CN113753031A

CN113753031A - HAVP processing method, HAVP processing device, electronic equipment and storage medium

Info

Publication number: CN113753031A
Application number: CN202111095601.1A
Authority: CN
Inventors: 张智盛; 叶辰; 殷雅欣; 江送军; 吴建明; 金梦宇
Original assignee: Shanghai Xianta Intelligent Technology Co Ltd
Current assignee: Shanghai Xianta Intelligent Technology Co Ltd
Priority date: 2021-09-17
Filing date: 2021-09-17
Publication date: 2021-12-07

Abstract

The invention provides a HAVP processing method, a device, an electronic device and a storage medium, wherein the HAVP processing method comprises the following steps: determining a current parking route; the current parking route source learns the route; in the process that a designated key in the terminal is pressed for a long time, indicating the vehicle to move along the current parking route; determining the parking position of the vehicle in the motion process; and displaying the current parking progress of the vehicle in a display interface of the terminal based on the current parking route and the parking time position.

Description

HAVP processing method, HAVP processing device, electronic equipment and storage medium

Technical Field

The present invention relates to the field of vehicles, and in particular, to a method and an apparatus for HAVP processing, an electronic device, and a storage medium.

Background

Havp (home Automated Valet Parking assist), which can be understood as a higher-level extended application of Parking assist function, and is intended to assist a user to park a vehicle to a desired Parking position instead of the user, and the whole process can be performed without the need of a client to perform operations such as vehicle control in the vehicle.

In the existing HAVP processing process, a user can only trigger the starting of HAVP and cannot effectively learn the progress of HAVP.

Disclosure of Invention

The invention provides a processing method, a processing device, an electronic device and a storage medium of HAVP, and aims to solve the problem that the progress of HAVP cannot be effectively known.

According to a first aspect of the present invention, there is provided a HAVP processing method comprising:

determining a current parking route; the current parking route source learns the route;

in the process that a designated key in the terminal is pressed for a long time, indicating the vehicle to move along the current parking route;

determining the parking position of the vehicle in the motion process;

and displaying the current parking progress of the vehicle in a display interface of the terminal based on the current parking route and the parking time position.

Optionally, the displaying, in a display interface of the terminal, the current parking progress of the vehicle based on the current parking route and the parking time position includes:

calculating the current travel distance between the parking position and the end point of the current parking route; the end point is a starting point and/or an end point of the current parking route;

determining the current parking progress based on the current travel distance and the total length of the current parking route;

and displaying the current parking progress in the display interface.

Optionally, the HAVP processing method further includes:

and before the vehicle reaches the end point of the current parking route, if the long press stops, indicating the vehicle to pause to move until the long press occurs again.

Optionally, the determining the current parking route includes:

feeding back the learned route to the user;

obtaining route selection information and a parking position of the vehicle; the routing information is formed by the car machine or the terminal in response to an operation;

determining the current parking route based on the route selection information and the pre-parking position of the vehicle.

Optionally, the determining the current parking route based on the route selection information and the pre-parking position of the vehicle includes:

determining candidate parking routes among the learned routes based on the route selection information;

verifying whether the starting point of the candidate parking route is matched with the position before parking and whether the position before parking is matched with the position of the terminal;

and if the parking routes are matched, determining that the candidate parking route is the current parking route.

Optionally, the HAVP processing method further includes:

obstacle monitoring information is obtained, and a vehicle and the obstacles are displayed in the display interface in response to the obstacle monitoring information, wherein the obstacle monitoring information represents that obstacles appear near the vehicle.

Optionally, the HAVP processing method further includes:

monitoring whether a preset recoverable abnormal event occurs;

if the recoverable abnormal event is monitored, indicating the vehicle to pause parking movement, and enabling: after the recoverable abnormal event is eliminated, the vehicle can continue to move under the instruction of the terminal;

monitoring whether a preset unrecoverable abnormal event occurs;

if the unrecoverable abnormal event is monitored, determining that parking fails so that: and the terminal exits the parking process, and the vehicle stops moving.

According to a second aspect of the present invention, there is provided a HAVP processing apparatus comprising:

the route determining module is used for determining a current parking route; the current parking route source learns the route;

the motion indicating module is used for indicating the vehicle to move along the current parking route in the process that a key is designated to be pressed for a long time in the terminal;

the parking position determining module is used for determining the parking position of the vehicle in the motion process;

and the parking progress display module is used for displaying the current parking progress of the vehicle in a display interface of the terminal based on the current parking route and the parking position.

According to a third aspect of the present invention, there is provided a storage medium having stored thereon a program which, when executed by a processor, carries out the steps of the method of the first aspect and its alternatives.

According to a fourth aspect of the present invention, there is provided an electronic device comprising a memory, a processor and a program stored on the memory and executable on the processor, the processor implementing the steps of the method of the first aspect and its alternatives when executing the program.

In the HAVP processing method, the HAVP processing device, the electronic device and the storage medium, after the parking time position of the vehicle in the movement process is determined, the current parking progress of the vehicle is displayed in the display interface of the terminal based on the current parking route and the parking time position, so that a user can effectively learn the parking progress (parking in or parking out) of the vehicle, and the progress of parking can be clearly and intuitively known.

In addition, in the invention, the vehicle can be indicated to move along the current parking route in the process that the specified key in the terminal is pressed for a long time; the effective control of the parking process by the user is realized.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a first flow chart of a HAVP processing method according to an embodiment of the present invention;

FIG. 2 is a flowchart illustrating step S101 according to an embodiment of the present invention;

FIG. 3 is a flowchart illustrating step S1013 according to an embodiment of the present invention;

FIG. 4 is a flowchart illustrating step S104 according to an embodiment of the present invention;

FIG. 5 is a schematic interface diagram of a human-computer interaction interface according to an embodiment of the invention;

FIG. 6 is a second flowchart illustrating a HAVP processing method according to an embodiment of the present invention;

FIG. 7 is a flow chart diagram III of a HAVP processing method in an embodiment of the present invention;

FIG. 8 is a fourth flowchart illustrating a method of HAVP processing according to an embodiment of the present invention;

FIG. 9 is a first schematic diagram of the program modules of the HAVP processing apparatus in accordance with an embodiment of the present invention;

FIG. 10 is a second schematic diagram of the program modules of the HAVP processing apparatus in accordance with an embodiment of the present invention;

fig. 11 is a schematic structural diagram of an electronic device in an embodiment of the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the 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.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.

The HAVP processing method provided by the embodiment of the present invention may be applied to a terminal, where the terminal may be a terminal of a user, and specifically, the terminal may be a vehicle-mounted terminal (i.e., a car machine), a mobile terminal (e.g., a mobile phone, a tablet computer, a computer), or a server. In an example, the HAVP processing method according to the embodiment of the present invention is applicable to a mobile terminal (e.g., a mobile phone), and can be implemented by an APP installed in the mobile terminal.

Referring to fig. 1, the HAVP processing method includes:

s101: determining a current parking route;

the current parking route source learns the route;

s102: in the process that a designated key in the terminal is pressed for a long time, indicating the vehicle to move along the current parking route;

s103: determining the parking position of the vehicle in the motion process;

s104: and displaying the current parking progress of the vehicle in a display interface of the terminal based on the current parking route and the parking time position.

The learned route may be understood as a driving route that has been learned before, and the learning process may be, for example: the route stored (or stored after optimization) when the vehicle (or other vehicle) travels one or more times along the route may be specified manually based on a map, among other examples.

Further, the routes referred to in the present specification (e.g., learned route, current parking route, candidate parking route, etc.) may each be a route described based on a map of a parking area (e.g., parking lot).

The current parking route may refer to a route used in a current parking process, and may be a route from some specific location (or area) to a parking space, or a route from a parking space to a specific location (or area).

The designated key may be an entity key of the terminal or a virtual key of the terminal, and correspondingly, the long press may refer to a process of holding the designated key.

The current parking progress can be understood as any information that can describe the parking progress, which can be embodied in at least one of the following forms: text, images, sound, vibration, and the like. In any event, the present invention is not intended to depart from the scope of the embodiments of the present invention.

The parking position may be a position (e.g., coordinates, coordinate area, etc.) in a map (a map within a geographic range, a map of a parking area), and the parking position may be inferred based on information acquired by sensors in the vehicle (e.g., a GPS, an acceleration sensor, an image sensor, a radar, and a positioning method implemented based on a communication method such as infrared and bluetooth), and may also be inferred in combination with a historical position. Any manner in which vehicle positioning may be accomplished in the art without departing from the scope of embodiments of the present invention.

The above-mentioned designated key may be, for example, a circular virtual key 201 as shown in fig. 5, and when the virtual key 201 is clicked, in step S104, the outer circumference of the virtual key 201 may be provided with a progress ring 203, and the progress may be represented by the movement and change of the display object in the progress ring 203. In addition, the current parking progress can be embodied in a text mode. In addition, in the display interface, taking fig. 5 as an example, information such as whether parking is in progress, whether an abnormality occurs, whether there is an obstacle, the current parking progress, and the like can be reflected by the display state of the vehicle model 202.

In the scheme, after the parking time position of the vehicle in the movement process is determined, the current parking progress of the vehicle is displayed in the display interface of the terminal based on the current parking route and the parking time position, and then the user can conveniently and effectively learn the parking progress (parking in or parking out) of the vehicle, so that the progress of parking can be clearly and intuitively known.

In one embodiment, referring to fig. 2, step S101 may include:

s1011: feeding back the learned route to the user;

s1012: obtaining route selection information and a parking position of the vehicle;

the routing information is formed by the car machine or the terminal in response to an operation;

s1013: determining the current parking route based on the route selection information and the pre-parking position of the vehicle.

The route selection information can be any information capable of representing the selection result of the learned route. For example: the process of acquiring the route selection information in step S1011, and step S1012 may be, for example: multiple learned route options are displayed in a human-computer interaction interface of a terminal (such as a mobile phone) or a vehicle machine, and a user can click on the options to select one or more routes. One process is merely an example, and any common way of man-machine interaction to implement option selection in the field does not depart from the scope of the embodiments of the present invention.

The content, the acquisition and the inference mode of the position before parking can be determined by referring to the content, the acquisition and the inference mode of the position during parking.

According to the scheme, the accurate selection of the current parking route is realized, and the actual parking requirements of the user can be met conveniently.

In a further embodiment, referring to fig. 3, step S1013 may include:

s10131: determining candidate parking routes among the learned routes based on the route selection information;

s10132: verifying whether the starting point of the candidate parking route is matched with the position before parking and whether the position before parking is matched with the position of the terminal;

s10133: and if the parking routes are matched, determining that the candidate parking route is the current parking route.

The candidate parking routes can be one or more of learned routes; accordingly, the current parking route is a route, and further, through the matching verification, it may be a process of selecting a current parking route (i.e., a matching candidate parking route) from a plurality of routes, or it may be verified that a single candidate parking route is matched (i.e., available).

The matching in step S10132 may refer to: whether the starting point of the candidate parking route is close enough to the position before parking (e.g., the difference is less than a certain threshold), and whether the position before parking is close enough to the position of the terminal (e.g., the difference is less than a certain threshold).

In the above scheme, through the verification matching and the process of determining the current parking route in steps S10132 and S10133, it can be ensured that the actual position of the vehicle during parking can meet the current parking route, the vehicle is prevented from beginning to park when the vehicle is not in a proper position, which causes danger to the vehicle, and risks and potential safety hazards when the user is too far away from the vehicle can also be avoided, and further, the above scheme can ensure safety.

In one embodiment, referring to fig. 4, step S104 may include:

s1041: calculating the current travel distance between the parking position and the end point of the current parking route;

the end point is a starting point and/or an end point of the current parking route;

s1042: determining the current parking progress based on the current travel distance and the total length of the current parking route;

s1043: and displaying the current parking progress in the display interface.

The current travel distance can be understood as follows: the length of the trip along the current parking route.

Further, in step S1042, the current trip distance may be divided by the total length to obtain information that can indicate the current parking progress, for example:

if the current travel distance is the distance L1 between the starting point of the current parking route and the parking time position, and the total length of the current parking route is L0, then: the current parking schedule may be characterized based on L1/L0; if the current travel distance is the distance L2 between the end point of the current parking route and the parking time position, and the total length of the current parking route is L0, then: the current parking schedule may be characterized based on (1-L2/L0).

According to the scheme, the progress of the vehicle moving along the current parking route can be accurately reflected, and the accuracy of the display result is guaranteed.

In one embodiment, referring to fig. 6, the method for processing HAVP further includes:

s105: whether the vehicle reaches the end of the current parking route;

if the determination result in step S105 is no, step S106 may be implemented: whether the long press is stopped;

if the judgment result in the step S106 is negative, the procedure may return to the step S102, and further, the vehicle may continue to be instructed to move along the current parking route because the long press is continued;

if the determination result in step S106 is yes, step S107 may be implemented: indicating that the vehicle has paused movement;

s108: whether the hair grows again or not;

if the long press is performed again, the process returns to step S102, and further, the long press is continuously maintained, so that the vehicle can be continuously instructed to move along the current parking route.

Further, based on steps S105 to S108, there are: and before the vehicle reaches the end point of the current parking route, if the long press stops, indicating the vehicle to pause to move until the long press occurs again.

The indication of step S107 to suspend the movement, and the indication of step S102 to move, may be realized, for example, by sending a corresponding signal to the vehicle.

In one scheme, in the process of long pressing, the heartbeat connection between a vehicle and a terminal (such as a mobile phone) can be kept, namely, some heartbeat information needs to be sent and received at regular intervals; for example: in contrast to the situation where the vehicle receives the heartbeat signal from the terminal every few seconds after the vehicle passes through the zero point for a long time, the terminal may indicate that the vehicle is moving (i.e., step S102 is executed), and if the vehicle does not receive the heartbeat signal from the terminal for a certain time, the vehicle may determine that the user does not press the terminal for a long time (i.e., does not need to continue moving), and the terminal may indicate that the terminal stops moving (i.e., step S107 is executed). On the contrary, in other schemes, the terminal stops sending the heartbeat signal when the terminal is pressed for a long time, and the terminal does not press for a long time to send the heartbeat signal; different signals can be respectively sent to the vehicle when the long press starts and stops, so that the vehicle can know whether the long press is stopped or not.

According to the scheme, the vehicle can be controlled to pause when the long-time press stops, so that the pause control of the user on the parking process is realized, and the control result can timely and accurately meet the requirements of the user.

In one embodiment, referring to fig. 7, the HAVP processing method further includes:

s109: acquiring obstacle monitoring information;

s110: displaying a vehicle and the obstacle in the display interface in response to the obstacle monitoring information.

The obstacle monitoring information characterizes the presence of an obstacle in the vicinity of the vehicle. In particular, the vehicle may be configured with radar (e.g., infrared radar, ultrasonic radar, etc.), such as: the radar can be distributed around the vehicle in a circle, or the radar can be distributed in at least one direction of the front, the left front, the right front, the rear, the left rear and the right rear of the vehicle. Furthermore, in some examples, the obstacle monitoring information may not only indicate whether an obstacle is present, but also indicate a direction, a distance, and the like of the obstacle with respect to the vehicle.

In an example based on the vehicle model 202 in fig. 5, when an obstacle is detected, a display manner (e.g., displaying text, displaying color, displaying an image, etc.) of the vehicle model 202 or a region in the vicinity thereof may be changed to reflect the occurrence of the obstacle.

In another example based on the vehicle model 202 in fig. 5, the obstacle or the position of the obstacle relative to the vehicle may be displayed at a corresponding position and/or orientation of the vehicle model 202 based on the position and/or distance of the obstacle relative to the vehicle, for example, a display unit for representing the obstacle may be displayed in a certain direction of the vehicle model 202, the distance may also be displayed, for example, the danger degree of the distance (i.e., the range of the distance) may be displayed by three colors of red, yellow and green, and a specific value or a range of values of the distance may also be displayed by text.

In another example, the type of the obstacle may be determined by detecting and inferring the obstacle, and then a display unit representing the obstacle is displayed at a corresponding position and orientation of the vehicle model.

In the above scheme, based on detection, the feedback of barrier, can ensure that the user can accurately learn the risk in the motion process, the user of being convenient for learns: reasons for a parking process to pause, stop (e.g., due to abnormal monitoring), and/or: whether parking is required to be paused or not is determined, so that a reference basis is provided for the user's manipulation (e.g., whether to stop the long-press manipulation or not).

In one embodiment, referring to fig. 8, the HAVP processing method further includes:

s111: monitoring whether a preset recoverable abnormal event occurs;

if yes, step S112 may be implemented: instructing the vehicle to pause the parking motion and causing: after the recoverable abnormal event is eliminated, the vehicle can continue to move under the instruction of the terminal;

s113: monitoring whether a preset unrecoverable abnormal event occurs;

if yes, step S114 may be implemented: determining a parking failure such that: and the terminal exits the parking process, and the vehicle stops moving.

In step S114, the terminal exits the parking process, and the process of stopping the vehicle may include at least one of the following: and (4) the vehicle is flamed out, the terminal exits from a parking related interface, and the parking failure is fed back.

The pause in step S112 may be, for example: the vehicle stops but does not stall for a while, and then, can wait for the recoverable exception event to be eliminated.

The recoverable exception event and the unrecoverable exception event may be arbitrarily specified events based on a preset, and furthermore, some events may be specified as recoverable exception events at some times or may be specified as unrecoverable exception types at other times.

For example, for a portion of a parking area (e.g., a parking lot), some events may be recoverable exceptions, while in another portion of the parking area (e.g., a parking lot), the event may be non-recoverable exceptions or not considered an exception. Further, the method may further include: recoverable exceptions and non-recoverable exceptions are determined based on a parking area of the vehicle (e.g., its size, type).

In a specific example, the unrecoverable exception event may be, for example: the terminal has no operation for a certain time (for example, three minutes and 60 seconds), the repeated pressing and loosening times exceed the threshold value, the vehicle has a failure which cannot be driven, and the like.

The contents of recoverable exceptions (which may of course also be configured as non-recoverable exceptions) may for example be: door opening, obstructions (e.g., people, objects) blocking vehicle movement, poor network signaling, etc.

For some examples, recoverable exceptions may also be associated with non-recoverable exceptions, such as: after the abnormal event can be recovered for a specified time, the abnormal event which can not be recovered can be determined to occur, such as the door being opened for the specified time, the network signal being poor and the specified time being maintained.

In the parking process, the user may or may not be on the vehicle, and further, the terminal may or may not be on the vehicle. Before starting parking, the terminal may check whether the electric quantity of the vehicle is sufficient (for example, greater than 20%), whether the network signal is good, the password is verified, the tire pressure, whether the doors and windows are closed, and the like, and may start the parking process if the check is passed, which may occur before step S101 or before step S102.

Referring to fig. 9, an embodiment of the present invention provides a HAVP processing apparatus 300, including:

a route determination module 301, configured to determine a current parking route; the current parking route source learns the route;

the movement indicating module 302 is used for indicating the vehicle to move along the current parking route in the process that a key is designated to be pressed for a long time in the terminal;

a parking time position determining module 303, configured to determine a parking time position of the vehicle in a moving process;

and a parking progress display module 304, configured to display a current parking progress of the vehicle in a display interface of the terminal based on the current parking route and the parking time position.

Optionally, the parking progress display module 304 is specifically configured to:

and displaying the current parking progress in the display interface.

Optionally, referring to fig. 10, the HAVP processing apparatus 300 further includes:

a pause module 305, configured to, before the vehicle reaches the end of the current parking route, instruct the vehicle to pause the motion if the long press stops until the long press occurs again.

Optionally, the route determining module 301 is specifically configured to:

feeding back the learned route to the user;

Optionally, the route determining module 301 is specifically configured to:

Optionally, the HAVP processing apparatus 300 further includes:

and an obstacle display module 306, configured to obtain obstacle monitoring information, and display a vehicle and the obstacle in the display interface in response to the obstacle monitoring information, where the obstacle monitoring information indicates that an obstacle occurs near the vehicle.

Optionally, the HAVP processing apparatus 300 further includes:

a recoverable anomaly monitoring module 308 to:

monitoring whether a preset recoverable abnormal event occurs;

an unrecoverable anomaly monitoring module 307 for:

monitoring whether a preset unrecoverable abnormal event occurs;

Referring to fig. 11, an electronic device 40 is provided, including:

a processor 41; and the number of the first and second groups,

a memory 42 for storing executable instructions of the processor;

wherein the processor 41 is configured to perform the above-mentioned method via execution of the executable instructions.

The processor 41 is capable of communicating with the memory 42 via the bus 43.

Embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the above-mentioned method.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method of HAVP processing, comprising:

determining the parking position of the vehicle in the motion process;

2. The processing method according to claim 1,

the displaying the current parking progress of the vehicle in a display interface of the terminal based on the current parking route and the parking time position comprises:

and displaying the current parking progress in the display interface.

3. The HAVP processing method of claim 1, further comprising:

4. The HAVP processing method according to claim 1,

the determining the current parking route comprises the following steps:

feeding back the learned route to the user;

5. The HAVP processing method according to claim 4,

the determining the current parking route based on the route selection information and the pre-parking position of the vehicle comprises:

6. The HAVP processing method according to any of claims 1 to 5, further comprising:

7. The HAVP processing method according to any of claims 1 to 5, further comprising:

monitoring whether a preset recoverable abnormal event occurs;

monitoring whether a preset unrecoverable abnormal event occurs;

8. An HAVP processing apparatus, comprising:

9. A storage medium having a program stored thereon, wherein the program, when executed by a processor, performs the steps of the method of any one of claims 1 to 7.

10. An electronic device comprising a memory, a processor and a program stored on the memory and executable on the processor, wherein the steps of the method of any of claims 1-7 are implemented when the program is executed by the processor.