CN113720339A

CN113720339A - Automatic passenger-replacing parking call vehicle cancellation method, electronic equipment and automobile

Info

Publication number: CN113720339A
Application number: CN202010457907.6A
Authority: CN
Inventors: 吴佳
Original assignee: WM Smart Mobility Shanghai Co Ltd
Current assignee: WM Smart Mobility Shanghai Co Ltd
Priority date: 2020-05-26
Filing date: 2020-05-26
Publication date: 2021-11-30

Abstract

The invention discloses a method for canceling an automatic passenger-replacing parking call vehicle, electronic equipment and an automobile, wherein the method comprises the following steps: receiving a request for canceling the summoning of the vehicle in the process of controlling the vehicle to drive from an original parking space to an upper parking space in response to the vehicle summoning request, and determining a response result to the request for canceling the summoning of the vehicle based on the current position of the vehicle; and if the response result is replanning, replanning a driving path by taking the original parking space as a terminal point and the current position of the vehicle as a starting point based on the parking lot map, and controlling the vehicle to drive along the driving path. The invention considers the possible cancellation requirement in the process of using AVP one-key to call the vehicle by the user. And resetting the starting point and the end point through the system, and planning the path again to enable the vehicle to automatically return to the original point. The invention does not need the intervention of ground service management personnel, improves the intelligent degree of processing the interrupt and abnormal conditions of the AVP system and saves the labor management cost.

Description

Automatic passenger-replacing parking call vehicle cancellation method, electronic equipment and automobile

Technical Field

The invention relates to the technical field of automobiles, in particular to an automatic passenger-replacing parking call vehicle cancelling method, electronic equipment and an automobile.

Background

In the field of unmanned driving, Automatic Valet Parking (AVP) mainly depends on a sensor and a controller at a vehicle end to realize automatic positioning and navigation of a vehicle, autonomous driving of the vehicle, Parking space searching and Parking. When the user needs to park, the user returns the car at the car returning point through one key of the mobile phone, the car self-runs to plan a driving route, the car is driven to a parking space from the car returning point, and the parking is completed. When a user needs a vehicle, the user calls the vehicle through one key of the mobile phone, the vehicle self-runs to plan a driving distance, and the vehicle runs from a parking place to a boarding point and is used by the user for picking up the vehicle.

During specific implementation, a certain number of special signboard are distributed on the upright posts along the fixed parking spaces and the fixed driving routes by the parking lot ends, and the vehicle end vision system identifies the signs of the parking lot ends to accurately position. In practical use, the design of the vehicle getting-on point, the vehicle returning point and the driving route is fixed, and the parking space is also fixed, so that the whole unmanned driving is relatively easy to realize.

However, in a real scene, if a user calls the vehicle by one key, the vehicle does not arrive at the exit of the parking lot, the user does not want to use the vehicle, the vehicle cannot stop on a half way, otherwise, the road is blocked, and other vehicles cannot pass through. The current system scheme is generally a one-way automatic driving route from point to point, and does not consider the situation that the user cancels the call halfway, so once the vehicle is called, the vehicle must travel to a fixed boarding point according to a preset route, and the vehicle cannot be cancelled even if the user wants to cancel the call. In the other scheme, although the condition that the user cancels the call is considered, the vehicle is processed by the method that the vehicle is enabled to continue to run to a preset boarding point, then manual intervention is carried out, the vehicle is driven back by a worker, or the vehicle is driven to the entrance of the parking lot manually, and the vehicle is automatically returned by one key. Although these processing methods are simple, many situations require manual intervention, especially in the above-ground areas where the signboard is not conveniently laid out, additional manual maintenance and management are added, the operation cost is increased, and the failure to cancel or continue to run along the original route causes confusion and anxiety of the user, and brings bad user experience.

Disclosure of Invention

Therefore, it is necessary to provide a method for cancelling an automated agent parking call vehicle, an electronic device, and an automobile, in order to solve the technical problem that the automatic agent parking system in the prior art cannot cancel the vehicle after the vehicle is called.

The invention provides a method for canceling an automatic passenger-replacing parking call vehicle, which comprises the following steps:

receiving a request for canceling the summoning of the vehicle in the process of controlling the vehicle to drive from an original parking space to an upper parking space in response to the vehicle summoning request, and determining a response result to the request for canceling the summoning of the vehicle based on the current position of the vehicle;

and if the response result is replanning, replanning a driving path by taking the original parking space as a terminal point and the current position of the vehicle as a starting point based on the parking lot map, and controlling the vehicle to drive along the driving path.

The invention considers the possible cancellation requirement in the process of using AVP one-key to call the vehicle by the user. And resetting the starting point and the end point through the system, and planning the path again to enable the vehicle to automatically return to the original point. The invention does not need the intervention of ground service management personnel, improves the intelligent degree of processing the interrupt and abnormal conditions of the AVP system and saves the labor management cost. Finally, the user can leave the method directly without waiting after cancelling the call, so that the anxiety and the confusion of the user are eliminated, and the user experience of the product is improved.

Further, the determining, based on the current location of the vehicle, a response result to the request for canceling the summoning of the vehicle specifically includes:

acquiring the current position of a vehicle, taking the distance between the current position of the vehicle and the original parking space as a departure distance, and taking the distance between the current position of the vehicle and the boarding point as an arrival distance;

and if the departure distance is greater than a preset departure distance threshold value and the arrival distance is greater than a preset arrival distance threshold value, judging that the response result of the request for canceling the summoning vehicle is replanning.

The embodiment determines whether the vehicle allows to cancel the call based on the distance between the current position of the vehicle and the original parking space and the distance between the current position of the vehicle and the vehicle-entering point, and avoids that the route is still re-planned when the vehicle is too close to the original parking space or the vehicle-entering point.

Further, the determining a response result to the request for canceling the summoning of the vehicle based on the current location of the vehicle specifically includes:

and if the departure distance is less than or equal to a preset departure distance threshold, judging that the response result of the request for canceling the summoning vehicle is parking, and controlling the vehicle to switch to automatic parking to park back to the original parking space.

According to the embodiment, when the vehicle is close to the original parking space, automatic parking is directly carried out, and time waste caused by route re-planning is avoided.

and if the arrival distance is less than or equal to a preset arrival distance threshold value, judging that the response result of the request for canceling the summoning vehicle is refused, refusing the request for canceling the summoning vehicle and displaying information which cannot be canceled.

In the embodiment, for the condition that the vehicle approaches the boarding point, the request for canceling the vehicle calling is refused, so that the user can know the condition, and the user can reduce the anxiety of the user by knowing that the vehicle approaches the boarding point.

Still further, still include:

responding to a vehicle calling request, sending parking space locking information of an original parking space to a server, and controlling a vehicle to run from the original parking space to an upper parking spot, wherein the parking space locking information is used for setting the original parking space to be locked by the server;

monitoring the current position of the vehicle, and if the distance between the current position of the vehicle and the vehicle-loading point is smaller than or equal to a preset reaching distance threshold value, sending parking space release information of an original parking space to a server, wherein the parking space release information is used for the server to set the original parking space to be released.

The embodiment locks the original parking space, and avoids the situation that the original parking space is allocated to other vehicles to occupy when the request for calling the vehicle is cancelled midway.

The invention provides an electronic device for automatically cancelling a vehicle for passenger-assistant parking and calling, which comprises:

at least one processor; and the number of the first and second groups,

a memory communicatively coupled to at least one of the processors; wherein,

the memory stores instructions executable by at least one of the processors to enable the at least one of the processors to:

Still further, the processor is further capable of:

The invention provides an automobile which comprises an automobile body and the electronic equipment, wherein the electronic equipment executes running operation on the automobile body.

Drawings

FIG. 1 is a flowchart illustrating a method for automatically cancelling a vehicle in a car parking ride of a passenger in accordance with the present invention;

FIG. 2 is a diagram illustrating an application scenario of the preferred embodiment of the present invention;

FIG. 3 is a system diagram of the preferred embodiment of the present invention;

FIG. 4 is a flowchart illustrating a method for automatically cancelling a vehicle in a vehicle parking lot in a vehicle according to a preferred embodiment of the present invention;

fig. 5 is a schematic diagram of a hardware structure of an electronic device for automatically calling a vehicle to park a car instead of a passenger.

Detailed Description

The invention is described in further detail below with reference to the figures and specific examples.

Fig. 1 is a flowchart illustrating a method for automatically cancelling a vehicle in a car parking lot, which includes:

step S101, in the process of responding to a vehicle calling request and controlling a vehicle to run from an original parking space to an upper parking space, receiving a request for canceling the vehicle calling, and determining a response result of the request for canceling the vehicle calling based on the current position of the vehicle;

and S102, if the response result is replanning, replanning a driving path by taking the original parking space as a terminal point and the current position of the vehicle as a starting point based on a parking lot map, and controlling the vehicle to drive along the driving path.

Specifically, the present embodiment is mainly applied to an in-vehicle Electronic device, such as an Electronic Control Unit (ECU).

As shown in fig. 2, when the user calls the car by one-touch via the mobile phone APP, the car 21 will automatically exit from the original parking space 22 and travel to the boarding point 24, i.e. the exit position, via the fixed route shown by the arrow dashed line 23 in the figure. In the middle of vehicle running, the vehicle receives a request cancelled by a user, step S101 is triggered, the vehicle firstly judges the current position of the vehicle according to a high-precision map and visual identification positioning collected in advance, and a response result for cancelling a vehicle calling request is determined based on the current position.

If the response result is a replan, step S102 is triggered. The automobile system resets a starting point and a terminal point, the starting point is set as the current vehicle position, and the terminal point is set as the original parking space 22. Then, the driving path which can be returned is planned again, as shown by a dotted arrow 25 in the figure, and the optimal path is selected to return to the original parking space 22.

In one embodiment, the determining, based on the current location of the vehicle, a response result to the request for canceling the summoning of the vehicle specifically includes:

Specifically, as shown in fig. 2, when the vehicle is at position a, its distance from the original place 22 is greater than the departure distance threshold, and its distance from the boarding point 24 is greater than the arrival distance threshold, and therefore, the returnable travel path is re-planned.

In one embodiment, the determining, based on the current location of the vehicle, a response result to the request to cancel the summoning of the vehicle specifically further includes:

Specifically, if the departure distance is less than or equal to the departure distance threshold, the vehicle is considered not to be parked out of the original parking space 22, the system stops the current AVP process, switches to the automatic parking function, returns to the original parking space 22, then shuts down the power supply, and finally sends a message of successful cancellation to the client, for example, the user mobile phone APP end, through the cloud.

Specifically, as shown in fig. 2, when the vehicle 21 has arrived at the exit position, which is the approaching boarding point 24, the user cannot cancel the departure, needs to drive to the entrance by himself, starts the automatic returning by one key, and the vehicle returns to the original parking space from the entrance of the principal and the subordinate, and stops at the other fixed parking space 26 if the original parking space is occupied.

In one embodiment, the method further comprises the following steps:

Specifically, in an automated valet parking system, the fixed slots 26 of the parking lot may be allocated by the server. In the process of calling the vehicle, the original parking space 22 is locked, and the server does not allocate the parking space. When the vehicle approaches the pick-up point 24, the original slot 22 is released and the server will allow the slot to be allocated.

Fig. 3 is a schematic system diagram of the preferred embodiment of the present invention, which includes a user terminal 31, a cloud server 32, and a vehicle 33. The user terminal 31 is installed with application software (APP), the message of calling and canceling sent by the user mobile phone APP is forwarded to a communication module (Telematics BOX, T-BOX)331 of the vehicle end 33 through the cloud, and then the TBOX 331 forwards the request of canceling to an automatic drive controller (AVP) 332. The parking lot end 34 provides required lighting, and special marks for vehicle identification are attached to the upright columns on the two sides of the drivable and returnable route for the vehicle vision identification system to position and navigate the vehicle. The automatic driving controller 332 judges whether the current position can be cancelled or not according to information collected by the vehicle-mounted sensor from the parking lot end 34 and high-precision map information acquired in advance, if the current position can be cancelled, the AVP is responsible for resetting the starting point and the ending point, replanning the route, selecting the optimal route, controlling the vehicle to return to the original parking lot by controlling an Electronic Stability Program (ESP) 333 and an Electronic Power Steering (EPS) 334 of the vehicle, and if the current position cannot be cancelled, notifying a user that the vehicle approaches the entrance and cannot be cancelled. The server 32 may allocate the parking spaces of the parking lot end 34, or may serve only as a relay server for information transfer.

Fig. 4 is a flowchart illustrating a method for automatically cancelling a vehicle summoning for passenger parking according to a preferred embodiment of the present invention, including:

step S401, a user calls a request;

step S402, remotely starting the vehicle;

step S403, the cancelable message is sent to the mobile phone terminal;

step S404, displaying a cancel button by the APP terminal;

step S405, the vehicle automatically runs along a fixed route;

step S406, if a user cancel request is received, executing step S407, otherwise executing step S413;

step S407, if the current position can be cancelled, executing step S408, otherwise, sending a reminder of 'not cancelled', and executing step S405;

step S408, canceling the original starting point and the original end point, and resetting the starting point and the end point;

step S409, replanning the route;

step S410, returning to the original parking space according to the new path;

step S411, parking the original parking space;

step S412, power-off flameout, notification of completion of the user, and ending;

step S413, continuing the travel;

and step S414, ending the process until the exit parking space is reached.

Compared with the existing AVP processing scheme, the method for canceling the automatic passenger-replacing parking call vehicle provided by the invention comprises the following steps:

1. the method considers the requirement that cancellation can occur in the process of calling the vehicle by one-touch AVP by a user. And resetting the starting point and the end point through the system, and planning the path again to enable the vehicle to automatically return to the original point.

2. The method does not need the intervention of ground service management personnel, improves the intelligent degree of processing the interrupt and abnormal conditions of the AVP system, and saves the labor management cost.

3. The anxiety of the user is eliminated, and the user experience is improved. In the existing scheme, a user cannot cancel a car calling, or after the car calling is cancelled, the vehicle still runs to a parking spot according to the original route, so that confusion and unknowing are brought to the user. In the method, the user can directly leave without waiting after cancelling the call, and can see the state returned by the user, thereby eliminating anxiety and confusion of the user and improving the user experience of the product.

Fig. 5 is a schematic diagram of a hardware structure of an electronic device for automatically calling a vehicle to park a car as a passenger, which includes:

at least one processor 501; and the number of the first and second groups,

a memory 502 communicatively coupled to at least one of the processors 501; wherein,

the memory 502 stores instructions executable by at least one of the processors to enable the at least one of the processors to:

The Electronic device is preferably an Electronic Control Unit (ECU) of the vehicle, and more preferably an automatic driving controller. In fig. 5, one processor 501 is taken as an example.

The electronic device may further include: an input device 503 and a display device 504.

The processor 501, the memory 502, the input device 503, and the display device 504 may be connected by a bus or other means, and are illustrated as being connected by a bus.

The memory 502, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the automatic parking method in the embodiment of the present application, for example, the method flow shown in fig. 1. The processor 501 executes various functional applications and data processing by executing nonvolatile software programs, instructions, and modules stored in the memory 502, that is, implements the automatic parking method in the above-described embodiment.

The memory 502 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the automatic parking method, and the like. Further, the memory 502 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 502 may optionally include memory located remotely from the processor 501, and these remote memories may be connected over a network to a device that performs the automated parking method. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 503 may receive input of user clicks and generate signal inputs related to user settings and function control of the automatic parking method. The display 504 may include a display device such as a display screen.

When the one or more modules are stored in the memory 502, the automatic parking method in any of the above-described method embodiments is performed when the one or more processors 501 execute the automatic parking method.

In one embodiment, the processor is further capable of:

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An automatic passenger-replacing parking call vehicle cancellation method is characterized by comprising the following steps:

2. The method for canceling an automated valet parking summoning vehicle according to claim 1, wherein the determining a response result to the request for canceling a summoning vehicle based on a current location of the vehicle specifically includes:

3. The method for canceling an automated valet parking summoning vehicle according to claim 2, wherein the determining a response result to the request for canceling a summoning vehicle based on a current location of the vehicle further includes:

4. The method for canceling an automated valet parking summoning vehicle according to claim 2, wherein the determining a response result to the request for canceling a summoning vehicle based on a current location of the vehicle further includes:

5. The automated valet parking summoning vehicle cancelling method according to any one of claims 1 to 4, further comprising:

6. An electronic device for automatically cancelling a vehicle for passenger-replacing parking call, comprising:

at least one processor; and the number of the first and second groups,

a memory communicatively coupled to at least one of the processors; wherein,

7. The automated valet parking summoning vehicle cancellation electronic device of claim 6, wherein the determining a response result to the summoning vehicle cancellation request based on a current vehicle location specifically comprises:

8. The automated valet parking summoning vehicle cancellation electronic device of claim 7, wherein the determining a response result to the summoning vehicle request based on a current vehicle location further comprises:

9. The automated valet parking summoning vehicle cancellation electronic device of claim 7, wherein the determining a response result to the summoning vehicle request based on a current vehicle location further comprises:

10. The automated valet parking summoning vehicle cancellation electronic device of any one of claims 6 to 9, wherein the processor is further configured to:

11. An automobile characterized by comprising a vehicle body, and the electronic apparatus according to any one of claims 6 to 10, which performs a running operation on the vehicle body.