CN115113562A - Control method for remote vehicle moving and remote vehicle moving system - Google Patents
Control method for remote vehicle moving and remote vehicle moving system Download PDFInfo
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- CN115113562A CN115113562A CN202210668097.8A CN202210668097A CN115113562A CN 115113562 A CN115113562 A CN 115113562A CN 202210668097 A CN202210668097 A CN 202210668097A CN 115113562 A CN115113562 A CN 115113562A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
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- G05B2219/23051—Remote control, enter program remote, detachable programmer
Abstract
The invention provides a remote vehicle moving control method and a remote vehicle moving system, wherein the remote vehicle moving control method comprises the following steps: the terminal establishes communication connection with the vehicle; the terminal remotely starts the vehicle; the terminal receives environmental information around the vehicle sent by the vehicle and displays the environmental information to a user; the terminal receives the vehicle moving instruction selected by the user and sends the vehicle moving instruction to the vehicle so that the vehicle can execute the vehicle moving instruction. The control method for remotely moving the vehicle solves the problem that the beyond-visual-range remote vehicle moving cannot be realized in the prior art.
Description
Technical Field
The invention relates to the field of automatic driving of automobiles, in particular to a control method and a remote automobile moving system for remote automobile moving.
Background
The parking stall is nervous, can go in the narrow and small environment in regional, and long the time can take place to miss and occupy other people parking stall, the vehicle hinders the condition that other vehicles travel, often needs the user to return near the vehicle fast this moment and carries out the vehicle moving and prevent to hinder other traffic participants. This is a frequent occurrence and often brings many invariants to many users. Currently, some vehicle equipped L2 level autopilot technology often requires that the user be near the vehicle and not be able to cover such conditions. The automatic driving technology at the level of L4 requires high-precision map positioning and is limited by the development level of the automatic driving technology, and the automatic driving technology is not popularized yet, so that a system and a method which have low requirements on the automatic driving technology and can realize beyond-visual-range remote vehicle moving are urgently needed.
Disclosure of Invention
The invention mainly aims to provide a control method for remotely moving a vehicle and a remote vehicle moving system, and aims to solve the problem that the over-the-horizon remote vehicle moving cannot be realized in the prior art.
In order to achieve the above object, according to an aspect of the present invention, there is provided a method for controlling remote vehicle moving, comprising:
the terminal establishes communication connection with the vehicle;
the terminal remotely starts the vehicle;
the terminal receives environmental information around the vehicle sent by the vehicle and displays the environmental information to a user;
the terminal receives the vehicle moving instruction selected by the user and sends the vehicle moving instruction to the vehicle so that the vehicle can execute the vehicle moving instruction.
Further, the environmental information includes image information of the surroundings of the vehicle photographed by the vehicle and distance information between the vehicle and the obstacle detected by the vehicle; the distance information includes at least one of character information, sound information and image information.
Further, the terminal receives a vehicle moving instruction selected by a user and sends the vehicle moving instruction to the vehicle so that the vehicle executes the vehicle moving instruction, and the method comprises the following steps:
the terminal receives a parking position command selected by a user and sends the parking position command to the vehicle so as to enable the vehicle to park in the parking position; wherein the vehicle moving instruction comprises a parking position instruction.
Further, the terminal receives a parking-out position instruction selected by a user and sends the parking-out position instruction to the vehicle, so that the vehicle can park out the position, and the method comprises the following steps:
the terminal receives the vehicle parking-out direction selected by the user and sends the vehicle parking-out direction to the vehicle so as to enable the vehicle to park out of the parking space from the vehicle parking-out direction; the parking-out direction of the vehicle comprises at least one of horizontal left, horizontal right, vertical front, vertical back, vertical left front, vertical right front, vertical left back and vertical right back.
Further, the terminal receives a vehicle moving instruction selected by a user and sends the vehicle moving instruction to the vehicle so that the vehicle executes the vehicle moving instruction, and the method comprises the following steps:
the terminal receives a parking space instruction selected by a user and sends the parking space instruction to the vehicle so as to enable the vehicle to park in a parking space; wherein, the vehicle moving instruction comprises a parking space instruction.
Further, before the terminal receives a parking space instruction selected by a user and sends the parking space instruction to the vehicle so that the vehicle can park in the parking space, the control method for remotely moving the vehicle comprises the following steps:
the terminal receives the target parking space selected by the user and sends the target parking space to the vehicle, so that the vehicle can park in the target parking space after receiving the parking space instruction.
Further, before the terminal receives a parking space instruction selected by a user and sends the parking space instruction to the vehicle so that the vehicle can park in the parking space, the control method for remotely moving the vehicle comprises the following steps:
the terminal receives an automatic parking space searching instruction selected by a user and sends the automatic parking space searching instruction to the vehicle so that the vehicle can automatically search a parking space;
the terminal receives a target parking space searched by the vehicle and displays the target parking space to a user;
and the terminal receives a confirmation instruction of confirming the target parking space by the user and sends the confirmation instruction to the vehicle so that the vehicle can park in the target parking space after receiving the confirmation instruction and the parking space instruction.
Further, the method for enabling the vehicle to automatically search the parking space comprises the following steps:
the terminal receives a first vehicle running instruction selected by a user, and sends the first vehicle running instruction to the vehicle, so that the vehicle runs according to the first vehicle running instruction, and the vehicle detects a parking space in the running process;
wherein the first vehicle travel command includes at least one of a target gear command to put the vehicle into a target gear and a first steering command to steer the vehicle.
Further, the method for enabling the vehicle to execute the vehicle moving instruction comprises the following steps:
and planning a parking path of the vehicle according to the environmental information and the target parking space, and enabling the vehicle to park in the target parking space along the planned parking path.
Further, when an emergency situation is met in the moving process of the vehicle, the control method for remotely moving the vehicle comprises the following steps:
the vehicle is flamed out and locked;
and the terminal receives the information that the vehicle is flamed out and locked and sent by the vehicle.
Further, the control method for remotely moving the vehicle comprises the following steps:
the terminal receives a vehicle moving stopping instruction selected by a user and sends the vehicle moving stopping instruction to the vehicle so as to stop the vehicle;
the terminal receives a second vehicle running instruction selected by the user and sends the second vehicle running instruction to the vehicle so that the vehicle runs according to the second vehicle running instruction;
wherein the second vehicle running command includes at least one of a forward command to advance the vehicle, a reverse command to reverse the vehicle, and a second steering command to steer the vehicle.
According to another aspect of the invention, a remote vehicle moving system is provided, which is suitable for the above control method for remote vehicle moving, and comprises:
a terminal;
the vehicle-mounted terminal is in communication connection with the terminal;
the vehicle parking controller is in communication connection with the vehicle-mounted terminal and is used for controlling the vehicle to park;
and the vehicle sensing device is in communication connection with the vehicle parking controller and is used for detecting the environmental information around the vehicle.
The remote vehicle moving control method comprises the steps that firstly, a terminal is in communication connection with a vehicle, the vehicle can be started remotely by the terminal through the communication connection between the terminal and the vehicle, the vehicle collects information of surrounding environment and can be sent to the terminal, the terminal displays the environment information to a user after receiving the environment information of the surrounding of the vehicle, the user selects a vehicle moving instruction on the terminal according to the environment information, the terminal receives the vehicle moving instruction selected by the user and sends the vehicle moving instruction to the vehicle, so that the vehicle executes the vehicle moving instruction, and finally the remote vehicle moving of the user is realized. By using the control method for remote vehicle moving, the vehicle-end environment information is returned to the terminal in real time, the over-the-horizon remote control vehicle moving can be realized only on the basis of the L2-level automatic driving technology, and the problem that the over-the-horizon remote vehicle moving cannot be realized in the prior art is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 shows a partial flow diagram of an exemplary embodiment of a method for controlling a remote vehicle handling according to the invention;
fig. 2 shows an overall flow diagram of an embodiment of the control method for remote vehicle handling according to the invention;
fig. 3 shows a flow chart of the vehicle pull-out of the control method for remote vehicle handling according to the invention;
fig. 4 shows a flowchart of a user manually selecting a target parking space according to the control method for remotely moving a vehicle of the present invention;
FIG. 5 is a flowchart illustrating an automatic target parking space search of a vehicle according to the remote vehicle moving control method of the present invention;
fig. 6 shows a schematic view of an exemplary embodiment of a remote vehicle handling system according to the invention.
Wherein the figures include the following reference numerals:
10. a terminal; 20. a vehicle-mounted terminal; 30. a vehicle parking controller; 50. a camera; 60. an ultrasonic radar; 70. a steering system; 80. a drive system; 90. and a braking system.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The invention provides a control method for remotely moving a vehicle, please refer to fig. 1 to 5, which comprises the following steps:
step S110, the terminal establishes communication connection with a vehicle;
step S120, the terminal remotely starts the vehicle;
step S130, the terminal receives the environmental information around the vehicle sent by the vehicle and displays the environmental information to a user;
in step S140, the terminal receives the vehicle moving instruction selected by the user and sends the vehicle moving instruction to the vehicle, so that the vehicle executes the vehicle moving instruction.
The remote vehicle moving control method comprises the steps that firstly, the terminal is in communication connection with a vehicle, the vehicle can be started remotely through the terminal through the communication connection between the terminal and the vehicle, the vehicle collects information of surrounding environment and can be sent to the terminal, the terminal displays the environment information to a user after receiving the information of the surrounding environment of the vehicle, the user selects a vehicle moving instruction on the terminal according to the environment information, the terminal receives the vehicle moving instruction selected by the user and sends the vehicle moving instruction to the vehicle, the vehicle executes the vehicle moving instruction, and finally the remote vehicle moving of the user is achieved. By using the control method for remote vehicle moving, the vehicle-end environment information is returned to the terminal in real time, the over-the-horizon remote control vehicle moving can be realized only on the basis of the L2-level automatic driving technology, and the problem that the over-the-horizon remote vehicle moving cannot be realized in the prior art is solved.
The over-the-horizon is a distance at which the target cannot be seen visually.
It should be noted that the automatic driving technologies of the L0-L5 level correspond to automatic driving of different degrees, and L0 is manual driving; l1 is driving support, mainly for driver operation, for supporting one of steering wheel and deceleration according to driving environment; l2 is a partially automated driving, in which a driver can take a short break depending on the change of the driving environment, but still needs to concentrate on the road traffic situation while driving, and the vehicle is ready to receive manual driving all the time; l3 is a conditional automatic driving, all driving operations are completed by the system under certain conditions, and the driver provides adaptive response according to the system request; l4 is highly automated driving, the system can complete all driving operations, and the driver can completely liberate both hands when driving on a conditional road; l5 is fully automated, and the system can complete all driving operations and integrate into all road environments.
Specifically, the terminal is a mobile terminal such as a mobile phone; in some embodiments, when the terminal is a mobile phone, a communication connection is established with the vehicle through the app on the terminal, and a series of vehicle moving operations are realized through the operation of the user on the app.
In specific implementation, the method for establishing communication connection between the terminal and the vehicle comprises the following steps: the terminal sends a connection request to the vehicle; and after the terminal establishes communication connection with the vehicle, the terminal displays connection success information.
Specifically, the terminal establishes a communication connection with the vehicle-mounted terminal 20 of the vehicle through 5G, that is, the terminal sends a connection request to the vehicle-mounted terminal 20, after the terminal establishes a communication connection with the vehicle-mounted terminal 20, the vehicle-mounted terminal 20 feeds back connection success information to the terminal, and the terminal displays the connection success information.
Specifically, the method for remotely starting the vehicle by the terminal comprises the following steps: the terminal sends a starting instruction to the vehicle; the vehicle is started after receiving the starting instruction, and information of successful starting is fed back to the terminal to remind a user of successful starting of the vehicle.
In the present embodiment, the environmental information includes image information of the surroundings of the vehicle photographed by the vehicle and distance information between the vehicle and the obstacle detected by the vehicle; the distance information includes at least one of character information, sound information and image information.
In specific implementation, after the terminal is in communication connection with the vehicle, the environment information of the vehicle is synchronized to the mobile phone (i.e. the terminal) through the vehicle-mounted terminal 20 of the vehicle, and the user can judge the specific direction of the surrounding vehicle by observing the image information around the vehicle and determine whether to move the vehicle or determine the vehicle moving distance to avoid collision with the surrounding vehicle by receiving the distance information between the vehicle and the obstacle.
Specifically, a plurality of pictures shot by the panoramic all-around system of the vehicle are spliced and undistorted to be synchronized to the terminal, and in the vehicle moving process, the distance between obstacles around the vehicle and the vehicle can be detected in real time by the ultrasonic radar of the vehicle, and the distance information is synchronized to the terminal in a text, sound or image prompting mode.
In this embodiment, the terminal receives a vehicle moving instruction selected by a user and sends the vehicle moving instruction to the vehicle so that the vehicle executes the vehicle moving instruction, and the method comprises the following steps: the terminal receives a parking position command selected by a user and sends the parking position command to the vehicle so as to enable the vehicle to park in the parking position; wherein the vehicle moving instruction comprises a parking position instruction.
When the parking lot is specifically implemented, the user sends a parking space parking instruction to the vehicle through the terminal, so that the user can remotely park the parking space without returning to the vehicle for parking under the condition that the user occupies the parking spaces of other people by mistake, and convenience is brought to the user.
In this embodiment, the method for the terminal to receive the parking-out position instruction selected by the user and send the parking-out position instruction to the vehicle so as to enable the vehicle to park out the position includes: step S150, the terminal receives the vehicle parking-out direction selected by the user and sends the vehicle parking-out direction to the vehicle so that the vehicle can be parked out of the parking space from the vehicle parking-out direction; wherein the vehicle parking-out direction comprises at least one of horizontal left, horizontal right, vertical forward, vertical backward, vertical left-front, vertical right-front, vertical left-back and vertical right-back.
The horizontal direction is the left-right direction of the vehicle, and the vertical direction is the front-rear direction of the vehicle.
In specific implementation, after the user selects a parking space instruction on the terminal, the method proceeds to step S150, where the terminal displays a plurality of vehicle parking directions for the user to select, and after the user selects one vehicle parking direction, the vehicle parking controller 30 of the vehicle controls the vehicle to park in the parking space from the vehicle parking direction; if the docking operation cannot be completed due to an emergency situation during the docking process, the process proceeds to step S200.
And the selection of various vehicle parking directions can enable a user to send different instructions according to the positions and distances of surrounding vehicles after judging the environmental information, thereby avoiding the situation that the vehicle cannot be parked normally due to too few selectable parking directions or the vehicle is parked by the user according to one of inaccurate directions to cause collision with the surrounding vehicles.
In this embodiment, the terminal receives a vehicle moving instruction selected by a user and sends the vehicle moving instruction to the vehicle so that the vehicle executes the vehicle moving instruction, and the method comprises the following steps: step S160, the terminal receives a parking space instruction selected by a user and sends the parking space instruction to the vehicle so as to enable the vehicle to park in the parking space; wherein, the vehicle moving instruction comprises a parking space instruction.
During specific implementation, after the vehicle is parked out of the parking space, a new parking space needs to be selected for parking, at the moment, a user selects an instruction for parking in the parking space at the terminal, the terminal controls the vehicle to park in the new parking space after receiving the instruction, and finally the parking process is completed. If the docking operation cannot be completed due to an emergency situation during the docking process, the process proceeds to step S200.
In some embodiments, before the terminal receives a parking space instruction selected by a user and sends the parking space instruction to the vehicle so that the vehicle can park in the parking space, the control method for remotely moving the vehicle comprises the following steps: and step S170, the terminal receives the target parking space selected by the user and sends the target parking space to the vehicle so that the vehicle can park in the target parking space after receiving the parking space instruction.
In specific implementation, the user may manually select the parking space, that is, the user remotely selects the target parking space on the terminal, and after the user selects the target parking space, the process proceeds to step S160, and the vehicle receives the target parking space and the parking space instruction and then parks in the target parking space.
In some embodiments, before the terminal receives a parking space instruction selected by a user and sends the parking space instruction to the vehicle so that the vehicle can park in the parking space, the control method for remotely moving the vehicle comprises the following steps: step S180, the terminal receives an automatic parking space searching instruction selected by a user and sends the automatic parking space searching instruction to the vehicle so that the vehicle can automatically search a parking space; the terminal receives a target parking space searched by the vehicle and displays the target parking space to a user; and the terminal receives a confirmation instruction of confirming the target parking space by the user and sends the confirmation instruction to the vehicle so that the vehicle can park in the target parking space after receiving the confirmation instruction and the parking space instruction.
When the parking space automatic searching method is specifically implemented, a user can select an automatic parking space searching instruction at a terminal so that a vehicle can automatically search a parking space, the target parking space is searched, and the vehicle can park in the target parking space after the target parking space is confirmed by the user. The method for enabling the vehicle to automatically search the parking space comprises the steps that a terminal receives a first vehicle running instruction selected by a user, and sends the first vehicle running instruction to the vehicle, so that the vehicle runs according to the first vehicle running instruction, and the vehicle detects a parking space in the running process; wherein the first vehicle travel command includes at least one of a target gear command to put the vehicle into a target gear and a first steering command to steer the vehicle.
In specific implementation, the vehicle can provide a picture (namely image information) at the terminal, so that a user can conveniently control the vehicle transversely and longitudinally and observe the driving condition of the vehicle, the user can control the running route of the vehicle by sending a first vehicle driving instruction, the vehicle can drive to a proper position, the vehicle can automatically detect a parking position at any time in the driving process, the user can select whether to park in the detected parking position, and the freedom of selecting the parking position is improved.
After confirming that the vehicle can park in the third target parking space searched by the vehicle, the method proceeds to step S160, and the vehicle parks in the target parking space after receiving the target parking space and the parking space instruction. If the parking space searching process is in an emergency situation, the parking space searching operation cannot be completed, and the method goes to step S200.
Specifically, the target gear of the vehicle is a parking gear, a reverse gear, a neutral gear and a forward gear; the first steering instruction is a left-turn instruction and a right-turn instruction.
Specifically, the method for enabling the vehicle to execute the vehicle moving instruction comprises the following steps: and planning a parking path of the vehicle according to the environment information and the target parking space, and enabling the vehicle to park in the target parking space along the planned parking path.
In specific implementation, the route planning of the vehicle is carried out, so that the vehicle does not collide with surrounding vehicles in the process of driving into the target parking space along the planned parking route, and unnecessary loss is avoided.
During specific implementation, the terminal receives a parking space instruction selected by a user and sends the parking space instruction to the vehicle, so that before the vehicle parks in a parking space, the control method for remotely moving the vehicle comprises the following steps: the method comprises the steps that a terminal receives a parking space searching instruction selected by a user; after the terminal receives the search parking space instruction selected by the user, step S170 or step S180 is executed, that is, after the terminal receives the search parking space instruction selected by the user, the terminal receives the target parking space selected by the user or receives the automatic search parking space instruction selected by the user.
In this embodiment, when an emergency is encountered during the moving process of the vehicle, the control method for remotely moving the vehicle comprises the following steps: step S200, flameout and locking the vehicle; the terminal receives the information that the vehicle sent by the vehicle extinguishes and locks the vehicle so as to remind the user. The flameout instruction of the vehicle avoids the situation that the vehicle continues to run in an emergency and collides with surrounding obstacles. In addition, in the vehicle moving process, in order to solve the problem that image information is transmitted to a terminal asynchronously due to time delay, the vehicle parking controller can perform collision avoidance control according to surrounding obstacle information, and prevent vehicles from being scratched.
In specific implementation, the emergency includes: when a user sends a parking position command and meets an emergency situation in the process of parking the vehicle out of the parking position, the vehicle can be flamed out and locked; when a user sends a parking place command, if an emergency happens in the process of parking in a target parking place, the vehicle can be flamed out and locked; when the vehicle encounters an emergency in other moving processes, such as an obstacle, the vehicle can flameout and lock. This ensures that the vehicle is in a safe state at any step.
In this embodiment, the control method for remote vehicle moving comprises the following steps: the terminal receives a vehicle moving stopping instruction selected by a user and sends the vehicle moving stopping instruction to the vehicle so as to stop the vehicle; the terminal receives a second vehicle running instruction selected by the user and sends the second vehicle running instruction to the vehicle so that the vehicle runs according to the second vehicle running instruction; wherein the second vehicle running command includes at least one of a forward command to advance the vehicle, a reverse command to reverse the vehicle, and a second steering command to steer the vehicle. With the arrangement, the user can interrupt the parking process all the time and take over the vehicle operation at any time during the vehicle moving process by using the remote vehicle moving control method.
When the user needs to move the vehicle continuously, a second vehicle running instruction can be sent to control the vehicle at any time, so that the vehicle can move again to carry out vehicle moving operation.
The control method for remotely moving the vehicle realizes real-time synchronization of vehicle-end information to a mobile phone end. Specifically, during the whole function activation period, the vehicle can transmit a panoramic stitching picture (namely image information) around the vehicle to the mobile phone end in real time, and in the parking process, the distance information of the obstacles detected by the ultrasonic radar is superimposed to the mobile phone app picture in real time, so that a user can know the information of the obstacles around the vehicle in real time conveniently.
According to another aspect of the present invention, there is provided a remote vehicle moving system, referring to fig. 6, which is suitable for the control method of remote vehicle moving in the above embodiment, the remote vehicle moving system includes: a terminal 10; the vehicle-mounted terminal 20 is in communication connection with the terminal 10; and the vehicle parking controller 30 is in communication connection with the vehicle-mounted terminal 20, and the vehicle parking controller 30 is used for controlling the vehicle to park. And the vehicle sensing device is in communication connection with the vehicle parking controller 30 and is used for detecting environmental information around the vehicle.
Specifically, the vehicle sensing device includes: the panoramic all-round looking system comprises a plurality of cameras 50, wherein the cameras 50 are in communication connection with the vehicle parking controller 30, and the cameras 50 are used for shooting images around the vehicle; and the ultrasonic radar 60 is in communication connection with the vehicle parking controller 30, and the ultrasonic radar 60 is used for detecting the distance between the vehicle and the obstacle.
Specifically, the terminal 10 is a mobile phone, and a user can conveniently carry out remote vehicle moving through an app in the mobile phone; the vehicle-mounted terminal 20 is a T-box, and the T-box is a vehicle networking system and provides services such as data acquisition, remote query, control and fault monitoring for vehicles.
Specifically, the remote vehicle moving system further comprises a steering system 70, a driving system 80 and a braking system 90 of the vehicle, and the steering system, the driving system and the braking system are all in communication connection with the vehicle parking controller 30, so that the vehicle parking controller 30 controls the steering system, the driving system and the braking system to work, and further the steering, the driving and the braking of the vehicle are realized.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
the remote vehicle moving control method comprises the steps that firstly, a terminal is in communication connection with a vehicle, the vehicle can be started remotely by the terminal through the communication connection between the terminal and the vehicle, the vehicle collects information of surrounding environment and can be sent to the terminal, the terminal displays the environment information to a user after receiving the environment information of the surrounding of the vehicle, the user selects a vehicle moving instruction on the terminal according to the environment information, the terminal receives the vehicle moving instruction selected by the user and sends the vehicle moving instruction to the vehicle, so that the vehicle executes the vehicle moving instruction, and finally the remote vehicle moving of the user is realized. By using the control method for remote vehicle moving, the vehicle-end environment information is returned to the terminal in real time, the over-the-horizon remote control vehicle moving can be realized only on the basis of the L2-level automatic driving technology, and the problem that the over-the-horizon remote vehicle moving cannot be realized in the prior art is solved.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above 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 application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Moreover, 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.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A control method for remotely moving a vehicle is characterized by comprising the following steps:
the terminal establishes communication connection with the vehicle;
the terminal remotely starts the vehicle;
the terminal receives environmental information around the vehicle sent by the vehicle and displays the environmental information to a user;
the terminal receives a vehicle moving instruction selected by a user and sends the vehicle moving instruction to the vehicle so that the vehicle can execute the vehicle moving instruction.
2. The remote vehicle moving control method according to claim 1, wherein the environmental information includes image information of the surroundings of the vehicle photographed by the vehicle and distance information between the vehicle and an obstacle detected by the vehicle; wherein the distance information includes at least one of character information, sound information, and image information.
3. The remote vehicle moving control method according to claim 1, wherein the terminal receives a vehicle moving instruction selected by a user and sends the vehicle moving instruction to the vehicle, so that the vehicle executes the vehicle moving instruction, and the method comprises the following steps:
the terminal receives a parking and leaving position instruction selected by a user and sends the parking and leaving position instruction to the vehicle so as to enable the vehicle to park and leave a parking space; wherein the vehicle moving instruction comprises the parking position instruction.
4. The remote vehicle moving control method as claimed in claim 3, wherein the method for the terminal to receive a parking and leaving position instruction selected by a user and send the parking and leaving position instruction to the vehicle so as to enable the vehicle to park and leave a parking space comprises the following steps:
the terminal receives a vehicle parking-out direction selected by a user and sends the vehicle parking-out direction to the vehicle so that the vehicle can be parked out of a parking space from the vehicle parking-out direction; wherein the vehicle parking-out direction comprises at least one of horizontal left, horizontal right, vertical forward, vertical backward, vertical left-front, vertical right-front, vertical left-back and vertical right-back.
5. The remote vehicle moving control method according to claim 1, wherein the terminal receives a vehicle moving instruction selected by a user and sends the vehicle moving instruction to the vehicle so that the vehicle executes the vehicle moving instruction, and the method comprises the following steps:
the terminal receives a parking space instruction selected by a user and sends the parking space instruction to the vehicle so as to enable the vehicle to park in a parking space; wherein the vehicle moving instruction comprises the parking space instruction.
6. The remote vehicle moving control method as claimed in claim 5, wherein before the terminal receives a parking space instruction selected by a user and sends the parking space instruction to the vehicle so that the vehicle can park in a space, the remote vehicle moving control method comprises:
and the terminal receives a target parking space selected by a user and sends the target parking space to the vehicle so that the vehicle can park in the target parking space after receiving the parking space instruction.
7. The remote vehicle moving control method as claimed in claim 5, wherein before the terminal receives a parking space instruction selected by a user and sends the parking space instruction to the vehicle so that the vehicle can park in a space, the remote vehicle moving control method comprises:
the terminal receives an automatic parking space searching instruction selected by a user and sends the automatic parking space searching instruction to the vehicle so that the vehicle can automatically search a parking space;
the terminal receives a target parking space searched by the vehicle and displays the target parking space to a user;
and the terminal receives a confirmation instruction of confirming the target parking space by the user and sends the confirmation instruction to the vehicle, so that the vehicle can park in the target parking space after receiving the confirmation instruction and the parking space instruction.
8. The remote vehicle moving control method as claimed in claim 7, wherein the method for enabling the vehicle to automatically search for the parking space comprises:
the terminal receives a first vehicle running instruction selected by a user, and sends the first vehicle running instruction to the vehicle, so that the vehicle runs according to the first vehicle running instruction, and the vehicle detects a parking space in the running process;
wherein the first vehicle travel command comprises at least one of a target gear command to engage the vehicle in a target gear and a first steering command to steer the vehicle.
9. The remote vehicle moving control method according to claim 6 or 7, wherein the method for causing the vehicle to execute the vehicle moving instruction includes:
and enabling the vehicle to plan a parking path according to the environment information and the target parking space, and enabling the vehicle to park in the target parking space along the planned parking path.
10. The remote vehicle moving control method as claimed in any one of claims 1 to 8, wherein the remote vehicle moving control method comprises, when an emergency is encountered during movement of the vehicle:
the vehicle is flamed out and locked;
and the terminal receives the information that the vehicle is flamed out and locked and sent by the vehicle.
11. The remote vehicle moving control method as claimed in any one of claims 1 to 8, characterized in that the remote vehicle moving control method comprises:
the terminal receives a vehicle moving stopping instruction selected by a user and sends the vehicle moving stopping instruction to the vehicle so as to stop the vehicle;
the terminal receives a second vehicle running instruction selected by a user and sends the second vehicle running instruction to the vehicle so that the vehicle runs according to the second vehicle running instruction;
wherein the second vehicle running instruction includes at least one of a forward instruction to advance the vehicle, a reverse instruction to reverse the vehicle, and a second steering instruction to steer the vehicle.
12. A remote vehicle moving system, which is applied to the control method for remote vehicle moving according to any one of claims 1 to 11, the remote vehicle moving system comprising:
a terminal (10);
the vehicle-mounted terminal (20) is in communication connection with the terminal (10);
the vehicle parking controller (30) is in communication connection with the vehicle-mounted terminal (20), and the vehicle parking controller (30) is used for controlling the vehicle to park;
and the vehicle sensing device is in communication connection with the vehicle parking controller (30) and is used for detecting environmental information around the vehicle.
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| CN202210668097.8A CN115113562A (en) | 2022-06-14 | 2022-06-14 | Control method for remote vehicle moving and remote vehicle moving system |
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| CN202210668097.8A CN115113562A (en) | 2022-06-14 | 2022-06-14 | Control method for remote vehicle moving and remote vehicle moving system |
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