CN109087526A - A kind of intelligent parking method based on Omni-mobile AGV - Google Patents
A kind of intelligent parking method based on Omni-mobile AGV Download PDFInfo
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- CN109087526A CN109087526A CN201810885351.3A CN201810885351A CN109087526A CN 109087526 A CN109087526 A CN 109087526A CN 201810885351 A CN201810885351 A CN 201810885351A CN 109087526 A CN109087526 A CN 109087526A
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
Abstract
A kind of intelligent parking method based on Omni-mobile AGV is disclosed in the present invention, target parking position is determined according to parking stall idle in garage by garage control interaction center, and it generates to pause parking stall where parked vehicle to the planning path between target parking position, target parking position will be moved to parked vehicle by Omni-mobile AGV, to realize efficiently quickly by the target on vehicle parking to idle parking stall.Entire parking manoeuvres can be completed by the operating display of mobile phone or garage parking domain in user, operate convenient high-efficient.Using Omni-mobile AGV, level ground can convenient and efficient completion vehicle carrying and park, it is very convenient, to reduce garage construction cost, improve efficiency of parking, solve the deficiency of existing method of parking.
Description
Technical field
The present invention relates to a kind of automatic parking technology more particularly to a kind of intelligent parking methods based on Omni-mobile AGV.
Background technique
With the raising of China's national life level, automobile has become one of most important traffic mode of people.China
Road crowded state be similarly embodied in parking.Especially in the busy place in a line city, it is a large amount of that parking occupies people
Time, the deficiency of static traffic seriously affect the operation of dynamic traffic, and the phenomenon that traffic jam occur in some Special zones
More and more frequently, the efficiency of trip is affected.In addition the behavior of mankind's parking is filled with uncertainty, and related to mood,
It when parking lot largely is waited in line wait stop, often causes confusion and crowded, destroys normal parking order.Cause
This efficient parking lot automatic parking method is just very necessary.
In numerous parking apparatus, AGV(Automated Guided Vehicle, automated guided vehicle, abbreviation are used
AGV stereo garage) effectively can solve the difficult phenomenon of parking, and have more efficient, quick and easy access
Car body is tested.As vehicle carrier, its efficiency of parking directly affects the efficiency of parking of stereo garage to AGV.Currently used carrying
AGV trolley uses more usually to be turned in the case that route complexity road is narrow in garage with steering mechanism as automotive-type
Inconvenient working efficiency is low.Existing AGV such as comb-tooth-type of the parking AGV that parks needs the parking stall arranged in pairs or groups with it and can be transported
Make, even more needs other conveying devices to consign automobile to comb teeth parking stall, then parked by comb-tooth-type AGV.So with
It substantially increases the construction cost of garage system and the time cost of parking, causes park- ing cost high and inefficiency.Not only
In this way, substantially reducing reliable degree due to the particular/special requirement to parking stall, the event of failure of stereo garage is sent out again and again
It is raw, people are greatly reduced to the degree of belief of stereo garage.
The method it can be seen that tradition AGV parks, there are park- ing cost height, low efficiency of stopping, garage appearance vehicle rate is low, safety
The disadvantages such as reliability is low.The method of parking of traditional AGV has been unable to meet growing demand of parking, therefore needs to find one kind
Parking is convenient, reduces cost, efficient intelligent parking method.
Summary of the invention
In view of the above-mentioned problems, it is an object of the invention to propose it is a kind of operate it is convenient, high-efficient based on Omni-mobile AGV
Intelligent parking method, using Omni-mobile AGV, level ground can convenient and efficient completion vehicle carrying and park,
To reduce garage construction cost, efficiency of parking is improved, solves the deficiency of existing method of parking.
A kind of intelligent parking method based on Omni-mobile AGV, is divided into park process and pick-up process, which is characterized in that
Process of parking the following steps are included:
1) car owner sends finger of parking to Intelligent parking system by the terminal devices such as mobile phone or the operating display in garage parking domain
Enable, Intelligent parking system reception is parked after instruction, it is automatic obtain information of parking include parking position information, parking stall number and by
The parking route that garage control interaction center is calculated, the parking route include Omni-mobile AGV to vehicle location to be moored
Route, vehicle location to be moored to parking stall route two parts；
2) garage control interaction center reception car owner instructs the information that will park to pass to Omni-mobile AGV, and Omni-mobile AGV is referring to
Fixed parking area is looked for automobile automatically and is accurately positioned, and Omni-mobile AGV drilling vehicle bottom after vehicle is found, by autonomous induction
Control module and power lift vehicle in level ground with clamping device；
3) after Omni-mobile AGV completion is lifted, the parking stall number issued according to garage control interaction center and vehicle location to be moored
To the route information on parking stall number, carrier vehicle goes to parking stall；
4) Omni-mobile AGV stops vehicle to parking stall, and after parking, parking information is sent in garage control interaction
The heart, then car owner is sent to by garage control interaction center, car owner receives parking information, completes to park.
Further include obstacle detection step in above-mentioned process of parking: the Omni-mobile AGV is in carry process, by keeping away
Hinder sensor and carry out real time obstacle detection, is done directly and parks if obstacle is encountered；If encountering barrier, Omni-mobile
AGV pause, which is advanced, to be waited, and such as 10 seconds, if barrier does not move, then obstacle location information is sent to garage control interaction center,
Garage control interaction center combination parking area position coordinates or parking stall position coordinates, Obstacle Position coordinate, omnidirectional's shifting
Dynamic AGV position coordinates re-start path computing and obtain final path locus and send it to Omni-mobile AGV.
A kind of intelligent parking method based on Omni-mobile AGV, which is characterized in that further include pick-up process, steps are as follows:
1) car owner is taken by the terminal devices such as mobile phone or the operating display in garage parking domain to the transmission of garage control interaction center
Vehicle instruction, Intelligent parking system receive car owner's pick-up instruction, determine the parked parking stall of vehicle according to car owner's parking information；
2) alignment sensor that garage control interaction center is carried via Omni-mobile AGV is inquired from recently complete that stop
To mobile AGV, and pick-up route information is calculated；
3) route information of Omni-mobile AGV to vehicle location is passed to Omni-mobile AGV, omnidirectional by garage control interaction center
Mobile AGV reaches parking stall and finds Omni-mobile AGV drilling vehicle bottom after vehicle, presss from both sides by autonomous induction control module and power
Mechanism is held to lift vehicle in level ground；
4) after Omni-mobile AGV completion is lifted, the parking stall to the road of parking area issued by garage control interaction center is received
Line information, support carrier vehicle go to parking area；
5) Omni-mobile AGV stops vehicle to after specified parking area, and the completion information that will pick up the car is sent in garage control interaction
The heart, then car owner is sent to by garage control interaction center, car owner receives pick-up and completes information, completes to pick up the car.
Above-mentioned to park with pick-up process, garage control interaction center can calculate wait moor automatically or wait pick up the car to parking domain
Planning path.Specifically, Omni-mobile AGV often stops a vehicle, parking space information is sent to garage control interaction center, by
Garage control interaction center counts garage free parking space information, since Omni-mobile AGV carries alignment sensor, each omnidirectional
Also real-time delivery gives garage control interaction center for the mobile position AGV, in entire garage space in rectangular coordinate system, garage control
Interaction center by Omni-mobile AGV position coordinates, parking stall coordinate, parking domain coordinate combine according to the principle of shortest path into
Row connection path calculates, and obtains the initial path track of automatic parking or pick-up.
Intelligent parking method based on Omni-mobile AGV of the invention, by garage control interaction center according in garage
Idle parking stall determines target parking position, and generates to suspend parking stall to the planning road between target parking position where parked vehicle
Diameter will be moved to target parking position by Omni-mobile AGV to parked vehicle, efficiently quickly arrive vehicle parking to realize
Target on idle parking stall.Entire parking manoeuvres can be completed by the operating display of mobile phone or garage parking domain in user,
It operates convenient high-efficient.Using Omni-mobile AGV, level ground can convenient and efficient completion vehicle carrying and park,
It is very convenient, to reduce garage construction cost, efficiency of parking is improved, solves the deficiency of existing method of parking.
Detailed description of the invention
Fig. 1 is the Intelligent parking system schematic diagram based on Omni-mobile AGV in the embodiment of the present invention.
Fig. 2 is the Intelligent parking system path planning process figure based on Omni-mobile AGV in the embodiment of the present invention.
Fig. 3 is the Omni-mobile AGV vehicle schematic diagram delivery vehicle schematic diagram in the embodiment of the present invention.
Fig. 4 is the intelligent parking method bicycle parking flow chart based on Omni-mobile AGV in the embodiment of the present invention.
Fig. 5 is the intelligent parking method pick-up flow chart based on Omni-mobile AGV in the embodiment of the present invention.
Wherein, 1- vehicle one；2- parking area one；3- Omni-mobile AGV mono-；4- elevator；The garage 5- parking stall；6- omnidirectional
Mobile AGV bis-；7- parking area two；8- vehicle two；9- Omni-mobile AGV tri-.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, pass through specific embodiment with reference to the accompanying drawing
Further illustrate the present invention.The present embodiment is the intelligent parking method based on Omni-mobile AGV, the concrete operations in the embodiment
Method is equally applicable to other AGV and parks method design, and the design of correlation AGV.
Below with reference to the accompanying drawings intelligent parking method according to an embodiment of the present invention based on Omni-mobile AGV is described.
As shown in Figure 1, the intelligent parking method based on Omni-mobile AGV of the embodiment of the present invention is based on Omni-mobile
The Intelligent parking system of AGV is come what is realized, and the system comprises parking area, garage parking, Omni-mobile AGV group, elevator and vehicles
Library controls interaction center；The parking area is integrally concrete construction with garage, space can at least accommodate 2 in garage periphery
Position car owner comes to stop, so that car owner is stopped and is picked up the car；The garage parking includes parking stall and the inside lane AGV, garage parking vehicle
Position is parked for what car owner was stopped, and the lane AGV is for Omni-mobile AGV carrying vehicle walking space；It is described to mobile AGV group by
Multiple AGV compositions, are responsible for after receiving stop sign, Omni-mobile AGV goes to parking area to consign vehicle in scheduling group
The parking stall fixed to control system；Elevator, elevator need the vehicle that can accommodate an Omni-mobile AGV and its support carries, and being responsible for will
Second floor and the above floor are transported in the Omni-mobile AGV of Stall；Garage control interaction center, garage control interaction center is by sensing
The composition such as device, controller, can receive and handle the parking information of car owner.Omni-mobile AGV often stops a vehicle, and parking space information is given
Garage control interaction center can count garage free parking space information.Garage control interaction center is according to vehicle idle in garage
Position determines target parking position, and the mobile AGV location information of combining omnidirectional is generated parks to pause parking stall to target where parked vehicle
Planning path between position, sends information to Omni-mobile AGV, so that will be to the be moved to mesh of parked vehicle to mobile AGV
Parking position is marked, is received after the completion of parking and is parked information and feed back to car owner.
Specifically, garage control interaction center can be calculated automatically wait moor or wait the planning path for arriving parking domain of picking up the car.Such as
Shown in Fig. 2, Omni-mobile AGV often stops a vehicle, gives parking space information to garage control interaction center, can count the garage free time
Parking space information, Omni-mobile AGV carry alignment sensor, the position each Omni-mobile AGV also real-time delivery to garage control
Interaction center, in entire garage space rectangular coordinate system, Intelligent parking system is divided into point, line two parts, puts by Omni-mobile
AGV position coordinates, parking stall coordinate, parking area coordinate form, and connection obtains straightway, circle between each adjacent coordinates
Arc, the connection of straightway and circular arc, circular arc and circular arc four kinds of curves of connection form line parts.Garage control interaction center will be complete
It is combined to mobile AGV position coordinates, parking stall coordinate, parking area coordinate and is attached path computing, i.e., omnidirectional moves first
It is attached between dynamic AGV position coordinates, parking area coordinate and Omni-mobile AGV is obtained to parking by above-mentioned four kinds of curve combinations
Secondly the connection path in region is attached also by above-mentioned four kinds of curve combinations between parking area coordinate, parking stall coordinate
The connection path of parking area to target parking position is obtained, to obtain the initial path track of automatic parking or pick-up.Later
Routing information etc. is passed into Omni-mobile AGV, Omni-mobile AGV is carried out real-time in carry process by obstacle avoidance sensor
Obstacle detection is encountered obstacle and is then done directly and parks.It is waited 10 seconds if encountering barrier Omni-mobile AGV pause and advancing,
If barrier does not move, then obstacle location information is sent to garage control interaction center, garage control interaction center, which combines, stops
Vehicle regional location coordinate or parking stall position coordinates), Obstacle Position coordinate, Omni-mobile AGV position coordinates re-start
Path computing obtains final path locus and sends it to Omni-mobile AGV.
Omni-mobile AGV lifts transport what level ground can be completed vehicle, lifts vehicle schematic diagram such as Fig. 3 institute
Show.Omni-mobile AGV incudes control module, is made of avoidance, ranging localization sensor and controller, mainly there is the positioning of vehicle
Find, before and after vehicle tire away from detection, avoidance and guidance AGV enter the functions such as parking stall, therefore for the arrangement of sensor
It is put into the front and back end of vehicle, adjusts AGV posture in time to prejudge road conditions in advance.
As shown in figure 4, a kind of intelligent parking method based on Omni-mobile AGV, process of parking, comprising the following steps:
1) it after car owner enters parking area, can stop at an arbitrary position.After the completion of parking, by mobile phone or the behaviour in garage parking domain
Make display screen and send parking information, determine that vehicle is the information such as pull-up parking brake, closed door vehicle window, parking is sent after the completion of confirmation
Information, parking information include vehicle location, vehicle model, state etc.；
2) garage control interaction center obtains information, passes to Omni-mobile AGV group, and Omni-mobile AGV receives parking information
(including location information, parking stall and route), goes to parking area, the specific position for obtaining stopping by incuding control module
It sets, after finding vehicle, is controlled by self-sensor device, AGV is guided to enter vehicle bottom；
3) during entering vehicle bottom, the sensor in Omni-mobile AGV measures the distance of vehicle front and back wheel, Omni-mobile
AGV is clamped according to tire distance wait park；
4) it after clamping device clamps tire, due to the presence of slope and ball, further clamps, holds up and complete vehicle
Liftoff movement；
5) induction control module receives the parking stall number sent by garage control interaction center and route information, obtains parking stall several
Building which, take elevator if in second floor and the above floor, induction control module guide under, Omni-mobile AGV drive mould
Block acts and can carry out comprehensive turning and translation, and Omni-mobile AGV is made to drive to idle parking stall；
6) after entering parking stall, vehicle is put into ground by clamping device slow release, and after the completion of release, delivery device movement will
Inside clamping device income to AGV；
7) after clamping device completes income, Omni-mobile AGV is driven out to parking stall and will park and completes signal and be sent to garage control
Interaction center.Garage control interaction center sends the information such as parking information such as parking stall number and issues car owner, and completion was this time parked
Journey.Later, Omni-mobile AGV receives next parking information.
As shown in figure 5, a kind of intelligent parking method based on Omni-mobile AGV, pick-up process, comprising the following steps:
1) operating display that car owner can be reserved in advance by mobile phone or be entered garage parking area garage parking domain, which is sent, picks up the car
Information determines the information such as pick-up position, type of vehicle, parking stall number, license plate number, sends information after the completion of confirmation；
2) garage control interaction center obtains information, passes to Omni-mobile AGV group, and Omni-mobile AGV receives parking information
(including location information, parking stall and route), goes to parking stall, after finding vehicle, is controlled by self-sensor device, and omnidirectional is guided to move
Dynamic AGV enters vehicle bottom；
3) during entering vehicle bottom, the sensor in Omni-mobile AGV measures the distance of vehicle front and back wheel, Omni-mobile
AGV adjusts front and back vehicle body, that is, clamping device distance according to distance；
4) after the completion of adjusting, clamping device is pushed to tire two sides by delivery device movement.Clamping device movement, by rim clamp
It handles, due to the presence of slope and ball, further clamps, hold up the liftoff movement for completing vehicle；
5) induction control module is picked up the car information based on the received, under the guide of induction control module, Omni-mobile AGV driving
Module action simultaneously can carry out comprehensive turning and translation, and Omni-mobile AGV is made to drive to the parking area where car owner；
6) after entering parking area, vehicle is put into ground by clamping device slow release, after the completion of release, delivery device movement
Inside clamping device income to AGV；
7) after clamping device completes income, Omni-mobile AGV sends vehicle and reaches prompt tone, while garage control interaction center
Pick-up information is sent to car owner, car owner finds vehicle, completes this pick-up process.Later, Omni-mobile AGV receives next and stops
Vehicle information.
Based on the intelligent parking method of Omni-mobile AGV due to the use of Omni-mobile AGV, can be completed in level ground
All movements of parking, and can Omni-mobile, park efficiency and safety reliability can be greatly improved, reduce parking system construction
Cost also reduces the lane AGV, makes raising appearance vehicle rate more compact between parking stall.Based on Omni-mobile AGV's in the present invention
Intelligent parking method determines target parking position according to parking stall idle in garage by garage control interaction center, and generates wait stop
A place pause parking stall park to the planning path between target parking position, so as to will be moved to mobile AGV to parked vehicle
To target parking position, so as to efficiently by different model, size vehicle parking to idle parking stall on.User relies on hand
Entire parking manoeuvres can be completed in machine or the operating display in garage parking domain, operate convenient high-efficient.
Above-mentioned embodiment only illustrates the principle of this design and method, is not intended to limit the present invention.It is any to this technology
The personage understood with principle can modify above-described embodiment and be changed without prejudice under spirit and scope of the invention.
Therefore, all those of ordinary skill in the art institute under without departing from disclosed spirit and technical idea is complete
At all equivalent modifications and change, should be covered by the claims of the present invention.
Claims (6)
1. a kind of intelligent parking method based on Omni-mobile AGV, it is characterised in that the following steps are included:
1) car owner sends instruction of parking to Intelligent parking system by terminal device, and Intelligent parking system reception is parked after instruction,
The automatic information of parking that obtains includes parking position information, parking stall number and is parked by what garage control interaction center was calculated
Route；
2) the garage control interaction center reception car owner instructs the information that will park to pass to Omni-mobile AGV, Omni-mobile AGV
Automobile is looked for automatically in specified parking area and is accurately positioned, and Omni-mobile AGV drilling vehicle bottom after vehicle is found, by itself
Induction control module and power lift vehicle in level ground with clamping device；
3) after Omni-mobile AGV completion is lifted, the parking stall number issued according to garage control interaction center and vehicle location to be moored
To the route information on parking stall number, carrier vehicle goes to parking stall；
4) Omni-mobile AGV stops vehicle to parking stall, and after parking, parking information is sent in garage control interaction
The heart, then car owner is sent to by garage control interaction center, car owner receives parking information, completes to park.
2. intelligent parking method as described in claim 1, it is characterised in that terminal device is the behaviour of mobile phone or garage parking domain
Make display screen.
3. intelligent parking method as described in claim 1, it is characterised in that parking route described in step 1) includes Omni-mobile
AGV is to vehicle location route to be moored and vehicle location to be moored to parking stall route.
4. intelligent parking method as described in claim 1, it is characterised in that further include obstacle detection step: the Omni-mobile
AGV carries out real time obstacle detection in carry process, through obstacle avoidance sensor, is done directly and parks if obstacle is encountered；Such as
Fruit encounters barrier, then Omni-mobile AGV pause, which is advanced, waits, and if barrier does not move, is then sent to obstacle location information
Garage control interaction center, garage control interaction center combination parking area position coordinates or parking stall position coordinates, obstacle
Object location coordinate, Omni-mobile AGV position coordinates re-start path computing and obtain final path locus and send it to complete
To mobile AGV.
5. intelligent parking method as described in claim 1, it is characterised in that described further includes the pick-up process of following steps:
1) car owner is taken by the terminal devices such as mobile phone or the operating display in garage parking domain to the transmission of garage control interaction center
Vehicle instruction, Intelligent parking system receive car owner's pick-up instruction, determine the parked parking stall of vehicle according to car owner's parking information；
2) alignment sensor that garage control interaction center is carried via Omni-mobile AGV is inquired from recently complete that stop
To mobile AGV, and pick-up route information is calculated；
3) route information of Omni-mobile AGV to vehicle location is passed to Omni-mobile AGV, omnidirectional by garage control interaction center
Mobile AGV reaches parking stall and finds Omni-mobile AGV drilling vehicle bottom after vehicle, presss from both sides by autonomous induction control module and power
Mechanism is held to lift vehicle in level ground；
4) after Omni-mobile AGV completion is lifted, the parking stall to the road of parking area issued by garage control interaction center is received
Line information, support carrier vehicle go to parking area；
5) Omni-mobile AGV stops vehicle to after specified parking area, and the completion information that will pick up the car is sent in garage control interaction
The heart, then car owner is sent to by garage control interaction center, car owner receives pick-up and completes information, completes to pick up the car.
6. intelligent parking method as described in claim 1, it is characterised in that parking route is calculated described in step 1)
Method is as follows: Omni-mobile AGV often stops a vehicle, parking space information is sent to garage control interaction center, by garage control
Interaction center counts garage free parking space information, since Omni-mobile AGV carries alignment sensor, each Omni-mobile AGV
Also real-time delivery gives garage control interaction center for position, in entire garage space in rectangular coordinate system, in garage control interaction
Omni-mobile AGV position coordinates, parking stall coordinate, parking domain coordinate are combined and are attached according to the principle of shortest path by the heart
Path computing obtains the initial path track of automatic parking or pick-up.
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Cited By (18)
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| CN110021189A (en) * | 2019-04-26 | 2019-07-16 | 成都智狐科技有限公司 | Intelligent parking method based on parallel access |
| CN110161993A (en) * | 2019-05-22 | 2019-08-23 | 态好停停车设备科技(无锡)有限公司 | A kind of control method of stereo garage, device and intelligent three-dimensional garage |
| CN110159039A (en) * | 2019-04-26 | 2019-08-23 | 纵目科技（上海）股份有限公司 | A kind of method of parking, system, terminal and the storage medium of parking systems |
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| CN113123653A (en) * | 2020-01-15 | 2021-07-16 | 上海智远弘业智能技术股份有限公司 | AGV and mechanical vertical warehouse combined intelligent parking control method |
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| CN113936499A (en) * | 2021-10-15 | 2022-01-14 | 华人运通(上海)自动驾驶科技有限公司 | Intelligent chassis equipment and intelligent parking management system |
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| CN113703460A (en) * | 2021-08-31 | 2021-11-26 | 上海木蚁机器人科技有限公司 | Method, device and system for identifying vacancy of navigation vehicle |
| CN113703460B (en) * | 2021-08-31 | 2024-02-09 | 上海木蚁机器人科技有限公司 | Method, device and system for identifying vacant position of navigation vehicle |
| CN113936499A (en) * | 2021-10-15 | 2022-01-14 | 华人运通(上海)自动驾驶科技有限公司 | Intelligent chassis equipment and intelligent parking management system |
| CN114141025A (en) * | 2021-12-03 | 2022-03-04 | 江苏越捷智能停车系统有限公司 | Unattended intelligent parking lot system |
| CN114141025B (en) * | 2021-12-03 | 2022-11-22 | 江苏越捷智能停车系统有限公司 | Unattended intelligent parking lot system |
| CN115346393A (en) * | 2022-08-22 | 2022-11-15 | 南通大学 | Intelligent parking scheduling method for intelligent transportation |
| CN115649124A (en) * | 2022-12-22 | 2023-01-31 | 小米汽车科技有限公司 | Control method and device for moving vehicle from mobile device and electronic device |
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Application publication date: 20181225 |