CN111845721A - Semi-automatic parking method, device, equipment and storage medium - Google Patents
Semi-automatic parking method, device, equipment and storage medium Download PDFInfo
- Publication number
- CN111845721A CN111845721A CN202010714092.5A CN202010714092A CN111845721A CN 111845721 A CN111845721 A CN 111845721A CN 202010714092 A CN202010714092 A CN 202010714092A CN 111845721 A CN111845721 A CN 111845721A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- parked
- control system
- semi
- sensors
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
Abstract
The invention discloses a semi-automatic parking method, a semi-automatic parking device, semi-automatic parking equipment and a storage medium. According to the method, vehicle parameters are obtained, and a manual control system is controlled to be paired with a corresponding vehicle to be parked according to the vehicle parameters; after receiving a code matching request of the manual control system and successfully matching, controlling the vehicle to be parked to enter a controlled state; starting a plurality of sensors of the vehicle to be parked, and acquiring data acquired by the plurality of sensors in the controlled process of the vehicle to be parked; comparing data collected by a plurality of sensors with preset normal data; if the vehicle is in a normal state, voice prompt information is carried out, and the vehicle to be parked is controlled to be put in storage according to the voice prompt information and a control instruction of the manual control system; and if the alarm is in an abnormal state, sending an alarm signal, and feeding back an alarm distance according to the alarm signal. The semi-automatic parking method can effectively prevent scraping and rubbing events in the parking process, and is high in reliability.
Description
Technical Field
The invention relates to the technical field of parking control, in particular to a semi-automatic parking method, a semi-automatic parking device, semi-automatic parking equipment and a storage medium.
Background
Parking and warehousing is a complex process, and has high requirements on drivers from the aspects of driving experience, driving skill, reaction sensitivity and the like, and moreover, the parking and warehousing needs backing operation, and the drivers can judge the conditions behind the vehicle and around the vehicle only by left and right rearview mirrors, but because of the existence of blind areas, the real-time and accurate judgment on the conditions behind the vehicle is not easy to be made, and accidents are easy to occur. In some automatic parking methods, an intelligent instrument is installed on the whole vehicle, the whole parking process is automated according to unmanned technical experience, and the parking efficiency is improved to a certain extent. However, due to uncertain factors such as the accuracy of intelligent instrument control and the complexity of the environment, automatic parking and scratching events often occur. Therefore, how to effectively prevent accidents during parking has become an urgent problem to be solved by those skilled in the art.
Disclosure of Invention
In order to overcome the defects, the embodiments of the present invention provide a method, an apparatus, a device and a storage medium for semi-automatic parking, which are used to solve the problems in the prior art.
In a first aspect, an embodiment of the present invention provides a semi-automatic parking method, where the method includes:
obtaining vehicle parameters, and controlling a manual control system to be paired with a corresponding vehicle to be parked according to the vehicle parameters;
after receiving a code matching request of the manual control system and successfully matching, controlling the vehicle to be parked to enter a controlled state;
starting a plurality of sensors of the vehicle to be parked, and acquiring data acquired by the plurality of sensors in the controlled process of the vehicle to be parked;
comparing data collected by a plurality of sensors with preset normal data;
if the vehicle is in a normal state, voice prompt information is carried out, and the vehicle to be parked is controlled to be put in storage according to the voice prompt information and a control instruction of the manual control system;
and if the alarm is in an abnormal state, sending an alarm signal, and feeding back an alarm distance according to the alarm signal.
Preferably, the method controls the manual control system to send out a control command, so that the vehicle to be parked moves a first preset distance, and the control command comprises an ignition control command, a forward control command, a backward control command and a steering control command.
Preferably, when the vehicle to be parked is in an unignited state, the ignition control instruction is used for controlling the vehicle to be parked to ignite; and when the vehicle to be parked is in an ignition state, the ignition control instruction is invalid.
Preferably, the manual control system is in one-to-one correspondence with the vehicles to be parked and is not changeable.
Preferably, the comparing the data collected by the plurality of sensors with the preset normal data includes:
comparing the distance data collected by the front ranging radar or the rear ranging radar with a preset distance threshold;
comparing acceleration data acquired by an acceleration sensor with a preset acceleration threshold;
angular velocity data collected by the angular velocity sensor is compared with a preset angular velocity threshold.
Preferably, the method further comprises:
and if the front distance measuring radar or the rear distance measuring radar is in an abnormal state, controlling the vehicle to be parked to stop at the current position after an alarm signal is sent out and the alarm distance is fed back.
In a second aspect, an embodiment of the present invention provides a manual parking apparatus, including:
the pairing module is used for acquiring vehicle parameters and controlling the manual control system to be paired with the corresponding vehicle to be parked according to the vehicle parameters;
the code matching request control module is used for controlling the vehicle to be parked to enter a controlled state after receiving the code matching request of the manual control system and successfully matching;
the data acquisition control module is used for starting a plurality of sensors of the vehicle to be parked and acquiring data acquired by the sensors in the controlled process of the vehicle to be parked;
the comparison module is used for comparing the data acquired by the plurality of sensors with preset normal data;
the first processing module is used for carrying out voice prompt information if the vehicle is in a normal state and controlling the vehicle to be parked to enter the garage according to the voice prompt information and the control instruction of the manual control system;
and the second processing module sends out an alarm signal if the second processing module is in an abnormal state, and is used for feeding back an alarm distance according to the alarm signal.
Preferably, the apparatus further comprises:
and the parking control module is used for controlling the vehicle to be parked at the current position after sending out the alarm signal.
In a third aspect, an embodiment of the present invention provides a semi-automatic parking method and apparatus, including: at least one processor, at least one memory, and computer program instructions stored in the memory, which when executed by the processor, implement the method of the first aspect of the embodiments described above.
In a fourth aspect, embodiments of the present invention provide a storage medium having stored thereon computer program instructions, which when executed by a processor, implement the method of the first aspect in the above embodiments.
In summary, embodiments of the present invention provide a method, an apparatus, a device, and a storage medium for semi-automatic parking. According to the method, vehicle parameters are obtained, and a manual control system is controlled to be paired with a corresponding vehicle to be parked according to the vehicle parameters; after receiving a code matching request of the manual control system and successfully matching, controlling the vehicle to be parked to enter a controlled state; starting a plurality of sensors of the vehicle to be parked, and acquiring data acquired by the plurality of sensors in the controlled process of the vehicle to be parked; comparing data collected by a plurality of sensors with preset normal data; if the vehicle is in a normal state, voice prompt information is carried out, and the vehicle to be parked is controlled to be put in storage according to the voice prompt information and a control instruction of the manual control system; and if the alarm is in an abnormal state, sending an alarm signal, and feeding back an alarm distance according to the alarm signal. The semi-automatic parking method can effectively prevent scraping and rubbing events in the parking process, and is high in reliability.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a semi-automatic parking method according to an embodiment of the present invention.
Fig. 2 is a flowchart illustrating a work flow of a semi-automatic parking method according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a manual parking apparatus according to an embodiment of the present invention.
Fig. 4 is a schematic structural view of a manual parking apparatus according to another embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a manual parking apparatus according to an embodiment of the present invention.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Referring to fig. 1, vehicle parameters are obtained, and a manual control system is controlled to be paired with a corresponding vehicle to be parked according to the vehicle parameters; after receiving a code matching request of the manual control system and successfully matching, controlling the vehicle to be parked to enter a controlled state; starting a plurality of sensors of the vehicle to be parked, and acquiring data acquired by the plurality of sensors in the controlled process of the vehicle to be parked; comparing data collected by a plurality of sensors with preset normal data; if the vehicle is in a normal state, voice prompt information is carried out, and the vehicle to be parked is controlled to be put in storage according to the voice prompt information and a control instruction of the manual control system; and if the alarm is in an abnormal state, sending an alarm signal, and feeding back an alarm distance according to the alarm signal. The semi-automatic parking method can effectively prevent scraping and rubbing events in the parking process, and is high in reliability.
The method comprises the following steps:
s1, obtaining vehicle parameters, and controlling the manual control system to be paired with the corresponding vehicle to be parked according to the vehicle parameters;
preferably, the manual control system is in one-to-one correspondence with the vehicles to be parked and is not changeable. Specifically, in this embodiment, the manual control system may be an independent manual control device, or may be a manual control system integrated into a mobile terminal such as a mobile phone, and the form and structure of the quick-freezing control system are not specifically limited herein.
Specifically, the manual control system of the present invention is connected with the vehicle to be parked by bluetooth communication or WIFI communication, and the specific manner of the communication connection is not limited herein. Before the vehicle to be parked leaves a factory, the IP information of the vehicle to be parked needs to be written in the manual control system, and the IP information cannot be changed after the vehicle to be parked is produced, so that the manual control system and the vehicle to be parked are successfully paired one by one, and the safety of the vehicle and personnel is ensured.
S2, after receiving the code matching request of the manual control system and matching successfully, controlling the vehicle to be parked
The vehicle enters a controlled state;
specifically, after the pairing is successful, the vehicle to be parked enters a controlled state, and the manual control system inputs a control command (a key on the manual control system is pressed for a long time) to drive the vehicle to be parked to move.
Preferably, the method controls the manual control system to send out a control command, so that the vehicle to be parked moves a first preset distance, and the control command comprises an ignition control command, a forward control command, a backward control command and a steering control command.
Preferably, in this embodiment, the ignition control instruction is implemented by pressing an ignition control key on the manual control system once; the forward control instruction is realized by continuously pressing a forward key on a manual control system, and the forward control instruction is stopped being sent when the forward key is released; the backward control instruction is realized by continuously pressing a backward key on a manual control system, and the backward control instruction is stopped being sent when the backward key is released; the steering control instruction needs to press a steering key on a manual control system intermittently or uninterruptedly according to the angle required to be steered, and the backward control instruction is stopped sending when the steering key is released.
Preferably, when the vehicle to be parked is in an unignited state, the ignition control instruction is used for controlling the vehicle to be parked to ignite; and when the vehicle to be parked is in an ignition state, the ignition control instruction is invalid.
S3, starting a plurality of sensors of the vehicle to be parked, and collecting data collected by the sensors in the control process of the vehicle to be parked;
s4, comparing the data collected by the sensors with preset normal data;
preferably, the comparing the data collected by the plurality of sensors with the preset normal data includes:
comparing the distance data collected by the front ranging radar or the rear ranging radar with a preset distance threshold;
if the distance data acquired by the front distance measuring radar or the rear distance measuring radar is less than the preset distance threshold, judging that the vehicle to be parked is in an abnormal state; and if the distance data acquired by the front distance measuring radar or the rear distance measuring radar is larger than or equal to the preset distance threshold, judging that the vehicle to be parked is in a normal state. In this embodiment, the front and rear ranging radars are plural.
Comparing acceleration data acquired by an acceleration sensor with a preset acceleration threshold; when the vehicle to be parked is suddenly started or stopped, the vehicle to be parked generates a larger acceleration, the sudden increase of the acceleration causes the data of the acceleration sensor to suddenly change, and if the acceleration data acquired by the acceleration sensor is larger than a preset acceleration threshold value, the vehicle to be parked is judged to be in an abnormal state; and if the acceleration data acquired by the acceleration sensor is less than or equal to a preset acceleration threshold, judging that the vehicle to be parked is in an abnormal state.
Angular velocity data collected by the angular velocity sensor is compared with a preset angular velocity threshold. When the vehicle to be parked suddenly turns or suddenly changes lanes, the vehicle to be parked generates a larger angular speed, the data of the angular speed sensor suddenly changes due to the sudden increase of the angular speed, and if the angular speed data acquired by the angular speed sensor is larger than a preset angular speed threshold value, the vehicle to be parked is judged to be in an abnormal state; and if the angular speed data acquired by the angular speed sensor is less than or equal to a preset angular speed threshold value, judging that the vehicle to be parked is in an abnormal state.
S5, if the vehicle is in a normal state, carrying out voice prompt information, and controlling the vehicle to be parked to enter the garage according to the voice prompt information and a control instruction of the manual control system; in this embodiment, the voice prompt information is used to remind the relevant personnel that the data is normal at present, and the next step can be performed.
And S6, if the alarm is in an abnormal state, sending an alarm signal, and feeding back an alarm distance according to the alarm signal. After the alarm distance is fed back, related personnel control the vehicle to be parked to carry out backward, forward, turning or stop control operation through the manual control system.
Preferably, the method further comprises:
and if the front distance measuring radar or the rear distance measuring radar is in an abnormal state, controlling the vehicle to be parked to stop at the current position after an alarm signal is sent out and the alarm distance is fed back. It is understood that, in the embodiment, after the system sends out the alarm signal and feeds back the alarm distance, the vehicle to be parked is close to the obstacle. At the moment, if the relevant personnel are not concentrated or interrupted for some reason, misoperation is caused, so that the vehicle to be parked and the obstacle are scratched. And after an alarm signal is sent out and the alarm distance is fed back, controlling the vehicle to be parked to stop at the current position to prevent misoperation.
In one embodiment, referring to fig. 2, a semi-automatic parking method according to the present invention comprises the following steps:
and starting the manual control system, wherein the manual control system sends a code matching request, and the vehicle to be parked is in a matching state. If the pairing is normal, the vehicle to be parked is in a controlled state; if the pairing is abnormal, the pairing needs to be conducted again. And after the pairing is successful, sending a continuous control command to control the vehicle to be parked to carry out related operation by long-pressing a key on the manual control system. And when the key on the manual control system is released or the connection is abnormal, the vehicle to be parked stops being controlled. And the vehicle to be parked carries out relevant operations of ignition control, forward movement, backward movement, turning and the like under the control of the ignition control command, the forward movement control command, the backward movement control command and the steering control command. When the data is in a normal state, the voice prompt information is used for reminding relevant personnel that the current data is normal, and the next step can be carried out. And when the vehicle is in an abnormal state, related personnel control the vehicle to be parked to carry out backward, forward, turning or stop control operation through the manual control system. Particularly, when the distance between the vehicle to be parked and the obstacle is smaller than a preset distance threshold value, the front distance measuring radar and the rear distance measuring radar send out an alarm signal and feed back an alarm distance, and at the moment, the vehicle automatically stays at the current position to wait for relevant personnel to adjust so that the vehicle is in a normal state.
Referring to fig. 3 and 4, an embodiment of the present invention provides a manual parking apparatus, including:
the pairing module 1 is used for acquiring vehicle parameters and controlling a manual control system to be paired with a corresponding vehicle to be parked according to the vehicle parameters;
the code matching request control module 2 is used for receiving the code matching request of the manual control system and controlling the vehicle to be parked to enter a controlled state after the code matching request is successfully matched;
the data acquisition control module 3 is used for starting a plurality of sensors of the vehicle to be parked and acquiring data acquired by the sensors in the controlled process of the vehicle to be parked;
the comparison module 4 is used for comparing the data acquired by the plurality of sensors with preset normal data;
the first processing module 5 is used for carrying out voice prompt information if the vehicle is in a normal state, and controlling the vehicle to be parked to enter the garage according to the voice prompt information and the control instruction of the manual control system;
the second processing module 6 is used for sending an alarm signal if the alarm signal is in an abnormal state and feeding back an alarm distance according to the alarm signal;
and the parking control module 7 is used for controlling the vehicle to be parked to park at the current position after sending out the alarm signal.
In addition, a semi-automatic parking method according to the embodiment of the present invention described with reference to fig. 1 may be implemented by a semi-automatic parking apparatus. Fig. 5 is a hardware schematic diagram illustrating a semi-automatic parking method and apparatus according to an embodiment of the present invention.
The manual parking apparatus may include a processor 401 and a memory 402 storing computer program instructions.
Specifically, the processor 401 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured as one or more Integrated circuits implementing embodiments of the present invention.
The processor 401 reads and executes the computer program instructions stored in the memory 402 to implement any one of the semi-automatic parking methods in the above-described embodiments.
In one example, the semi-automatic parking apparatus may also include a communication interface 403 and a bus 410. As shown in fig. 5, the processor 401, the memory 402, and the communication interface 403 are connected via a bus 410 to complete communication therebetween.
The communication interface 403 is mainly used for implementing communication between modules, apparatuses, units and/or devices in the embodiments of the present invention.
In addition, in combination with the semi-automatic parking method in the foregoing embodiments, the embodiments of the present invention may be implemented by providing a computer-readable storage medium. The computer readable storage medium having stored thereon computer program instructions; the computer program instructions, when executed by a processor, implement any of the above-described embodiments of a method for semi-automatic parking.
In summary, embodiments of the present invention provide a method, an apparatus, a device, and a storage medium for semi-automatic parking. According to the method, vehicle parameters are obtained, and a manual control system is controlled to be paired with a corresponding vehicle to be parked according to the vehicle parameters; after receiving a code matching request of the manual control system and successfully matching, controlling the vehicle to be parked to enter a controlled state; starting a plurality of sensors of the vehicle to be parked, and acquiring data acquired by the plurality of sensors in the controlled process of the vehicle to be parked; comparing data collected by a plurality of sensors with preset normal data; if the vehicle is in a normal state, voice prompt information is carried out, and the vehicle to be parked is controlled to be put in storage according to the voice prompt information and a control instruction of the manual control system; and if the alarm is in an abnormal state, sending an alarm signal, and feeding back an alarm distance according to the alarm signal. According to the semi-automatic parking method, the manual control system is used for controlling the vehicle to be parked in a parking garage, the parking process can be intuitively controlled, scraping and abrasion events in the parking process are effectively prevented, and the reliability is high.
It should also be noted that the exemplary embodiments mentioned in this patent describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed simultaneously.
As described above, only the specific embodiments of the present invention are provided, and it can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the module and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present invention, and these modifications or substitutions should be covered within the scope of the present invention.
Claims (10)
1. A method for semi-automatic parking, the method comprising:
obtaining vehicle parameters, and controlling a manual control system to be paired with a corresponding vehicle to be parked according to the vehicle parameters;
after receiving a code matching request of the manual control system and successfully matching, controlling the vehicle to be parked to enter a controlled state;
starting a plurality of sensors of the vehicle to be parked, and acquiring data acquired by the plurality of sensors in the controlled process of the vehicle to be parked;
comparing data collected by a plurality of sensors with preset normal data;
if the vehicle is in a normal state, voice prompt information is carried out, and the vehicle to be parked is controlled to be put in storage according to the voice prompt information and a control instruction of the manual control system;
and if the alarm is in an abnormal state, sending an alarm signal, and feeding back an alarm distance according to the alarm signal.
2. A semi-automatic parking method according to claim 1, wherein the method controls the manual control system to issue control commands, wherein the control commands comprise an ignition control command, a forward control command, a backward control command and a steering control command, so that the vehicle to be parked moves a first preset distance.
3. A semi-automatic parking method according to claim 2 wherein when the vehicle to be parked is in an unignited state, the ignition control command is used to control the ignition of the vehicle to be parked; and when the vehicle to be parked is in an ignition state, the ignition control instruction is invalid.
4. A method of semi-automatic parking according to claim 1 wherein the manual control system is one-to-one and non-alterable with the vehicle to be parked.
5. A method for semi-automatic parking as claimed in claim 1 wherein comparing the data collected by the plurality of sensors to predetermined normal data comprises:
comparing the distance data collected by the front ranging radar or the rear ranging radar with a preset distance threshold;
comparing acceleration data acquired by an acceleration sensor with a preset acceleration threshold;
angular velocity data collected by the angular velocity sensor is compared with a preset angular velocity threshold.
6. A method of semi-automatic parking according to claim 1 further comprising:
and if the front distance measuring radar or the rear distance measuring radar is in an abnormal state, controlling the vehicle to be parked to stop at the current position after an alarm signal is sent out and the alarm distance is fed back.
7. A manual parking device, characterized in that the device comprises:
the pairing module is used for acquiring vehicle parameters and controlling the manual control system to be paired with the corresponding vehicle to be parked according to the vehicle parameters;
the code matching request control module is used for controlling the vehicle to be parked to enter a controlled state after receiving the code matching request of the manual control system and successfully matching;
the data acquisition control module is used for starting a plurality of sensors of the vehicle to be parked and acquiring data acquired by the sensors in the controlled process of the vehicle to be parked;
the comparison module is used for comparing the data acquired by the plurality of sensors with preset normal data;
the first processing module is used for carrying out voice prompt information if the vehicle is in a normal state and controlling the vehicle to be parked to enter the garage according to the voice prompt information and the control instruction of the manual control system;
and the second processing module sends out an alarm signal if the second processing module is in an abnormal state, and is used for feeding back an alarm distance according to the alarm signal.
8. The manual parking device according to claim 7, further comprising:
and the parking control module is used for controlling the vehicle to be parked at the current position after sending out the alarm signal.
9. A manual parking apparatus, characterized by comprising: at least one processor, at least one memory, and computer program instructions stored in the memory that, when executed by the processor, implement the method of any of claims 1-6.
10. A storage medium having computer program instructions stored thereon, which when executed by a processor implement the method of any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010714092.5A CN111845721A (en) | 2020-07-23 | 2020-07-23 | Semi-automatic parking method, device, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010714092.5A CN111845721A (en) | 2020-07-23 | 2020-07-23 | Semi-automatic parking method, device, equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111845721A true CN111845721A (en) | 2020-10-30 |
Family
ID=72950366
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010714092.5A Pending CN111845721A (en) | 2020-07-23 | 2020-07-23 | Semi-automatic parking method, device, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111845721A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112356829A (en) * | 2020-11-06 | 2021-02-12 | 安徽江淮汽车集团股份有限公司 | Automatic parking method, device, equipment and storage medium |
| EP3866122A3 (en) * | 2020-12-18 | 2021-11-24 | Beijing Baidu Netcom Science Technology Co., Ltd. | Abnormal data collecting method, apparatus, storage medium and product for automatic parking |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103359052A (en) * | 2012-04-06 | 2013-10-23 | 比亚迪股份有限公司 | Vehicle intelligent key device, vehicle remote control drive system and vehicle remote control drive method |
| CN103857583A (en) * | 2011-10-12 | 2014-06-11 | 宝马股份公司 | Remote control for a parking assistance system and a parking assistance system which can be controlled by remote control |
| CN206456430U (en) * | 2017-02-22 | 2017-09-01 | 李原 | Vehicle remote control device and automobile |
| CN107554357A (en) * | 2017-08-23 | 2018-01-09 | 北京新能源汽车股份有限公司 | Vehicle remote control drive manner, system and electric machine controller |
| CN107901906A (en) * | 2017-10-30 | 2018-04-13 | 北京新能源汽车股份有限公司 | A kind of remote driving control method, device, controller and electric automobile |
| EP3388311A1 (en) * | 2017-04-10 | 2018-10-17 | Valeo Schalter und Sensoren GmbH | Method for remote controlled manoeuvring of a motor vehicle on a parking lot, infrastructure device for a parking lot and parking lot communication system |
| CN111231944A (en) * | 2020-01-15 | 2020-06-05 | 深圳联友科技有限公司 | Automatic parking method |
-
2020
- 2020-07-23 CN CN202010714092.5A patent/CN111845721A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103857583A (en) * | 2011-10-12 | 2014-06-11 | 宝马股份公司 | Remote control for a parking assistance system and a parking assistance system which can be controlled by remote control |
| CN103359052A (en) * | 2012-04-06 | 2013-10-23 | 比亚迪股份有限公司 | Vehicle intelligent key device, vehicle remote control drive system and vehicle remote control drive method |
| CN206456430U (en) * | 2017-02-22 | 2017-09-01 | 李原 | Vehicle remote control device and automobile |
| EP3388311A1 (en) * | 2017-04-10 | 2018-10-17 | Valeo Schalter und Sensoren GmbH | Method for remote controlled manoeuvring of a motor vehicle on a parking lot, infrastructure device for a parking lot and parking lot communication system |
| CN107554357A (en) * | 2017-08-23 | 2018-01-09 | 北京新能源汽车股份有限公司 | Vehicle remote control drive manner, system and electric machine controller |
| CN107901906A (en) * | 2017-10-30 | 2018-04-13 | 北京新能源汽车股份有限公司 | A kind of remote driving control method, device, controller and electric automobile |
| CN111231944A (en) * | 2020-01-15 | 2020-06-05 | 深圳联友科技有限公司 | Automatic parking method |
Non-Patent Citations (1)
| Title |
|---|
| 朱德乾: "《汽车典型车辆检修一体化项目教程》", 31 January 2012, 上海交通大学出版社 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112356829A (en) * | 2020-11-06 | 2021-02-12 | 安徽江淮汽车集团股份有限公司 | Automatic parking method, device, equipment and storage medium |
| EP3866122A3 (en) * | 2020-12-18 | 2021-11-24 | Beijing Baidu Netcom Science Technology Co., Ltd. | Abnormal data collecting method, apparatus, storage medium and product for automatic parking |
| US11447145B2 (en) | 2020-12-18 | 2022-09-20 | Beijing Baidu Netcom Science Technology Co., Ltd. | Abnormal data collecting method, apparatus, storage medium and product for automatic parking |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108819939B (en) | Automatic parking system | |
| US10407060B2 (en) | Driver assistance apparatus and method for operating the same | |
| EP3643574B1 (en) | Parking control method and parking control device | |
| US10981599B2 (en) | Automated parking system, automated parking vehicle, and automated parking method | |
| KR102496660B1 (en) | Apparatus for controlling a parking of vehicle, system having the same and method thereof | |
| KR101843073B1 (en) | Driving assistance device for vehicles and onboard computer | |
| CN111845721A (en) | Semi-automatic parking method, device, equipment and storage medium | |
| CN107640148A (en) | The method that remote auto parking support system guides car-parking model | |
| US20140300740A1 (en) | Vehicle-mounted camera adapter in vehicle-mounted monitoring system | |
| US11926313B2 (en) | In-vehicle device and control method | |
| US10899346B2 (en) | Vehicle and control method thereof | |
| CN109466433B (en) | Method, device, equipment, computer readable storage medium and vehicle for providing out-of-vehicle reminder | |
| CN110239532B (en) | Vehicle lane change assisting method, device, terminal and storage medium | |
| CN107298097B (en) | Parking assisting device and parking control method thereof | |
| CN112172792A (en) | Fixed parking space parking method and device, vehicle and storage medium | |
| CN110588518A (en) | Automobile rear detection system and method and radar control box | |
| CN114630774B (en) | Vehicle remote control method and vehicle remote control device | |
| CN112046499A (en) | Vehicle starting reminding method, vehicle starting reminding device and vehicle | |
| WO2022143994A1 (en) | Vehicle avoidance method and apparatus | |
| CN113581164A (en) | Parking control method, device and system and storage medium | |
| CN111717197A (en) | Rear collision prevention method and device and vehicle | |
| CN112140990A (en) | Emergency stop warning device and method and vehicle | |
| CN111885492A (en) | Automatic vehicle positioning method and electronic equipment | |
| CN116279429A (en) | Intelligent parking method and device based on UWB digital key, vehicle and medium | |
| JP4189670B2 (en) | In-vehicle control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201030 |
|
| RJ01 | Rejection of invention patent application after publication |