CN114684114A - Method for automatically moving vehicle - Google Patents

Abstract

The invention provides an automatic vehicle moving method, which is based on an automatic parking controller, does not need an owner to arrive at a vehicle site through online communication, realizes the automatic vehicle moving function when the owner is absent, and saves the time cost of the owner. The invention realizes automatic parking in complex vehicle driving scenes of vehicles with primary and secondary parking spaces, temporary parking, specific parking spaces and specific-purpose mobile parking spaces, and expands the application range of the automatic parking function. The invention greatly reduces the rubbing and bumping event generated in the parking process and has strong practicability.

Description

Method for automatically moving vehicle

Technical Field

The invention belongs to the technical field of automobile electronic software, and particularly relates to an automatic vehicle moving method.

Background

At present, it is becoming more and more common to equip intelligent automobiles with automatic parking systems, which can automatically park in a selected parking space by automatically recognizing a lined parking space around the vehicle or driving a designated specific parking space. The automatic parking system mainly comprises four main steps:

firstly, splicing around looking: the automatic parking controller splices images of four fisheye cameras on the front, the back, the left and the right of the vehicle into a panoramic image and displays the panoramic image on a central control screen in a cab;

secondly, parking space searching and selecting: the automatic parking controller identifies the marking parking spaces in the images through a machine vision technology, or a driver marks the parking spaces at specific positions on a control screen through clicking;

thirdly, automatic parking: the automatic parking controller calculates a driving route according to the positions of the vehicle and a target parking space, and then calculates a control time sequence signal consisting of instructions of gear shifting, steering, braking and the like to control the vehicle to automatically park in the selected parking space;

and fourthly, automatically parking, wherein when the driver needs to drive the vehicle, the driver can select a parking mode through the parking function of the automatic parking controller, and the automatic parking controller calculates a control time sequence signal consisting of instructions of gear shifting, steering, braking and the like to control the vehicle to automatically park out of the parking space.

The automatic parking function greatly reduces the rubbing and bumping events generated in the parking process, and has strong practicability. However, current automatic parking systems still require the driver to monitor the parking process of automatic parking of the vehicle in the driver's seat. In addition, in a complex vehicle driving scene of the parking lot, the current automatic parking function cannot be used for solving other scenes. Such scenarios include:

firstly, primary and secondary parking spaces: vehicles in the front parking spaces can influence the running of vehicles in the rear parking spaces;

II, temporary parking: in places with scarce parking spaces such as hospitals and shopping malls, vehicles can be temporarily parked in areas outside the parking spaces, and the driving of the vehicles in the parking spaces can be influenced;

thirdly, exiting a specific parking space: after the refueling station finishes refueling, the owner needs time to pay the fuel and needs to drive the vehicle to leave the refueling station for refueling subsequent vehicles;

fourthly, the vehicle for moving the parking space with specific purposes: vehicles need to be moved temporarily when roadside parking spaces are scribed again or surrounding trees are pruned branches and leaves.

The above scenarios all require the vehicle owner to arrive at the vehicle site, and the vehicle is simply moved, which consumes the time cost of the vehicle owner.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the method is used for realizing the automatic vehicle moving function when an owner is absent.

The technical scheme adopted by the invention for solving the technical problems is as follows: a method for automatically moving a vehicle comprises the following steps:

s0: building an automatic vehicle moving device, wherein the automatic vehicle moving device comprises an entity button and an automatic vehicle moving module connected with the entity button; the outermost layer of the solid button is an annular LED lamp, the middle of the annular LED lamp is a cross-shaped key, and the cross-shaped key is provided with four keys of F, B, L and R; the entity button is arranged below a right rearview mirror of the vehicle; the automatic vehicle moving module adopts an automatic parking controller of a vehicle;

s2: pressing an entity button of a target vehicle, wherein an annular LED lamp of the entity button changes into a red lamp to flicker, and the entity button sends a vehicle moving request to an automatic parking controller;

s3: the automatic parking controller selects a vehicle moving route;

s4: the automatic parking controller sends a vehicle moving request and a vehicle moving route to a mobile terminal of a vehicle owner through the V2X controller;

s5: if the vehicle owner agrees to move the vehicle within one minute, the annular LED lamp of the entity button is changed into a green lamp to flicker, and the step S6 is executed; if the vehicle owner does not agree to move the vehicle or does not respond until the one-minute timing time is up, the annular LED lamp of the entity button is changed into a red lamp and is normally on, the annular LED lamp is turned off after ten seconds, and the vehicle moving is finished;

s6: if the owner presses the key F of the solid button, the annular LED lamp of the solid button is changed into a green lamp and is normally on, and the vehicle moves according to the selected vehicle moving route, and the step S7 is executed; if the owner does not press the key F of the solid button, the annular LED lamp of the solid button is changed into a red lamp and is normally on, the annular LED lamp is turned off after ten seconds, and the vehicle moving is finished;

s7: if the vehicle meets an obstacle when moving according to the vehicle moving route, the vehicle idles in place and stops, and the annular LED of the solid button changes into a red light to flicker, and the step S8 is executed; if the vehicle does not encounter an obstacle when moving according to the vehicle moving route, the vehicle continues to run, and step S9 is executed;

s8: if the obstacle disappears within one minute, the vehicle continues to run, the annular LED lamp of the solid button is changed into a green lamp and is normally on, and step S9 is executed; if the obstacles do not disappear until the one-minute timing time is up, the vehicle returns to the vehicle moving starting position, the annular LED lamp of the solid button is changed into a green lamp and is normally on, the annular LED lamp is turned off after ten seconds, and the vehicle moving is finished;

s9: if the vehicle moves to the target position, the vehicle idles in place and stops, the vehicle returns to the vehicle moving initial position after five minutes, the annular LED of the solid button is changed into a green light and is normally on, the annular LED is turned off after ten seconds, and the vehicle moving is finished; if the vehicle does not move to the target position, the vehicle continues to run, the annular LED lamp of the solid button is changed into a green lamp and is normally on, and the step is repeatedly executed.

According to the scheme, the automatic moving vehicle comprises an automatic moving vehicle module and an entity button connected with the automatic moving vehicle module.

Further, the automatic vehicle moving module is used for selecting one route from various vehicle moving routes, controlling the vehicle to automatically start and calculating control time sequence signals including gear shifting, steering and braking, so that the vehicle automatically runs according to the selected route.

Further, the entity button is used for sending a vehicle moving request to the automatic vehicle moving module after being pressed; the outermost layer of the entity button is an annular LED lamp, and the lighting modes of the annular LED lamp comprise red lamp flashing, red lamp constant lighting, green lamp flashing and green lamp constant lighting; the middle of the annular LED lamp is provided with a cross-shaped key, and the cross-shaped key is provided with four keys of F, B, L and R; the entity button is arranged below the right rear-view mirror of the vehicle and is connected with an automatic parking controller of the vehicle.

Further pressing an F key of an automatic vehicle moving key to advance along the route 1;

pressing down an 'F' key and an 'L' key of an automatic vehicle moving key in sequence, and advancing to the left along a line 2;

pressing down an 'F' key and an 'R' key of the automatic vehicle moving key in sequence, and moving forward vertically to the right according to a line 3;

pressing down an 'L' key and an 'L' key of the automatic vehicle moving key in sequence, and horizontally moving left according to a route 4;

pressing down an 'R' key and an 'R' key of an automatic vehicle moving key in sequence, and advancing to the right horizontally according to a route 5;

pressing an L key of an automatic vehicle moving key, and moving left according to a route 6;

pressing an R key of an automatic vehicle moving key, and moving to the right according to a route 7;

pressing a 'B' key of an automatic vehicle moving key, and backing according to a line 8;

pressing a 'B' key and an 'L' key of an automatic vehicle moving key in sequence, and backing left according to a line 9;

and pressing a 'B' key and a 'R' key of the automatic vehicle moving key in sequence, and moving backwards to the right according to the line 10.

A computer storage medium, in which a computer program executable by a computer processor is stored, executes a method for automatically moving a vehicle.

The invention has the beneficial effects that:

1. the method for automatically moving the vehicle takes the automatic parking controller as a basis, does not need the vehicle owner to arrive at the vehicle site through online communication, realizes the function of automatically moving the vehicle when the vehicle owner is absent, and saves the time cost of the vehicle owner.

2. The invention realizes automatic parking in complex vehicle driving scenes of vehicles with primary and secondary parking spaces, temporary parking, specific parking spaces and specific-purpose mobile parking spaces, and expands the application range of the automatic parking function.

3. The invention greatly reduces the rubbing and bumping event generated in the parking process and has strong practicability.

Drawings

FIG. 1 is a flow chart of an embodiment of the present invention.

Fig. 2 is a button diagram for requesting a vehicle move according to an embodiment of the present invention.

Fig. 3 is a route diagram of route 1 of an embodiment of the present invention.

Fig. 4 is a route diagram of route 2 of an embodiment of the present invention.

Fig. 5 is a route diagram of route 3 of an embodiment of the present invention.

Fig. 6 is a route diagram of route 4 according to an embodiment of the present invention.

Fig. 7 is a route diagram of route 5 of an embodiment of the present invention.

Fig. 8 is a route diagram of route 6 of an embodiment of the present invention.

Fig. 9 is a route diagram of route 7 of an embodiment of the present invention.

Fig. 10 is a route diagram of route 8 according to an embodiment of the present invention.

FIG. 11 is a route diagram of route 9 of an embodiment of the present invention.

Fig. 12 is a route diagram of route 10 according to an embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

The embodiment of the invention is based on an automatic parking controller and comprises an entity button and an automatic vehicle moving module.

Referring to fig. 2, the physical button is installed below the right rear view mirror to connect the automatic parking control on the vehicle. The button is circular, and the outmost is annular LED lamp, and annular LED lamp has red light scintillation, red light often lights, green light scintillation and green light four kinds of modes of often lighting, is the cross button in the middle of the annular LED lamp, has four buttons of "F", "B", "L" and "R".

Referring to fig. 3 to 12, the automatic vehicle moving module adopts an automatic parking controller of the vehicle, and is designed with ten vehicle moving routes, after one route is selected, the vehicle can be automatically started, and a control time sequence signal consisting of instructions of gear shifting, steering, braking and the like is calculated to control the vehicle to automatically run according to the selected route.

The automatic vehicle moving key and the route selection rule are as follows:

automatic move car button	Route
		F	Route 1: go forward
F->L	Route 2: vertical left advance
		F->R	Route 3: vertical right-hand advance
L->L	Route 4: horizontal left advance
		R->R	Route 5: horizontal right progression
L	Route 6: move to the left
		R	Route 7: move to the right
B	Route 8: retreat
		B->L	Route 9: left back
B->R	Route 10: right sideRetreat

Referring to fig. 1, a method for automatically moving a vehicle includes the steps of:

when the parking area of the target vehicle influences other vehicles to move, the vehicle owner of the influenced vehicle selects a vehicle moving route through a vehicle moving request button below the right rear view mirror of the target vehicle.

The parking controller sends the vehicle moving request and the vehicle moving route to a mobile phone of a vehicle owner through the V2X module, and simultaneously the annular LED lamp of the vehicle moving button changes into red flashing.

If the vehicle owner agrees to move the vehicle within one minute, the annular LED lamp of the vehicle moving button turns into green and flickers, the vehicle owner of the affected vehicle presses down the F on the vehicle moving request button again, the annular LED lamp of the vehicle moving button turns into green and normally on after three seconds, the vehicle automatically moves according to the selected route, and the vehicle stops at an idle speed after reaching the end point; after five minutes, the vehicle automatically returns to the position in front of the vehicle moving vehicle, and the annular LED lamp of the vehicle moving button is turned off.

In the moving process of the vehicle, if the obstacle is detected to be too close to the vehicle, the vehicle immediately stops and idles in situ, and the annular LED lamp of the vehicle moving button changes into red and flickers; if the barrier disappears within one minute, the annular LED lamp of the vehicle moving button is changed into green and normally on, and the vehicle continues to run according to the selected route; otherwise, the vehicle automatically returns to the position in front of the vehicle moving, and the annular LED lamp of the vehicle moving button is turned off; if the vehicle owner refuses to move the vehicle within one minute or the vehicle owner does not respond within more than one minute, the annular LED lamp of the vehicle moving button turns red and is normally on, and the annular LED lamp is turned off after ten seconds.

The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.

Claims (6)

1. The method for automatically moving the vehicle is characterized by comprising the following steps: the method comprises the following steps:

s0: building an automatic vehicle moving device, wherein the automatic vehicle moving device comprises an entity button and an automatic vehicle moving module connected with the entity button; the outermost layer of the solid button is an annular LED lamp, the middle of the annular LED lamp is a cross-shaped key, and the cross-shaped key is provided with four keys of F, B, L and R; the entity button is arranged below a right rearview mirror of the vehicle; the automatic vehicle moving module adopts an automatic parking controller of a vehicle;

s2: pressing an entity button of a target vehicle, wherein an annular LED lamp of the entity button changes into a red lamp to flicker, and the entity button sends a vehicle moving request to an automatic parking controller;

s3: the automatic parking controller selects a vehicle moving route;

s4: the automatic parking controller sends a vehicle moving request and a vehicle moving route to a mobile terminal of a vehicle owner through the V2X controller;

s5: if the vehicle owner agrees to move within one minute, the ring-shaped LED lamp of the entity button changes into green and flickers, and the step S6 is executed; if the vehicle owner does not agree to move the vehicle or does not respond until the one-minute timing time is up, the annular LED lamp of the entity button is changed into a red lamp and is normally on, the annular LED lamp is turned off after ten seconds, and the vehicle moving is finished;

s6: if the owner presses the key F of the solid button, the annular LED lamp of the solid button is changed into a green lamp and is normally on, and the vehicle moves according to the selected vehicle moving route, and the step S7 is executed; if the owner does not press the key F of the solid button, the annular LED lamp of the solid button is changed into a red lamp and is normally on, the annular LED lamp is turned off after ten seconds, and the vehicle moving is finished;

s7: if the vehicle meets an obstacle when moving according to the vehicle moving route, the vehicle idles in place and stops, and the annular LED of the solid button changes into a red light to flicker, and the step S8 is executed; if the vehicle does not encounter an obstacle when moving according to the vehicle moving route, the vehicle continues to run, and step S9 is executed;

s8: if the obstacle disappears within one minute, the vehicle continues to run, the annular LED lamp of the solid button is changed into a green lamp and is normally on, and step S9 is executed; if the obstacles do not disappear until the one-minute timing time is up, the vehicle returns to the vehicle moving starting position, the annular LED lamp of the solid button is changed into a green lamp and is normally on, the annular LED lamp is turned off after ten seconds, and the vehicle moving is finished;

s9: if the vehicle moves to the target position, the vehicle is stopped in an idling mode in situ, the vehicle returns to the vehicle moving starting position after five minutes, the annular LED of the solid button is changed into a green light to be normally on, the annular LED is turned off after ten seconds, and the vehicle moving is finished; if the vehicle does not move to the target position, the vehicle continues to run, the annular LED lamp of the solid button is changed into a green lamp and is normally on, and the step is repeatedly executed.

2. An automatic vehicle moving device for use in the method according to claim 1, characterized in that: the automatic moving vehicle system comprises an automatic moving vehicle module and an entity button connected with the automatic moving vehicle module.

3. An automatic vehicle moving device for use in the method according to claim 2, characterized in that: the automatic vehicle moving module is used for selecting one route from various vehicle moving routes, controlling the vehicle to automatically start and calculating control time sequence signals including gear shifting, steering and braking, so that the vehicle automatically runs according to the selected route.

4. An automatic vehicle moving apparatus for use in the method for automatic vehicle moving according to claim 2, characterized in that: the entity button is used for sending a vehicle moving request to the automatic vehicle moving module after being pressed; the outermost layer of the entity button is an annular LED lamp, and the lighting modes of the annular LED lamp comprise red lamp flashing, red lamp constant lighting, green lamp flashing and green lamp constant lighting; the middle of the annular LED lamp is provided with a cross-shaped key, and the cross-shaped key is provided with four keys of F, B, L and R; the entity button is arranged below the right rear-view mirror of the vehicle and is connected with an automatic parking controller of the vehicle.

5. The automatic vehicle moving device according to claim 4, wherein: a vehicle moving route includes:

pressing an 'F' key of an automatic vehicle moving key to advance along a route 1;

pressing down an 'F' key and an 'L' key of an automatic vehicle moving key in sequence, and advancing to the left along a line 2;

pressing down an 'F' key and an 'R' key of the automatic vehicle moving key in sequence, and moving forward vertically to the right according to a line 3;

pressing down an 'L' key and an 'L' key of an automatic vehicle moving key in sequence, and advancing to the left horizontally according to a line 4;

pressing down an 'R' key and an 'R' key of an automatic vehicle moving key in sequence, and advancing to the right horizontally according to a route 5;

pressing an L key of an automatic vehicle moving key, and moving left according to a route 6;

pressing an 'R' key of an automatic vehicle moving key, and moving to the right according to a route 7;

pressing a 'B' key of an automatic vehicle moving key, and backing according to a line 8;

pressing a 'B' key and an 'L' key of an automatic vehicle moving key in sequence, and backing left according to a line 9;

and pressing a 'B' key and a 'R' key of the automatic vehicle moving key in sequence, and moving backwards to the right according to the line 10.

6. A computer storage medium, characterized in that: in which a computer program is stored which can be executed by a computer processor, which computer program carries out a method for automatically moving a vehicle as claimed in claim 1.

Images