vehicle netbios
Car electronic control unit (moving car ECU) is moved, the car electronic control unit that moves is directed or through and vehicle-mounted net
The in-vehicle wireless communication module of network system connection is believed with the mobile terminal of person that moves car and the mobile terminal of car owner
Breath is exchanged, and the car application program of moving for moving the operation of car electronic control unit is used for the movement to the person that moves car
Terminal forwarding car owner's moves car mandate and receives the instruction that the mobile terminal of the person that moves car is sent, and completion is such as
Start automobile, drive to the target location do not interfered, closing automobile etc. is operated.
Preferably, it is described to move car electronic control unit (i.e.：Move car ECU) include the microcontroller of electrical connection,
CAN controller and CAN transceiver, the mobile terminal that the microcontroller receives the person that moves car are sent
Instruction, by obtaining and handling whether various onboard sensor data decision instructions can be performed, if
It can be performed, control direction disk and dynamical system perform the instruction that the mobile terminal for the person that moves car is sent；Institute
The CAN controller and CAN transceiver stated be used for parse CAN agreement and with it is other vehicle-mounted
ECU exchanges data.
What the purpose of the present invention was just realized in.
The invention has the advantages that：(1) car system is moved based on mobile terminal, it is involved move car person's
Mobile terminal, the mobile terminal of car owner and the in-vehicle wireless communication module being connected with vehicle netbios and move car
Electronic control unit belongs to prior art, it is easy to integrates and implements.(2) driving skills art is moved based on mobile terminal
Increase the method for Parking bit quantity, in the case where not increasing any facility input, make existing parking
The parking stall increase by 20% of field.(3) for there is the driver of waiting demand to be quickly found parking
Position, if any car demand is moved, with remote authorization and can monitor implementation process.(4) parking difficulty is partly solved
The problem of, improve the operating efficiency of society.(5) mobile phone moves driving skills art and is particularly suitable for electric automobile and nobody
Driving is used, and particularly pilotless automobile possesses the technical foundation using the present invention in itself, equivalent to
Independent parking lot is established, parking stall is looked for without wasting many times.(6) energy-conservation, emission reduction are realized
With the generation for reducing haze.
Brief description of the drawings
Fig. 1 increases the planing method schematic diagram of Parking bit quantity to be of the present invention.
Fig. 2 be No. 8 car of the present invention sail out of parking stall move car method schematic diagram.
Fig. 3 be No. 3 car of the present invention sail out of parking stall move car method schematic diagram.
Fig. 4 is the system construction drawing of the present invention for moving car electronic control unit.
Fig. 5 connects for car electronic control unit and the in-vehicle wireless communication module of the present invention of moving with CAN
The principle schematic connect.
Fig. 6 for it is of the present invention move a car when mobile phone control interface schematic diagram.
Fig. 7 for it is of the present invention move three cars when mobile phone control interface schematic diagram.
Fig. 8 is that mobile phone of the present invention moves car method control flow chart.
Wherein reference, which collects, is expressed as：No. 3 car of 3-；No. 3 parking stall of 3a-；No. 8 car of 8-；
No. 8 parking stall of 8a-；No. 19 parking stall of 19a-；No. 20 parking stall of 20a-；21a- the 21st
Number parking stall；No. 22 parking stall of 22a-；No. 23 parking stall of 23a-.
Specific embodiment
The specific embodiment that the invention will now be described in detail with reference to the accompanying drawings.
Embodiment one：
It is temporary parking in many car owners of Public Parking, thing is finished drives to sail out of parking lot at once.Stopping
Parking stall is difficult that in the case of looking for, car owner can be selected to stop nearby, and telephone number is stayed onboard.When being blocked
Vehicle prepare when sailing out of parking stall, can phone and leave the car owner of phone and require to move car.In prior art
Under the conditions of, how far the car owner of this car can rush to parking stall, and the car of oneself is sailed out of into several meters, works as quilt
The vehicle blocked is sailed out of behind parking stall, and the car of oneself is moored into this parking stall.The technology of the present invention is solved
This pain spot, car owner is live without the parking stall for reaching oneself car, and anyone can use themselves
Mobile phone is realized in the case where car owner authorizes and moves car and self-service moves car.
As shown in figure 1, a kind of method that driving skills art increase Parking bit quantity is moved based on mobile terminal,
It is characterised in that it includes following steps：
Existing Parking position layout it is indeclinable in the case of, on the runway in existing parking lot according to
Direction of traffic cooks up a number of parking stall, or in the wide dimension layout change of Parking bit length
In the case of, reduce the width on existing parking stall；
In the case where Parking condition possesses, newly cooked up being parked in the automobile for moving car electronic control unit
Parking stall on.
Fig. 1 increases the planing method schematic diagram of Parking bit quantity to be of the present invention.This parking
18 parking stalls (as shown in heavy line) had been planned in field originally, can only at most stop 18 cars.According to the present invention
Method, do not increasing equipment funds input situation, add 5 again according to direction of traffic on runway
Individual parking stall (as shown by the thick dashed lines), in order to realize that mobile phone moves car, wherein No. 23 parking stall should not
Parking, car can be so moved for mobile phone provides and move car space.In fact, many parking lots are all later planning
, always having some ground spaces to be wasted can only use as invalid runway, using the side of the present invention
Method, the space that can waste this part is fully used.According to present technology trends, 2020
Year pilotless automobile travels upper road, using the method for the present invention, is ready in advance for pilotless automobile
Parking stall.
As shown in figure 4, being the system construction drawing of the present invention for moving car electronic control unit.It is described to move car
Electronic control unit is (i.e.：Move car ECU) include the microcontroller of electrical connection, CAN controller and CAN
Bus transceiver, the microcontroller receives the instruction that the mobile terminal for the person that moves car is sent, by obtaining and
Handle whether various onboard sensor data decision instructions can be performed, if can be performed, controlling party
The instruction that the mobile terminal for the person that moves car is sent is performed to disk and dynamical system；Described CAN controller
It is used to parse the agreement of CAN with CAN transceiver and exchanges data with other vehicle-mounted ECUs.
Different according to the chip of selection, some chip manufacturers are by described microcontroller and CAN controller
It is integrated on one chip, reselection CAN transceiver is only needed in actual design and design circuit and
Circuit board.
As shown in figure 5, moving car electronic control unit and in-vehicle wireless communication module and CAN to be of the present invention
The principle schematic of bus connection.These belong to prior art.
The in-vehicle wireless communication module, is to interconnect the module that automobile, intelligent automobile must be used, existing
The module is provided in many chip manufacturers and communication apparatus manufacture commercial city, such as Huawei Company make use of this
Company provides ME909T in-vehicle wireless communication modules in the technical advantage of communication field for motor-dom, uses
The communication module, automaker, which can simplify, to be designed and shortens the time for introducing intelligent interconnection automobile to the market.
Other manufacturers are also proposed similar chip solution.
Want to realize that a kind of of the present invention moves car method, it is necessary to which having automobile utilizes shifting based on mobile terminal
Dynamic terminal moves the function of car, and the existing automobile with automatic parking function is only needed to by automatic parking ECU
In software redesigned, so that it may so that automatic parking ECU is provided simultaneously with moving car function and automatic parking
Function, the pilotless automobile occurred in the future necessarily there is mobile phone to move car function.And for other existing vapour
Car is, it is necessary on the basis of drive-by-wire chassis, line traffic control engine, line traffic control speed changer and steering-by-wire module, increase
Extra bus carrier radio communication module and move car electronic control unit.
It is a kind of to carry the automobile for moving car electronic control unit, it is characterised in that to increase in vehicle netbios
Car electronic control unit (moving car ECU) is moved, the car electronic control unit that moves is directed or through and vehicle-mounted net
The in-vehicle wireless communication module of network system connection is believed with the mobile terminal of person that moves car and the mobile terminal of car owner
Breath is exchanged, and the car application program of moving for moving the operation of car electronic control unit is used for the movement to the person that moves car
Terminal forwarding car owner's moves car mandate and receives the instruction that the mobile terminal of the person that moves car is sent, and completion is such as
Start automobile, drive to the target location do not interfered, closing automobile etc. is operated.
Described mobile terminal, at least including smart mobile phone and tablet personal computer.
As shown in Fig. 2 moving car method schematic diagram for what No. 8 car of the present invention sailed out of parking stall.8th
Number car car owner is reached behind the parking stall of oneself, it is found that a car has been stopped on No. 22 parking stall, then take out oneself
Mobile phone obtain in the case that the car owner moves car mandate start mobile phone move car.Mobile phone moves car method control flow
Figure is as shown in figure 8, specific to move car method as follows：
Step1：Car application program is moved in operation in the mobile terminal for the person that moves car, by scanning the two dimension that car owner leaves
Code information, moves car application program while obtaining the telephone number of car owner and in-vehicle wireless communication module；
Step2：Car application program of moving in the person's mobile terminal that moves car passes through in-vehicle wireless communication module and vehicle-mounted net
Network system, car application is moved to moving car electronic control unit and proposing；
Step3：Move car ECU confirm obtained car owner in advance move car mandate in the case of, directly to
Moving car, person's transmission can move the information of car；
Step4：Moving car, person's acquisition is moved after car mandate, is moved the entrance of car application program and is moved car operation interface (such as Fig. 6
It is shown), the person that moves car by sliding the arrow on touch-screen, to automobile move car ECU send move car direction and
Distance instruction；The direction is to allow the garage to sail to No. 23 parking stall；The distance is set in advance every
Slide and once travel one meter；
Step5：Move car ECU and automobile is started according to instruction, by obtaining and handling various onboard sensor data,
Control automobile is according to the distance for moving the setting of car direction running；Described onboard sensor data at least include front and rear
This car that left and right trailer-mounted radar is measured moves car apart from the distance of all around vehicle or barrier described
In the case that electronic control unit judges safety, move forward one meter.
Step6：Step4 and Step5 is repeated several times, moving car, person drives to vehicle the target location do not interfered,
Namely No. 23 parking stall；
Step7：Move car to finish, moving car, person sends out by moving car application program to car ECU transmission instructions, closing is moved
Motivation.
After car is moved away, No. 8 car car owner can just drive to sail out of No. 8 parking stall.
It can realize that mobile phone moves car, it is necessary to which a system is supported：
It is a kind of that car system is moved based on mobile terminal, it is characterised in that mobile terminal, car including the person that moves car
Main mobile terminal and the in-vehicle wireless communication module being connected with vehicle netbios and move car electronic control unit
(moving car ECU), mobile terminal, the mobile terminal of the car owner and the onboard wireless of the person that moves car is logical
Letter module can arbitrarily enter row information exchange between the two, and the car electronic control unit that moves passes through vehicle-mounted net
Network system is entered row information with the in-vehicle wireless communication module and exchanged；The running of mobile terminal of the person that moves car
Move car application program be used for directly or indirectly acquisition car owner and in-vehicle wireless communication module telephone number, also can
Enough obtain the number-plate number of vehicle and carried to the mobile terminal for moving car electronic control unit or the car owner
Go out to move car application；The car application program of moving of the running of mobile terminal of the car owner is used to move car electronics control to described
Unit processed or the mobile terminal of the person that moves car, which are provided, moves car mandate；It is described to move the operation of car electronic control unit
Move car application program, for forwarding moving car mandate and receiving institute for car owner to the mobile terminal of the person that moves car
The instruction that the mobile terminal for the person that moves car is sent is stated, is completed as started automobile, the target position do not interfered is driven to
Put, the operation such as closing automobile.
Mobile terminal, the mobile terminal of the car owner and the in-vehicle wireless communication module of the person that moves car is appointed
Meaning can enter row information exchange between the two, and acquiescence is to use 3G, 4G mobile communication, in this kind communication
Under mode, acquiescently using the server of mobile operator, when carrying out described moving car by the way of short message
The mobile terminal of person, the mobile terminal of the car owner and the in-vehicle wireless communication module are any between the two all
When entering row information exchange, communication cost is higher.If the process that mobile phone is moved into car is imaged and is transferred to car
It is main, then communication cost is higher and Consumer's Experience of car owner is very bad.
Embodiment two：
It is a kind of in embodiment, when mobile terminal, the mobile terminal of the car owner and the car of the person that moves car
The information that carrier radio communication module is arbitrarily carried out between the two is exchanged, and acquiescence uses 3G, 4G mobile communication, is write from memory
Recognize using mobile operator server, communication cost is higher and Consumer's Experience of car owner is very bad.
Solution is to use private server, can so be communicated, greatly reduced by the way of flow
Use cost, and can will move car process and recorded a video and be also stored in server while car owner is transferred to
End a period of time, it is used as the voucher of the person that moves car and car owner.The method for exchanging information using private server is as follows：
It is a kind of that car method is moved based on mobile terminal, it is characterised in that the mobile terminal of the person that moves car, institute
The mobile terminal and the in-vehicle wireless communication module for stating car owner are arbitrarily all entered by private server between the two
Row information is exchanged, and its step is as follows：
Step1：Car application program is moved in operation in the mobile terminal for the person that moves car, is left by directly inputting car owner
The method of telephone number, or the method by scanning 2 D code information/bar code information that car owner leaves, or
Person by be sent to after photograph private server end carry out image recognition method (or mobile terminal carry out
Image recognition), car owner and Che can directly or indirectly be obtained by moving car application program and server-side application
The telephone number of carrier radio communication module, also results in the number-plate number of vehicle；
Step2：Car application program is moved by private server in the person's mobile terminal that moves car, then passes through vehicle-mounted nothing
Line communication module and vehicle netbios, propose to move car application to car electronic control unit (moving car ECU) is moved；
Or, the car application program of moving in the person's mobile terminal that moves car passes through private server directly to the mobile end of car owner
Car application is moved in end proposition；
Step3：Move car ECU confirm obtained car owner in advance move car mandate in the case of, by special
Directly to moving car, person's transmission can move the information of car to server；Confirm moving in advance for no car owner moving car ECU
In the case of car mandate, by private server, to moving car, person transmits the information waited, and passes through service-specific
Device is transmitted it has been proposed that move the information of car application to car owner, is moving car ECU and obtain the feelings for moving car mandate of car owner
Under condition, by private server, to moving car, person's transmission can move the information of car；Moving car, person passes through service-specific
Device directly to car owner propose move car application in the case of, car owner by private server to move car ECU provide
Also the telephone number for the person that moves car is sent to while moving car mandate and moves car ECU, car ECU is moved and passes through service-specific
To moving car, person's transmission can move the information of car to device；
Step4：The person that moves car obtains and moved after car mandate, moves car application program and enters and moves car operation interface, the person that moves car
By sliding the arrow on touch-screen, send to the car ECU that moves of automobile by private server and move the direction of car
With distance instruction；
Step5：Move car ECU and automobile is started according to instruction, by obtaining and handling various onboard sensor data,
Automobile is controlled in the case where ensureing safety according to the distance for moving the setting of car direction running；
Step6：Step4 and Step5 is repeated several times, moving car, person drives to vehicle the target location do not interfered；
Step7：Car application program is moved by private server in the person's mobile terminal that moves car, then passes through vehicle-mounted nothing
Line communication module and vehicle netbios, send instruction to car electronic control unit (moving car ECU) is moved, close
Engine.
As shown in figure 3, when No. 3 parking stall car owner needs to move out in the car on No. 20 parking stall, it is necessary to
Three cars on No. 20 parking stall, No. 21 parking stall, No. 22 parking stall are all moved out, it is of the invention
System can move many cars together car, mobile phone moves car interface as shown in fig. 7, No. 22 parking stall (1#),
Car on No. 21 parking stall (2#) all obtains the advance of car owner and moves car mandate, so display can be direct
Car is moved, but the car on No. 20 parking stall (3#) is waiting the mobile phone of car owner to move car mandate.When the 20th
Car on number parking stall (3#) also obtains the moving after car mandate of car owner, and No. 3 parking stall car owner can just move
Che Liao, process is as follows：
Step1：Car application program is moved in operation in the mobile terminal for the person that moves car, by scanning the two dimension that car owner leaves
Code information, obtains the telephone number of car owner and in-vehicle wireless communication module, also results in the license plate number of vehicle
The information such as code；Continuous to scan three times, mobile phone operation interface is as shown in Figure 7.
Step2：Car application program is moved by private server in the person's mobile terminal that moves car, then passes through vehicle-mounted nothing
Line communication module and vehicle netbios, propose to move car application to car electronic control unit (moving car ECU) is moved；
Step3：Move car ECU confirm obtained car owner in advance move car mandate in the case of, by special
Directly to moving car, person's transmission can move the information of car to server；Confirm moving in advance for no car owner moving car ECU
In the case of car mandate, by private server, to moving car, person transmits the information waited, and passes through service-specific
Device is transmitted it has been proposed that move the information of car application to car owner, is moving car ECU and obtain the feelings for moving car mandate of car owner
Under condition, by private server, to moving car, person's transmission can move the information of car；
Step4：Moving car, person's acquisition is moved after car mandate, is moved the entrance of car application program and is moved car operation interface (such as Fig. 7
It is shown), the person that moves car moves car ECU hairs by private server by sliding the arrow on touch-screen to automobile
Go out to move the direction of car and apart from instruction；(at this moment three cars all obtain same instruction, it is assumed that parking ordinance will
Ask three car headstock parking directions consistent.)
Step5：Move car ECU and automobile is started according to instruction, by obtaining and handling various onboard sensor data,
Automobile is controlled in the case where ensureing safety according to the distance for moving the setting of car direction running；No. 22 parking stall
(1#), which gets on the bus, to get ahead, and is walked after No. 21 parking stall (2#), and what is finally walked is No. 20 parking stall (3#)
On car, each car is all to detect just to perform the instruction that the person that moves car sends in the case of safety.
Step6：Step4 and Step5 is repeated several times, moving car, person drives to vehicle the target location do not interfered；
Namely No. 23 parking stall
Step7：Car application program is moved by private server in the person's mobile terminal that moves car, then passes through vehicle-mounted nothing
Line communication module and vehicle netbios, send instruction to car electronic control unit (moving car ECU) is moved, close
Engine.
During No. 3 parking stall car owner moves car, its mobile phone will move car process and be recorded a video in biography simultaneously
Server end is also stored in while being defeated by car owner for a period of time, is used as the voucher of the person that moves car and car owner.
In the present embodiment, because employing private server, person is communicated car owner using flow with moving car,
Cost of use is greatly reduced, and video can be transmitted, server end can be stored in, car owner and car is moved
The Consumer's Experience of person can be fine.
Embodiment three：
The present embodiment is related to the security settings that mobile phone moves car.
Various onboard sensors are installed, such as 32 line laser radars, 4 line laser radars on the car of prior art
Millimetre-wave radar, ultrasonic radar, camera, global position system etc..Each ECU of vehicle netbios
According to the various onboard sensor data, vehicle is controlled.The present invention mobile phone move car method and
In system, after the person that moves car, which obtains, moves car mandate, move car application program and enter and move car operation interface, the person that moves car
By sliding the arrow on touch-screen, send to the car ECU that moves of automobile by private server and move the direction of car
With distance instruction；Move car ECU and automobile is started according to instruction, by obtaining and handling various onboard sensor numbers
According in the case where ensureing safety, control automobile is according to the distance for moving the setting of car direction running.Above-mentioned is this hair
Some security settings of bright method, these security settings ensure that being moved vehicle does not thrust into and thing, to the person that moves car
It is also safe.These also comply with the law of robot three, in fact, intelligent vehicle is exactly a kind of robot.
Other security settings：
1st, with the automobile for moving car electronic control unit, it can only be moved out tens meters, such as can only be by mobile 20
Rice, will not be moved out of parking lot.
2nd, during the person's mobile phone that moves car moves car, car owner can be by video monitoring, if at night
Car owner is not desired to see, the vehicle of oneself can be carried out moving car mandate in advance, move car video and be stored in server
End, it is necessary to when can see at any time.
3rd, mobile phone system of real name, who is to look for quickly by relevant departments moving the car of oneself, car owner
Arrive.
4th, move car to finish, moving car, person (moves car by moving car application program or the car electronic control unit that moves
ECU) sent to the mobile terminal of car owner and move the information that car is finished, it is also last comprising this car in these information
Satellite positioning information.
5th, mobile phone move car need training, can as driving school a test subject.
Example IV：
The quantity of the present embodiment increase Parking position.As shown in figure 1, not increasing according to the method
In the case of equipment investment, 20% parking stall is increased about.
According to relevant criterion, the width and length on parking stall are required, and basic demand is to stop,
Can conveniently it stop, car owner can get off and walk out.After automatic parking, car owner is need not be under parking stall
Car and mule carriage are gone, this be parking stall it is very wide be exactly to waste.The existing general width in parking stall is 2400 millimeters,
Length is 4900 millimeters, and 100 millimeters of setting-out width is not counted.
A kind of method that driving skills art increase Parking bit quantity is moved based on mobile terminal, it is characterised in that
Comprise the following steps：
Existing Parking position layout it is indeclinable in the case of, on the runway in existing parking lot according to
Direction of traffic cooks up a number of parking stall, or in the wide dimension layout change of Parking bit length
In the case of, reduce the width on existing parking stall；
In the case where Parking condition possesses, newly cooked up being parked in the automobile for moving car electronic control unit
Parking stall on.
In the case of the change of Parking bit length wide dimension layout, the width for reducing existing parking stall can be with
Increase the quantity on parking stall.2400 millimeters of above-mentioned parking bit width, can save out 300 millimeters, existing
10 parking stalls can save out 3000 mm in width, can at most cook up 1.5 parking stalls.Institute
So that existing parking lot can at most be increased to 35% parking stall in the method for the present invention.
Claims (11)
1. a kind of move car method based on mobile terminal, it is characterised in that comprises the following steps：
Step1：Car application program is moved in operation in the mobile terminal for the person that moves car, by inputting or scanning car owner stays
Under telephone number, the 2 D code information that leaves of scanning car owner or bar code information, scanning number-plate number letter
Breath, moves car application program and results in the telephone number of car owner or obtain car owner and in-vehicle wireless communication simultaneously
The telephone number of module；
Step2：Car application program of moving in the person's mobile terminal that moves car passes through in-vehicle wireless communication module and vehicle-mounted net
Network system, to moving car electronic control unit (hereinafter referred to as：Move car ECU) propose to move car application；Or, move car
Car application program of moving in person's mobile terminal directly proposes to move car application to the mobile terminal of car owner；
Step3：Move car ECU confirm to have obtained car owner move car mandate in advance in the case of, directly to moving
Car person transmission can move the information of car；Move car ECU confirm no car owner move car mandate in advance in the case of,
The information waited to the person that moves car transmission, and transmit to car owner it has been proposed that move the information of car application, moving car ECU
Obtain car owner move car mandate in the case of, can move the information of car to the person that moves car transmission；Moving car, person is direct
To car owner propose move car application in the case of, car owner to move car ECU provide move car mandate while will also move
The telephone number of car person, which is sent to, moves car ECU, and moving car ECU, person's transmission can move the information of car to moving car；
Step4：The person that moves car obtains and moved after car mandate, moves car application program and enters and moves car operation interface, the person that moves car
By sliding the arrow on touch-screen, send to the car ECU that moves of automobile and move the direction of car and apart from instruction；
Step5：Move car ECU and automobile is started according to instruction, by obtaining and handling various onboard sensor data,
Control automobile is according to the distance for moving the setting of car direction running；
Step6：Step4 and Step5 is repeated several times, moving car, person drives to vehicle the target location do not interfered；
Step7：Move car to finish, moving car, person sends out by moving car application program to car ECU transmission instructions, closing is moved
Motivation.
2. car method is moved based on mobile terminal according to described in claim 1, it is characterised in that described to move
The mobile terminal of car person, the mobile terminal of the car owner and the in-vehicle wireless communication module are any between the two
All enter row information by private server to exchange, its step is as follows：
Step1：Car application program is moved in operation in the mobile terminal for the person that moves car, is left by directly inputting car owner
The method of telephone number, or the method by scanning 2 D code information/bar code information that car owner leaves, or
Person by be sent to after photograph private server end carry out image recognition method (or mobile terminal carry out
Image recognition), car owner and Che can directly or indirectly be obtained by moving car application program and server-side application
The telephone number of carrier radio communication module, also results in the number-plate number of vehicle；
Step2：Car application program is moved by private server in the person's mobile terminal that moves car, then passes through vehicle-mounted nothing
Line communication module and vehicle netbios, propose to move car application to car electronic control unit (moving car ECU) is moved；
Or, the car application program of moving in the person's mobile terminal that moves car passes through private server directly to the mobile end of car owner
Car application is moved in end proposition；
Step3：Move car ECU confirm obtained car owner in advance move car mandate in the case of, by special
Directly to moving car, person's transmission can move the information of car to server；Confirm moving in advance for no car owner moving car ECU
In the case of car mandate, by private server, to moving car, person transmits the information waited, and passes through service-specific
Device is transmitted it has been proposed that move the information of car application to car owner, is moving car ECU and obtain the feelings for moving car mandate of car owner
Under condition, by private server, to moving car, person's transmission can move the information of car；Moving car, person passes through service-specific
Device directly to car owner propose move car application in the case of, car owner by private server to move car ECU provide
Also the telephone number for the person that moves car is sent to while moving car mandate and moves car ECU, car ECU is moved and passes through service-specific
To moving car, person's transmission can move the information of car to device；
Step4：The person that moves car obtains and moved after car mandate, moves car application program and enters and moves car operation interface, the person that moves car
By sliding the arrow on touch-screen, send to the car ECU that moves of automobile by private server and move the direction of car
With distance instruction；
Step5：Move car ECU and automobile is started according to instruction, by obtaining and handling various onboard sensor data,
Automobile is controlled in the case where ensureing safety according to the distance for moving the setting of car direction running；
Step6：Step4 and Step5 is repeated several times, moving car, person drives to vehicle the target location do not interfered；
Step7：Car application program is moved by private server in the person's mobile terminal that moves car, then passes through vehicle-mounted nothing
Line communication module and vehicle netbios, send instruction to car electronic control unit (moving car ECU) is moved, close
Engine.
3. car method is moved based on mobile terminal according to described in claim 1 or 2, it is characterised in that move
While car person carries out moving car using mobile terminal, the shifting that car process is recorded a video and is sent to car owner can will be moved
Dynamic terminal.
4. car method is moved based on mobile terminal according to described in claim 1 or 2, it is characterised in that move
Car is finished, and the person that moves car is by moving car application program or the car electronic control unit (moving car ECU) that moves to car
Main mobile terminal sends and moves the information that car is finished.
5. car method is moved based on mobile terminal according to described in claim 3, it is characterised in that move car complete
Finish, the person that moves car is by moving car application program or the car electronic control unit (moving car ECU) that moves to car owner's
Mobile terminal sends and moves the information that car is finished.
6. a kind of move car system based on mobile terminal, it is characterised in that the mobile terminal including the person that moves car,
The mobile terminal of car owner and the in-vehicle wireless communication module being connected with vehicle netbios and move car Electronic Control list
First (moving car ECU), mobile terminal, the mobile terminal of the car owner and the onboard wireless of the person that moves car
Communication module can arbitrarily enter between the two row information exchange, it is described move car electronic control unit pass through it is vehicle-mounted
Network system is entered row information with the in-vehicle wireless communication module and exchanged；The running of mobile terminal of the person that moves car
Move car application program be used for directly or indirectly acquisition car owner and in-vehicle wireless communication module telephone number,
Result in the number-plate number of vehicle and to the mobile terminal for moving car electronic control unit or the car owner
Car application is moved in proposition；The car application program of moving of the running of mobile terminal of the car owner is used to move car electronics to described
The mobile terminal of control unit or the person that moves car provide and move car mandate；It is described to move car electronic control unit fortune
Capable moves car application program, for forwarding moving car mandate and receiving for car owner to the mobile terminal of the person that moves car
The instruction that the mobile terminal of the person that moves car is sent, completes, as started automobile, to drive to the target do not interfered
Position, the operation such as closing automobile.
7. car system is moved based on mobile terminal according to described in claim 6, it is characterised in that will be described
Move car electronic control unit (moving car ECU) and the in-vehicle wireless communication module is integrated into a vehicle module.
8. car system is moved based on mobile terminal according to described in claim 6, it is characterised in that with automatically
The ECU that parks moves car electronic control unit (moving car ECU) described in replacing, by soft in automatic parking ECU
Part is redesigned, and makes automatic parking ECU be provided simultaneously with moving car function and automatic parking function.
9. a kind of method that driving skills art increase Parking bit quantity is moved based on mobile terminal, it is characterised in that
Comprise the following steps：
Existing Parking position layout it is indeclinable in the case of, on the runway in existing parking lot according to
Direction of traffic cooks up a number of parking stall, or in the wide dimension layout change of Parking bit length
In the case of, reduce the width on existing parking stall；
In the case where Parking condition possesses, newly cooked up being parked in the automobile for moving car electronic control unit
Parking stall on.
10. it is a kind of with the automobile for moving car electronic control unit, it is characterised in that in vehicle netbios
Car electronic control unit (moving car ECU) is moved in increase, and the car electronic control unit that moves is directed or through and car
The in-vehicle wireless communication module and the mobile terminal of person that moves car and the mobile terminal of car owner for carrying network system connection are entered
Row information exchange, it is described move car electronic control unit operation move car application program be used for it is described move car person's
Mobile terminal forwarding car owner's moves car mandate and instruction that the mobile terminal of the person that moves car described in receiving is sent, complete
Into automobile is such as started, the target location do not interfered is driven to, closing automobile etc. is operated.
11. the automobile of car electronic control unit is moved according to carrying described in claim 10, it is characterised in that
It is described to move car electronic control unit (i.e.：Move car ECU) include the microcontroller of electrical connection, CAN control
Device and CAN transceiver, the microcontroller receive the instruction that the mobile terminal for the person that moves car is sent, and lead to
Cross and obtain and handle whether various onboard sensor data decision instructions can be performed, if can be performed,
Control direction disk and dynamical system perform the instruction that the mobile terminal for the person that moves car is sent；Described CAN
Controller and CAN transceiver are used to parse the agreement of CAN and exchange data with other vehicle-mounted ECUs.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610038581.7A CN106965757A (en) | 2016-01-13 | 2016-01-13 | The method for moving car method, system and increase parking stall quantity based on mobile terminal |
| PCT/CN2017/071082 WO2017121377A1 (en) | 2016-01-13 | 2017-01-13 | Vehicle moving method, system, electronic device, vehicle, and parking lot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610038581.7A CN106965757A (en) | 2016-01-13 | 2016-01-13 | The method for moving car method, system and increase parking stall quantity based on mobile terminal |
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| CN106965757A true CN106965757A (en) | 2017-07-21 |
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| CN201610038581.7A Pending CN106965757A (en) | 2016-01-13 | 2016-01-13 | The method for moving car method, system and increase parking stall quantity based on mobile terminal |
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| CN113408320A (en) * | 2020-03-16 | 2021-09-17 | 上海博泰悦臻网络技术服务有限公司 | Method, electronic device, and computer storage medium for vehicle collision avoidance |
| CN111601001A (en) * | 2020-05-20 | 2020-08-28 | 重庆蓝岸通讯技术有限公司 | Telephone number storage method, call equipment and call system |
| CN111688698B (en) * | 2020-06-19 | 2021-05-25 | 山东交通学院 | Vehicle moving method and system of intelligent vehicle |
| CN111688698A (en) * | 2020-06-19 | 2020-09-22 | 山东交通学院 | Vehicle moving method and system of intelligent vehicle |
| CN112053587A (en) * | 2020-09-11 | 2020-12-08 | 吉林大学 | Automatic yield method based on automatic driving vehicle, storage medium and system |
| CN112053587B (en) * | 2020-09-11 | 2021-09-14 | 吉林大学 | Automatic yield method based on automatic driving vehicle, storage medium and system |
| WO2023236471A1 (en) * | 2022-06-10 | 2023-12-14 | 锐凌无线有限责任公司 | Method, system and apparatus for moving vehicle, and device and storage medium |
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