CN112141088A - Parking control method and device, vehicle and readable storage medium - Google Patents
Parking control method and device, vehicle and readable storage medium Download PDFInfo
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- CN112141088A CN112141088A CN202010593822.0A CN202010593822A CN112141088A CN 112141088 A CN112141088 A CN 112141088A CN 202010593822 A CN202010593822 A CN 202010593822A CN 112141088 A CN112141088 A CN 112141088A
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- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L65/00—Network arrangements, protocols or services for supporting real-time applications in data packet communication
- H04L65/40—Support for services or applications
Abstract
The invention provides a parking control method, a parking control device, a vehicle and a readable storage medium, wherein the method comprises the following steps: when a vehicle is in a remote control parking mode, first communication quality information of the vehicle and a remote control terminal is obtained; and when the communication between the vehicle and a remote control terminal is determined to be abnormal according to the first communication quality information, controlling the vehicle to brake. When the vehicle is in the remote control parking mode, the communication quality between the vehicle and the remote control terminal is detected, and if the communication between the vehicle and the remote control terminal is abnormal, the vehicle is controlled to brake, so that the control deviation caused by the communication problem between the vehicle and the remote control terminal is avoided, further accidents are avoided, the safety and the reliability of remote control parking are improved, and the use experience of a user is improved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a parking control method, a parking control device, a vehicle and a readable storage medium.
Background
At present, automobiles become important transportation tools for people to go out, and with the continuous development of automatic driving technology, remote control parking of some vehicles can be realized, namely, remote control parking of a user through an intelligent key or an intelligent terminal is allowed; however, in the remote parking process, if a problem occurs in the communication connection between the smart key or the smart terminal and the vehicle, the parking will be adversely affected, and the safety and reliability of the parking are reduced.
Disclosure of Invention
The invention mainly aims to provide a parking control method, a parking control device, a vehicle and a readable storage medium, and aims to solve the technical problem of low safety in a remote control parking process.
In order to achieve the above object, an embodiment of the present invention provides a parking control method, including:
when a vehicle is in a remote control parking mode, first communication quality information of the vehicle and a remote control terminal is obtained;
and when the communication between the vehicle and a remote control terminal is determined to be abnormal according to the first communication quality information, controlling the vehicle to brake.
Optionally, after the step of controlling braking of the vehicle when it is determined that the communication between the vehicle and the remote control terminal is abnormal according to the first communication quality information, the method further includes:
if the communication between the vehicle and the remote control terminal is recovered to be normal within a preset time period, acquiring a remote control instruction sent by the remote control terminal, and parking according to the remote control instruction;
and if the communication between the vehicle and the remote control terminal is not recovered to be normal within the preset time period, exiting the current remote control parking mode.
Optionally, after the step of exiting the current remote-controlled parking mode if the communication between the vehicle and the remote-controlled terminal is not recovered to normal within the preset time period, the method further includes:
and entering an automatic parking mode.
Optionally, after the step of controlling braking of the vehicle when it is determined that the communication between the vehicle and the remote control terminal is abnormal according to the first communication quality information, the method further includes:
acquiring a standby communication mode between the vehicle and a remote control terminal, and acquiring second communication quality information corresponding to the standby communication mode;
and when the second communication quality information meets the remote control parking condition, establishing a standby communication connection with the remote control terminal based on the standby communication mode, and carrying out remote control parking based on the standby communication connection.
Optionally, after the step of obtaining the backup communication mode between the vehicle and the remote control terminal and obtaining the second communication quality information corresponding to the backup communication mode, the method further includes:
obtaining parking environment information;
and determining corresponding remote control parking conditions according to the parking environment information.
Optionally, after the step of controlling braking of the vehicle when it is determined that the communication between the vehicle and the remote control terminal is abnormal according to the first communication quality information, the method further includes:
and acquiring a historical parking path of the vehicle, and controlling the vehicle to run to a corresponding historical position according to the historical parking path so as to enable the communication between the vehicle and a remote control terminal to be normal.
Optionally, after the step of controlling braking of the vehicle when it is determined that the communication between the vehicle and the remote control terminal is abnormal according to the first communication quality information, the method further includes:
and sending a corresponding communication detection prompt to the remote control terminal.
In addition, to achieve the above object, an embodiment of the present invention further provides a parking control apparatus including:
the information acquisition module is used for acquiring first communication quality information of the vehicle and the remote control terminal when the vehicle is in a remote control parking mode;
and the abnormality control module is used for controlling the vehicle to brake when the communication between the vehicle and the remote control terminal is determined to be abnormal according to the first communication quality information.
In addition, in order to achieve the above object, an embodiment of the present invention further provides a vehicle, which includes a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein the computer program, when executed by the processor, implements the steps of the parking control method as described above.
In addition, in order to achieve the above object, an embodiment of the present invention further provides a readable storage medium, on which a computer program is stored, and the computer program, when being executed by a processor, implements the steps of the parking control method as described above.
According to the embodiment of the invention, when the vehicle is in the remote control parking mode, the communication quality between the vehicle and the remote control terminal is detected, and if the communication between the vehicle and the remote control terminal is abnormal, the vehicle is controlled to brake, so that the control deviation caused by the communication problem between the vehicle and the remote control terminal is avoided, further accidents are avoided, the safety and the reliability of remote control parking are improved, and the use experience of a user is improved.
Drawings
FIG. 1 is a schematic diagram of a vehicle hardware structure according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a parking control method according to a first embodiment of the present invention;
fig. 3 is a flowchart illustrating a parking control method according to a third embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back) are involved in the embodiment of the present invention, the directional indications are only used for explaining the relative positional relationship, the motion situation, and the like between the components in a certain posture, and if the certain posture is changed, the directional indications are changed accordingly.
In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The parking control method is applied to the vehicle. Referring to fig. 1, fig. 1 is a schematic diagram of a vehicle hardware architecture according to an embodiment of the present invention. In this embodiment of the present invention, the ue includes a processor 1001 (e.g., a Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used for realizing connection communication among the components; the user interface 1003 may include a Display screen (Display), an input unit such as a key (Keyboard); the network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WI-FI interface, WI-FI interface); the memory 1005 may be a Random Access Memory (RAM) or a non-volatile memory (non-volatile memory), such as a magnetic disk memory, and the memory 1005 may optionally be a storage device independent of the processor 1001. Of course, those skilled in the art will appreciate that the hardware configuration shown in FIG. 1 is not intended to limit the present invention. With continued reference to FIG. 1, the memory 1005 of FIG. 1, which is one type of readable storage medium, may include an operating system, a network communication module, and a computer program. In fig. 1, a network communication module may be used to connect a network or an external device for data interaction; and the processor 1001 may call up the computer program stored in the memory 1005 and implement the parking control method according to the embodiment of the present invention.
Further, the processor and the memory of the vehicle can be regarded as a decision system of the vehicle, and are used for realizing analysis and decision of data; in other words, the parking control method according to the embodiment of the present invention may also be regarded as being applied to the decision system, which controls the vehicle. The vehicle further comprises an execution system, the execution system comprises a brake actuator (used for realizing vehicle brake control), a steering system (used for realizing vehicle steering control), a driving system (used for realizing vehicle driving control), a parking system (used for realizing vehicle parking control), a vehicle body controller (used for realizing control of vehicle door locks, power signals, safety belt signal lamps and the like), and the like, and the execution system collects corresponding vehicle information and sends the corresponding vehicle information to the decision-making system, and meanwhile, the execution system also realizes corresponding control functions according to control instructions sent by the decision-making system.
The embodiment of the invention provides a parking control method.
Referring to fig. 2, fig. 2 is a flowchart illustrating a parking control method according to a first embodiment of the present invention.
In this embodiment, the parking control method includes the steps of:
step S10, when the vehicle is in a remote control parking mode, first communication quality information of the vehicle and a remote control terminal is obtained;
with the continuous development of automatic driving technology, some vehicles can realize remote control parking, namely, a user is allowed to remotely park through an intelligent key or an intelligent terminal; however, in the remote parking process, if a problem occurs in the communication connection between the smart key or the smart terminal and the vehicle, the parking will be adversely affected, and the safety and reliability of the parking are reduced. In contrast, the embodiment provides a parking control method, when a vehicle is in a remote control parking mode, the communication quality between the vehicle and a remote control terminal is detected, and if the communication between the vehicle and the remote control terminal is found to be abnormal, the vehicle is controlled to brake, so that the control deviation caused by the communication problem between the vehicle and the remote control terminal is avoided, further, an accident is avoided, the safety and the reliability of remote control parking are improved, and the use experience of a user is improved.
The parking control method in the embodiment is applied to a vehicle, and may be a certain control software or control module applied to the vehicle; for convenience of explanation, the present embodiment will be described by taking an example in which the vehicle controls the parking of itself. The vehicle is provided with a communication module, such as a Bluetooth communication module, an infrared communication module, a WIFI communication module, a 4G module, a 5G module and the like; the vehicle can establish communication connection with a remote control terminal through a communication module, the remote control terminal can be a mobile terminal such as a mobile phone, a tablet personal computer and a palm computer of a user, and can also be an intelligent key corresponding to the vehicle, and for convenience of explanation, the remote control terminal takes the mobile phone of the user as an example for explanation. In other words, the vehicle can be connected with a mobile phone of a user through the communication module, the user can send a remote control parking instruction to the vehicle through the mobile phone, and the vehicle enters a remote control parking mode when receiving the remote control parking instruction; at the moment, the user can operate the vehicle through the mobile phone, and the mobile phone sends a corresponding remote control instruction to the vehicle according to the operation of the user; when the vehicle receives the remote control command, the vehicle sends corresponding control signals to each actuator of the vehicle according to the remote control command, so that the vehicle executes corresponding parking operation. It should be noted that, when the vehicle receives the remote control command transmitted by the mobile phone, the remote control command is transmitted based on the communication connection method between the two, and therefore the vehicle converts the remote control command into a control signal (or generates a corresponding control signal) satisfying the communication rule in the vehicle, and transmits the control signal to each actuator. For example, the mobile phone is connected with the vehicle in a bluetooth mode, a user can press a virtual front key in a remote control APP of the mobile phone, and the mobile phone sends a forward bluetooth remote control instruction to the vehicle according to the operation; when the vehicle receives the bluetooth remote control instruction, the bluetooth remote control instruction is converted into a corresponding CAN (Controller Area Network) control signal, and then the CAN control signal is sent to a corresponding actuator to control the vehicle to move forward. When the vehicle is in the remote control parking mode, the vehicle acquires communication quality information of communication connection with the remote control terminal, and the communication quality information is called as first communication quality information for convenience of explanation; the first communication quality information is used to describe the communication quality between the vehicle and the mobile phone, and may include a data transmission rate, a data transmission delay, a signal strength, a communication stability (e.g., a fluctuation situation of the transmission rate and/or a fluctuation situation of the signal strength), and the like. For the first communication quality information, the vehicle may be acquired in real time or periodically, for example, once every 2 seconds.
And step S20, controlling the vehicle to brake when the communication between the vehicle and the remote control terminal is determined to be abnormal according to the first communication quality information.
In this embodiment, when the vehicle obtains the first communication quality information, it is determined whether the communication between the vehicle and the mobile phone is abnormal according to the first communication quality information. For example, the first communication quality information includes a signal strength transmission rate, and when the transmission rate is greater than or equal to a preset rate, the communication may be considered normal, and when the transmission rate is less than the preset rate, the communication may be considered abnormal; for another example, the first communication quality information includes a data transmission delay, and when the data transmission delay is less than a preset time, the communication may be considered normal, and when the data transmission delay is greater than or equal to the preset time, the communication may be considered abnormal; for another example, the first communication quality information includes signal strength, and when the signal strength is greater than or equal to a preset strength, the communication may be considered normal, and when the signal strength is less than the preset strength, the communication may be considered abnormal; for another example, the first communication quality information includes a fluctuation peak value of the transmission rate within a period (to characterize communication stability), and when the fluctuation peak value of the transmission rate is smaller than a preset transmission peak value, communication may be regarded as normal, and when the fluctuation peak value of the transmission rate is greater than or equal to the preset transmission peak value, communication may be regarded as abnormal; for another example, the first communication quality information includes a fluctuation peak value of the signal strength in a period (to characterize communication stability), and when the fluctuation peak value of the signal strength is smaller than a preset fluctuation peak value, communication may be regarded as normal, and when the fluctuation peak value of the signal strength is greater than or equal to the preset fluctuation peak value, communication may be regarded as abnormal. It should be noted that, in practice, the first communication quality information may include only one type of quality information, or may include multiple types of quality information, and the above-mentioned determination manners may also be used in combination. For example, the first communication quality information includes a fluctuation peak value of the transmission rate and the signal strength, and when the transmission rate is less than a preset transmission rate and/or the fluctuation peak value of the signal strength is greater than or equal to the preset transmission peak value, the communication is considered to be abnormal. Of course, other determination methods may be adopted in practice.
In the remote control parking mode, the vehicle parks according to a remote control command sent by the mobile phone, and if the communication between the vehicle and the mobile phone is abnormal, the normal parking of the vehicle is influenced, for example, a steering command sent by the mobile phone cannot be received by the vehicle in time, so that the vehicle is not steered in time, and for example, a parking command sent by the mobile phone does not reach the vehicle, so that the vehicle is not parked and the like. In contrast, when the communication between the vehicle and the mobile phone is determined to be abnormal, the vehicle controls self braking (or emergency braking), namely braking; at this time, even if the remote control command sent by the mobile phone is received, the vehicle can brake due to abnormal communication between the vehicle and the mobile phone, so that the adverse effect on parking caused by hysteresis of the received command or incomplete received command is avoided.
Further, after the step S20, the method further includes:
and sending a corresponding communication detection prompt to the remote control terminal.
In this embodiment, after the vehicle determines that the communication is abnormal and brakes, the vehicle may further send a corresponding communication detection prompt to the mobile phone to prompt the user that the current communication between the vehicle and the mobile phone is abnormal, and the user may check and adjust the communication connection between the vehicle and the mobile phone, so that the communication between the vehicle and the mobile phone is restored to normal.
In the embodiment, when a vehicle is in a remote control parking mode, first communication quality information of the vehicle and a remote control terminal is acquired; and when the communication between the vehicle and a remote control terminal is determined to be abnormal according to the first communication quality information, controlling the vehicle to brake. Through the mode, when the vehicle is in the remote control parking mode, the communication quality between the vehicle and the remote control terminal is detected, and if the communication between the vehicle and the remote control terminal is found to be abnormal, the vehicle is controlled to brake, so that the control deviation caused by the communication problem between the vehicle and the remote control terminal is avoided, further accidents are avoided, the remote control parking mode is favorable for improving the safety and reliability of remote control parking, and the use experience of a user is improved.
A second embodiment of the parking control method of the invention is proposed based on the above-described first embodiment of the parking control method.
In this embodiment, after step S20, the method further includes:
step S30, if the communication between the vehicle and the remote control terminal is recovered to normal within a preset time period, acquiring a remote control instruction sent by the remote control terminal, and parking according to the remote control instruction;
in this embodiment, after determining that the communication is abnormal and the vehicle is braked, the vehicle will continue to acquire the communication quality information between the vehicle and the mobile phone, and determine whether the communication between the vehicle and the mobile phone is normal within a preset time period. For example, the preset time period is 5 seconds, the vehicle determines that the communication is abnormal when the time period is 9 hours, 1 minute and 5 seconds, the braking is controlled, then the communication quality information between the vehicle and the mobile phone is continuously acquired, and whether the communication between the vehicle and the mobile phone is normal or not is judged within the time period from 9 hours, 1 minute and 5 seconds to 9 hours, 1 minute and 10 seconds. If the communication is recovered to be normal in the preset time period, the communication between the vehicle and the mobile phone is considered to be only temporarily abnormal and is recovered, and at the moment, the remote control instruction sent by the mobile phone can be continuously obtained, and the vehicle can be parked according to the remote control instruction; of course, when the vehicle is parked, the communication quality information may be continuously acquired and it may be determined whether a communication abnormality occurs, i.e., the process returns to step S10.
And step S40, if the communication between the vehicle and the remote control terminal is not recovered to be normal within the preset time period, exiting the remote control parking mode.
In this embodiment, if the communication between the vehicle and the mobile phone is not recovered to normal within the preset time period, it may be considered that the communication between the vehicle and the mobile phone is abnormal for a long time, and it is not suitable to continue remote parking, and at this time, the vehicle exits the remote parking mode. Of course, when exiting the remote control parking mode, a corresponding exit prompt can be sent to the mobile phone.
Further, after the step S40, the method further includes:
in step S50, the automatic parking mode is entered.
In this embodiment, after exiting the remote parking mode, the vehicle may further enter an automatic parking mode to perform automatic parking in order to complete parking. Compared with remote control parking, the automatic parking method has the advantages that users do not need to carry out excessive remote control operation, and the vehicles can park automatically after acquiring the position information of the target parking spaces or the position information of the target parking positions. Specifically, the vehicle further comprises a sensing system, which is used for acquiring environmental information around the vehicle and providing the environmental information to the decision-making system as parking information reference; the perception system can be including looking around the camera, equipment such as ultrasonic radar, for example the vehicle is provided with 4 all around looking at cameras and 12 ultrasonic radar, and 4 all around looking at the camera and setting up respectively in the front covering, the back skin, left side outside rear-view mirror, right side outside rear-view mirror (every 1), and to ultrasonic radar, the front covering sets up 2, and the back fender sets up 2, and the left side wall plaque sets up 2, and the right side wall plaque sets up 2. When the vehicle enters the automatic parking mode, the vehicle acquires surrounding environment information through the sensing system, then a parking space (or parking-out position) and an obstacle are identified, a parking path is obtained through planning, and then the vehicle is controlled to park in the parking space (or park out to a corresponding position) according to the parking path.
In the embodiment, after the vehicle determines that the communication is abnormal and brakes, if the communication is recovered within a certain time, the remote control parking can be continuously performed, and if the communication is not recovered within a certain time, the remote control parking mode is exited, so that the corresponding processing is performed after the braking, and the problem possibly caused by the long-time braking of the vehicle is avoided.
A third embodiment of the parking control method of the invention is proposed based on the above-described first or second embodiment of the parking control method.
In this embodiment, after step S20, the method further includes:
step S60, acquiring a standby communication mode between the vehicle and the remote control terminal, and acquiring second communication quality information corresponding to the standby communication mode;
in this embodiment, after determining that the communication is abnormal and the vehicle is braked, the vehicle may try to connect with the mobile phone through other communication methods to complete remote control parking. Specifically, the vehicle may acquire another backup communication mode with the mobile phone and acquire communication quality information of the backup communication mode, and for convenience of description, the communication quality information of the backup communication mode is referred to as second communication quality information. For example, the vehicle is provided with a bluetooth communication module, a WIFI communication module, a 4G module, a 5G module, and the like; when remote control parking is started, the vehicle is in Bluetooth communication connection with the mobile phone through the Bluetooth communication module and receives a remote control instruction sent by the mobile phone; for the reason that the vehicle detects that the bluetooth communication connection between the vehicle and the mobile phone is abnormal, the vehicle may acquire a standby communication mode that may be established between the vehicle and the mobile phone, that is, WIFI communication, 4G communication, 5G communication, and the like, and then acquire second communication quality information for the standby communication mode, where the second communication quality information is used to represent communication quality for describing the communication connection established between the vehicle and the mobile phone in the standby communication mode, and the second communication quality information may include a data transmission rate, a data transmission delay, a signal strength, a communication stability (e.g., a fluctuation condition of the transmission rate and/or a fluctuation condition of the signal strength), and the like.
And step S70, when the second communication quality information meets remote control parking conditions, establishing a standby communication connection with the remote control terminal based on the standby communication mode, and carrying out remote control parking based on the standby communication connection.
In the embodiment, when the second communication quality information of the standby communication mode is obtained, whether the second communication quality information meets the remote control parking condition is judged; the remote control parking condition is used to indicate a communication quality requirement to be achieved by remote control parking, for example, the second communication quality information includes a signal strength transmission rate, and when the transmission rate is greater than or equal to a preset rate, the condition is considered to be satisfied, and when the transmission rate is less than the preset rate, the condition is considered to be not satisfied; for another example, the second communication quality information includes a data transmission delay, and when the data transmission delay is less than a preset time, the condition may be considered to be satisfied, and when the data transmission delay is greater than or equal to the preset time, the condition may be considered to be not satisfied; for another example, the second communication quality information includes a signal strength, and when the signal strength is greater than or equal to a preset strength, the condition may be considered to be satisfied, and when the signal strength is less than the preset strength, the condition may be considered to be satisfied; for another example, the second communication quality information includes a fluctuation peak value of the transmission rate within the period (to characterize communication stability), and the condition may be considered to be satisfied when the fluctuation peak value of the transmission rate is smaller than a preset fluctuation peak value, and the condition may be considered to be not satisfied when the fluctuation peak value of the transmission rate is greater than or equal to the preset fluctuation peak value; for another example, the second communication quality information includes a fluctuation peak value of the signal strength in a period (to characterize communication stability), and the condition may be considered to be satisfied when the fluctuation peak value of the signal strength is smaller than a preset fluctuation peak value, and the condition may be considered to be not satisfied when the fluctuation peak value of the signal strength is greater than or equal to the preset fluctuation peak value. It should be noted that, in practice, the second communication quality information may include only one type of quality information, or may include multiple types of quality information, and the above-mentioned determination methods may also be used in combination. For example, the second communication quality information includes a fluctuation peak value of the transmission rate and the signal strength, and the condition is considered to be satisfied when the transmission rate is less than a preset transmission rate and/or the fluctuation peak value of the signal strength is greater than or equal to the preset transmission peak value. Of course, other determination methods may be adopted in practice.
When the second communication quality information is determined to meet the remote control parking condition, the vehicle can establish standby communication connection with the mobile phone based on a standby communication mode, and remote control parking is continued based on the standby communication connection; of course, if the second communication quality information of a plurality of backup communication modes meets the remote control parking condition, the inquiry information is sent to the mobile phone, the user specifies one backup communication mode, or the vehicle automatically selects one backup communication mode with good communication quality to establish backup communication connection. And if the second communication quality information does not meet the remote control parking condition, the vehicle can continue to keep braking. In addition, this embodiment may also be combined with the second embodiment, for example, when the vehicle is braked, if the communication between the vehicle and the mobile phone is not recovered within a preset time period, the second communication quality information of the backup communication mode may be obtained, and it may be determined whether the parking condition is satisfied; if yes, establishing a standby communication connection with the mobile phone based on a standby communication mode, and continuing to perform remote control parking based on the standby communication connection; and if the parking mode is not satisfied, the remote control parking mode is exited and the automatic parking mode is entered.
Through the above manner, in this embodiment, after the vehicle determines that the communication is abnormal and brakes, if the backup communication manner can meet the remote control parking condition, the backup communication connection can be established with the remote control terminal based on the backup communication manner, and remote control parking is continued based on the backup communication connection, thereby providing convenience for the user.
Further, the remote parking condition may be determined according to a parking environment. Specifically, after step S60, the method further includes:
step S80, parking environment information is obtained;
in this embodiment, the vehicle includes a sensing system, and for specific description of the sensing system, reference may be made to the second embodiment, which is not described herein again. When the second communication quality information of the standby communication mode is obtained, the vehicle acquires the surrounding parking environment information, such as surrounding obstacle information, ground level condition, floor smoothness condition, whether the vehicle line exists or not, and the like through the sensing system.
And step S90, determining the corresponding remote control parking condition according to the parking environment information.
The parking environment information can reflect the parking difficulty, for example, the more obstacles around the parking environment, the harder the parking is, and for example, the more uneven the floor, the harder the parking is; if the parking is more difficult, the requirement on the fineness of the parking operation is higher, so that the requirement on the communication quality is higher, and the remote control parking condition is stricter. Based on this, different remote control parking conditions can be set in advance according to different parking environments, and the more severe the parking environment is, the stricter the parking conditions are. For example, the parking environment information includes the number of obstacles, and when the number of obstacles is 1, the preset signal intensity in the remote-control parking condition is X1, and when the number of obstacles is 2, the preset signal intensity in the remote-control parking condition is X2; and X1 < X2; i.e. the more obstacles, the higher the requirements on signal strength (the more stringent the conditions). When the vehicle obtains the parking environment information, the corresponding remote control parking condition can be determined according to the parking environment information, and then whether the second quality information of the standby communication mode meets the remote control parking condition is judged; if yes, establishing a standby communication connection with the remote control terminal based on the standby communication mode, and performing remote control parking based on the standby communication connection, namely executing step S70.
Through the mode, different remote control parking conditions can be set according to different parking environments, different communication quality requirements are set for different parking difficulties, and the remote control parking method and the remote control parking system are favorable for improving the safety and reliability of remote control parking.
A fourth embodiment of the parking control method of the invention is proposed based on any of the first to third embodiments of the parking control method described above.
In this embodiment, after step S20, the method further includes:
and S100, acquiring a historical parking path of the vehicle, and controlling the vehicle to run to a corresponding historical position according to the historical parking path so as to enable the communication between the vehicle and a remote control terminal to be normal.
In this embodiment, when the vehicle is parked in the remote control mode, the communication with the mobile phone may be abnormal only when the vehicle is driven to a certain position, for example, the parking position is provided with an obstacle, which affects the communication between the vehicle and the mobile phone, and for this reason, the vehicle may try to return to the original path to recover the communication. Specifically, in the remote control parking process, a passing parking route is recorded, and the parking route can be called as a historical parking route; when the communication is abnormal and the brake is braked, the vehicle can acquire the historical parking path and then control the vehicle to run to a corresponding historical position (namely back to a certain original position) according to the historical parking path so as to enable the communication between the vehicle and the mobile phone to be normal; and after the communication between the vehicle and the mobile phone is recovered to be normal, the remote control parking is continued according to the remote control instruction sent by the mobile phone.
In the above manner, the vehicle of the embodiment may control the vehicle to travel to the corresponding historical location (i.e. back to a certain original location) according to the historical parking path, so that the communication between the vehicle and the mobile phone is recovered to normal.
In addition, an embodiment of the present invention provides a parking control apparatus including:
the information acquisition module is used for acquiring first communication quality information of the vehicle and the remote control terminal when the vehicle is in a remote control parking mode;
and the abnormality control module is used for controlling the vehicle to brake when the communication between the vehicle and the remote control terminal is determined to be abnormal according to the first communication quality information.
Further, the parking control apparatus further includes:
the command acquisition module is used for acquiring a remote control command sent by the remote control terminal and parking according to the remote control command if the communication between the vehicle and the remote control terminal is recovered to be normal within a preset time period;
and the mode exit module is used for exiting the current remote control parking mode if the communication between the vehicle and the remote control terminal is not recovered to be normal within a preset time period.
Further, the parking control apparatus further includes:
and the mode entering module is used for entering the automatic parking mode.
Further, the parking control apparatus further includes:
the mode acquisition module is used for acquiring a standby communication mode between the vehicle and the remote control terminal and acquiring second communication quality information corresponding to the standby communication mode;
and the connection establishing module is used for establishing a standby communication connection with the remote control terminal based on the standby communication mode and carrying out remote control parking based on the standby communication connection when the second communication quality information meets the remote control parking condition.
Further, the parking control apparatus further includes:
the environment acquisition module is used for acquiring parking environment information;
and the condition acquisition module is used for determining corresponding remote control parking conditions according to the parking environment information.
Further, the parking control apparatus further includes:
the route acquisition module is used for acquiring a historical parking route of the vehicle and controlling the vehicle to run to a corresponding historical position according to the historical parking route so as to enable the communication between the vehicle and the remote control terminal to be normal.
Further, the parking control apparatus further includes:
and the prompt sending module is used for sending a corresponding communication detection prompt to the remote control terminal.
The method implemented by each functional module of the parking control device may refer to each embodiment of the parking control method of the present invention, and will not be described herein again.
In addition, the embodiment of the invention also provides a computer readable storage medium.
The computer-readable storage medium of the present invention has stored thereon a computer program, wherein the computer program, when being executed by a processor, implements the steps of the parking control method as described above.
The method implemented when the computer program is executed may refer to various embodiments of the parking control method of the present invention, and details thereof are not repeated herein.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A parking control method characterized by comprising the steps of:
when a vehicle is in a remote control parking mode, first communication quality information of the vehicle and a remote control terminal is obtained;
and when the communication between the vehicle and a remote control terminal is determined to be abnormal according to the first communication quality information, controlling the vehicle to brake.
2. The vehicle parking control method according to claim 1, wherein the step of controlling braking of the vehicle when it is determined that communication of the vehicle with a remote control terminal is abnormal based on the first communication quality information further includes:
if the communication between the vehicle and the remote control terminal is recovered to be normal within a preset time period, acquiring a remote control instruction sent by the remote control terminal, and parking according to the remote control instruction;
and if the communication between the vehicle and the remote control terminal is not recovered to be normal within the preset time period, exiting the current remote control parking mode.
3. The parking control method according to claim 2, wherein, after the step of exiting the current remote parking mode if the communication between the vehicle and the remote control terminal does not return to normal within a preset time period, the method further comprises:
and entering an automatic parking mode.
4. The vehicle parking control method according to claim 1, wherein the step of controlling braking of the vehicle when it is determined that communication of the vehicle with a remote control terminal is abnormal based on the first communication quality information further includes:
acquiring a standby communication mode between the vehicle and a remote control terminal, and acquiring second communication quality information corresponding to the standby communication mode;
and when the second communication quality information meets the remote control parking condition, establishing a standby communication connection with the remote control terminal based on the standby communication mode, and carrying out remote control parking based on the standby communication connection.
5. The parking control method according to claim 4, wherein, after the step of acquiring the backup communication mode between the vehicle and the remote control terminal and acquiring the second communication quality information corresponding to the backup communication mode, the method further comprises:
obtaining parking environment information;
and determining corresponding remote control parking conditions according to the parking environment information.
6. The vehicle parking control method according to claim 1, wherein the step of controlling braking of the vehicle when it is determined that communication of the vehicle with a remote control terminal is abnormal based on the first communication quality information further includes:
and acquiring a historical parking path of the vehicle, and controlling the vehicle to run to a corresponding historical position according to the historical parking path so as to enable the communication between the vehicle and a remote control terminal to be normal.
7. The vehicle parking control method according to claim 1, wherein the step of controlling braking of the vehicle when it is determined that communication of the vehicle with a remote control terminal is abnormal based on the first communication quality information further includes:
and sending a corresponding communication detection prompt to the remote control terminal.
8. A parking control apparatus, characterized by comprising:
the information acquisition module is used for acquiring first communication quality information of the vehicle and the remote control terminal when the vehicle is in a remote control parking mode;
and the abnormality control module is used for controlling the vehicle to brake when the communication between the vehicle and the remote control terminal is determined to be abnormal according to the first communication quality information.
9. A vehicle, characterized in that the vehicle comprises a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the parking control method according to any one of claims 1 to 8.
10. A readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor, implements the steps of the parking control method according to any one of claims 1 to 8.
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| CN202010593822.0A CN112141088A (en) | 2020-06-24 | 2020-06-24 | Parking control method and device, vehicle and readable storage medium |
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| CN202010593822.0A CN112141088A (en) | 2020-06-24 | 2020-06-24 | Parking control method and device, vehicle and readable storage medium |
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| CN114590246A (en) * | 2022-05-09 | 2022-06-07 | 远峰科技股份有限公司 | Dual-channel communication automatic parking method, device, equipment and storage medium |
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