CN108490949A

CN108490949A - A kind of method and apparatus for controlling AVP vehicles in parking lot

Info

Publication number: CN108490949A
Application number: CN201810362511.6A
Authority: CN
Inventors: 鲜余强; 张玉新
Original assignee: Uisee Shanghai Automotive Technologies Ltd
Current assignee: Uisee Shanghai Automotive Technologies Ltd
Priority date: 2018-04-20
Filing date: 2018-04-20
Publication date: 2018-09-04
Anticipated expiration: 2038-04-20
Also published as: CN108490949B

Abstract

The purpose of the application is to provide a kind of method, equipment and system for controlling AVP vehicles in parking lot.Compared with prior art, the application works in coordination by using remote equipment end and AVP vehicle ends, pass through monitoring system and remote assistance means, the vehicle-state of the self-help parking in parking lot can be monitored in real time, such as the modes such as exception/warning message, real-time video analysis and artificial monitoring are reported to find the modes such as potential danger by being equipped with the vehicle itself of AVP vehicle ends, remote assistance in time is carried out to the vehicle, to realize the autonomous parking of high efficient and reliable, and it can realize volume production.

Description

A kind of method and apparatus for controlling AVP vehicles in parking lot

Technical field

This application involves intelligent driving fields, more particularly to one kind is for controlling AVP vehicle technologies in parking lot.

Background technology

Automated parking system is that one kind finding suitable parking position by detecting vehicle ambient condition information, to control The turning velocity of vehicle so that the system that vehicle can independently drive into parking position.But automated parking system needs driver will Beside vehicle drive to parking position, can just it work on.

With the continuous evolution of technology, autonomous valet parking (AVP, Automated Valet Parking) is come into being. AVP only needs driver by vehicle parking outside parking lot, and vehicle can be travelled automatically into parking lot, finds parking stall, and Avoidance can be carried out if necessary, finally stopped into suitable parking position.

The reliability of current autonomous valet parking (AVP) system is not high, and key sensor is susceptible to missing inspection and flase drop Etc. situations, cause the usage experience of AVP significantly to decline, can not even realize business promotion application in practice.Therefore, existing Have and lack a kind of reliability that can improve automatic parking in technology, and the AVP control method for vehicle of application easy to spread.

Invention content

The purpose of the application is to provide a kind of method, equipment and system for controlling AVP vehicles in parking lot.

According to the one side of the application, provide it is a kind of at remote equipment end for controlling AVP vehicles in parking lot Method, wherein this method includes：

The AVP vehicles of remote assistance are needed in the parking lot that identification remote equipment is monitored；

It generates and the remote assistance request about the AVP vehicles is presented；

The remote operation of the AVP vehicles is generated about the AVP vehicles by the remote equipment according to remote user Remote assistance instruction；

Remote assistance instruction is sent to the AVP vehicles.

According to further aspect of the application, provide it is a kind of in AVP vehicle ends for controlling AVP vehicles in parking lot Method, wherein this method includes：

Receive the remote assistance instruction transmitted by remote equipment, wherein the remote equipment is for monitoring the parking lot；

The remote assistance instruction is executed to the AVP vehicles.

According to the another aspect of the application, one kind is provided at remote equipment end for controlling AVP vehicles in parking lot Method, wherein the remote equipment include perception unit and control unit, this method include：

The perception unit identifies the AVP vehicles that remote assistance is needed in the parking lot that the remote equipment is monitored, and It is sent to described control unit and waits for remote assistance information about the AVP vehicles；

Described control unit waits for that remote assistance information generates and the remote assistance about the AVP vehicles is presented according to Request；

Described control unit is according to remote user by the remote equipment to the remote operation of the AVP vehicles, generation Remote assistance about the AVP vehicles instructs；

Remote assistance instruction is sent to the AVP vehicles by described control unit.

According to a further aspect of the invention, a kind of remote equipment for controlling AVP vehicles in parking lot is provided, In, the remote equipment includes：

Identification device needs the AVP vehicles of remote assistance in the parking lot that remote equipment is monitored for identification；

Request generating device, for generating and presenting the remote assistance request about the AVP vehicles；

First command generating device is used for according to remote user through the remote equipment to the long-range of the AVP vehicles Operation is generated and is instructed about the remote assistance of the AVP vehicles；

First sending device, for remote assistance instruction to be sent to the AVP vehicles.

According to another aspect of the present invention, a kind of AVP vehicles for controlling AVP vehicles in parking lot are provided to set It is standby, wherein the AVP vehicle arrangements include：

First receiving device, for receiving the remote assistance instruction transmitted by remote equipment, wherein the remote equipment is used In the monitoring parking lot；

Executive device is instructed for executing the remote assistance to the AVP vehicles.

According to another aspect of the present invention, a kind of remote equipment for controlling AVP vehicles in parking lot is provided, In, the remote equipment includes perceiving unit and control unit,

The perception unit needs the AVP vehicles of remote assistance in the parking lot that the remote equipment is monitored for identification , and sent to described control unit and wait for remote assistance information about the AVP vehicles；

Described control unit, for waiting for that remote assistance information is generated and presented about the remote of the AVP vehicles according to Journey assists request；The remote operation of the AVP vehicles is generated about described by the remote equipment according to remote user The remote assistance of AVP vehicles instructs；Remote assistance instruction is sent to the AVP vehicles.

According to another aspect of the present invention, a kind of system for controlling AVP vehicles in parking lot is provided, wherein The system comprises remote equipment and AVP vehicle arrangements；

Wherein, the remote equipment includes：

First sending device, for remote assistance instruction to be sent to the AVP vehicles；

Wherein, the AVP vehicle arrangements include：

Wherein, the remote equipment includes perceiving unit and control unit,

Described control unit, for waiting for that remote assistance information is generated and presented about the remote of the AVP vehicles according to Journey assists request；The remote operation of the AVP vehicles is generated about described by the remote equipment according to remote user The remote assistance of AVP vehicles instructs；Remote assistance instruction is sent to the AVP vehicles；

Wherein, the AVP vehicle arrangements include：

According to another aspect of the present invention, a kind of remote equipment for controlling AVP vehicles in parking lot, packet are provided It includes：

One or more processors；

Memory；And

One or more programs wherein one or more of programs are stored in the memory, and are configured It is executed at by one or more of processors, described program includes for performing the following operations：

Remote assistance instruction is sent to the AVP vehicles.

According to another aspect of the present invention, a kind of computer readable storage medium is provided, computer is stored thereon with Program, the computer program can be executed by processor following operation：

Remote assistance instruction is sent to the AVP vehicles.

According to another aspect of the present invention, a kind of remote equipment for controlling AVP vehicles in parking lot is provided, In, the remote equipment includes perception unit and control unit, the remote equipment further include：

One or more processors；

Memory；And

The AVP vehicles of remote assistance are needed in the parking lot that perception unit identification remote equipment is monitored, and single to control Member is sent waits for remote assistance information about the AVP vehicles, wherein it is perception unit and control that the remote equipment, which includes described, Unit processed；

According to another aspect of the present invention, a kind of AVP vehicles for controlling AVP vehicles in parking lot are provided to set It is standby, including：

One or more processors；

Memory；And

The remote assistance instruction is executed to the AVP vehicles.

Compared with prior art, the application works in coordination by using remote equipment end and AVP vehicle ends, is by monitoring System and remote assistance means, can monitor the vehicle-state of the self-help parking in parking lot in real time, such as by being equipped with AVP vehicles The vehicle itself at end reports exception/warning message, real-time video analysis and the modes such as artificial monitoring to find potential danger etc. Mode in time carries out remote assistance to the vehicle, to realize the autonomous parking of high efficient and reliable, and can realize volume production.

Description of the drawings

By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other Feature, objects and advantages will become more apparent upon：

Fig. 1 shows a kind of remote equipment being equipped with AVP vehicles in control parking lot according to the application one embodiment The parking lot schematic diagram of a scenario of end and AVP vehicle ends；

Fig. 2 shows a kind of remote equipment knots for controlling AVP vehicles in parking lot according to the application one embodiment Composition；

Fig. 3 shows a kind of AVP vehicle arrangements for controlling AVP vehicles in parking lot according to the application one embodiment Structure chart；

Fig. 4 shows a kind of remote equipment knot for controlling AVP vehicles in parking lot according to the application one embodiment Composition；

Fig. 5 shows to be used to control AVP vehicles in parking lot at remote equipment end according to a kind of of the application one embodiment Method flow diagram；

Fig. 6 show according to the application another embodiment it is a kind of in AVP vehicle ends for controlling AVP vehicles in parking lot Method flow diagram；

Fig. 7 show according to the application another embodiment it is a kind of at remote equipment end for controlling AVP vehicles in parking lot Method flow diagram；

Fig. 8 shows the exemplary system that can be used for implementing each embodiment described herein.

Same or analogous reference numeral represents same or analogous component in attached drawing.

Specific implementation mode

The application is described in further detail below in conjunction with the accompanying drawings.

In a typical configuration of this application, terminal, the equipment of service network and trusted party include one or more Processor (CPU), input/output interface, network interface and memory.

Memory may include computer-readable medium in volatile memory, random access memory (RAM) and/or The forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable medium Example.

Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method Or technology realizes information storage.Information can be computer-readable instruction, data structure, the module of program or other data. The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moves State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM), Digital versatile disc (DVD) or other optical storages, magnetic tape cassette, magnetic tape disk storage or other magnetic storage apparatus or Any other non-transmission medium can be used for storage and can be accessed by a computing device information.

The application meaning equipment includes but not limited to that user equipment, the network equipment or user equipment and the network equipment pass through Network is integrated constituted equipment.The user equipment, which includes but not limited to any type, to carry out human-computer interaction with user The mobile electronic product, such as smart mobile phone, tablet computer etc. of (such as human-computer interaction is carried out by touch tablet), the mobile electricity Arbitrary operating system, such as android operating systems, iOS operating systems may be used in sub- product.Wherein, the network equipment Including a kind of the electronic equipment of numerical computations and information processing can be carried out automatically according to the instruction for being previously set or storing, Hardware includes but not limited to microprocessor, application-specific integrated circuit (ASIC), programmable logic device (PLD), field programmable gate Array (FPGA), digital signal processor (DSP), embedded device etc..The network equipment includes but not limited to computer, net The cloud that network host, single network server, multiple network server collection or multiple servers are constituted；Here, cloud is by being based on cloud meter The a large amount of computers or network server for calculating (Cloud Computing) are constituted, wherein cloud computing is the one of Distributed Calculation Kind, a virtual supercomputer being made of the computer collection of a group loose couplings.The network includes but not limited to interconnect Net, wide area network, Metropolitan Area Network (MAN), LAN, VPN network, wireless self-organization network (Ad Hoc networks) etc..Preferably, the equipment Can also be run on the user equipment, the network equipment or user equipment and the network equipment, the network equipment, touch terminal or The network equipment is integrated the program in constituted equipment by network with touch terminal.

Certainly, those skilled in the art will be understood that above equipment is only for example, other are existing or are likely to occur from now on Equipment be such as applicable to the application, should also be included within the application protection domain, and be incorporated herein by reference herein.

In the description of the present application, the meaning of " plurality " is two or more, unless otherwise specifically defined.

Fig. 1 shows a kind of remote equipment being equipped with AVP vehicles in control parking lot according to the application one embodiment The parking lot schematic diagram of a scenario of end and AVP vehicle ends.

In the parking lot scene, vehicle 1 is the vehicle for being equipped with AVP vehicle ends, and remote equipment is deployed in monitoring room 2 End；The remote equipment end can obtain the docking process of each parking stall from the camera unit 3 for covering entire parking lot；AVP vehicles End 4 is communicated between remote equipment end by communication connection, it is preferable that the communication connection can be encryption connection.

Wherein, the remote equipment 20 or remote equipment shown in Fig. 4 40 that the remote equipment end can be as shown in Figure 2；Institute AVP vehicle arrangements 30 as indicated at 3 can be schemed by stating AVP vehicle arrangements.

Here, the AVP vehicles refer to having autonomous valet parking (AVP, Automated Valet Parking) function Vehicle, such as be carrying out the vehicle of autonomous valet parking, or the vehicle etc. of autonomous valet parking system is installed.

Fig. 2 shows a kind of remote equipment knots for controlling AVP vehicles in parking lot according to the application one embodiment Composition；Wherein, the remote equipment 20 include identification device 201, request generating device 202, the first command generating device 203 with And first sending device 204.

Wherein, the identification device 201 identifies the AVP vehicles that remote assistance is needed in the parking lot that remote equipment is monitored ；The request generating device 202 generates and the remote assistance request about the AVP vehicles is presented；The first instruction life At device 203 according to remote user by the remote equipment to the remote operation of the AVP vehicles, generate about the AVP The remote assistance of vehicle instructs；Remote assistance instruction is sent to the AVP vehicles by first sending device 204.

Specifically, the identification device 201 identifies the AVP vehicles that remote assistance is needed in the parking lot that remote equipment is monitored .Here, the identification device 201 by periodic detection, event trigger etc. modes, by with one or more AVP vehicles or Monitoring device etc. communicates, the monitoring information in car status information and/or parking lot to obtain AVP vehicles；Then, described Identification device 201 recognizes the need for the AVP vehicles of remote assistance according to above- mentioned information.

In one implementation, the identification device 201 can obtain the car status information of AVP vehicles；According to institute Car status information is stated, the AVP vehicles of remote assistance are needed in the parking lot that identification remote equipment is monitored.Here, the knowledge Other device 201 can be by interacting, to obtain the car status information that the AVP vehicles upload automatically with AVP vehicles；Or Person can obtain the monitoring collection information of monitoring device in parking lot, and the vehicle-state to obtain AVP vehicles in parking lot is believed Breath；Alternatively, car status information can be obtained by the combination of above two mode.

In one implementation, the car status information includes following at least any one：

The AVP vehicles enter the status indication information in the parking lot：Wherein, the status indication information includes traveling The information such as video, travel speed, travel direction, surrounding enviroment, for example, the AVP vehicles for being equipped with AVP enter the parking lot When, trigger the identification dress that traveling video is uploaded to the remote equipment 20 by corresponding monitoring camera or vehicle-mounted camera in real time Set 201；

The AVP vehicles leave the status indication information on parking stall in the parking lot：Wherein, the status indication information Including traveling video, travel speed, travel direction, the information such as surrounding enviroment, for example, the AVP vehicles for being equipped with AVP leave it is described When Parking position, corresponding monitoring camera or vehicle-mounted camera are triggered and will travel video and be uploaded in real time described remotely setting Standby 20 identification device 201；

The car status information of AVP vehicles driving process in parking lot：Wherein, the car status information includes But be not limited to arbitrarily with relevant oneself state information and/or vehicle itself can be determined that in vehicle travel process exception/police Information is accused, then the AVP vehicles of AVP are housed in the driving process of parking lot, real-time report above- mentioned information；

The car status information of the AVP vehicles in the parking lot captured by monitoring device：Wherein, the vehicle shape State information includes but not limited to the information such as the traveling video of vehicle, travel speed, travel direction, surrounding enviroment, for example, by monitoring Video captured by camera or vehicle-mounted camera.

After obtaining the car status information of AVP vehicles, the identification device 201 according to the car status information, The AVP vehicles of remote assistance are needed in the parking lot that identification remote equipment is monitored.

For example, when the car status information include the AVP vehicles enter the parking lot status indication information or When the AVP vehicles leave the status indication information on parking stall in the parking lot, the identification device 201 passes through automatically to institute It states car status information to be analyzed, by predicting the modes such as route or travel by vehicle, speed monitoring, identifies whether there are AVP vehicles Need remote assistance；Alternatively, once receiving status indication information, then the identification device 201 then prompts teleoperator i.e. Quarter is monitored it, to identify the AVP vehicles for needing remote assistance in parking lot that remote equipment is monitored.

Alternatively, for example, when the car status information includes the vehicle shape of AVP vehicles driving process in parking lot When state information, the identification device 201 can be known by exception/warning message etc. included in the car status information The AVP vehicles of remote assistance are needed in the parking lot that other remote equipment is monitored.

Alternatively, for example, when the car status information includes the AVP vehicles in the parking lot captured by monitoring device Car status information, method (such as deep learning, the extensive chemical that the identification device 201 passes through video analysis visual identity The methods of practise), the video captured by analysis monitoring camera or vehicle-mounted camera, automatic identification are equipped with AVP vehicles in real time The potential danger encountered in driving process in parking lot, to identify needed in parking lot that remote equipment is monitored it is long-range The AVP vehicles of assistance.

Those skilled in the art will be understood that above-mentioned three kinds of modes can be used alone, can also be by two of which or more It kind is used in any combination, to efficiently and accurately judge the generation of abnormality, efficiently identify that remote equipment monitored stops The AVP vehicles of remote assistance are needed in parking lot.

The request generating device 202 generates and the remote assistance request about the AVP vehicles is presented.Here, described Request generating device 202 is directly generated and is presented about the AVP vehicles according to the AVP vehicles for needing remote assistance Remote assistance is asked；Or, it is preferable that the request generating device 202 generates according to the car status information and pass is presented It asks in the remote assistance of the AVP vehicles, for example, the urgency level corresponding to different vehicle status information is different, then gives birth to At and the remote assistance request that presents it is also different.

In one implementation, the remote assistance request includes the exception information and/or task letter of the AVP vehicles Breath.The exception information includes but not limited to vehicle trouble, the barrier for influencing vehicle traveling, target parking position is unavailable, phase Adjacent vehicle may clash；The mission bit stream include but not limited to park, sail out of parking lot, replace parking stall, will Or it needs to park in special parking stall (such as target parking position is in some position of parking exit, such as parking exit) etc..

First command generating device 203 is according to remote user by the remote equipment to the remote of the AVP vehicles Journey operates, and generates and is instructed about the remote assistance of the AVP vehicles；First sending device 204 refers to the remote assistance Order is sent to the AVP vehicles.

Here, the remote user such as the teleoperator of the AVP systems；The remote operation includes but not limited to described Operation or the remote user of the remote user on human-computer interaction interface are to remote-control handle, steering wheel, brake pedal etc. The operation etc. of " simulating vehicle control device ".

Those skilled in the art will be understood that, in the present invention it is possible to is responsible for controlling more AVP vehicles by a remote user Remote operation, can also be each responsible for controlling the remote operation of different AVP vehicles by several remote users, such as will be different AVP vehicles be shown in the operation interface of different remote users, and the operations such as selection based on the remote user, come true The fixed AVP vehicles for being responsible for control by this remote user.

In one implementation, the remote assistance instruction includes following at least any one：

Stop the AVP parking manoeuvres of the AVP vehicles；

Control the AVP parking manoeuvres of the AVP vehicles：Such as remote control is executed to the AVP vehicles to drive, it is remote to continue Journey is parked；

The vehicle trouble for repairing the AVP vehicles, to continue to execute AVP parking manoeuvres：I.e. by remotely to vehicle event Barrier is repaired, to restore the autonomous parking of the vehicle after repair；

The target parking position of the AVP vehicles is reset, and controls the AVP vehicles and is executed according to the target parking position AVP parking manoeuvres：For example, according to the vehicle-state of the AVP vehicles and the ambient condition in surrounding parking lot, for the AVP vehicles Target parking position is reselected, and send the target parking position information and give the AVP vehicles, continues to autonomous parking.

In one implementation, the remote equipment 20 further includes that the second sending device (not shown) specifically works as institute It states remote user and exits remote assistance pattern, second sending device exits remote assistance instruction to AVP vehicles transmission. Wherein, when the remote user excludes potential danger or relieve park problem after, the remote user exits remotely Assistance pattern, second sending device are moved back by the communication connection between the AVP vehicles to AVP vehicles transmission Go out remote assistance instruction；Then the AVP vehicles exit remote assistance instruction, exit remote assistance and continue autonomous parking to complete At parking.

In one implementation, the remote equipment 20 further includes the second command generating device (not shown) and third hair Send device (not shown)；Wherein, second command generating device according to the remote user by the remote equipment to institute The remote operation of the associated vehicle of AVP vehicles is stated, the remote control commands about the associated vehicle are generated；The third is sent The remote control commands are sent to the associated vehicle by device.

Here, the associated vehicle includes but not limited to influence one or more vehicles of current AVP vehicle pass-throughs, such as exist The vehicle that current AVP is passed through during parking, or just under steam and the vehicle etc. that may meet with current AVP vehicles； The AVP vehicles that the associated vehicle has including but not limited to parked or parked.

The remote user can to the associated vehicle carry out remote operation, then second command generating device according to The remote user, to the remote operation of the associated vehicle of the AVP vehicles, is generated about the pass by the remote equipment Join the remote control commands of vehicle.The third sending device is according to the communication between the remote equipment and the associated vehicle The remote control commands are sent to the associated vehicle by connection.

Here, the remote control commands include but not limited to following at least any one：

Stop the parking manoeuvres of the associated vehicle；

Control the parking manoeuvres of the associated vehicle：Such as remote control is executed to the associated vehicle to drive, change and advance Route, to be the AVP vehicles by road opening etc.；

The vehicle trouble for repairing the associated vehicle, to continue to execute parking manoeuvres：There is event in the even described associated vehicle Barrier, then by remotely being repaired to the vehicle trouble, to restore the autonomous parking of the vehicle after repair；

The target parking position of the associated vehicle is reset, and controls the associated vehicle and is executed according to the target parking position Parking manoeuvres, to vacate parking stall etc. for the AVP vehicles.

By aforesaid operations, the present invention can be realized carries out position rearrangement reaction to all vehicles for being equipped with AVP, to reach The purpose that high density is parked.

In one implementation, it is finished when the associated vehicle executes the remote control commands, described first sends Remote assistance instruction is sent to the AVP vehicles by device 204.Here, when the associated vehicle executes the long-range control When instruction graduates processed, then it is assumed that the obstacle for currently influencing the AVP vehicles, which has been excluded, (such as influences other vehicles of its passage Moved away), then remote assistance instruction is sent to the AVP vehicles by first sending device 204 again, with control The AVP vehicles execute the remote assistance instruction.

Here, first command generating device 203 can be after " associated vehicle, which executes, completes remote control commands " Or execute before, alternatively, can also be at least partly parallel with " associated vehicle, which executes, completes remote control commands ".

In one implementation, the remote equipment 20 further includes the first encryption device (not shown)；Wherein, described One encryption device is established the remote equipment and is connect with the coded communication of the AVP vehicles；First sending device 204 passes through Remote assistance instruction is sent to the AVP vehicles by the coded communication connection.

Here, the coded communication connection can be established based on scheduled encryption mechanism；In one implementation, institute Stating encryption mechanism can be based on different AVP vehicle different cipher modes is arranged；In one implementation, the encryption Communication connection further comprise complete authentication mechanism and/or licensing scheme, to support the safety of transmission data report and All kinds of instructions issuing and executing.

Fig. 3 shows a kind of AVP vehicle arrangements for controlling AVP vehicles in parking lot according to the application one embodiment Structure chart；Wherein, the AVP vehicle arrangements include first receiving device 301 and executive device 302.Wherein, the AVP vehicles Equipment includes but not limited to AVP mobile units, or is equipped with the vehicle of the AVP mobile units.

Wherein, the first receiving device 301 receives the remote assistance instruction transmitted by remote equipment, wherein described remote Journey equipment is for monitoring the parking lot；The executive device 302 executes the remote assistance to the AVP vehicles and instructs.

Here, the first receiving device 301 receives described remote according to the communication connection established with the remote equipment Remote assistance instruction transmitted by journey equipment, wherein the remote assistance instruction includes following at least any one：

Stop the AVP parking manoeuvres of the AVP vehicles；

Then, the executive device 302 is instructed according to the remote assistance obtained, regard remote assistance instruction as AVP The input of system is operated with changing original AVP, alternatively, instructing the input as Vehicular system to control the remote assistance The startups of AVP systems, stopping execute configuration (for example, the remote equipment end is allowed to obtain the priority service to the AVP vehicles Power, or resetting target parking position etc.), it is instructed to execute the remote assistance to the AVP vehicles.

In one implementation, the AVP vehicle arrangements 30 further include the second encryption device (not shown), wherein institute It states the second encryption device and establishes remote equipment and connect with the coded communication of the AVP vehicles, wherein the remote equipment is for supervising Control the parking lot；The first receiving device 301 is received by coded communication connection transmitted by the remote equipment Remote assistance instructs.

Wherein, second encryption device can coordinate together with the first encryption device of the remote equipment, to establish Remote equipment is connect with the coded communication of the AVP vehicles.

After establishing the coded communication connection, the first receiving device 301 is then connected by the coded communication, with Encrypted mode receives the instruction of the remote assistance transmitted by the remote equipment.

In one implementation, when receiving the remote assistance instruction, the executive device 302 updates the AVP Vehicle is remote assistance pattern, and executes the remote assistance to the AVP vehicles and instruct.Here, the remote assistance pattern Including but not limited to allow the priority service that the remote equipment end is obtained to the AVP vehicles to weigh, allows the remote equipment end It executes the control to the AVP vehicles jointly with current AVP vehicle operators, or allows specific transmitted by the remote equipment end Instruction etc..When executing the remote assistance pattern, the remote assistance can be executed to the AVP vehicles and instructed.

In one implementation, the AVP vehicle arrangements 30 further include the second reception device (not shown) and update Device (not shown), wherein second reception device receives and exits remote assistance instruction transmitted by the remote equipment；When It receives the remote assistance that exits to instruct, it is AVP park modes that the updating device, which updates the AVP vehicles,.

Here, when the remote user exclude potential danger or relieve park problem after, the remote user Remote assistance pattern is exited, second reception device is received described remote by the communication connection between the remote equipment Remote assistance instruction is exited transmitted by journey equipment；Then, the updating device exits remote assistance instruction, exits long-range association It helps, is AVP park modes by the AVP vehicle to change, and continue autonomous parking to completion and park.

In one implementation, the AVP vehicle arrangements 30 can include and be set in AVP vehicles with lower unit with realizing AVP vehicles in standby end control parking lot：

Data acquisition unit：Such as ultrasonic wave, camera sensor, with four weekly data of real-time collection vehicle, it is preferable that institute It is to look around camera to state camera；

Telecommunication unit：Such as 4G, WiFi terminal, with remotely set real-time Communication for Power；

State collection unit：With the normal and/or abnormality of real-time collecting itself；

Vehicular control unit：Remote assistance is received to instruct and execute.

Fig. 4 shows a kind of remote equipment knot for controlling AVP vehicles in parking lot according to the application one embodiment Composition；Wherein, the remote equipment 40 includes perception unit 401 and control unit 402.

The perception unit 401 identifies the AVP vehicles that remote assistance is needed in the parking lot that the remote equipment is monitored, And it is sent to described control unit 402 and waits for remote assistance information about the AVP vehicles；Described control unit 402 is according to institute It states and waits for that remote assistance information generates and the remote assistance request about the AVP vehicles is presented；Passed through according to remote user described Remote equipment is generated and is instructed about the remote assistance of the AVP vehicles to the remote operation of the AVP vehicles；It will be described long-range Assistance instruction is sent to the AVP vehicles.

Here, the perception unit 401 by periodic detection, event trigger etc. modes, by with one or more AVP vehicles Or monitoring device etc. communicate, the monitoring information in car status information and/or parking lot to obtain AVP vehicles；Then, The perception unit 401 recognizes the need for the AVP vehicles of remote assistance according to above- mentioned information.

Then perception unit 401 will wait for that remote assistance information is sent to described control unit about the AVP vehicles 402, to indicate that described control unit 402 executes subsequent operation.

In one implementation, the perception unit 401 includes the multiple camera units for being deployed in the parking lot；From And the perception unit 401 can be by the monitoring information of the acquisition camera unit, to execute identification operation.

In one implementation, the perception unit 401 is obtained by the multiple camera unit in the parking lot Multiple video informations of AVP vehicles；Determine whether the AVP vehicles need remote assistance according to the multiple video information, and It is sent to described control unit and waits for remote assistance information about the AVP vehicles.

Here, the perception unit 401 obtains the multiple of AVP vehicles in the parking lot by multiple camera units and regards After frequency information, according to information such as AVP vehicle locations, speed, time, direction, surrounding vehicles in the video information, institute is determined State whether AVP vehicles need remote assistance.For example, if some AVP vehicle does not move and does not stop for a long time in certain section of video On parking stall, then it is assumed that the AVP vehicles need remote assistance；Alternatively, some traveling-position of AVP vehicles in certain section of video It is not consistent with target parking position, then it is assumed that the AVP vehicles need remote assistance.

Then, described control unit 402 waits for remote assistance information according to described, directly generates and presents about the AVP The remote assistance of vehicle is asked；Or, it is preferable that described control unit 402 is generated and is presented according to the car status information Remote assistance about the AVP vehicles is asked, for example, urgency level corresponding to different vehicle status information is different, then institute It generates and the remote assistance request presented is also different.

Described control unit 402 is according to remote user by the remote equipment to the remote operation of the AVP vehicles, life At the remote assistance instruction about the AVP vehicles；And remote assistance instruction is sent to the AVP vehicles.

Here, the remote user such as the teleoperator of the AVP systems；The remote operation includes but not limited to described Operation or the remote user of the remote user on human-computer interaction interface are to remote-control handle, steering wheel, brake pedal etc. The operation etc. of " simulating vehicle control device ".Wherein, described control unit 402 includes but not limited to remote-control handle, steering wheel, system Dynamic pedal, accelerator pedal, emergency stop switch, alarm switch etc., the remote user are remote to generate by the operation to above equipment Journey assistance instruction.

Fig. 5 shows to be used to control AVP vehicles in parking lot at remote equipment end according to a kind of of the application one embodiment Method flow diagram.

Wherein, in step S501, the remote equipment identifies to be needed remotely in the parking lot that the remote equipment is monitored The AVP vehicles of assistance；In step S503, the remote equipment is generated and is presented and asked about the remote assistance of the AVP vehicles It asks；In step S503, the remote equipment is according to remote user by the remote equipment to the long-range behaviour of the AVP vehicles Make, generates and instructed about the remote assistance of the AVP vehicles；In step S504, the remote equipment is by the remote assistance Instruction is sent to the AVP vehicles.

Specifically, in step S501, the remote equipment identifies to be needed far in the parking lot that the remote equipment is monitored The AVP vehicles that journey is assisted.Here, the remote equipment by periodic detection, event trigger etc. modes, by with one or more AVP vehicles or monitoring device etc. communicate, the monitoring information in car status information and/or parking lot to obtain AVP vehicles； Then, the remote equipment recognizes the need for the AVP vehicles of remote assistance according to above- mentioned information.

In one implementation, the remote equipment can obtain the car status information of AVP vehicles；According to the vehicle Status information needs the AVP vehicles of remote assistance in the parking lot that identification remote equipment is monitored.Here, described remotely set It is standby can be by being interacted with AVP vehicles, to obtain the car status information that the AVP vehicles upload automatically；Alternatively, can be with The monitoring collection information for obtaining monitoring device in parking lot, to obtain the car status information of AVP vehicles in parking lot；Alternatively, Car status information can be obtained by the combination of above two mode.

The AVP vehicles enter the status indication information in the parking lot：Wherein, the status indication information includes traveling The information such as video, travel speed, travel direction, surrounding enviroment, for example, the AVP vehicles for being equipped with AVP enter the parking lot When, corresponding monitoring camera or vehicle-mounted camera, which are triggered, by video is travelled is uploaded to the remote equipment in real time；

The AVP vehicles leave the status indication information on parking stall in the parking lot：Wherein, the status indication information Including traveling video, travel speed, travel direction, the information such as surrounding enviroment, for example, the AVP vehicles for being equipped with AVP leave it is described When Parking position, corresponding monitoring camera or vehicle-mounted camera are triggered and will travel video and be uploaded in real time described remotely setting It is standby；

After obtaining the car status information of AVP vehicles, the remote equipment is according to the car status information, identification The AVP vehicles of remote assistance are needed in the parking lot that remote equipment is monitored.

For example, when the car status information include the AVP vehicles enter the parking lot status indication information or When the AVP vehicles leave the status indication information on parking stall in the parking lot, the remote equipment passes through automatically to described Car status information is analyzed, and by predicting the modes such as route or travel by vehicle, speed monitoring, identifies whether have AVP vehicles to need Want remote assistance；Alternatively, once receiving status indication information, then the remote equipment then prompts teleoperator at once to it It is monitored, to identify the AVP vehicles for needing remote assistance in parking lot that remote equipment is monitored.

Alternatively, for example, when the car status information includes the vehicle shape of AVP vehicles driving process in parking lot When state information, the remote equipment can be identified remote by exception/warning message etc. included in the car status information The AVP vehicles of remote assistance are needed in the parking lot that journey equipment is monitored.

Alternatively, for example, when the car status information includes the AVP vehicles in the parking lot captured by monitoring device Car status information, method (such as deep learning, intensified learning etc. that the remote equipment passes through video analysis visual identity Method), the video captured by analysis monitoring camera or vehicle-mounted camera, automatic identification are equipped with AVP vehicles and are stopping in real time The potential danger encountered in driving process in parking lot needs remote assistance to identify in parking lot that remote equipment is monitored AVP vehicles.

In step S502, the remote equipment generates and the remote assistance request about the AVP vehicles is presented. This, the remote equipment is directly generated and is presented about the AVP vehicles according to the AVP vehicles for needing remote assistance Remote assistance is asked；Or, it is preferable that the remote equipment is generated and is presented about described according to the car status information The remote assistance of AVP vehicles is asked, for example, the urgency level corresponding to different vehicle status information is different, is then generated and is in Existing remote assistance request is also different.

In step S503, the remote equipment is according to remote user by the remote equipment to the AVP vehicles Remote operation is generated and is instructed about the remote assistance of the AVP vehicles；In step S504, the remote equipment will be described remote Journey assistance instruction is sent to the AVP vehicles.

Stop the AVP parking manoeuvres of the AVP vehicles；

In one implementation, the method further includes step S505 (not shown), specifically, as the remote user Remote assistance pattern is exited, in step S505, the remote equipment exits remote assistance instruction to AVP vehicles transmission. Wherein, when the remote user excludes potential danger or relieve park problem after, the remote user exits remotely Assistance pattern, the remote equipment are exited remote by the communication connection between the AVP vehicles to AVP vehicles transmission Journey assistance instruction；Then the AVP vehicles exit remote assistance instruction, exit remote assistance and continue autonomous parking to completing to moor Vehicle.

In one implementation, the method further includes step S506 (not shown) and step S507 (not shown)；Its In, in step S506, the remote equipment is according to the remote user by the remote equipment to the pass of the AVP vehicles Join the remote operation of vehicle, generates the remote control commands about the associated vehicle；In step s 507, the remote equipment The remote control commands are sent to the associated vehicle.

The remote user can carry out the associated vehicle remote operation, then described remotely to set in step S506 It is standby according to the remote user by the remote equipment to the remote operation of the associated vehicle of the AVP vehicles, generate about The remote control commands of the associated vehicle.In step s 507, the remote equipment is according to the remote equipment and the pass Join the communication connection between vehicle, the remote control commands are sent to the associated vehicle.

Stop the parking manoeuvres of the associated vehicle；

In one implementation, it is finished when the associated vehicle executes the remote control commands, in step S504, Remote assistance instruction is sent to the AVP vehicles by the remote equipment.Here, when associated vehicle execution is described remote When process control instruction graduates, then it is assumed that the obstacle for currently influencing the AVP vehicles, which has been excluded, (such as influences other of its passage Vehicle is moved away), then remote assistance instruction is sent to the AVP vehicles by the remote equipment again, should with control AVP vehicles execute the remote assistance instruction.

Here, the step S503 can be executed after or before " associated vehicle, which executes, completes remote control commands ", Alternatively, can also be at least partly parallel with " associated vehicle, which executes, completes remote control commands ".

In one implementation, the method further includes step S508 (not shown)；Wherein, in step S508, institute It states remote equipment and establishes the remote equipment and connect with the coded communication of the AVP vehicles；It is described remotely to set in step S504 It is standby that remote assistance instruction is sent to by the AVP vehicles by coded communication connection.

Fig. 6 show according to the application another embodiment it is a kind of in AVP vehicle ends for controlling AVP vehicles in parking lot Method flow diagram.

Wherein, the AVP vehicle ends, that is, APV vehicle arrangements, the AVP vehicle arrangements, which include but not limited to that AVP is vehicle-mounted, to be set It is standby, or the vehicle of the AVP mobile units is installed.

Wherein, in step s 601, the AVP vehicle arrangements receive the remote assistance instruction transmitted by remote equipment, In, the remote equipment is for monitoring the parking lot；In step S602, the AVP vehicle arrangements hold the AVP vehicles The row remote assistance instruction.

Here, in step s 601, the AVP vehicle arrangements according to the communication connection established with the remote equipment, Receive the remote assistance instruction transmitted by the remote equipment, wherein the remote assistance instruction includes following at least any one：

Stop the AVP parking manoeuvres of the AVP vehicles；

Then, in step S602, the AVP vehicle arrangements are instructed according to the remote assistance obtained, by the long-range association Input of the instruction as AVP systems is helped to be operated to change original AVP, alternatively, regarding remote assistance instruction as Vehicular system Input control the startups of AVP systems, stopping or execute configuration (for example, allowing the remote equipment end acquisition to the AVP vehicles Priority service power, or resetting target parking position etc.), instructed to execute the remote assistance to the AVP vehicles.

In one implementation, the method further includes step S603 (not shown), wherein in step S603, institute It states AVP vehicle arrangements and establishes remote equipment and connect with the coded communication of the AVP vehicles, wherein the remote equipment is for supervising Control the parking lot；In step s 601, the AVP vehicle arrangements receive the remote equipment by coded communication connection Transmitted remote assistance instruction.

Wherein, the AVP vehicle arrangements can coordinate together with the remote equipment, with establish remote equipment with it is described The coded communication of AVP vehicles connects.

After establishing the coded communication connection, the AVP vehicle arrangements are then connected by the coded communication, with encryption Mode receive the remote assistance transmitted by the remote equipment instruction.

In one implementation, in step S602, when receiving the remote assistance instruction, the AVP vehicles are set It is standby to update the AVP vehicles for remote assistance pattern, and the remote assistance is executed to the AVP vehicles and is instructed.Here, described Remote assistance pattern includes but not limited to that the priority service for allowing the remote equipment end to obtain to the AVP vehicles is weighed, and allows institute Remote equipment end and current AVP vehicle operators control of the execution to the AVP vehicles jointly are stated, or allows the remote equipment end Transmitted specific instruction etc..When executing the remote assistance pattern, the remote assistance can be executed to the AVP vehicles Instruction.

In one implementation, the method further includes step S604 (not shown) and step S605 (not shown), Wherein, in step s 604, the AVP vehicle arrangements receive and exit remote assistance instruction transmitted by the remote equipment；When It receives the remote assistance that exits to instruct, in step s 605, it is that AVP is moored that the AVP vehicle arrangements, which update the AVP vehicles, Vehicle pattern.

Here, when the remote user exclude potential danger or relieve park problem after, the remote user Remote assistance pattern is exited, the AVP vehicle arrangements are received described long-range by the communication connection between the remote equipment Remote assistance instruction is exited transmitted by equipment；Then, the AVP vehicle arrangements exit remote assistance instruction, exit long-range association It helps, is AVP park modes by the AVP vehicle to change, and continue autonomous parking to completion and park.

Fig. 7 show according to the application another embodiment it is a kind of at remote equipment end for controlling AVP vehicles in parking lot Method flow diagram；Wherein, the remote equipment includes perception unit and control unit.

In step s 701, the perception unit, which identifies in the parking lot that the remote equipment is monitored, needs remote assistance AVP vehicles, and sent to described control unit and about the AVP vehicles wait for remote assistance information；In step S702, institute It states control unit and waits for that remote assistance information generates and the remote assistance request about the AVP vehicles is presented according to；According to Remote user, to the remote operation of the AVP vehicles, generates the remote assistance about the AVP vehicles by the remote equipment Instruction；Remote assistance instruction is sent to the AVP vehicles.

Here, in step s 701, the perception unit modes such as triggers by periodic detection, event, by with one Or multiple AVP vehicles or monitoring device etc. communicate, the prison in car status information and/or parking lot to obtain AVP vehicles Control information；Then, the perception unit recognizes the need for the AVP vehicles of remote assistance according to above- mentioned information.

Then the perception singly will wait for that remote assistance information is sent to described control unit about the AVP vehicles, with Indicate that described control unit executes subsequent operation.

In one implementation, the perception unit includes the multiple camera units for being deployed in the parking lot；To, The perception unit can be by the monitoring information of the acquisition camera unit, to execute identification operation.

In one implementation, the perception unit obtains AVP in the parking lot by the multiple camera unit Multiple video informations of vehicle；Determine whether the AVP vehicles need remote assistance according to the multiple video information, and to institute It states control unit transmission and waits for remote assistance information about the AVP vehicles.

Here, the perception unit obtains multiple videos of AVP vehicles in the parking lot by multiple camera units After information, according to information such as AVP vehicle locations, speed, time, direction, surrounding vehicles in the video information, determine described in Whether AVP vehicles need remote assistance.For example, if some AVP vehicle is not moved and is not parked in for a long time in certain section of video On parking stall, then it is assumed that the AVP vehicles need remote assistance；Alternatively, some traveling-position of AVP vehicles in certain section of video with Target parking position is not consistent, then it is assumed that the AVP vehicles need remote assistance.

Then, in step S702, described control unit waits for remote assistance information according to, directly generates and pass is presented It is asked in the remote assistance of the AVP vehicles；Or, it is preferable that described control unit is generated according to the car status information And present and asked about the remote assistance of the AVP vehicles, for example, the urgency level corresponding to different vehicle status information is not Together, then the remote assistance request for generating and presenting is also different.

Described control unit is according to remote user by the remote equipment to the remote operation of the AVP vehicles, generation Remote assistance about the AVP vehicles instructs；And remote assistance instruction is sent to the AVP vehicles.

Here, the remote user such as the teleoperator of the AVP systems；The remote operation includes but not limited to described Operation or the remote user of the remote user on human-computer interaction interface are to remote-control handle, steering wheel, brake pedal etc. The operation etc. of " simulating vehicle control device ".Wherein, described control unit includes but not limited to remote-control handle, steering wheel, braking Pedal, accelerator pedal, emergency stop switch, alarm switch etc., the remote user are long-range to generate by the operation to above equipment Assistance instruction.

In some embodiments, system 800 can be used as Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, embodiment shown in Fig. 7 Or any one remote equipment in other described embodiments or AVP vehicle arrangements.In some embodiments, system 800 can wrap Include with instruction one or more computer-readable mediums (for example, system storage or NVM/ storage devices 820) and with The one or more computer-readable medium couples and is configured as executing instruction executes institute in the application to realize module The one or more processors (for example, (one or more) processor 805) for the action stated.

For one embodiment, system control module 810 may include any suitable interface controller, with to (one or It is multiple) at least one of processor 805 and/or any suitable equipment or component that are communicated with system control module 810 carries For any suitable interface.

System control module 810 may include Memory Controller module 830, to provide interface to system storage 815.It deposits Memory controller module 830 can be hardware module, software module and/or firmware module.

System storage 815 can be used for for example, load of system 800 and storage data and/or instruction.For a reality Example is applied, system storage 815 may include any suitable volatile memory, for example, DRAM appropriate.In some embodiments In, system storage 815 may include four Synchronous Dynamic Random Access Memory of Double Data Rate type (DDR4SDRAM).

For one embodiment, system control module 810 may include one or more input/output (I/O) controller, with Interface is provided to NVM/ storage devices 820 and (one or more) communication interface 825.

For example, NVM/ storage devices 820 can be used for storing data and/or instruction.NVM/ storage devices 620 may include appointing It anticipates and nonvolatile memory appropriate (for example, flash memory) and/or may include that any suitable (one or more) is non-volatile and deposit Equipment is stored up (for example, one or more hard disk drives (HDD), one or more CD (CD) drivers and/or one or more Digital versatile disc (DVD) driver).

NVM/ storage devices 820 may include a part for the equipment being physically mounted on as system 800 Storage resource or its can by the equipment access without the part as the equipment.For example, NVM/ storage devices 820 can It is accessed via (one or more) communication interface 825 by network.

(one or more) communication interface 825 can be system 800 provide interface with by one or more networks and/or with Other arbitrary equipment communications appropriate.System 800 can be according to the arbitrary mark in one or more wireless network standards and/or agreement Accurate and/or agreement is carried out wireless communication with the one or more components of wireless network.

For one embodiment, at least one of (one or more) processor 805 can be with system control module 810 The logic of one or more controllers (for example, Memory Controller module 830) is packaged together.For one embodiment, (one It is a or multiple) at least one of processor 805 can encapsulate with the logic of one or more controllers of system control module 810 Together to form system in package (SiP).For one embodiment, at least one of (one or more) processor 805 It can be integrated on same mold with the logic of one or more controllers of system control module 810.For one embodiment, At least one of (one or more) processor 805 can be with the logic of one or more controllers of system control module 610 It is integrated on same mold to form system on chip (SoC).

In various embodiments, system 800 can be, but not limited to be：Server, work station, desk-top computing device or movement Computing device (for example, lap-top computing devices, handheld computing device, tablet computer, net book etc.).In various embodiments, System 800 can have more or fewer components and/or different frameworks.For example, in some embodiments, system 800 includes One or more video cameras, keyboard, liquid crystal display (LCD) screen (including touch screen displays), nonvolatile memory port, Mutiple antennas, graphic chips, application-specific integrated circuit (ASIC) and loud speaker.

Obviously, those skilled in the art can carry out the application essence of the various modification and variations without departing from the application God and range.In this way, if these modifications and variations of the application belong to the range of the application claim and its equivalent technologies Within, then the application is also intended to include these modifications and variations.

It should be noted that the application can be carried out in the assembly of software and/or software and hardware, for example, can adopt With application-specific integrated circuit (ASIC), general purpose computer or any other realized similar to hardware device.In one embodiment In, the software program of the application can be executed by processor to realize steps described above or function.Similarly, the application Software program (including relevant data structure) can be stored in computer readable recording medium storing program for performing, for example, RAM memory, Magnetic or optical driver or floppy disc and similar devices.In addition, hardware can be used to realize in some steps or function of the application, example Such as, coordinate to execute the circuit of each step or function as with processor.

In addition, the part of the application can be applied to computer program product, such as computer program instructions, when its quilt When computer executes, by the operation of the computer, it can call or provide according to the present processes and/or technical solution. Those skilled in the art will be understood that the existence form of computer program instructions in computer-readable medium includes but not limited to Source file, executable file, installation package file etc., correspondingly, the mode that computer program instructions are computer-executed include but It is not limited to：The computer directly execute the instruction or the computer compile the instruction after execute program after corresponding compiling again, Either the computer reads and executes the instruction or after the computer reads and install and execute corresponding installation again after the instruction Program.Here, computer-readable medium can be the arbitrary available computer readable storage medium accessed for computer or Communication media.

Communication media includes thereby comprising such as computer-readable instruction, data structure, program module or other data Signal of communication is transmitted to the medium of another system from a system.Communication media may include having the transmission medium led (such as electric Cable and line (for example, optical fiber, coaxial etc.)) and can propagate wireless (not having the transmission the led) medium of energy wave, such as sound, electricity Magnetic, RF, microwave and infrared.Computer-readable instruction, data structure, program module or other data can be embodied as example wireless Medium (such as carrier wave or be such as embodied as spread spectrum technique a part similar mechanism) in modulated message signal. Term " modulated message signal " refers to that one or more feature is modified or is set in a manner of coding information in the signal Fixed signal.Modulation can be simulation, digital or Hybrid Modulation Technology.

As an example, not a limit, computer readable storage medium may include such as computer-readable finger for storage Enable, the volatile and non-volatile that any method or technique of the information of data structure, program module or other data is realized, can Mobile and immovable medium.For example, computer readable storage medium includes, but are not limited to volatile memory, such as with Machine memory (RAM, DRAM, SRAM)；And nonvolatile memory, such as flash memory, various read-only memory (ROM, PROM, EPROM, EEPROM), magnetic and ferromagnetic/ferroelectric memory (MRAM, FeRAM)；And magnetic and optical storage apparatus (hard disk, Tape, CD, DVD)；Or other currently known media or Future Development can store the computer used for computer system Readable information/data.

Here, including a device according to one embodiment of the application, which includes for storing computer program The memory of instruction and processor for executing program instructions, wherein when the computer program instructions are executed by the processor When, trigger method and/or technology scheme of the device operation based on aforementioned multiple embodiments according to the application.

It is obvious to a person skilled in the art that the application is not limited to the details of above-mentioned exemplary embodiment, Er Qie In the case of without departing substantially from spirit herein or essential characteristic, the application can be realized in other specific forms.Therefore, no matter From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and scope of the present application is by appended power Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims Variation is included in the application.Any reference signs in the claims should not be construed as limiting the involved claims.This Outside, it is clear that one word of " comprising " is not excluded for other units or step, and odd number is not excluded for plural number.That is stated in device claim is multiple Unit or device can also be realized by a unit or device by software or hardware.The first, the second equal words are used for table Show title, and does not represent any particular order.

The various aspects of each embodiment are defined in detail in the claims.Each reality is defined in following number clause Apply these and other aspects of example：

1. a kind of method for being used to control AVP vehicles in parking lot at remote equipment end, wherein this method includes：

Remote assistance instruction is sent to the AVP vehicles.

2. according to the method described in clause 1, wherein the method further includes：

When the remote user exits remote assistance pattern, exiting remote assistance to AVP vehicles transmission instructs.

3. the method according to clause 1 or 2, wherein needed in the parking lot that the identification remote equipment is monitored remote The AVP vehicles that journey is assisted, including：

Obtain the car status information of AVP vehicles；

According to the car status information, the AVP vehicles of remote assistance are needed in the parking lot that identification remote equipment is monitored .

4. according to the method described in clause 3, wherein the car status information includes following at least any one：

The AVP vehicles enter the status indication information in the parking lot；

The AVP vehicles leave the status indication information on parking stall in the parking lot；

The car status information of AVP vehicles driving process in parking lot；

The car status information of the AVP vehicles in the parking lot captured by monitoring device.

5. the method according to any one of clause 1 to 4, wherein the remote assistance request includes the AVP vehicles Exception information and/or mission bit stream.

6. the method according to any one of clause 1 to 5, wherein the method further includes：

It is raw according to the remote user by the remote equipment to the remote operation of the associated vehicle of the AVP vehicles At the remote control commands about the associated vehicle；

The remote control commands are sent to the associated vehicle.

7. according to the method described in clause 6, wherein it is described that remote assistance instruction is sent to the AVP vehicles, it wraps It includes：

It finishes, remote assistance instruction is sent to described when the associated vehicle executes the remote control commands AVP vehicles.

8. the method according to any one of clause 1 to 7, wherein remote assistance instruction includes following at least appointing One：

Stop the AVP parking manoeuvres of the AVP vehicles；

Control the AVP parking manoeuvres of the AVP vehicles；

The vehicle trouble for repairing the AVP vehicles, to continue to execute AVP parking manoeuvres；

The target parking position of the AVP vehicles is reset, and controls the AVP vehicles and is executed according to the target parking position AVP parking manoeuvres.

9. the method according to any one of clause 1 to 8, wherein the method further includes：

The remote equipment is established to connect with the coded communication of the AVP vehicles；

Wherein, described that remote assistance instruction is sent to the AVP vehicles, including：

Remote assistance instruction is sent to the AVP vehicles by coded communication connection.

10. a kind of method for being used to control AVP vehicles in parking lot in AVP vehicle ends, wherein this method includes：

The remote assistance instruction is executed to the AVP vehicles.

11. according to the method described in clause 10, wherein the method further includes：

It establishes remote equipment to connect with the coded communication of the AVP vehicles, wherein the remote equipment is described for monitoring Parking lot；

Wherein, the remote assistance instruction received transmitted by remote equipment, wherein the remote equipment is for monitoring institute Parking lot is stated, including：

The remote assistance instruction transmitted by the remote equipment is received by coded communication connection.

12. the method according to clause 10 or 11, wherein described to refer to the AVP vehicles execution remote assistance It enables, including：

When receiving the remote assistance instruction, it is remote assistance pattern to update the AVP vehicles, and to the AVP vehicles Execute remote assistance instruction.

13. according to the method described in clause 12, wherein the method further includes：

It receives and exits remote assistance instruction transmitted by the remote equipment；

It is instructed when receiving the remote assistance that exits, it is AVP park modes to update the AVP vehicles.

14. a kind of method for being used to control AVP vehicles in parking lot at remote equipment end, wherein the remote equipment packet It includes perception unit and control unit, this method includes：

15. according to the method described in clause 14, wherein the perception unit includes being deployed in the multiple of the parking lot to take the photograph As unit.

16. according to the method described in clause 15, wherein the perception unit identifies the parking that the remote equipment is monitored The AVP vehicles of remote assistance are needed in, including：

Multiple videos that the perception unit obtains AVP vehicles in the parking lot by the multiple camera unit are believed Breath；Determine whether the AVP vehicles need remote assistance according to the multiple video information.

17. a kind of for controlling the remote equipments of AVP vehicles in parking lot, wherein the remote equipment includes：

18. according to the remote equipment described in clause 17, wherein the remote equipment further includes：

Second sending device exits remote assistance pattern for working as the remote user, is exited to AVP vehicles transmission Remote assistance instructs.

19. the remote equipment according to clause 17 or 18, wherein the identification device is used for：

Obtain the car status information of AVP vehicles；

20. according to the remote equipment described in clause 19, wherein the car status information includes following at least any one：

The AVP vehicles enter the status indication information in the parking lot；

The car status information of AVP vehicles driving process in parking lot；

21. the remote equipment according to any one of clause 17 to 20, wherein the remote assistance request includes described The exception information and/or mission bit stream of AVP vehicles.

22. the remote equipment according to any one of clause 17 to 21, wherein the remote equipment further includes：

Second command generating device is used for according to the remote user through the remote equipment to the AVP vehicles The remote operation of associated vehicle generates the remote control commands about the associated vehicle；

Third sending device, for the remote control commands to be sent to the associated vehicle.

23. according to the remote equipment described in clause 22, wherein first sending device is used for：

24. the remote equipment according to any one of clause 17 to 23, wherein the remote assistance instruction includes following Any one of at least：

Stop the AVP parking manoeuvres of the AVP vehicles；

Control the AVP parking manoeuvres of the AVP vehicles；

25. the remote equipment according to any one of clause 17 to 24, wherein the remote equipment further includes：

First encryption device is connect for establishing the remote equipment with the coded communication of the AVP vehicles；

Wherein, first sending device is used for：

26. a kind of for controlling the AVP vehicle arrangements of AVP vehicles in parking lot, wherein the AVP vehicle arrangements include：

27. the AVP vehicle arrangements according to clause 26, wherein the AVP vehicle arrangements further include：

Second encryption device is connect for establishing remote equipment with the coded communication of the AVP vehicles, wherein described remote Journey equipment is for monitoring the parking lot；

Wherein, the first receiving device is used for：

28. the AVP vehicle arrangements according to clause 26 or 27, wherein the executive device is used for：

29. the AVP vehicle arrangements according to clause 28, wherein the AVP vehicle arrangements further include：

Second reception device exits remote assistance instruction for receiving transmitted by the remote equipment；

Updating device, for when receive it is described exit remote assistance instruction, it is that AVP parks mould to update the AVP vehicles Formula.

30. a kind of remote equipment for controlling AVP vehicles in parking lot, wherein the remote equipment includes that perception is single Member and control unit,

31. according to the remote equipment described in clause 30, wherein the perception unit includes be deployed in the parking lot more A camera unit.

32. according to the remote equipment described in clause 31, wherein the perception unit is used for：

Multiple video informations of AVP vehicles in the parking lot are obtained by the multiple camera unit；According to described more A video information determines whether the AVP vehicles need remote assistance, and is sent to described control unit about the AVP vehicles Wait for remote assistance information.

33. a kind of system for controlling AVP vehicles in parking lot, wherein the system comprises in such as clause 17 to 25 Any one of them remote equipment, and the AVP vehicle arrangements as described in any one of clause 26 to 29.

34. a kind of system for controlling AVP vehicles in parking lot, wherein the system comprises in such as clause 30 to 32 Any one of them remote equipment, and the AVP vehicle arrangements as described in any one of clause 26 to 29.

35. a kind of remote equipment for controlling AVP vehicles in parking lot, including：

One or more processors；

Memory；And

One or more programs wherein one or more of programs are stored in the memory, and are configured It is executed at by one or more of processors, described program includes for executing the method as described in any one of clause 1-9.

36. a kind of computer readable storage medium, is stored thereon with computer program, the computer program can be handled Device executes the method as described in any one of clause 1-9.

37. a kind of remote equipment for controlling AVP vehicles in parking lot, including：

One or more processors；

Memory；And

One or more programs wherein one or more of programs are stored in the memory, and are configured It is executed at by one or more of processors, described program includes for executing the side as described in any one of clause 14-16 Method.

38. a kind of computer readable storage medium, is stored thereon with computer program, the computer program can be handled Device executes the method as described in any one of clause 14-16.

39. a kind of AVP vehicle arrangements for controlling AVP vehicles in parking lot, including：

One or more processors；

Memory；And

One or more programs wherein one or more of programs are stored in the memory, and are configured It is executed at by one or more of processors, described program includes for executing the side as described in any one of clause 10-13 Method.

40. a kind of computer readable storage medium, is stored thereon with computer program, the computer program can be handled Device executes the method as described in any one of clause 10-13.

Claims

The remote operation of the AVP vehicles is generated about the AVP vehicles by the remote equipment according to remote user Remote assistance instructs；

Remote assistance instruction is sent to the AVP vehicles.

2. according to the method described in claim 1, wherein, the method further includes：

3. method according to claim 1 or 2, wherein needed in the parking lot that the identification remote equipment is monitored remote The AVP vehicles that journey is assisted, including：

Obtain the car status information of AVP vehicles；

According to the car status information, the AVP vehicles of remote assistance are needed in the parking lot that identification remote equipment is monitored.

4. according to the method described in claim 3, wherein, the car status information includes following at least any one：

The AVP vehicles enter the status indication information in the parking lot；

The car status information of AVP vehicles driving process in parking lot；

5. method according to claim 1 to 4, wherein the remote assistance request includes the AVP vehicles Exception information and/or mission bit stream.

6. the method according to any one of claims 1 to 5, wherein, the method further includes：

The remote operation of the associated vehicle of the AVP vehicles is generated and closed by the remote equipment according to the remote user In the remote control commands of the associated vehicle；

The remote control commands are sent to the associated vehicle.

7. according to the method described in claim 6, wherein, described instruct the remote assistance is sent to the AVP vehicles, wraps It includes：

It is finished when the associated vehicle executes the remote control commands, remote assistance instruction is sent to the AVP vehicles .

8. method according to any one of claim 1 to 7, wherein remote assistance instruction includes following at least appointing One：

Stop the AVP parking manoeuvres of the AVP vehicles；

Control the AVP parking manoeuvres of the AVP vehicles；

The target parking position of the AVP vehicles is reset, and controls the AVP vehicles and AVP pools is executed according to the target parking position Vehicle operates.

9. method according to any one of claim 1 to 8, wherein the method further includes：

The remote assistance instruction is executed to the AVP vehicles.