CN114299741B - Vehicle control method and device based on auxiliary driving system - Google Patents
Vehicle control method and device based on auxiliary driving system Download PDFInfo
- Publication number
- CN114299741B CN114299741B CN202111663344.7A CN202111663344A CN114299741B CN 114299741 B CN114299741 B CN 114299741B CN 202111663344 A CN202111663344 A CN 202111663344A CN 114299741 B CN114299741 B CN 114299741B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- path
- point
- starting
- determining
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 61
- 238000004590 computer program Methods 0.000 claims description 6
- 238000012795 verification Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 5
- 238000004891 communication Methods 0.000 description 9
- 238000012545 processing Methods 0.000 description 5
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000000802 evaporation-induced self-assembly Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Abstract
The application provides a vehicle control method and device based on an auxiliary driving system, which relate to the technical field of vehicle control, and the method is applied to the auxiliary driving system of a vehicle and comprises the following steps: firstly receiving a vehicle calling signal sent by a mobile terminal, starting a power supply, and then determining a first path based on the vehicle calling signal and a parking lot map acquired in advance; the starting point of the first path is the current parking point of the vehicle in the parking lot, and the end point of the first path is the boarding point of the user; after receiving the starting signal sent by the mobile terminal, starting the auxiliary driving system and driving the vehicle according to the first path. The method can alleviate the technical problems of limited applicable scenes and high vehicle searching difficulty in the prior art, and achieves the effects of expanding applicable scenes and reducing vehicle searching difficulty.
Description
Technical Field
The application relates to the technical field of vehicle control, in particular to a vehicle control method and device based on an auxiliary driving system.
Background
In real life, because the scale of some parking lots is too big, especially the underground parking lot lacks the information and the lacking of position sense of indoor location, leads to driving the vehicle into the parking lot and getting the vehicle again when getting the vehicle like the sea drag for the needle, and the vehicle seeking degree of difficulty is great. Although some mature car searching schemes such as 'remote whistle' and 'remote flashing light' exist at present, the schemes are only suitable for near-end scenes, a driver can only transmit signals to search for a car after a certain distance from the car, and the car cannot respond after a certain distance.
That is, in the existing scheme for searching vehicles in the parking lot, there are problems of limited applicable scenes and great difficulty in searching vehicles.
Disclosure of Invention
The application aims to provide a vehicle control method and device based on an auxiliary driving system, which are used for solving the technical problems of limited applicable scenes and high difficulty in vehicle searching in the prior art.
In order to achieve the above object, the technical scheme adopted by the embodiment of the application is as follows:
in a first aspect, an embodiment of the present application provides a vehicle control method based on a driving assistance system, which is applied to a driving assistance system of a vehicle, where the method includes:
receiving a vehicle calling signal sent by a mobile terminal, and starting a power supply of the vehicle;
determining a first path based on a vehicle calling signal and a pre-acquired parking lot map; the starting point of the first path is the current parking point of the vehicle in the parking lot, and the end point of the first path is the boarding point of the user;
and after receiving the starting signal sent by the mobile terminal, starting an auxiliary driving system and driving the vehicle according to the first path.
In some possible embodiments, the vehicle calling signal includes identity information of the mobile terminal; after receiving a vehicle calling signal sent by the mobile terminal and starting the power supply of the vehicle, the method further comprises the following steps: and verifying the identity information, transmitting a connection request to the mobile terminal after the identity information passes the verification, and receiving a vehicle starting signal transmitted by the mobile terminal.
In some possible implementations, determining the first path based on the vehicle summoning signal and the pre-acquired parking lot map includes: determining a first pedestrian entrance based on a pre-acquired parking lot map; the first pedestrian entrance includes: a pedestrian entrance of the parking lot closest to the parking spot or a pedestrian entrance of the parking lot closest to the user's starting point position; and determining a first path according to the position of the first pedestrian entrance and the position of the current parking spot of the vehicle.
In some possible embodiments, after determining the first pedestrian entrance based on the pre-acquired parking lot map, the method further includes: pushing the first pedestrian entrance as a boarding point to the mobile terminal; the mobile terminal is used for generating a walking navigation path according to the starting point position of the user and the boarding point; the walking navigation path is used for guiding the user to move from the current position to the boarding point.
In some possible embodiments, the above method further comprises: determining a first estimated time for the vehicle to reach the get-on point according to the first path; determining a first difference between the first predicted time and a second predicted time; the second estimated time is determined by the mobile terminal according to the walking navigation path; when the first difference value is greater than or equal to zero, immediately starting the vehicle, and driving to the loading point according to the first path; and when the first difference value is smaller than zero, starting the vehicle after the time of the first difference value is elapsed, and driving to the loading point according to the first path.
In some possible embodiments, the above method further comprises: determining a second path according to the real-time traffic flow condition of the parking lot; the starting point of the second path comprises the first pedestrian entrance; the end point of the second path includes the first vehicle outlet.
In some possible embodiments, the above method further comprises: and sending the real-time position information of the first path and the vehicle to the mobile terminal so that the mobile terminal can display the state information of the vehicle in real time.
In a second aspect, an embodiment of the present application provides a vehicle control apparatus based on a driving assistance system, including:
the first receiving module is used for receiving a vehicle calling signal sent by the mobile terminal and starting a power supply of the vehicle;
the first determining module is used for determining a first path based on the vehicle calling signal and a parking lot map acquired in advance; the starting point of the first path is the current parking point of the vehicle in the parking lot, and the end point of the first path is the boarding point of the user;
and the second receiving module is used for starting the auxiliary driving system after receiving the starting signal sent by the mobile terminal and driving the vehicle according to the first path.
In a third aspect, an embodiment of the present application provides an electronic device, including a memory, and a processor, where the memory stores a computer program executable on the processor, and the processor implements the steps of the method according to any one of the first aspects when the processor executes the computer program.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium storing machine-executable instructions which, when invoked and executed by a processor, cause the processor to perform the method of any one of the first aspects.
The application provides a vehicle control method and device based on an auxiliary driving system, wherein the method is applied to the auxiliary driving system of a vehicle and comprises the following steps: firstly receiving a vehicle calling signal sent by a mobile terminal, starting a vehicle power supply, and then determining a first path based on the vehicle calling signal and a parking lot map acquired in advance; the starting point of the first path is the current parking point of the vehicle in the parking lot, and the end point of the first path is the boarding point of the user; after receiving the starting signal sent by the mobile terminal, starting the auxiliary driving system and driving the vehicle according to the first path. The method can be used for relieving the technical problems of limited applicable scenes and high vehicle searching difficulty in the prior art, and realizing the effects of expanding applicable scenes and reducing vehicle searching difficulty.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a vehicle control method based on an auxiliary driving system according to an embodiment of the present application;
fig. 2 is a schematic flow chart of another vehicle control method based on an auxiliary driving system according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a vehicle control device based on an auxiliary driving system according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application. Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
In real life, because the scale of some parking lots is too big, especially the underground parking lot lacks the information and the lacking of position sense of indoor location, leads to driving the vehicle into the parking lot and getting the vehicle again when getting the vehicle like the sea drag for the needle, and the vehicle seeking degree of difficulty is great. Although some mature car searching schemes such as 'remote whistle' and 'remote flashing light' exist at present, the schemes are only suitable for near-end scenes, a driver can only transmit signals to search for a car after a certain distance from the car, and the car cannot respond after a certain distance. That is, in the existing scheme for searching vehicles in the parking lot, there are problems of limited applicable scenes and great difficulty in searching vehicles.
Based on the above, the embodiment of the application provides a vehicle control method and device based on an auxiliary driving system, so as to solve the technical problems of limited applicable scenes and high difficulty in vehicle searching in the prior art.
For the convenience of understanding the present embodiment, first, a vehicle control method based on a driving assistance system disclosed in the present embodiment will be described in detail, referring to a schematic flow chart of a vehicle control method based on a driving assistance system shown in fig. 1, the method may be executed by an electronic device, and mainly includes the following steps S110 to S130:
s110: receiving a vehicle calling signal sent by a mobile terminal, and starting a power supply of a vehicle;
the mobile terminal may be a mobile electronic device that stores a map of a parking lot in advance, for example: a mobile phone, a tablet computer, etc. The mobile terminal is held by a user or a driver, and the parking lot can be an underground parking lot of a large building such as a mall, an airport, a railway station and the like. The vehicle may be provided with a drive-assisted automated attendant parking (Automated Valet Parking, AVP) function.
S120: determining a first path based on a vehicle calling signal and a pre-acquired parking lot map;
the starting point of the first path is the current parking point of the vehicle in the parking lot, and the end point of the first path is the boarding point of the user;
s130: after receiving the starting signal sent by the mobile terminal, starting an auxiliary driving system and driving the vehicle according to a first path.
In one embodiment, the vehicle summoning signal includes identity information of the mobile terminal. Thus, after the step S110, the method may further include: and verifying the identity information, sending a connection request to the mobile terminal after the identity information passes the verification, and receiving a vehicle starting signal sent by the mobile terminal.
In one embodiment, the vehicle call signal may further include a current location of the mobile terminal, that is, a starting location of the user. Therefore, the step S120 specifically includes:
s21: determining a first pedestrian entrance based on a pre-acquired parking lot map;
as a specific example, the first pedestrian entrance may include: a parking lot pedestrian entrance closest to the parking spot or a parking lot pedestrian entrance closest to the user's start position;
s22: and determining a first path according to the position of the first pedestrian entrance and the position of the current parking spot of the vehicle.
In one embodiment, after the step of S21, the method may further include:
s23: pushing the first pedestrian entrance as a boarding point to the mobile terminal;
the mobile terminal can generate a walking navigation path according to the starting point position and the boarding point of the user; the walking navigation path is used for guiding the user to move to the get-on point from the current position.
In one embodiment, referring to fig. 2, after the step S120, the method may further include:
s31: determining a first estimated time for the vehicle to reach the get-on point according to the first path;
s32: determining a first difference between the first predicted time and the second predicted time; the second estimated time is determined by the mobile terminal according to the walking navigation path;
s33: when the first difference value is greater than or equal to zero, starting the vehicle immediately, and driving to an upper vehicle point according to a first path;
s34: when the first difference is smaller than zero, starting the vehicle after the time of the first difference is passed, and driving to the upper vehicle point according to a first path.
In one embodiment, after the step S130, the method may further include:
s140: and sending the real-time position information of the first path and the vehicle to the mobile terminal so that the mobile terminal can display the state information of the vehicle in real time.
S150: determining a second path according to the real-time traffic flow condition of the parking lot; the starting point of the second path is a first pedestrian entrance; the end point of the second path is the first vehicle exit.
The second path may be a shortest path of time from the first pedestrian entrance to the first vehicle exit. That is, in the vehicle control method based on the auxiliary driving system provided by the embodiment of the application, the first path may be determined according to the shortest time for the vehicle to get from the parking spot to the upper vehicle spot and to be received by the user; and determining a second path according to the shortest time for the vehicle to exit the parking lot from the on-board point, so as to ensure that the time for the vehicle to exit from the on-board point to the user and for the vehicle to exit from the parking lot from the on-board point is shortest.
Alternatively, the second path may be a shortest path of the vehicle from the first pedestrian entrance to the first vehicle exit. That is, the first path may be determined based on the shortest distance that the vehicle has been launched from the parking spot to the upper spot to the user; and determining a second path according to the shortest distance that the vehicle exits from the parking place to exit from the parking place, so as to ensure that the vehicle exits from the parking place to be received by the user, and the distance that the vehicle exits from the parking place to exit from the parking place is shortest.
The application provides a vehicle control method based on an auxiliary driving system, which is applied to the auxiliary driving system of a vehicle and comprises the following steps: firstly receiving a vehicle calling signal sent by a mobile terminal, starting a power supply, and then determining a first path based on the vehicle calling signal and a parking lot map acquired in advance; the starting point of the first path is the current parking point of the vehicle in the parking lot, and the end point of the first path is the boarding point of the user; after receiving the starting signal sent by the mobile terminal, starting the auxiliary driving system and driving the vehicle according to the first path. The method can alleviate the technical problems of limited applicable scenes and high vehicle searching difficulty in the prior art, and achieves the effects of expanding applicable scenes and reducing vehicle searching difficulty.
As a specific example, an embodiment of the present application provides a vehicle automatic parking method based on a driving assistance system, the method including:
(1) The driver drives the vehicle to drive into the underground parking garage;
(2) The vehicle recognizes corresponding underground parking lot information through the navigation map, a high-precision map of the parking lot is obtained from the cloud, and the AVP function of the vehicle is completed through the high-precision map, the laser radar and other sensors;
(3) The driver may choose whether to turn on AVP:
a. if the AVP is started, selecting a nearest elevator hoistway S coordinate as an end point coordinate of path planning through a high-precision map, taking the end point coordinate as a next default boarding point S, planning a path to reach an end point position through an A star algorithm, and sending an instruction to search parking space parking through a mobile terminal after a person gets off the car;
b. if the AVP is not started, the vehicle owner automatically searches the parking place to park in, and an elevator opening closest to the current parking place is set as a default boarding point;
(4) And the vehicle finishes parking and sends a parking success signal to the mobile terminal.
In addition, as a specific example, the embodiment of the application also provides a vehicle calling method based on an auxiliary driving system, which comprises the following steps:
(1) The mobile terminal starts a vehicle discovery service, and searches for a vehicle with response through the vehicle discovery service;
(2) The vehicle receives a broadcast signal sent by the mobile terminal, and confirms whether to establish a connection request with the mobile terminal by verifying signal source identity information;
(3) If the connection request is established, the mobile terminal sends a vehicle power-on signal to the vehicle terminal;
(4) Setting the current vehicle position coordinate as an initial position;
(5) The position of the boarding point is set by a driver through a mobile terminal, if the terminal point coordinate is not set, the boarding point is a default boarding point S, and if the boarding point needs to be changed, the boarding point is set by the following two modes:
a. if the navigation map can inquire the position of the elevator closest to the user and leading to the parking lot, sending the destination coordinates to the vehicle end according to the position information of the elevator, and confirming the position of the previous elevator as a boarding point;
b. if the navigation map can not inquire the nearest elevator position information to the user and the elevator has a Bluetooth function, the nearest elevator information can be obtained through Bluetooth connection with the elevator, the destination coordinates of the elevator are sent to a vehicle end, and the current elevator position is confirmed as a boarding point;
(6) Transmitting a user path planning signal according to the starting point coordinates and the ending point coordinates;
(7) The user reaches a designated get-on point through the corresponding elevator;
(8) The vehicle plans a path, and sends the real-time position of the vehicle to the mobile terminal, so that a user can obtain real-time state information of the vehicle;
(9) And driving the vehicle to a get-on point through an auxiliary driving system, and completing vehicle calling.
The embodiment provides a vehicle parking and calling method based on an auxiliary driving system, wherein the terminal position is determined through the elevator position of a person getting off point or the elevator information of the position of the person closest to the position of the person, a path planning signal is sent to a vehicle terminal, and the vehicle terminal receives the signal to plan a path to complete vehicle calling.
An embodiment of the present application provides a vehicle control device based on a driving assistance system, referring to fig. 3, the device includes:
the first receiving module 310 is configured to receive a vehicle calling signal sent by the mobile terminal, and turn on a power supply of the vehicle;
a first determining module 320, configured to determine a first path based on the vehicle calling signal and a parking lot map acquired in advance; the starting point of the first path is the current parking point of the vehicle in the parking lot, and the end point of the first path is the boarding point of the user;
the second receiving module 330 is configured to start the driving assisting system after receiving the start signal sent by the mobile terminal, and drive the vehicle according to the first path.
As a specific example, the embodiment of the present application further provides a vehicle control system based on the driving assistance system, the system including: the system comprises a safety authentication module, a communication module, a path planning module and a vehicle state display module.
The vehicle state display module is used for receiving and displaying real-time position and vehicle body state information sent by the vehicle through the mobile terminal; the path planning module is used for planning a path between the destination position and the initial position of the vehicle, which are sent by the mobile terminal; the communication module is used for receiving and transmitting data signal instructions of the mobile terminal and the vehicle terminal, such as an upper electric signal, a path planning signal and the like; the security authentication module is used for authenticating identity information of an external device (mobile terminal) connected to the vehicle terminal.
The vehicle control device based on the auxiliary driving system provided by the embodiment of the application can be specific hardware on equipment or software or firmware installed on the equipment. The device provided by the embodiment of the present application has the same implementation principle and technical effects as those of the foregoing method embodiment, and for the sake of brevity, reference may be made to the corresponding content in the foregoing method embodiment where the device embodiment is not mentioned. It will be clear to those skilled in the art that, for convenience and brevity, the specific operation of the system, apparatus and unit described above may refer to the corresponding process in the above method embodiment, which is not described in detail herein. The vehicle control device based on the auxiliary driving system provided by the embodiment of the application has the same technical characteristics as the vehicle control method based on the auxiliary driving system provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
The embodiment of the application also provides electronic equipment, which comprises a processor and a storage device; the storage means has stored thereon a computer program which, when executed by the processor, performs the method of any of the embodiments described above.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application, where the electronic device 400 includes: a processor 40, a memory 41, a bus 42 and a communication interface 43, the processor 40, the communication interface 43 and the memory 41 being connected by the bus 42; the processor 40 is arranged to execute executable modules, such as computer programs, stored in the memory 41.
The memory 41 may include a high-speed random access memory (RAM, random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the system network element and the at least one other network element is achieved via at least one communication interface 43 (which may be wired or wireless), which may use the internet, a wide area network, a local network, a metropolitan area network, etc.
Bus 42 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 4, but not only one bus or type of bus.
The memory 41 is configured to store a program, and the processor 40 executes the program after receiving an execution instruction, and the method executed by the apparatus for flow defining disclosed in any of the foregoing embodiments of the present application may be applied to the processor 40 or implemented by the processor 40.
The processor 40 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry in hardware or instructions in software in processor 40. The processor 40 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but may also be a digital signal processor (Digital Signal Processing, DSP for short), application specific integrated circuit (Application Specific Integrated Circuit, ASIC for short), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA for short), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory 41 and the processor 40 reads the information in the memory 41 and in combination with its hardware performs the steps of the method described above.
Corresponding to the above method, embodiments of the present application also provide a computer readable storage medium storing machine executable instructions which, when invoked and executed by a processor, cause the processor to perform the steps of the above method.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments provided in the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, an electronic device, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It should be noted that: like reference numerals and letters in the various figures refer to like items and, thus, once an item is defined in one figure, no further definition or explanation of that in the subsequent figure is necessary, and furthermore, the terms "first," "second," "third," etc. are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.
Claims (6)
1. A vehicle control method based on a driving assistance system, characterized by being applied to a driving assistance system of a vehicle, the method comprising:
receiving a vehicle calling signal sent by a mobile terminal, and starting a power supply of the vehicle;
determining a first path based on the vehicle calling signal and a pre-acquired parking lot map; the starting point of the first path is the current parking point of the vehicle in the parking lot, and the ending point of the first path is the boarding point of the user;
wherein determining the boarding point of the user comprises: inquiring the current elevator position closest to the user and leading to a parking lot through a navigation map, sending terminal coordinates to a vehicle end according to the position information of the elevator, and confirming the current elevator position as a boarding point; or the nearest elevator information is acquired through the Bluetooth connection elevator, the terminal point coordinates of the elevator are sent to the vehicle end, and the current elevator position is confirmed to be the boarding point;
determining a second path according to the real-time traffic flow condition of the parking lot; the starting point of the second path is a first pedestrian entrance; the end point of the second path is a first vehicle outlet;
after receiving a starting signal sent by the mobile terminal, starting an auxiliary driving system, and driving the vehicle according to the first path or the second path;
wherein, based on the vehicle calling signal and a pre-acquired parking lot map, determining a first path includes:
determining a first pedestrian entrance based on a pre-acquired parking lot map; the first pedestrian entrance includes: a parking lot pedestrian entrance closest to the parking spot or a parking lot pedestrian entrance closest to the user's starting point position;
determining a first path according to the position of the first pedestrian entrance and the position of the current parking spot of the vehicle;
wherein after determining the first pedestrian entrance based on the pre-acquired parking lot map, the method further comprises:
pushing the first pedestrian entrance and exit to the mobile terminal as a boarding point; the mobile terminal is used for generating a walking navigation path according to the starting point position of the user and the boarding point; the walking navigation path is used for guiding a user to move from the current position to the get-on point;
wherein, based on the vehicle calling signal and a pre-acquired parking map, after determining the first path, the method further comprises:
determining a first estimated time for the vehicle to reach the get-on point according to the first path;
determining a first difference between the first predicted time and a second predicted time; the second estimated time is determined by the mobile terminal according to the walking navigation path;
when the first difference value is greater than or equal to zero, immediately starting the vehicle, and driving to the get-on point according to the first path;
and when the first difference value is smaller than zero, starting the vehicle after the time of the first difference value is passed, and driving to the get-on point according to the first path.
2. The method of claim 1, wherein the vehicle summoning signal includes identity information of the mobile terminal; after receiving a vehicle calling signal sent by a mobile terminal and starting a power supply of the vehicle, the method further comprises the following steps:
and verifying the identity information, sending a connection request to the mobile terminal after the identity information passes the verification, and receiving a vehicle starting signal sent by the mobile terminal.
3. The method according to claim 1, wherein the method further comprises:
and sending the real-time position information of the first path and the vehicle to the mobile terminal so that the mobile terminal can display the state information of the vehicle in real time.
4. A vehicle control apparatus based on a driving support system, comprising:
the first receiving module is used for receiving a vehicle calling signal sent by the mobile terminal and starting a power supply of the vehicle;
the first determining module is used for determining a first path based on the vehicle calling signal and a pre-acquired parking lot map; the starting point of the first path is the current parking point of the vehicle in the parking lot, and the ending point of the first path is the boarding point of the user; wherein determining the boarding point of the user comprises: inquiring the current elevator position closest to the user and leading to a parking lot through a navigation map, sending terminal coordinates to a vehicle end according to the position information of the elevator, and confirming the current elevator position as a boarding point; or the nearest elevator information is acquired through the Bluetooth connection elevator, the terminal point coordinates of the elevator are sent to the vehicle end, and the current elevator position is confirmed to be the boarding point;
the first determining module is further used for determining a second path according to the real-time traffic flow condition of the parking lot; the starting point of the second path is a first pedestrian entrance; the end point of the second path is a first vehicle outlet;
the second receiving module is used for starting an auxiliary driving system after receiving the starting signal sent by the mobile terminal and driving the vehicle according to the first path or the second path;
the first determining module is specifically configured to:
determining a first pedestrian entrance based on a pre-acquired parking lot map; the first pedestrian entrance includes: a parking lot pedestrian entrance closest to the parking spot or a parking lot pedestrian entrance closest to the user's starting point position;
determining a first path according to the position of the first pedestrian entrance and the position of the current parking spot of the vehicle;
the pushing module is used for pushing the first pedestrian entrance to the mobile terminal as a boarding point after determining the first pedestrian entrance based on a pre-acquired parking lot map; the mobile terminal is used for generating a walking navigation path according to the starting point position of the user and the boarding point; the walking navigation path is used for guiding a user to move from the current position to the get-on point;
the first determining module is further configured to:
after a first path is determined based on the vehicle calling signal and a pre-acquired parking lot map, determining a first estimated time for the vehicle to reach the get-on point according to the first path;
determining a first difference between the first predicted time and a second predicted time; the second estimated time is determined by the mobile terminal according to the walking navigation path;
when the first difference value is greater than or equal to zero, immediately starting the vehicle, and driving to the get-on point according to the first path;
and when the first difference value is smaller than zero, starting the vehicle after the time of the first difference value is passed, and driving to the get-on point according to the first path.
5. An electronic device comprising a memory, a processor, the memory having stored thereon a computer program executable on the processor, characterized in that the processor, when executing the computer program, implements the steps of the method of any of the preceding claims 1 to 3.
6. A computer readable storage medium storing machine executable instructions which, when invoked and executed by a processor, cause the processor to perform the method of any one of claims 1 to 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111663344.7A CN114299741B (en) | 2021-12-31 | 2021-12-31 | Vehicle control method and device based on auxiliary driving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111663344.7A CN114299741B (en) | 2021-12-31 | 2021-12-31 | Vehicle control method and device based on auxiliary driving system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114299741A CN114299741A (en) | 2022-04-08 |
| CN114299741B true CN114299741B (en) | 2023-11-10 |
Family
ID=80973303
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111663344.7A Active CN114299741B (en) | 2021-12-31 | 2021-12-31 | Vehicle control method and device based on auxiliary driving system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114299741B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115273526A (en) * | 2022-06-20 | 2022-11-01 | 广州小鹏汽车科技有限公司 | Method, vehicle and mobile terminal for providing route guidance |
| CN115497324B (en) * | 2022-11-16 | 2023-03-14 | 广汽埃安新能源汽车股份有限公司 | Method, apparatus, device and computer readable medium for controlling vehicle pickup |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016020023A1 (en) * | 2014-08-07 | 2016-02-11 | Daimler Ag | Method and device for carrying out a parking process of a vehicle in a parking garage |
| CN106601019A (en) * | 2016-12-19 | 2017-04-26 | 常州工学院 | Parking information management and intelligent parking communication system and method |
| CN110136426A (en) * | 2019-04-15 | 2019-08-16 | 武汉环宇智行科技有限公司 | One kind, which is returned the car, recruits vehicle system and method |
| CN110766960A (en) * | 2018-07-27 | 2020-02-07 | 比亚迪股份有限公司 | Server, mobile terminal, vehicle-mounted terminal and vehicle searching control method |
| CN111179620A (en) * | 2018-11-09 | 2020-05-19 | 现代自动车株式会社 | Autonomous passenger-replacing parking method and device for vehicle |
| CN112614369A (en) * | 2020-12-15 | 2021-04-06 | 苏州触达信息技术有限公司 | Parking system and method based on automatic driving |
| CN112747761A (en) * | 2020-12-28 | 2021-05-04 | 北京航迹科技有限公司 | Navigation method and system based on travel of automatic driving vehicle |
| CN112863240A (en) * | 2021-01-12 | 2021-05-28 | 北京航空航天大学 | Intelligent navigation system and method for commercial complex underground garage |
| CN113203421A (en) * | 2021-05-11 | 2021-08-03 | 陈广平 | Navigation method and system for searching vehicle, electronic equipment and storage medium |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2577433B (en) * | 2017-06-15 | 2022-06-29 | Ubipark Pty Ltd | Computer-implemented systems for locating a vehicular parking space and controlling access thereto |
| CN109141428B (en) * | 2018-08-30 | 2022-04-12 | 大陆汽车车身电子系统（芜湖）有限公司 | Indoor navigation method and parking management system |
| KR20200056497A (en) * | 2018-11-09 | 2020-05-25 | 현대자동차주식회사 | Automated Valet Parking System, and infrastructure and vehicle thereof |
| KR102651410B1 (en) * | 2018-12-28 | 2024-03-28 | 현대자동차주식회사 | Automated Valet Parking System, and infrastructure and vehicle thereof |
| JP2020194209A (en) * | 2019-05-24 | 2020-12-03 | 本田技研工業株式会社 | Control device, boarding/alighting facility, control method, and program |
| KR20210068181A (en) * | 2019-11-29 | 2021-06-09 | 현대자동차주식회사 | Automated Valet Parking System, and infrastructure and vehicle thereof |
-
2021
- 2021-12-31 CN CN202111663344.7A patent/CN114299741B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016020023A1 (en) * | 2014-08-07 | 2016-02-11 | Daimler Ag | Method and device for carrying out a parking process of a vehicle in a parking garage |
| CN106601019A (en) * | 2016-12-19 | 2017-04-26 | 常州工学院 | Parking information management and intelligent parking communication system and method |
| CN110766960A (en) * | 2018-07-27 | 2020-02-07 | 比亚迪股份有限公司 | Server, mobile terminal, vehicle-mounted terminal and vehicle searching control method |
| CN111179620A (en) * | 2018-11-09 | 2020-05-19 | 现代自动车株式会社 | Autonomous passenger-replacing parking method and device for vehicle |
| CN110136426A (en) * | 2019-04-15 | 2019-08-16 | 武汉环宇智行科技有限公司 | One kind, which is returned the car, recruits vehicle system and method |
| CN112614369A (en) * | 2020-12-15 | 2021-04-06 | 苏州触达信息技术有限公司 | Parking system and method based on automatic driving |
| CN112747761A (en) * | 2020-12-28 | 2021-05-04 | 北京航迹科技有限公司 | Navigation method and system based on travel of automatic driving vehicle |
| CN112863240A (en) * | 2021-01-12 | 2021-05-28 | 北京航空航天大学 | Intelligent navigation system and method for commercial complex underground garage |
| CN113203421A (en) * | 2021-05-11 | 2021-08-03 | 陈广平 | Navigation method and system for searching vehicle, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114299741A (en) | 2022-04-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10745050B2 (en) | Automated vehicle parking | |
| CN107808549B (en) | Method, device and system for mobile control | |
| US11958476B2 (en) | Intelligent parking method and apparatus | |
| CN114299741B (en) | Vehicle control method and device based on auxiliary driving system | |
| JP6330509B2 (en) | Parking management system, management device, and parking management method | |
| CN110706506B (en) | Parking method, system, electronic device and storage medium | |
| CN112071110A (en) | Autonomous parking method, apparatus, system, computer device and storage medium | |
| JP2016006605A (en) | Parking management device, computer program, and parking management device | |
| CN112562389A (en) | Parking method and device based on remote control, computer equipment and storage medium | |
| US20220114893A1 (en) | Image capturing apparatus of vehicle, server, user terminal apparatus and method for providing parking lot guidance service using them | |
| CN105206100A (en) | Auxiliary parking method, device and system | |
| JP6964141B2 (en) | Vehicle control and automatic parking system | |
| CN112109700A (en) | Memory parking system, control method thereof and computer storage medium | |
| US20190355254A1 (en) | Vehicle exterior information sharing system, vehicle exterior information sharing apparatus and vehicle exterior information sharing method | |
| US20210090441A1 (en) | Vehicle Control Method and Vehicle | |
| CN112419771B (en) | Parking method and device based on message broadcasting, computer equipment and storage medium | |
| EP3968305A1 (en) | Method, computer program and apparatus for controlling operation of a vehicle equipped with an automated driving function | |
| CN112224199A (en) | Remote control parking control method and device, vehicle and storage medium | |
| CN112172792A (en) | Fixed parking space parking method and device, vehicle and storage medium | |
| TWI709947B (en) | Method for locating vehicle, electronic device, vehicle, and storage medium | |
| CN111683850B (en) | Parking support device and parking support method | |
| CN113788027B (en) | Method, device, equipment and storage medium for autonomous parking | |
| CN114630296A (en) | Activating operation of an autonomous vehicle using WI-FI communication at a scheduled time | |
| CN112562356A (en) | Parking lot cooperative type autonomous parking method and device, computer equipment and storage medium | |
| CN112947409A (en) | Electric bicycle control method and system with unmanned function and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |