CN115416646A

CN115416646A - Pull type motor home and automatic parking method thereof

Info

Publication number: CN115416646A
Application number: CN202210957809.8A
Authority: CN
Inventors: 宋海健
Original assignee: Zhejiang Yingpai Automobile Technology Co ltd; Shanghai Yingpai Automobile Technology Co ltd
Current assignee: Zhejiang Yingpai Automobile Technology Co ltd; Shanghai Yingpai Automobile Technology Co ltd
Priority date: 2022-08-10
Filing date: 2022-08-10
Publication date: 2022-12-02
Anticipated expiration: 2042-08-10
Also published as: CN115416646B

Abstract

The application relates to a pull type caravan and an automatic parking method of the pull type caravan, which relate to the field of vehicle technology and comprise a chassis, a carriage arranged on the chassis, traveling wheels arranged on the chassis, a trailer used for being connected with a traction vehicle, and a vehicle door hinged on the carriage. This application has the effect of finding the most suitable car as a house parking position in the sight spot fast.

Description

Pull type caravan and automatic parking method thereof

Technical Field

The application relates to the field of vehicle technology, in particular to a pull type caravan and an automatic parking method of the pull type caravan.

Background

The pull type motor home is a motor home, and different from a self-propelled motor home, the pull type motor home has no power, and needs an additional vehicle to carry out pull type running on the pull type motor home.

At present, a pull type caravan is generally applied to travel, and a user moves the pull type caravan to a specified area in a scenic spot for camping. Since the user is unfamiliar with the scenic spot, the scenic spot environment is complex, and the like, the user cannot quickly find the parking position which is most suitable for the car as a house in the scenic spot, and therefore, how to quickly determine the most suitable parking position of the car as a house from the scenic spot becomes a problem.

Disclosure of Invention

In order to find the most suitable recreational vehicle parking position in a scenic spot quickly, the application provides a pull type recreational vehicle and an automatic parking method of the pull type recreational vehicle.

First aspect, the application provides a pull type car as a house, adopts following technical scheme:

a method for automatically parking a pull type caravan comprises a chassis, a carriage arranged on the chassis and traveling wheels arranged on the chassis, wherein a pull device used for being connected with a traction vehicle is arranged on the chassis, and a vehicle door is hinged on the carriage;

the system comprises a processor and a control unit, wherein the processor is used for acquiring first position information of the caravan;

when the first position information is in a preset scenic spot range, acquiring related information of at least two parking areas;

determining an optimal parking area from the at least two parking areas based on the information related to the at least two parking areas;

determining an optimal parking position from the optimal parking area;

determining a travel route based on the first location information and the optimal parking location;

and controlling the motor home to run according to the running route.

Through adopting above-mentioned technical scheme, the walking wheel on the chassis is used for the removal of pull-type car as a house, and the carriage is used for personnel to live and has a rest, and the trailer is connected with traction vehicle to make traction vehicle drive pull-type car as a house and remove, personnel pass through the carriage of cominging in and going out that the door can be more convenient. The processor obtains first position information of the recreational vehicle, when the first position information is located in a preset scenic spot range, the recreational vehicle enters the scenic spot, relevant information of at least two parking areas in the scenic spot is obtained according to the preset scenic spot range, the relevant information represents the specific situation of the parking areas, an optimal parking area can be determined from the at least two parking areas according to the relevant information, and then the optimal parking position in the optimal parking area is determined. And determining a driving route according to the first position information and the optimal parking position of the caravan, and controlling the caravan to drive according to the driving route. Thereby allowing personnel to quickly find and arrive at the optimal parking location without being familiar with the scenic area.

In another possible implementation manner, a partition plate is arranged on the chassis, the partition plate is positioned in the carriage, and the partition plate is perpendicular to the chassis; the partition plate divides the carriage into a first space and a second space;

the first space is close to the trailer, a rear carriage cover is hinged to the carriage and located in the second space, an operating platform is arranged in the carriage, and the operating platform is located in the second space.

Through adopting above-mentioned technical scheme, the division board divides into two spaces with the carriage to make carriage space distribution more orderly, set up the operation panel in the second space, thereby the personnel of being convenient for carry out the operation that is correlated with camping.

In another possible implementation mode, a bed plate is arranged in the carriage, the bed plate is located in the first space, and heating wires are arranged on the bed plate.

By adopting the technical scheme, the bed board can be used for resting of personnel, and the heating wires are used for heating the bed board, so that the personnel can rest on the bed board more comfortably.

In another possible implementation manner, an air conditioning device is arranged on the chassis and is communicated with the interior of the carriage;

an illuminating lamp is arranged in the carriage;

transparent windows are arranged on the top of the carriage, one side of the carriage close to the trailer and the side face of the carriage.

Through adopting above-mentioned technical scheme, air conditioning equipment is used for adjusting the inside temperature in carriage to it is more comfortable when making personnel be in the carriage. The light is used for lightening the inside of the carriage, and is convenient for personnel to move in the carriage. Set up the transparent window and make personnel more convenient at the inside external environment that observes of carriage.

In a second aspect, the application provides an automatic parking method for a trailer type caravan, which adopts the following technical scheme:

an automatic trailer berthing method, performed by a trailer as described in the first aspect, comprising:

acquiring first position information of a caravan;

when the first position information is within a preset scenic spot range, acquiring related information of at least two parking areas;

determining an optimal parking area from the at least two parking areas based on the information regarding the at least two parking areas;

determining an optimal parking position from the optimal parking area;

determining a travel route based on the first position information and the optimal parking position;

and controlling the caravan to run according to the running route.

By adopting the technical scheme, the first position information of the recreational vehicle is obtained, when the first position information is located in the preset scenic spot range, the recreational vehicle enters the scenic spot, the related information of at least two parking areas in the scenic spot is obtained according to the preset scenic spot range, the related information represents the specific situation of the parking areas, the optimal parking area can be determined from the at least two parking areas according to the related information, and then the optimal parking position in the optimal parking area is determined. And determining a driving route according to the first position information and the optimal parking position of the caravan, and controlling the caravan to drive according to the driving route. Thereby allowing personnel to quickly find and arrive at the optimal parking location without being familiar with the scenic area.

In another possible implementation manner, the determining the optimal parking area from the at least two parking areas based on the information about the at least two parking areas includes:

calculating the score of each parking area according to the weight corresponding to the air temperature information, the distance information and the road condition information;

the parking area with the highest score is determined as the optimal parking area.

By adopting the technical scheme, the score of each parking area is comprehensively determined according to the air temperature information, the distance information and the road condition information of each parking area and the respective corresponding weights, the parking area with the highest score is determined as the optimal parking area, and the optimal parking area is comprehensively determined according to the related information, so that the determined optimal parking area is more accurate.

In another possible implementation, determining an optimal parking position from the optimal parking area includes:

acquiring current time;

determining an arrival time to the optimal parking area based on the travel route and a current time;

acquiring historical image information of the optimal parking area corresponding to the arrival time within a first preset time period;

performing feature recognition on the historical image information to obtain the caravan features in the historical image information;

dividing the history image information into a plurality of first subregions;

determining a first sub-area where the caravan features in the historical image information are located;

determining the times of the occurrence of the caravan characteristics in each first sub-area according to the historical image information;

acquiring current image information of the optimal parking area;

determining a first candidate subregion without the caravan feature in the current image information;

and determining the first sub-area with the largest number of occurrences of the caravan characteristics in the first preset time period as the optimal parking position.

By adopting the technical scheme, the arrival time of the optimal parking area is determined according to the current time and the driving route. And finding historical image information corresponding to the arrival time from the image information of the optimal parking area in a preset time period according to the arrival time, then identifying the caravan characteristics in the historical image information, and determining the number of times of caravans appearing in each first sub-area according to the historical image information, wherein the number of times of the caravans appearing in a certain first sub-area is the largest, and the area is the hottest, and further the area in the parking area is the optimal parking position.

acquiring video information of an optimal parking area in a second preset time period;

dividing the picture of the video information into a plurality of second subregions;

determining the times of the occurrence of the recreational vehicle features in each second sub-area and the total duration of the occurrence of the recreational vehicle features in each second sub-area according to the video information;

calculating the score of each second subregion according to the times of the occurrence of the recreational vehicle features in each second subregion, the total duration of the occurrence of the recreational vehicle features in each second subregion and the respective corresponding weight;

acquiring current image information of the optimal parking area;

determining that a second alternative subarea of the caravan does not exist in the current image information;

and determining the second candidate subarea with the highest score as the optimal stop point position.

By adopting the technical scheme, the situation that the number of the touring cars in one subarea is small but the residence time of each touring car is long can occur, and the situation that the touring cars in one subarea are too many but the touring cars pass by or stay for a short time and feel bad in position and leave the area can also occur. The optimal parking point is comprehensively determined more accurately according to the number of the vehicles as a house, the total time of the vehicles as a house and the respective corresponding weights.

In another possible implementation manner, controlling the caravan to travel according to the travel route includes:

acquiring first image information of an optimal parking area in real time;

judging whether the optimal parking position occupies a motor home or not according to the first image information;

if yes, judging whether the caravan is occupied at the target parking position according to the first image information, wherein the target parking position is the next parking position of the parking positions in the previous judging period in a descending order of scores or descending order of the number of times of caravans;

if not, determining the target parking position as an optimal parking position;

if yes, circularly executing the step of judging whether the caravan is occupied at the target parking position according to the first image information until a first preset condition is met;

the first preset condition comprises at least one of:

no caravan is occupied in the target parking position;

the target parking position is the last parking area in the descending order of scores or the descending order of the number of times of the vehicles.

By adopting the technical scheme, the situation that the optimal parking position is occupied can occur in the process that the recreational vehicle runs to the optimal parking position, so that the first image information of the optimal parking area is obtained in real time, whether the recreational vehicle is occupied by the optimal parking position is judged according to the first image information, if the first image information is occupied, the optimal parking position is determined again from other sub-areas according to the descending order of scores or the descending order of the times of the occurrence of the recreational vehicle, and the effect of determining the optimal parking position is improved by analyzing the distribution situation of the recreational vehicle in the optimal parking area in real time.

determining a first number of motor homes within the optimal parking area based on the first image information;

if the number of the first caravans reaches a preset number threshold, circularly executing to obtain second image information according to the score descending order of the at least two parking areas, determining the number of the second caravans in the corresponding parking areas based on the second image information, and judging whether the number of the second caravans reaches the preset number threshold or not until a second preset condition is met;

the second image information is the next parking area of the parking area in the last judging period according to the descending score;

the second preset condition comprises at least one of:

the number of the second motor homes does not reach a preset number threshold value;

the parking area corresponding to the second image information is the last parking area in the descending order of scores;

and if the number of the second caravans does not reach the preset number threshold value, determining the parking area corresponding to the current second image information as the optimal parking area.

By adopting the technical scheme, when the number of the tourists in the optimal parking area is larger than the preset number threshold, the fact that the number of the tourists in the optimal parking area is large and the tourists are not suitable for camping in the optimal parking area is shown, so that the optimal parking area is determined again from other parking areas according to the descending order of the scores of the parking areas, and the tourists can always run to the more suitable parking area.

The third aspect, the application provides a pull type automatic parking device for a caravan, which adopts the following technical scheme:

an automatic parking device for a trailer type caravan, comprising:

the first acquisition module is used for acquiring first position information of the caravan;

the second acquisition module is used for acquiring related information of at least two parking areas when the first position information is within a preset scenic spot range;

an area determination module for determining an optimal parking area from the at least two parking areas based on the information regarding the at least two parking areas;

a position determination module for determining an optimal parking position from the optimal parking area;

a route determination module for determining a travel route based on the first position information and the optimal parking position;

and the control module is used for controlling the motor home to run according to the running route.

By adopting the technical scheme, the first acquisition module acquires first position information of the recreational vehicle, when the first position information is located in a preset scenic spot range, the recreational vehicle enters the scenic spot, the second acquisition module acquires relevant information of at least two parking areas in the scenic spot according to the preset scenic spot range, the relevant information represents specific conditions of the parking areas, the area determination module can determine an optimal parking area from the at least two parking areas according to the relevant information, and the position determination module determines the optimal parking position in the optimal parking area. The route determination module determines a driving route according to the first position information and the optimal parking position of the caravan, and the control module controls the caravan to drive according to the driving route. Thereby allowing personnel to quickly find and arrive at the optimal parking location without being familiar with the scenic area.

In another possible implementation manner, the related information includes air temperature information, distance information, and road condition information, and the area determination module, when determining the optimal parking area from the at least two parking areas based on the related information of the at least two parking areas, is specifically configured to:

In another possible implementation, the position determining module, when determining the optimal parking position from the optimal parking area, is specifically configured to:

acquiring current time;

carrying out feature identification on the historical image information to obtain the caravan features in the historical image information;

dividing the historical image information into a plurality of first subregions;

acquiring current image information of the optimal parking area;

determining a first candidate subarea without the caravan characteristics in the current image information;

and determining the first candidate subarea with the largest number of times of occurrence of the caravan characteristics in the first preset time period as the optimal parking position.

In another possible implementation, the position determining module, when determining an optimal parking position from the optimal parking area, is specifically configured to:

calculating the score of each second subarea according to the times of the occurrence of the caravan characteristics in each second subarea, the total duration of the occurrence of the caravan characteristics in each second subarea and the respective corresponding weights;

acquiring current image information of the optimal parking area;

determining that a second alternative subregion of the motor home does not exist in the current image information;

In another possible implementation manner, the apparatus further includes:

the image acquisition module is used for acquiring first image information of the optimal parking area in real time;

the first judging module is used for judging whether the caravan is occupied in the optimal parking position according to the first image information;

the second judging module is used for judging whether the parking position occupies the motor home or not according to the first image information when the parking position exists, and the target parking position is the next parking position of the parking position in the previous judging period in descending order of scores or descending order of the number of times of the motor home;

a first determining module for determining the target parking position as an optimal parking position when not present;

the first circulating module is used for circularly executing the step of judging whether the caravan is occupied at the target parking position according to the first image information when the first image information exists until a first preset condition is met;

the first preset condition comprises at least one of:

no caravan is occupied in the target parking position;

In another possible implementation manner, the apparatus further includes:

a number determination module for determining a first number of motor homes within the optimal parking area based on the first image information;

the second circulation module is used for circularly executing the steps of acquiring second image information according to the score descending order of the at least two parking areas when the number of the first motor homes reaches a preset number threshold, determining the number of second motor homes in the corresponding parking areas based on the second image information, and judging whether the number of the second motor homes reaches the preset number threshold or not until a second preset condition is met;

the second preset condition comprises at least one of:

the number of the second motor homes does not reach a preset number threshold;

and the second determining module is used for determining the parking area corresponding to the current second image information as the optimal parking area when the number of the second motor homes does not reach the preset number threshold.

In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions:

a computer-readable storage medium that, when executed in a computer, causes the computer to execute a pull-type recreational vehicle automatic parking method according to any one of the second aspect.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the method comprises the steps of obtaining first position information of the recreational vehicle, when the first position information is located in a preset scenic spot range, indicating that the recreational vehicle enters the scenic spot, obtaining related information of at least two parking areas in the scenic spot according to the preset scenic spot range, wherein the related information represents the specific situation of the parking areas, determining an optimal parking area from the at least two parking areas according to the related information, and then determining the optimal parking position in the optimal parking area. And determining a driving route according to the first position information and the optimal parking position of the caravan, and controlling the caravan to drive according to the driving route. So that the personnel can quickly find and reach the optimal parking position under the condition of unfamiliarity with scenic areas;

2. the situation that the number of the touring cars in one subarea is small but the residence time of each touring car is long may occur, and the situation that the touring cars in one subarea are too many but only pass by or have short residence time and feel bad position and leave the area may also occur. The optimal parking point is comprehensively determined more accurately according to the number of the vehicles as a house, the total time of the vehicles as a house and the respective corresponding weights.

Drawings

Fig. 1 is an isometric view of a trailer caravan according to an embodiment of the present application.

Fig. 2 is a sectional view of a trailer-type motor home shown in fig. 2.

Fig. 3 is a schematic structural diagram of a trailer type caravan according to an embodiment of the present application.

Fig. 4 is a schematic flow chart of an automatic parking method for a trailer as a house according to an embodiment of the present application.

Fig. 5 is a schematic structural view of an automatic parking apparatus for a trailer type caravan according to an embodiment of the present application.

Description of reference numerals: 1. a chassis; 11. a processor; 2. a carriage; 21. a vehicle door; 22. a first space; 23. a second space; 24. a rear compartment cover; 25. an operation table; 26. a bed board; 261. heating wires; 27. a transparent window; 3. a traveling wheel; 4. a trailer; 5. an air conditioning device; 6. a partition plate; 7. an illuminating lamp.

Detailed Description

The present application is described in further detail below with reference to the attached drawings.

A person skilled in the art, after reading the present specification, may make modifications to the present embodiments as necessary without inventive contribution, but only within the scope of the claims of the present application are protected by patent laws.

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship, unless otherwise specified.

The embodiments of the present application will be described in further detail with reference to the drawings attached hereto.

The embodiment of the application discloses a pull type motor home, and the following describes a pull type motor home in the application in further detail with reference to the accompanying drawings.

Referring to fig. 1 and 2, a trailer as a house according to an embodiment of the present application further includes a chassis 1, a car body 2, and road wheels 3. The chassis 1 is of a plate-shaped structure, and the carriage 2 and the travelling wheels 3 are respectively arranged on two sides of the chassis 1. The carriage 2 is fixedly connected with the chassis 1. The chassis 1 is also provided with a trailer 4 for connecting with a towing vehicle, and the position of the trailer 4 is defined as the front of the towing caravan.

Wherein, walking wheel 3 rotates with chassis 1 to be connected, and the quantity of walking wheel 3 can be three also can be four. When the number of the walking wheels 3 is three, one walking wheel 3 is positioned at the middle position of one side of the chassis 1 close to the trailer 4, and the other two walking wheels 3 are positioned at two sides of one end of the chassis 1 far away from the trailer 4. When the number of the road wheels 3 is four, two of the road wheels 3 are positioned on one side of the chassis 1 close to the trailer 4, and the other two road wheels 3 are positioned on one side of the chassis 1 far away from the trailer 4.

The vehicle body 2 may have a rectangular parallelepiped structure or other shape structures. The inside cavity that is in carriage 2, 2 side hinges in carriage have door 21, and carriage 2 has all seted up transparent window 27 near the one side of trailer 4, the side in carriage 2 top and carriage 2, is convenient for personnel through transparent window 27 and observes external environment.

Referring to fig. 1 and 3, a trailer-type recreational vehicle according to an embodiment of the present invention further includes a processor 11, where the processor 11 may be disposed on the chassis 1, or may be disposed in the cabin 2, or may be disposed at another position of the recreational vehicle. The Processor 11 may be a CPU (Central Processing Unit), a general-purpose Processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other Programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor 11 may also be a combination of computing functions, e.g., comprising one or more microprocessors, a combination of a DSP and a microprocessor, or the like.

The processor 11 controls to perform a pull-type recreational vehicle automatic parking method as shown in fig. 4, which includes steps S101, S102, S103, S104, S105 and S106, wherein,

s101, first position information of the caravan is obtained.

For the embodiment of the application, the first position information of the motor home is the position information of the current position of the motor home. The first position information of the caravan can be determined by arranging the GPS positioning device on the caravan, and then the processor acquires the position information acquired by the GPS positioning device, so that the first position information of the caravan can be obtained.

The motor home is required to be connected with the traction vehicle, and the traction vehicle pulls the motor home to move, so that the position information of the traction vehicle can be obtained, and the first position information of the motor home is represented by the position information of the traction vehicle.

S102, when the first position information is in the preset scenic spot range, the related information of at least two parking areas is acquired.

For the embodiment of the application, the staff can store the position range of each scenic spot in the processor of the caravan in advance. And after acquiring the first position information, the processor judges whether the first position information is in a preset scenic region range. If the position is within the preset scenic spot range, the touring car is indicated to enter the scenic spot. There may be at least two parking areas within the scenic spot for the recreational vehicle to park the camping. Each preset scenic spot range corresponds to at least two parking areas within the scenic spot. After the processor determines the preset scenic spot range where the caravan is located, at least two parking areas are determined according to the scenic spot where the caravan is located, and relevant information of the at least two parking areas is obtained.

S103, determining an optimal parking area from the at least two parking areas based on the information about the at least two parking areas.

For the embodiment of the application, the processor acquires the related information of each parking area, and because the situation of each parking area is different, the processor can determine the optimal parking area of at least two parking areas according to the related information, so that a user can be exposed in the optimal parking area, and the user experience is improved.

And S104, determining an optimal parking position from the optimal parking area.

For the present embodiment, there is an optimal parking position in the optimal parking area that is most suitable for camping by the user, due to the large range of the parking area. An optimal parking position is determined from the optimal parking area. Camping in the optimal parking position further enhances the user experience.

And S105, determining a driving route based on the first position information and the optimal parking position.

For the embodiment of the application, after the processor determines the optimal parking position and the current first position information of the recreational vehicle, the running route can be determined according to the optimal parking position and the first position information. Since the user is unfamiliar with the route in an unfamiliar scenic area, it is convenient for the user to quickly reach the optimal parking position by determining the travel route. The processor may plan a driving route according to the road information, the first position information, and the optimal parking position in the electronic map by calling the electronic map.

And S106, controlling the motor home to run according to the running route.

For the embodiment of the present application, the motor home may be provided with low-speed power, that is, a small engine or a small motor is provided in the motor home, so that the motor home moves. Due to road or environmental restrictions in the scenic spot, it is inconvenient for the towing vehicle to continue towing the caravan to move in the scenic spot. After entering the scenic area, the towing vehicle can therefore be disconnected from the motor home, moved by the drive of the motor home itself, for example a small engine or a small electric motor, and driven to the optimal parking position.

Referring to fig. 1 and 2, an air conditioning device 5 is further provided on the chassis 1, and the air conditioning device 5 is located between the cabin 2 and the trailer 4. The air outlet of the air conditioning device 5 communicates with the inside of the vehicle compartment 2 for adjusting the temperature inside the vehicle compartment 2. In the embodiment of the present application, the air conditioner 5 may be in communication connection with a terminal device of a user, so that the user remotely controls the air conditioner 5 through the terminal device.

Referring to fig. 1 and 2, a partition plate 6 is further fixedly connected to the upper side of the chassis 1, and the partition plate 6 is located inside the compartment 2. The partition plate 6 is perpendicular to the chassis 1 and to the traveling direction of the trailer type caravan. The partition plate 6 partitions the vehicle compartment 2 into a first space 22 and a second space 23, the first space 22 being close to the trailer 4, and the second space 23 being far from the trailer 4. The first space 22 may be used for personnel inhabitation and the second space 23 may be used for personnel to store items or to perform camping-related activities.

Referring to fig. 1 and 2, a rear compartment cover 24 is further hinged to the top of the compartment 2, and the rear compartment cover 24 is located above the second space 23 and is used for isolating the second space 23 from the outside. An operation table 25 is fixedly connected to the partition plate 6, and the operation table 25 is horizontally arranged and located in the second space 23. Further, the one side that lies in second space 23 on division board 6 still can set up the storage tank, or uses horizontal plate and vertical board to build and constitute and put the object space, improves article and accomodates effect and space utilization. Furthermore, a water tap and a water pool can be arranged on the operating platform and used for cooking and the like in camping.

Referring to fig. 2, a bed plate 26 may be further disposed in the first space 22 inside the compartment 2, the bed plate 26 may be used for resting, and a heating wire 261 may be disposed inside the bed plate 26, where the heating wire 261 is used for heating the bed plate 26, so as to improve comfort of the resting person. A mattress can be arranged on the bed board 26, and a heating wire 261 can be arranged inside the mattress.

The top of the carriage 2 is fixedly connected with a lighting lamp 7 which is positioned in the first space 22. The illuminating lamp 7 is used for illuminating the interior of the carriage 2, so that people can move in the carriage conveniently.

In this application embodiment, still can set up the battery on the chassis 1, electrical connection such as battery and air conditioning equipment 5, light 7 and heater strip 261 for supply power to air conditioning equipment 5, light 7 and heater strip 261. The storage battery can be electrically connected with the power management system, and the power management system is in communication connection with the terminal equipment of a user, so that the user can conveniently monitor the service condition of the storage battery through the terminal equipment remotely. The chassis 1 can also be provided with a motor which is connected with the walking wheels 3 and used for driving the walking wheels 3 to rotate so as to drive the trailer type motor home to run. An on-vehicle WiFi device can be arranged inside the carriage 2 and used for providing a wireless network.

In the embodiment of the present application, a microphone device may be further disposed in the car 2, and a microphone or the like may be disposed in the car to collect speech content of the user. After the caravan acquires the speech content of the user, the speech content can be analyzed, and then voice control is performed on electrical equipment such as the air conditioning device 5, the illuminating lamp 7, the heating wire 261 and the like.

The trailer type recreational vehicle provided in the embodiment of the present application may further include the features shown in fig. 3, and the trailer type recreational vehicle shown in fig. 3 further includes: a memory 12. Wherein the processor 11 is connected to the memory 12, e.g. via a bus 13. Optionally, the trailer-type caravan may also include a transceiver 14. It should be noted that the transceiver 14 is not limited to one in practical application, and the structure of the trailer type caravan is not limited to the embodiment of the present application.

Bus 13 may include a path that transfers information between the aforementioned components. The bus 13 may be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus 13 may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in fig. 3, but this does not represent only one bus or one type of bus.

The Memory 12 may be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical Disc storage, optical Disc storage (including Compact Disc, laser Disc, optical Disc, digital versatile Disc, blu-ray Disc, etc.), a magnetic Disc storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to these.

The memory 12 is used for storing application program codes for executing the scheme of the application, and is controlled by the processor 11 to execute. The processor 11 is used to execute application program code stored in the memory 12.

The trailer type motor home shown in fig. 3 is only an example, and the structure shown in fig. 3 may be an example of a motor home that performs the automatic parking method of the trailer type motor home in the embodiment of the present application, and should not bring any limitation to the function and the range of use of the embodiment of the present application.

The embodiment of the present application provides an automatic parking method for a trailer type caravan, which is performed by the trailer type caravan (hereinafter referred to as a caravan), as shown in fig. 4, the method includes steps S101, S102, S103, S104, S105 and S106, wherein,

s101, first position information of the caravan is obtained.

For the embodiment of the application, the staff can store the position range of each scenic spot in the processor of the caravan in advance. And after the processor acquires the first position information, judging whether the first position information is in a preset scenic spot range. If the position is within the preset scenic spot range, the touring car is indicated to enter the scenic spot. There may be at least two parking areas within the scenic spot for the recreational vehicle to park the camping. Each of the preset scenic spot ranges corresponds to at least two parking areas within the scenic spot. After the processor determines the preset scenic spot range where the caravan is located, at least two parking areas are determined according to the scenic spot where the caravan is located, and relevant information of the at least two parking areas is obtained.

For the present embodiment, due to the large extent of the parking area, there is an optimal parking position in the optimal parking area that is most suitable for camping by the user. An optimal parking position is determined from the optimal parking area. Camping in the optimal parking position further enhances the user experience.

And S106, controlling the motor home to run according to the running route.

For the embodiments of the present application, the recreational vehicle may be provided with low-speed power, that is, a small-sized engine or a small-sized motor is provided in the recreational vehicle, so that the recreational vehicle moves. Due to road or environmental restrictions in the scenic spot, it is inconvenient for the towing vehicle to continue towing the caravan to move in the scenic spot. After entering the scenic spot, the towing vehicle can thus be disconnected from the caravan, moved by the drive means of the caravan itself, for example a small engine or a small electric motor, and driven to the optimal parking position.

In a possible implementation manner of the embodiment of the present application, the related information includes air temperature information, distance information, and road condition information, and the step S103 determines an optimal parking area from at least two parking areas based on the related information of the at least two parking areas, specifically includes step S1031 (not shown in the figure) and step S1032 (not shown in the figure), wherein,

and S1031, calculating the score of each parking area according to the weight corresponding to the temperature information, the distance information and the road condition information.

For the embodiment of the application, the temperature information, the distance information and the road condition information of the parking area are all factors for judging whether the camping of the motor home is suitable. For example, the higher the air temperature is, the less suitable it is for camping, the longer the distance information from the parking area to the first position information is, the less suitable it is for camping, and the worse the road condition information on the road to the parking area is, the less suitable it is for camping. A score is calculated for each berthing area based on the weights and the associated information, with the score characterizing the extent to which each berthing area is suited for camping.

S1032, the parking area with the highest score is determined as the optimal parking area.

For the present embodiment, it is assumed that there are a parking area a and a parking area B in a certain scenic spot. The air temperature information of the parking area A is 26 ℃, the distance information is 2km, and the road condition grade is three-grade. The air temperature information of the parking area B is 20 ℃, the distance information is 3km, and the grade of the road condition information is two levels. The weight of the air temperature information is-0.4, the weight of the distance information is-0.3, and the weight of the road condition information is-0.3. The score for parking area a was-11.9 and the score for parking area B was-9.5 based on the weight calculation. Therefore, the parking area B is the highest score, and is the optimal parking area.

In a possible implementation manner of the embodiment of the present application, the step S104 of determining the optimal parking position from the optimal parking area specifically includes step S1041 (not shown in the figure), step S1042 (not shown in the figure), step S1043 (not shown in the figure), step S1044 (not shown in the figure), step S1045 (not shown in the figure), step S1046 (not shown in the figure), step S1047 (not shown in the figure), step S1048 (not shown in the figure), step S1049 (not shown in the figure) and step S10410 (not shown in the figure), wherein,

and S1041, acquiring the current time.

For the embodiment of the application, the processor can acquire the current time through an internal clock chip, can acquire the current time through a server, and can acquire the current time through the internet. Assume that the acquired current time is 17:00.

s1042, an arrival time to the optimal parking area is determined based on the travel route and the current time.

For the embodiment of the application, the processor determines the arrival time according to the current time and the driving route. The processor may calculate the arrival time from the average speed of the caravan. The average speed per hour may be input in advance through an input device such as a mouse or a keyboard, or may be determined according to the traveling speed of the passing car, assuming that the average speed per hour is 10km/h. The length of the driving route is 3km, and the processor calculates that the time for reaching the optimal parking area is 0.3h. According to the current time and the time spent arriving at the optimal parking area, the arrival time is determined to be 17:20.

and S1043, acquiring historical image information of the optimal parking area corresponding to the arrival time within a first preset time period.

For the embodiment of the present application, taking step S1042 as an example, assuming that the first preset time period is the past 30 days, the processor acquires image information of 17. The image information may be captured by a camera device disposed in the parking area. Historical image information corresponding to the arrival time in the past 30 days is acquired, so that analysis and calculation of the car-as-a-house parking situation in the optimal parking area corresponding to the arrival time of the day are facilitated.

And S1044, performing feature identification on the historical image information to obtain the caravan features in the historical image information.

For the embodiment of the application, the historical image information can be input into a trained network model for recreational vehicle feature recognition, and the network model can be a convolutional neural network, a cyclic neural network, or other network models, which is not limited herein. After the historical image information is input into the trained network model, the caravan characteristics in the historical image information are recognized.

In the embodiment of the present application, it is also possible that other kinds of vehicles, such as a car, etc., are camping in the optimal parking area. Other vehicles in the optimal parking area may also be identified, characterizing camping conditions for parking vehicles in the optimal parking area.

S1045, the history image information is divided into a plurality of first subregions.

With the embodiment of the present application, for example, the history image information is divided into a plurality of first sub-areas of a 10 × 10 standard, and each first sub-area may be further labeled for distinguishing each first sub-area.

S1046, determining a first sub-area where the caravan feature in the historical image information is located.

For the embodiment of the application, after the caravan feature is identified, the first sub-area where the caravan feature is located in the historical image information is further determined. For example, in yesterday's history image information, the first sub-areas No. 50, no. 55, and No. 90 have the car as a house feature.

And S1047, determining the number of times of the occurrence of the caravan characteristics in each first sub-area according to the historical image information.

For the embodiment of the present application, taking step S1043 and step S1045 as an example, after acquiring 17 a day and 20 a day of the past 30 days, the number of caravan features appearing in each sub-area of 10 × 10 sub-areas is determined. Suppose that first subregion # 1 occurs 0 times, first subregion # 2 occurs 1 times, first subregion # 3 occurs 0 times, and so on. The greater the number of occurrences of the caravan feature in a first sub-area, the hotter the first sub-area, the more suitable it is for the most optimal parking position.

And S1048, acquiring current image information of the optimal parking area.

For the embodiment of the application, the current image information can be acquired through the camera device arranged in the optimal parking area, and the difference between the current time and the arrival time is small, so that the image information of the arrival time can be approximately represented through the current image information.

And S1049, determining a first candidate subregion without the caravan feature in the current image information.

For the embodiment of the application, if other recreational vehicles exist in the current image information, the first sub-area where the other recreational vehicles are located is determined, and the first sub-area where the other recreational vehicles are located is filtered out. The first sub-area where no other caravan exists is the first candidate sub-area, and the optimal parking position is determined from the first candidate sub-area.

And S10410, determining the first candidate subarea with the largest number of times of occurrence of the caravan features in the first preset time period as an optimal parking position.

For the embodiment of the present application, taking step S1043 as an example, in the last 30 days, the number of times of the first sub-area No. 50 that the car houses is the largest occurs is 10, and the number of times of the first candidate sub-area No. 60 that the other car houses occur is only next to the first sub-area No. 50 that the other car houses occur is 9. However, the first sub-area No. 50 is occupied by other caravans in the current image information, and the first candidate sub-area No. 60 is unoccupied, so that the first candidate sub-area No. 60 is determined as the optimal parking position. The first alternative sub-area No. 60 is likewise the parking position for the hotter doors and can therefore be used as the optimal parking position.

In a possible implementation manner of the embodiment of the present application, the step S104 of determining the optimal parking position from the optimal parking area further includes a step S10411 (not shown in the figure), a step S10412 (not shown in the figure), a step S10413 (not shown in the figure), a step S10414 (not shown in the figure), a step S10415 (not shown in the figure), a step S10416 (not shown in the figure), and a step S10417 (not shown in the figure), wherein,

s10411, acquiring video information of the optimal parking area for a second preset time period.

For the embodiment of the present application, the second preset time period may be the same as the first preset time period, or may be different from the first preset time period, which is not limited herein. Assume that the second preset period of time is the past 30 days. Video information at the optimal parking area for the past 30 days is acquired, and the video information can be acquired by a camera device at the optimal parking area.

S10412, dividing the frame of the video information into a plurality of second subregions.

For the embodiment of the present application, the specification of the second sub-area may be the same as or different from that of the first sub-area, and is not limited herein. It is also possible to distinguish each second sub-area by reference numeral, provided that the picture of the video information is equally divided into sub-areas of 10 × 10 standard.

S10413, determining the number of times of the car as a house feature in each second sub-area and the total time length of the car as a house feature in each second sub-area according to the video information.

For the embodiment of the application, the video information is analyzed, so that the times of the occurrence of the caravan characteristics in each second sub-area and the total duration of the occurrence of the caravan in each second sub-area are obtained. And when the car as a house in a certain second subarea is detected, adding one to the number of the car as a house in the subarea. And when the motor home in the sub-area is detected, determining the time point of the motor home and starting timing, and when the motor home is detected to leave the sub-area, stopping timing, thereby obtaining the stay time of the motor home in the sub-area. And determining the time point of each motor home, timing, and summing the stay time of all the motor homes to obtain the total time.

And S10414, calculating the score of each second subregion according to the number of times of the occurrence of the recreational vehicle features in each second subregion, the total time length of the occurrence of the recreational vehicle features in each second subregion and the respective corresponding weight.

For the embodiment of the application, the number of times of the occurrence of the caravan characteristics in the sub-area is too large, and the condition that the caravan passes through the sub-area may be included. Whether a sub-area is hot may also be related to the length of time a car home is present in the sub-area. If the number of the motor homes is too small, but the stay time of the single motor home is longer, the area belongs to the hot area. Therefore, whether the car as a house belongs to the optimal parking position or not is judged more accurately according to the number of times of the car as a house appearing in the sub-area and the total time length of the appeared car as a house.

The staff can set the weight of the number of times of the caravan and the weight of the total duration according to the needs. Suppose that the weight corresponding to the number of times of occurrence of the car as a house is 0.6, the weight corresponding to the total duration is 0.4, the number of times of occurrence of the car as a house in the past 30 days in the second subregion # 1 is 10, and the total duration of occurrence of the car as a house is 100 hours. The score =10 × 0.6+100 × 0.4=46 points for the second sub-region No. 1.

S10415, acquiring current image information of the optimal parking area.

And S10416, determining that the second candidate subregion of the caravan does not exist in the current image information.

For the embodiment of the application, if other recreational vehicles exist in the current image, the second sub-area where the other recreational vehicles are located is determined, and the second sub-area where the other recreational vehicles are located is filtered out. The second sub-area where no other caravan is present is a second alternative sub-area, and the optimal parking position is determined from the second alternative sub-area.

And S10417, determining the second candidate subregion with the highest score as the optimal stop point position.

For the present embodiment, after determining the score for each second sub-area, the higher the score, the better the score is for the optimal parking position. Assuming that the score of the second subregion No. 60 is the highest and is 60 points, the number of times of other motor homes appearing in the second alternative subregion No. 55 is only second to the first subregion No. 60 and is 57 points. However, the second subregion No. 60 in the current image information is occupied by other motor homes, and the second candidate subregion No. 55 is unoccupied, so that the second candidate subregion No. 55 is determined as the optimal parking position. The second alternative subregion No. 55 is likewise the parking position for the hotter door and can therefore be used as the optimal parking position. The processor may return the location information of the intermediate location of the optimal parking area, i.e., the location information of the intermediate location sub-area of the optimal parking area, such as latitude and longitude information, from the cloud server. After the optimal parking position is determined, the relative position and distance between the optimal parking position and the middle position subarea are determined, and the longitude and latitude information of the optimal parking position is calculated, so that the driving route is determined according to the longitude and latitude information of the optimal parking position and the first position information of the recreational vehicle.

In the embodiment of the present application, the determination of the optimal parking position according to the number of times of occurrence of the recreational vehicle for each sub-area and the determination of the optimal parking position according to the score for each sub-area may be performed simultaneously.

In a possible implementation manner of the embodiment of the present application, the step S106 includes, after the step S107 (not shown in the figure), the step S108 (not shown in the figure), the step S109 (not shown in the figure), the step S110 (not shown in the figure), and the step S111 (not shown in the figure), wherein,

s107, acquiring first image information of the optimal parking area in real time.

For the embodiment of the application, after the driving route is determined, the first image information of the optimal parking area is continuously obtained in real time, and the first image information is analyzed, so that the distribution condition of the motor homes in the optimal parking area in the driving process of the motor homes is conveniently known.

And S108, judging whether the caravan is occupied in the optimal parking position according to the first image information.

For the embodiment of the application, because the optimal parking position of the caravan may be occupied in the driving process, the processor performs feature recognition on the acquired first image information, so as to recognize the caravan in the optimal parking area, and further know whether the caravan is occupied in the optimal parking area.

And S109, if yes, judging whether the caravan is occupied at the target parking position according to the first image information.

And the target parking position is the next parking position of the parking positions in the last judging period in descending order of scores or descending order of the number of the appeared vehicles.

For the embodiment of the application, if the optimal parking position occupies the caravan, the optimal parking position needs to be determined again. It is thus determined whether or not occupancy of the motor home, i.e., the target parking position, occurs at the next parking position of the optimal parking position in accordance with the descending order of the score or the descending order of the number of times the motor home occurs. So that the determined optimal parking position is always more accurate.

And S110, if the target parking position does not exist, determining the target parking position as the optimal parking position.

For the embodiment of the application, if the target parking position is determined to have no car as a house occupied, the target parking position is determined to be the optimal parking position.

And S111, if yes, circularly executing the step of judging whether the caravan is occupied at the target parking position according to the first image information until a first preset condition is met.

Wherein the first preset condition comprises at least one of the following:

the target parking position has no occupied motor home;

For the embodiment of the present application, if the first optimal parking position with the highest score is occupied, it is determined whether the second parking position is occupied according to the descending order of the scores, and if the second parking position is occupied, it is continuously determined whether the third parking area is occupied. Until it is determined that there are no occupied sub-areas or that the currently determined parking position is the last sub-area.

In a possible implementation manner of the embodiment of the present application, step S106 includes step S112 (not shown), step S113 (not shown), and step S114 (not shown), wherein,

and S112, determining the first number of the motor homes in the optimal parking area based on the first image information.

For the embodiment of the application, after the processor acquires the first image information, the processor performs the caravan feature identification on the first image information, so that the number of the caravans in the optimal parking area is obtained.

And S113, if the number of the first motor homes reaches a preset number threshold, circularly executing the step of obtaining second image information according to the score descending order of at least two parking areas, determining the number of the second motor homes in the corresponding parking area based on the second image information, and judging whether the number of the second motor homes reaches the preset number threshold or not until a second preset condition is met.

The second image information is the next parking area of the parking area in the last judging period in descending order according to the score;

the second preset condition includes at least one of:

the number of the second motor homes does not reach a preset number threshold;

the parking area corresponding to the second image information is the last parking area in descending order of scores.

For the embodiment of the application, assuming that the preset number threshold is 15 vehicles, after the number of motor homes in the optimal parking area is identified, comparing the number of the motor homes with the preset number threshold, and if the number of the motor homes is greater than 15 vehicles, it is indicated that the number of the motor homes in the optimal parking area is large and is crowded. Thus, it is no longer suitable for camping in an optimal berthing area.

At the moment, according to the descending order of the scores of each parking area, second image information of a second parking area is obtained, the number of the tourists in the second parking area is determined through touring car feature recognition, whether the number of the tourists in the second parking area exceeds 15 is judged, if the number of the tourists in the second parking area exceeds 15, the situation that the number of the tourists in the second parking area is large and crowded is shown, second image information of a third parking area is continuously obtained, the number of the tourists in the third parking area is determined through touring car feature recognition, whether the number of the tourists in the third parking area exceeds 15 is judged, if the number of the tourists in the third parking area exceeds 15, second image information of a fourth parking area is continuously obtained, the number of the tourists in the fourth parking area is recognized, the number of the tourists in the fourth parking area is obtained until the parking area with the number of the tourists not reaching 15 is determined, or the second image information of the last parking area is obtained, and the number of the tourists in the last parking area and 15 are judged.

And S114, if the number of the second motor homes does not reach the preset number threshold, determining the parking area corresponding to the current second image information as the optimal parking area.

For the embodiment of the present application, taking step S113 as an example, assuming that the number of cars in the fourth parking area is 8, it means that the number of cars in the fourth parking area does not reach the preset number threshold of 15, and therefore, the fourth parking area may be determined as the optimal parking area.

In the embodiment of the present application, if the optimal parking area is newly determined from the parking areas other than the one with the highest score, the optimal parking position is newly determined from the current optimal parking area.

Since the area of each parking area is different in size, the number of cars that can be accommodated is also different. The predetermined number threshold corresponding to each parking area may also be determined based on the area of each parking area. And after the processor determines the number of the tourists in a certain parking area, the number is compared with a preset number threshold corresponding to the area.

Since the motor home is located behind the towing vehicle, the motor home will shield the tail lights of the towing vehicle. At present, the tail lamp lighting condition of a traction vehicle is synchronized to the tail lamp of a motor home by connecting a signal line between the motor home and the traction vehicle. However, in the driving process, due to the occurrence of conditions such as bumping and precipitation, disconnection of the signal line or unstable connection may occur, thereby causing synchronization failure or synchronization error.

In order to keep the tail lights of the caravan in synchronization with the tail lights of the towing vehicle in the case of disconnection of the signal line or unstable connection. In a possible implementation manner of the embodiment of the present application, the method further includes step S115 (not shown in the figure), step S116 (not shown in the figure), step S117 (not shown in the figure), and step S118 (not shown in the figure), wherein,

s115, acquiring front image information of the caravan, wherein the front image information comprises a tail lamp state of the towing vehicle.

To this application embodiment, can set up the camera device in car as a house the place ahead, gather the tail lamp state of towing vehicle by the camera device.

And S116, carrying out feature recognition on the front image information to obtain features of various parts of tail lamps of the towing vehicle.

For the embodiment of the application, the front image information can be input into a trained network model for tail lamp identification, and characteristics of various parts of tail lamps of the traction vehicle are obtained.

S117, RGB values of each tail lamp are determined.

For the embodiment of the application, after the characteristics of the tail light are identified, the RGB value of each tail light in the front image information is determined. It is convenient to determine whether the rear lamp is lit or not based on the RGB values.

And S118, when the RGB value of any tail lamp reaches the corresponding preset RGB value, controlling the tail lamp corresponding to any tail lamp on the caravan to light up.

For the present embodiment, for example, the preset RGB value of the RED tail light is RED =200. When the RGB value of the red tail light is detected to reach 200, the state of the red tail light is changed, and the red tail light is lightened. And then the tail lamp that corresponds with red tail lamp on the control car as a house is bright, can reach synchronous effect.

Due to different vehicle types of the towing vehicle, the situation that the towing vehicle and the motor home tail lamp are not accurately corresponding may occur. In order to facilitate the recreational vehicle tail light to correspond to the towing vehicles of different vehicle types, in a possible implementation manner of the embodiment of the present application, the method further includes step S119 (not shown in the figure) and step S120 (not shown in the figure), wherein,

and S119, acquiring the model information of the traction vehicle.

For the embodiment of the application, the vehicle type information of the traction vehicle can be input into the pull type caravan by personnel, or the front image information can be collected through a camera device arranged on the caravan, and the vehicle logo recognition is carried out on the front image information, so that the vehicle type information of the traction vehicle is obtained.

S120, determining the lamp types corresponding to the tail lamps of all parts of the traction vehicle from the preset tail lamp library based on the vehicle type information, and determining the corresponding relation between the tail lamps of all parts of the traction vehicle and the tail lamps of all parts of the caravan.

For the embodiment of the application, after the vehicle type information is determined, the vehicle lamp types corresponding to the tail lamps of all parts of the towing vehicle are determined from the preset tail lamp library. For example, the tail light 1 corresponding to the vehicle type a is a brake type vehicle light, and the tail light 2 is a steering type vehicle light. After the model information of the traction vehicle is determined, the corresponding relation between the tail lamps of all parts of the caravan and the tail lamps of all parts of the traction vehicle can be determined according to the preset tail lamp library, so that the situation that the tail lamps are in synchronous error is reduced.

In order to make the motor home more stable when the tractor vehicle is braked, in a possible implementation manner of the embodiment of the present application, the method further includes any one of step S121 (not shown in the figure) and step S122 (not shown in the figure), wherein,

s121, when it is detected that a tail lamp corresponding to the braking state on the traction vehicle is turned on, calculating the speed reduction rate of the traction vehicle, determining the braking torque of a braking device on the caravan according to the speed reduction rate, and controlling the braking device to work according to the braking torque.

For the embodiment of the application, when the situation that the tail lamp corresponding to the braking state on the towing vehicle is lightened is detected, the towing vehicle performs the braking operation. The speed of the towing vehicle can be collected by the speed sensor at this time, and the speed reduction rate of the towing vehicle can be calculated. The braking torque of the brake device on the motor home is determined from the speed reduction rate. The braking torque may be determined from a preset rate of reduction versus braking torque curve. And controlling the brake device to work according to the brake torque, so that the caravan brake and the traction vehicle brake keep synchronous.

And S122, acquiring speed information of the traction vehicle in real time, calculating the speed reduction rate of the traction vehicle when the speed information is reduced, determining the braking torque of a braking device on the caravan according to the speed reduction rate, and controlling the braking device to work according to the braking torque.

For the embodiment of the application, whether braking is performed or not can be judged without acquiring the state of the tail lamp of the traction vehicle, the speed information of the traction vehicle can be acquired in real time, when the speed reduction is detected, the speed reduction rate of the traction vehicle is calculated, and the speed reduction rate-braking torque is determined through a preset curve of reduction rate-braking torque. And controlling the brake device to work according to the brake torque, so that the house vehicle brake and the traction vehicle brake are kept synchronous.

The above embodiments describe a method for automatically parking a trailer type caravan and a trailer type caravan in terms of method flow, and the following embodiments describe an apparatus for automatically parking a trailer type caravan in terms of virtual modules or virtual units, which are described in detail in the following embodiments.

The embodiment of the present application provides a pull type caravan automatic parking device 80, as shown in fig. 5, the pull type caravan automatic parking device 80 may specifically include:

a first obtaining module 801, configured to obtain first position information of a caravan;

a second obtaining module 802, configured to obtain related information of at least two parking areas when the first position information is within a preset scenic spot range;

an area determination module 803 for determining an optimal parking area from the at least two parking areas based on the information about the at least two parking areas;

a position determination module 804 for determining an optimal parking position from the optimal parking area;

a route determination module 805 for determining a travel route based on the first position information and the optimal parking position;

and the control module 806 is used for controlling the motor home to run according to the running route.

For the embodiment of the application, the first acquiring module 801 acquires first position information of a recreational vehicle, and when the first position information is within a preset scenic spot range, it indicates that the recreational vehicle enters the scenic spot, the second acquiring module 802 acquires relevant information of at least two parking areas in the scenic spot according to the preset scenic spot range, the relevant information represents specific situations of the parking areas, the area determining module 803 determines an optimal parking area from the at least two parking areas according to the relevant information, and the position determining module 804 determines an optimal parking position in the optimal parking area. The route determination module 805 determines a driving route according to the first position information of the caravan and the optimal parking position, and the control module 806 controls the caravan to drive according to the driving route. Thereby allowing the person to quickly find and arrive at the optimal parking location without being familiar with the scenic area.

In a possible implementation manner of this embodiment, the related information includes air temperature information, distance information, and road condition information, and when the area determining module 803 determines the optimal parking area from at least two parking areas based on the related information of the at least two parking areas, the area determining module is specifically configured to:

In one possible implementation manner of the embodiment of the present application, when determining the optimal parking position from the optimal parking area, the position determining module 804 is specifically configured to:

acquiring current time;

determining an arrival time to the optimal parking area based on the travel route and the current time;

dividing the history image information into a plurality of first sub-regions;

acquiring current image information of the optimal parking area;

determining a first alternative subarea without the caravan characteristics in the current image information;

dividing a picture of the video information into a plurality of second subregions;

calculating the score of each second subregion according to the times of the occurrence of the recreational vehicle features in each second subregion, the total time length of the occurrence of the recreational vehicle features in each second subregion and the respective corresponding weight;

acquiring current image information of the optimal parking area;

and determining the second candidate subarea with the highest score as the optimal anchor point position.

In a possible implementation manner of the embodiment of the present application, the apparatus 80 further includes:

the first judgment module is used for judging whether the caravan is occupied in the optimal parking position according to the first image information;

the second judging module is used for judging whether the parking position occupies the motor home or not according to the first image information when the parking position exists, and the target parking position is the next parking position of the parking positions in the previous judging period in descending order of scores or descending order of the number of times of the motor home;

the first circulation module is used for circularly executing the step of judging whether the caravan is occupied at the target parking position according to the first image information when the first circulation module exists until a first preset condition is met;

the first preset condition includes at least one of:

the target parking position does not have an occupied caravan;

a number determination module for determining a first number of caravans within the optimal parking area based on the first image information;

the second circulation module is used for circularly executing the steps of acquiring second image information according to the descending order of scores of at least two parking areas when the number of the first caravans reaches a preset number threshold, determining the number of the second caravans in the corresponding parking area based on the second image information, and judging whether the number of the second caravans reaches the preset number threshold until a second preset condition is met;

the second image information is the next parking area of the parking area in the last judging period according to the descending order of the score;

the second preset condition includes at least one of:

the number of the second motor homes does not reach a preset number threshold;

the parking area corresponding to the second image information is the last parking area in descending order of scores;

and the second determining module is used for determining the parking area corresponding to the current second image information as the optimal parking area when the number of the second caravans does not reach the preset number threshold.

In this embodiment of the application, the first obtaining module 801 and the second obtaining module 802 may be the same obtaining module or different obtaining modules. The first determining module and the second determining module may be the same determining module or different determining modules. The first circulation modules may be the same circulation modules or different circulation modules.

It is clear to those skilled in the art that, for the convenience and brevity of description, the specific working process of the automatic parking device 80 for trailer type caravan described above can refer to the corresponding process in the foregoing method embodiment, and will not be described herein again.

The present application provides a computer-readable storage medium, on which a computer program is stored, which, when running on a computer, enables the computer to execute the corresponding content in the foregoing method embodiments. Compared with the prior art, the method and the device for parking the caravan have the advantages that the first position information of the caravan is obtained, when the first position information is located in the preset scenic spot range, the caravan enters the scenic spot, the related information of at least two parking areas in the scenic spot is obtained according to the preset scenic spot range, the related information represents the specific situation of the parking areas, the optimal parking area can be determined from the at least two parking areas according to the related information, and then the optimal parking position in the optimal parking area is determined. And determining a driving route according to the first position information and the optimal parking position of the caravan, and controlling the caravan to drive according to the driving route. Thereby allowing personnel to quickly find and arrive at the optimal parking location without being familiar with the scenic area.

It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

The foregoing is only a partial embodiment of the present application, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations should also be regarded as the protection scope of the present application.

Claims

1. A pull type motor home is characterized by comprising a chassis (1), a carriage (2) arranged on the chassis (1) and a traveling wheel (3) arranged on the chassis (1), wherein a pull device (4) used for being connected with a traction vehicle is arranged on the chassis (1), and a vehicle door (21) is hinged on the carriage (2);

the system further comprises a processor (11) for acquiring first position information of the caravan;

determining an optimal parking position from the optimal parking area;

and controlling the motor home to run according to the running route.

2. The trailer-type motor home as claimed in claim 1, wherein: a partition plate (5) is arranged on the chassis (1), the partition plate (5) is positioned in the carriage (2), and the partition plate (5) is vertical to the chassis (1); the partition plate (5) divides the vehicle compartment (2) into a first space (22) and a second space (23);

the first space (22) is close to the trailer (4), a rear carriage cover (24) is hinged to the carriage (2), the rear carriage cover (24) is located in the second space (23), an operating platform (25) is arranged in the carriage (2), and the operating platform (25) is located in the second space (23).

3. The trailer-type motor home as claimed in claim 2, wherein: a bed board (26) is arranged in the carriage (2), the bed board (26) is located in the first space (22), and heating wires (261) are arranged on the bed board (26).

4. The trailer-type motor home as claimed in claim 1, wherein: an air conditioning device (6) is arranged on the chassis (1), and the air conditioning device (6) is communicated with the interior of the carriage (2);

an illuminating lamp (7) is arranged in the carriage (2);

and transparent windows (27) are arranged at the top of the carriage (2), one side of the carriage (2) close to the trailer (4) and the side surface of the carriage (2).

5. An automatic parking method of a trailer type caravan, which is performed by a trailer type caravan according to any one of claims 1 to 4, comprising:

acquiring first position information of a caravan;

determining an optimal parking position from the optimal parking area;

and controlling the motor home to run according to the running route.

6. The automatic parking method of claim 5, wherein the related information comprises air temperature information, distance information and road condition information, and the determining an optimal parking area from the at least two parking areas based on the related information of the at least two parking areas comprises:

7. The automatic parking method of a trailer-type caravan according to claim 5, wherein determining an optimal parking position from the optimal parking area comprises:

acquiring current time;

dividing the history image information into a plurality of first subregions;

acquiring current image information of the optimal parking area;

8. The method for automatically parking a trailer-type caravan according to claim 7, wherein determining an optimal parking position from the optimal parking area comprises:

acquiring current image information of the optimal parking area;

9. The automatic parking method of claim 8, wherein the caravan is controlled to travel along the travel route, and thereafter comprises:

acquiring first image information of an optimal parking area in real time;

if yes, judging whether the target parking position occupies the motor home or not according to the first image information, wherein the target parking position is the next parking position of the parking positions in the previous judging period in descending order of scores or descending order of the number of times of the motor home;

if not, determining the target parking position as an optimal parking position;

the first preset condition includes at least one of:

no caravan is occupied in the target parking position;

10. The automatic parking method of a trailer-type caravan according to claim 9, wherein the control of the caravan to travel along the travel route thereafter comprises:

the second image information is the next parking area of the parking areas in the last judging period in descending order according to the scores;

the second preset condition comprises at least one of:

and if the number of the second motor homes does not reach the preset number threshold, determining the parking area corresponding to the current second image information as the optimal parking area.