CN116279429A - Intelligent parking method and device based on UWB digital key, vehicle and medium - Google Patents
Intelligent parking method and device based on UWB digital key, vehicle and medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention relates to an intelligent parking method, device, vehicle and medium based on UWB digital keys, which belong to the technical field of intelligent parking, wherein the method comprises the following steps: acquiring the real-time position of the UWB digital key; responding to the real-time position meeting the preset position condition, and controlling the vehicle to perform corresponding parking operation; the preset position condition is used for limiting the corresponding position met by the UWB digital key when the vehicle performs a parking operation and/or a parking operation. By positioning the real-time position of the UWB digital key carried by the user, when the real-time position of the positioned UWB digital key meets the preset position condition, the vehicle is automatically controlled to carry out corresponding parking in and/or out operation, and under the condition that the UWB digital key is utilized to provide high-precision positioning capability, the automatic parking in and out function of the vehicle in parking assistance is realized, multiparty interaction is not needed by the user, the automatic parking operation of the user is simplified, and simple and convenient intelligent parking use experience is provided for the user.
Description
Technical Field
The invention relates to the technical field of intelligent parking, in particular to an intelligent parking method based on a UWB digital key, an intelligent parking device based on the UWB digital key, a corresponding vehicle and a corresponding computer readable storage medium.
Background
For iterative automobile products of new energy vehicles, various driving assistance configuration functions become realization ways for attracting consumers and leading industry potential of all factories and manufacturers, and the driving assistance configuration functions comprise intelligent parking assistance functions, for example, the driver of a novice is liberated from a parking scene, so that intelligent parking of the vehicles is realized.
In the related art for realizing intelligent parking, the intelligent parking auxiliary product is usually realized based on multiparty interaction between a driver and a vehicle, but with continuous improvement of familiarity of a user with the vehicle and driving technology, man-machine interaction relied on by a scheme for realizing intelligent parking based on multiparty interaction between the driver and the vehicle is more complicated.
Disclosure of Invention
In view of the above, intelligent parking methods, devices, vehicles and mediums based on UWB (ultra wide band) digital keys have been proposed to overcome or at least partially solve the above problems.
Specifically, the invention provides an intelligent parking method based on a UWB digital key, which relates to a vehicle and comprises the following steps:
acquiring the real-time position of the UWB digital key;
responding to the real-time position meeting the preset position condition, and controlling the vehicle to carry out corresponding parking operation; the preset position condition is used for limiting corresponding positions met by the UWB digital key when the vehicle performs a parking operation and/or a parking operation.
Further, the vehicle is provided with a plurality of UWB receiving antennas, and the acquiring the real-time position of the UWB digital key includes:
positioning the real-time position of the UWB digital key by adopting the plurality of UWB receiving antennas to obtain the real-time position of the UWB digital key;
further comprises:
a positioning signal is generated based on the real-time location of the UWB digital key.
Further, the responding to the real-time position meeting the preset position condition controls the vehicle to perform corresponding parking operation, including:
responding to the real-time position to meet a preset first position condition, and controlling the vehicle to carry out parking operation;
and/or, responding to the real-time position meeting the preset second position condition, and controlling the vehicle to carry out the parking operation.
Further, the responding to the real-time position meeting the preset first position condition controls the vehicle to carry out the parking operation, including:
responding to the real-time position to meet a preset first position condition, and acquiring identity check information of the UWB digital key;
when the identity checking information passes, responding to the positioning signal to wake up the vehicle, and starting an automatic parking system of the vehicle;
And controlling the awakened vehicle to carry out parking operation through the automatic parking system of the vehicle.
Further, the controlling, by the automatic parking system of the vehicle, the wake-up vehicle to perform a parking operation includes:
detecting obstacle information by an automatic parking system of the vehicle;
responding to the obstacle information to meet a preset parking environment condition, and controlling the awakened vehicle to perform parking operation; the preset parking environment condition is used for limiting environment information suitable for parking the vehicle.
Further, the responding to the real-time position meeting the preset second position condition controls the vehicle to carry out the parking operation, including:
responding to the real-time position meeting the preset second position condition and detecting a door opening and closing signal of a user in real time to generate a parking space parking signal;
and responding to the parking space parking signal through the automatic parking system of the vehicle, and controlling the vehicle to carry out parking operation.
Further, before the generating the parking space parking signal, the method includes:
responding to the interactive operation of a user on any parking space provided by the automatic parking system in a vehicle parking interface, determining a target parking space, and generating target parking space track planning information aiming at the target parking space;
The parking space parking signal comprises a target parking space and target parking space track planning information; the automatic parking system for the vehicle responds to the parking space parking signal to control the vehicle to carry out parking operation, and the automatic parking system comprises the following steps:
and responding to the parking space parking signal through the automatic parking system of the vehicle, and controlling the vehicle to automatically park in the target parking space based on the target parking space track planning information.
The invention also provides an intelligent parking device based on the UWB digital key, which comprises:
the real-time position acquisition module is used for acquiring the real-time position of the UWB digital key;
the parking control module is used for responding to the real-time position to meet the preset position condition and controlling the vehicle to perform corresponding parking operation; the preset position condition is used for limiting corresponding positions met by the UWB digital key when the vehicle performs a parking operation and/or a parking operation.
The vehicle is deployed with a plurality of UWB receiving antennas, and the real-time position acquisition module 901 may include the following sub-modules:
the real-time position positioning sub-module is used for positioning the real-time position of the UWB digital key by adopting the plurality of UWB receiving antennas to obtain the real-time position of the UWB digital key;
Further, the real-time position acquisition module includes:
and the positioning signal generation sub-module is used for generating a positioning signal based on the real-time position of the UWB digital key.
Further, the parking control module includes:
the automatic parking sub-module is used for responding to the real-time position to meet a preset first position condition and controlling the vehicle to perform parking operation;
and the automatic parking sub-module is used for responding to the real-time position to meet the preset second position condition and controlling the vehicle to perform parking operation.
Further, the automatic parking sub-module includes:
the identity check information acquisition unit is used for responding to the real-time position meeting the preset first position condition and acquiring the identity check information of the UWB digital key;
the parking system starting unit is used for responding to the positioning signal to wake up the vehicle and starting an automatic parking system of the vehicle when the identity checking information passes;
and the vehicle parking unit is used for controlling the awakened vehicle to perform parking operation through the automatic parking system of the vehicle.
Further, the vehicle parking unit includes:
an obstacle detection subunit configured to detect obstacle information by an automatic parking system of the vehicle;
The vehicle parking sub-unit is used for responding to the obstacle information to meet the preset parking environment condition and controlling the awakened vehicle to carry out parking operation; the preset parking environment condition is used for limiting environment information suitable for parking the vehicle.
Further, the automatic docking submodule includes:
the parking signal generating unit is used for responding to the fact that the real-time position meets the preset second position condition and detecting a door opening and closing signal of a user in real time to generate a parking space parking signal;
and the vehicle parking unit is used for responding to the parking space parking signal through the automatic parking system of the vehicle and controlling the vehicle to carry out parking operation.
Further, before the generating the parking space parking signal, the automatic parking sub-module further includes:
the system comprises a target parking space generating unit, a target parking space generating unit and a vehicle parking space control unit, wherein the target parking space generating unit is used for responding to the interactive operation of a user on any parking space which is provided by the automatic parking system in a vehicle parking interface, determining a target parking space and generating target parking space track planning information aiming at the target parking space;
the parking space parking signal comprises a target parking space and target parking space track planning information; the vehicle parking unit includes:
and the vehicle parking subunit is used for responding to the parking space parking signal through the automatic parking system of the vehicle and controlling the vehicle to automatically park in the target parking space based on the target parking space track planning information.
The invention also provides a vehicle, which comprises a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the computer program is executed by the processor to realize the intelligent parking method based on the UWB digital key.
The invention also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the intelligent parking method based on the UWB digital key when being executed by a processor.
The invention has the beneficial effects that:
according to the embodiment of the invention, the real-time position of the UWB digital key carried by the user is positioned, and when the real-time position of the positioned UWB digital key meets the preset position condition, the vehicle is automatically controlled to carry out corresponding parking in and/or parking out operation, and the automatic parking in and parking out functions of the vehicle in parking assistance are realized under the condition that the UWB digital key is utilized to provide high-precision positioning capability, so that the user does not need to carry out multiparty interaction, the automatic parking operation of the user is simplified, the simplified and convenient intelligent parking use experience is provided for the user, and the purpose that the parking function can be a long-term continuous use function of the user in the whole life cycle of the vehicle is achieved.
Drawings
FIG. 1 is a flow chart of steps of a UWB digital key-based intelligent parking method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a framework of an intelligent parking system provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a communication process of the intelligent parking system according to an embodiment of the present invention;
FIG. 4 is a flow chart of steps of another intelligent parking method based on a UWB digital key according to an embodiment of the present invention;
FIG. 5 is a diagram of an implementation of a parking function based on a UWB digital key provided by an embodiment of the present invention;
FIG. 6 is a flowchart of steps of yet another intelligent parking method based on a UWB digital key according to an embodiment of the present invention;
FIG. 7 is a diagram of an implementation of a UWB based digital key docking function provided by an embodiment of the present invention;
FIG. 8 is an application scenario diagram of intelligent parking based on UWB digital keys provided by an embodiment of the present invention;
fig. 9 is a schematic structural diagram of an intelligent parking apparatus based on a UWB digital key according to an embodiment of the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The intelligent parking auxiliary function is a common driving auxiliary configuration function of the new energy vehicle, and aims to solve the parking problems of difficult parking, lazy parking, irregular parking of adjacent vehicles and the like of a driver, liberate a novice driver from a parking scene and realize intelligent parking of the vehicle.
In the related art for implementing intelligent parking, the intelligent parking auxiliary product usually focuses on the interaction flow of the driver and the vehicle, such as vehicle-to-machine image prompt, mobile phone information prompt and the like, and for the use of the intelligent parking product with the interaction of the plurality of vehicles, a user may be in charge in the initial stage of use, but with the continuous improvement of the familiarity of the user with the vehicle and the driving technology, the man-machine interaction relied on by the scheme for implementing intelligent parking based on the interaction of the driver and the vehicle is complicated.
The intelligent parking function which depends on multiparty interaction is optimized, the parking in or out of the vehicle is automatically started based on the UWB technology, the process that the user and the vehicle are required to confirm interaction for a plurality of times in the parking auxiliary function is simplified, the diversity and the adaptability of the parking function are enhanced, the automatic parking in and out function of the vehicle in the parking auxiliary function is realized under the condition that the UWB digital key is utilized to provide high-precision positioning capability, multiparty interaction is not required by the user, the automatic parking operation of the user is simplified, the simplified and convenient intelligent parking use experience is provided for the user, and the purpose that the parking function can be a long-term continuous use function of the user in the whole life cycle of the vehicle is achieved.
Referring to fig. 1, a flowchart illustrating steps of an intelligent parking method based on a UWB digital key according to an embodiment of the present invention, which relates to a vehicle, may include the steps of:
the UWB digital key refers to a digital key that can be located based on a UWB antenna, and the digital key is the same as a general digital key, and can be provided to a user to control a vehicle, for example, a virtual key for controlling a locking, unlocking, opening a trunk, and other related functions of the vehicle after authentication of the user identity of the vehicle user and authority of the corresponding vehicle of the user are completed, and the virtual key can be configured and implemented on a terminal device or other devices.
UWB digital keys are typically carried around by a vehicle user, and the real-time location of the user, where they are typically located, may correspond to the real-time location of the UWB digital key. Specifically, the vehicle may be configured with a plurality of UWB receiving antennas, and when determining the real-time position of the UWB digital key, the deployed plurality of UWB receiving antennas may be used to position the real-time position of the UWB digital key, and the specific positioning manner of the UWB antenna may be implemented with reference to a conventional UWB sensing principle, which is not described herein in detail.
In practical applications, UWB receiving antennas may be loaded around and in the vehicle, for example, 6 UWB receiving antennas may be loaded around and in the vehicle, and specific deployment/loading numbers, specific deployment/loading positions and distributions of UWB receiving antennas may be determined based on different vehicle types and actual requirements, which is not limited by the embodiments of the present invention.
In a preferred embodiment of the present invention, the intelligent parking process based on the UWB digital key is mainly implemented based on a communication process, and in the process of positioning the UWB digital key in real time by using the UWB receiving antenna, a corresponding positioning signal may be generated in real time based on the real-time position of the UWB digital key determined in real time, and the generated positioning signal may be used to inform the vehicle-related system of the real-time position of the UWB digital key where the vehicle-related system is currently positioned, so that the vehicle-related system may perform a determination as to whether a preset position condition is satisfied based on the positioning signal generated and transmitted in real time, and perform a subsequent relevant communication process of intelligent parking in real time.
And 102, responding to the real-time position to meet the preset position condition, and controlling the vehicle to perform corresponding parking operation.
The vehicle-related system can judge whether the preset position condition is met or not based on the positioning signals generated and transmitted in real time, and when the real-time position is judged to meet the preset position condition, the positioning signals can be fed back to the vehicle-related parking system in response to the fact that the real-time position meets the preset position condition, and the vehicle is controlled to perform corresponding parking operation.
The preset position condition for parking judgment can refer to a parking function requirement, can relate to a vehicle parking working condition and a vehicle parking working condition, and can be used for limiting corresponding positions met by UWB digital keys when a vehicle performs parking operation under the vehicle parking working condition; under the vehicle parking condition, the method can be used for limiting corresponding positions met by the UWB digital key when the vehicle performs a parking operation. Specifically, the determination may be performed based on the generated positioning signal, and when the real-time position in response to the positioning meets a preset first position condition, the preset first position condition may refer to a predetermined position meeting a requirement of the vehicle for a parking function, and at this time, the vehicle may be controlled to perform a parking operation, so as to complete a corresponding parking operation; when the real-time position which is positioned in response to the vehicle parking control device meets the preset second position condition, the preset second position condition can refer to a set position which meets the requirement of the vehicle parking function, and at the moment, the vehicle can be controlled to perform parking operation, so that corresponding parking operation is completed.
In a preferred embodiment of the present invention, in another case, when it is determined based on the positioning signal that the real-time position of the UWB digital key does not satisfy the preset position conditions under the vehicle parking-out condition and the vehicle parking-in condition, it is determined that the current real-time position of the UWB digital key does not satisfy the parking function requirement, and the parking-related operation is not performed on the vehicle.
It should be noted that, the preset first position condition and the preset second position condition under different working conditions are required to be satisfied, the distance and the direction of the UWB digital key relative to the vehicle can be determined, and the specific preset position condition can be determined based on different vehicle types or different environmental conditions.
According to the embodiment of the invention, the real-time position of the UWB digital key carried by the user is positioned, and when the real-time position of the positioned UWB digital key meets the preset position condition, the vehicle is automatically controlled to carry out corresponding parking in and/or parking out operation, and the automatic parking in and parking out functions of the vehicle in parking assistance are realized under the condition that the UWB digital key is utilized to provide high-precision positioning capability, so that the user does not need to carry out multiparty interaction, the automatic parking operation of the user is simplified, the simplified and convenient intelligent parking use experience is provided for the user, and the purpose that the parking function can be a long-term continuous use function of the user in the whole life cycle of the vehicle is achieved.
Referring to fig. 2, a schematic diagram of a frame of an intelligent parking system, such as intelligent parking system 210 of fig. 2, may include UWB antenna positioning module 21, DCK (DigitalKeyControl) digital key controller 22, BCM (BodyControlModule) body controller 23, VCU (VehicleControlUnit) vehicle controller 24, and APA (AutoParkingAssistSystem) automated parking system 25, according to an embodiment of the present invention.
The UWB antenna positioning module 21 may be mainly used for sensing the UWB digital key, that is, may be used for positioning the real-time position of the UWB digital key, where the UWB digital key may carry identity verification information, a time stamp, and positioning information for the real-time position of the UWB digital key; the DCK digital key controller 22 is mainly used for checking and positioning UWB digital keys; the BCM body controller 23 may be mainly used for implementing most of functions of the whole vehicle electrical system, and in the embodiment of the present invention, may specifically relate to a locking or unlocking function of a vehicle door related to parking; the VCU vehicle controller 24 may be mainly represented as a whole vehicle controller of a new energy vehicle, and is a core electronic control unit for implementing a vehicle control decision, and in an embodiment of the present invention, may specifically relate to a locking or unlocking function of a vehicle door related to parking; the APA automated parking system 25 may be used primarily to effect automated parking of vehicles, including associated control of vehicle egress and ingress.
Based on the communication process of the intelligent parking system as shown in fig. 2, specifically, as shown in fig. 3, after the UWB antenna positioning module 21 locates the real-time position of the UWB digital key, the DCK digital key controller 22 may acquire identity checking information carried by the UWB digital key, a timestamp and positioning information for the real-time position of the UWB digital key based on its positioning signal, check and position the UWB digital key, and after the completion, may receive the accurate position of the identity checking and positioning UWB digital key, and send the real-time position of the BCM digital key, that is, positioning information, to the BCM body controller 23 via a LIN (local internet network, which is a low-cost serial communication network for distributed application of automotive segments); the BCM body controller 23 can perform condition judgment by combining with the identity verification information when receiving the positioning information of the UWB digital key, wherein the performed condition judgment is that whether the real-time position of the UWB digital key meets the preset position condition.
In one case, assuming that after the passing of the determination in the vehicle parking condition, the BCM body controller 23 may send a signal to the VCU vehicle controller 24 to request that it perform an electrolytic lock for the vehicle to wake up the starting vehicle, and send a condition judgment conclusion, which may be expressed as controlling the vehicle to be parked in the vehicle parking condition, at this time, a related signal for controlling the vehicle to be parked may be transmitted to the APA automatic parking system 25, that is, the parking assistance system through a CAN line (serial communication protocol of international standardization of ISO), so that the parking assistance system may prompt the user to get on the vehicle when the intelligent parking condition is satisfied, and control the vehicle to perform the parked parking action; in another case, assuming that after the determination is passed under the vehicle parking condition, the BCM body controller 23 may send a condition determination conclusion to the VCU vehicle controller 24, where the condition determination conclusion may be expressed as controlling the vehicle to be parked under the vehicle parking condition, and at this time, a related signal for controlling the vehicle to be parked may be transmitted to the APA automatic parking system 25, that is, the parking assist system through the CAN line, so that the parking assist system may prompt the user to get off the vehicle when the intelligent parking condition is satisfied, control the vehicle to perform a parking action of parking, and after the parking action of controlling the vehicle to perform the parking action, the BCM body controller 23 may also send a signal to the VCU vehicle controller 24 to request a power-down locking operation for the vehicle, and sleep to complete the parked vehicle.
Specifically, referring to fig. 4, a flowchart illustrating steps of another intelligent parking method based on a UWB digital key according to an embodiment of the present invention, focusing mainly on an automatic parking process of a vehicle based on a UWB digital key, may include the following steps:
UWB digital keys are typically carried around by a vehicle user, and the real-time location of the user, where they are typically located, may correspond to the real-time location of the UWB digital key. Specifically, the vehicle may be configured with a plurality of UWB receiving antennas, and when determining the real-time position of the UWB digital key, the deployed plurality of UWB receiving antennas may be used to position the real-time position of the UWB digital key, and the specific positioning manner of the UWB antenna may be implemented with reference to a conventional UWB sensing principle, which is not described herein in detail.
In practical applications, UWB receiving antennas may be loaded around and in the vehicle, for example, 6 UWB receiving antennas may be loaded around and in the vehicle, and specific deployment/loading numbers, specific deployment/loading positions and distributions of UWB receiving antennas may be determined based on different vehicle types and actual requirements, which is not limited by the embodiments of the present invention.
In a preferred embodiment of the present invention, the intelligent parking process based on the UWB digital key is mainly implemented based on a communication process, and in the process of positioning the UWB digital key in real time by using the UWB receiving antenna, a corresponding positioning signal may be generated in real time based on the real-time position of the UWB digital key determined in real time, and the generated positioning signal may be used to inform the vehicle-related system of the real-time position of the UWB digital key where the vehicle-related system is currently positioned, so that the vehicle-related system may perform a determination as to whether a preset position condition is satisfied based on the positioning signal generated and transmitted in real time, and perform a subsequent relevant communication process of intelligent parking in real time.
And step 402, responding to the real-time position meeting the preset first position condition, and controlling the vehicle to carry out the parking operation.
The vehicle-related system can judge whether the preset position condition is met or not based on the positioning signals generated and transmitted in real time, and when the real-time position is judged to meet the preset position condition, the positioning signals can be fed back to the vehicle-related parking system in response to the fact that the real-time position meets the preset position condition, and the vehicle is controlled to perform corresponding parking operation. The preset position condition for parking judgment may refer to a parking function requirement, may relate to a vehicle parking working condition and a vehicle parking working condition, and specifically, in the vehicle parking working condition, may be used to define a corresponding position which is satisfied by a UWB digital key requirement when the vehicle performs a parking operation, that is, may be determined based on a generated positioning signal, and when the real-time position in response to positioning satisfies the preset first position condition, the preset first position condition may refer to a preset position which satisfies the vehicle performing the parking function requirement, and at this time, the vehicle may be controlled to perform the parking operation to complete the corresponding parking operation.
In a specific implementation process, identity check information of the UWB digital key can be acquired, and when the identity check information passes, a positioning signal can be responded at the moment, an electrolytic lock request on the vehicle and a parking system starting signal are generated to wake up the vehicle, and an automatic parking system of the vehicle is started, so that the vehicle after being waken up is controlled to carry out parking operation through the automatic parking system of the vehicle.
Besides the architecture deployment of the intelligent parking system shown in fig. 2, the intelligent parking system can be further provided with sensing hardware such as a panoramic camera, front and rear ultrasonic radars, backward angle radars and the like, so that the intelligent parking system can be used for prompting and timely early warning the surrounding obstacle states of the vehicle in real time, and the parking safety of the vehicle is ensured when necessary.
In the process of controlling the awakened vehicle to carry out the parking operation through the automatic parking system, the method can be characterized in that the automatic parking system of the vehicle detects obstacle information based on the vehicle looking around and the perception of the ultrasonic sensor, then the awakened vehicle is controlled to carry out the parking operation based on the obstacle information, and particularly, the method can be characterized in that the awakened vehicle is controlled to carry out the parking operation in response to the obstacle information meeting the preset parking environment condition. The preset parking environment condition may be used to define environment information suitable for parking the vehicle, for example, the environment information around the vehicle meets the requirement of straight-going vehicle, no obstacle is encountered in the straight-going vehicle parking process, and the like.
In a preferred embodiment of the invention, after the preset parking environment condition is met, an external speaker can send out voice prompt to start parking, and after the vehicle is controlled to park the current parking space, the external speaker can also prompt that parking is completed, so that a primary and secondary driving user can be informed of getting on the vehicle easily.
In practical application, as shown in fig. 5, when the vehicle user carries the UWB digital key to reach a predetermined position, it is assumed that the predetermined position satisfies a preset first position condition, that is, a predetermined position satisfying a requirement of the vehicle for parking out function, and a waiting time of the vehicle user at the predetermined position reaches a predetermined time, for example, 2 seconds (the predetermined time may be set by the system or user-defined), at this time, the BCM body controller may sense a real-time position of the UWB digital key and perform an operation of checking the key identity. The specific reference may be made to the communication process shown in fig. 3, firstly, the DCK digital key controller may check and locate the UWB digital key, and after the completion, may send the real-time position of the UWB digital key to the BCM body controller as location information, where the location information may be represented as a location signal in the communication process, where the location signal may carry not only the real-time position of the UWB digital key, but also information such as identity check information, time stamp, etc. of the UWB digital key; then, the BCM body controller can receive positioning information and the like sent by the DCK digital key controller, and at the moment, the BCM body controller can combine the positioning information of the UWB digital key and the key identity checking information to judge the condition, namely judging whether the positioning signal meets the preset position condition or not when the identity checking information passes.
Under the condition that the real-time position of the UWB digital key carried by the positioning signal meets the preset first position condition, the BCM body controller can unlock and wake up the vehicle in response to the positioning signal, and meanwhile feeds back the positioning signal to the APA automatic parking system, so that the APA automatic parking system can control the vehicle to execute the parking action. Specifically, the method may be represented by the BCM body controller generating an on-vehicle electrolytic lock request and a parking system start signal, and sending a related request to the VCU vehicle controller to wake up the vehicle, and sending a parking system start signal to the APA automatic parking system to request start of the APA automatic parking system.
After receiving a parking system start signal, the APA automatic parking system can start a parking function, at the moment, the system can detect obstacle information according to vehicle looking around and ultrasonic sensors, the perceived obstacle information can refer to distance between vehicles on two sides, distance between other obstacles and the like, and when the obstacle information meets preset parking environment conditions, for example, meets the requirement of straight running of the vehicle, the system can control the awakened vehicle to carry out parking operation. In practical application, the method can be expressed as that the loudspeaker outside the vehicle sends out voice prompt to start parking, and the parking system can control the vehicle to move straight for a preset parking distance, for example, 3 meters (the preset parking distance can be calibrated according to different vehicle types or can be determined by combining the current environment condition of the vehicle moving straight under the calibration condition) to park the vehicle at the current parking position. After the straight running is completed, the automatic parking system can control the vehicle to park and prompt the completion of parking through a loudspeaker outside the vehicle, so that a main and auxiliary driving user can be informed of the vehicle to get on the vehicle easily.
According to the embodiment of the invention, the real-time position of the UWB digital key carried by the user is positioned, and when the real-time position of the positioned UWB digital key meets the preset position condition, the vehicle is automatically controlled to carry out corresponding parking in and/or parking out operation, and the automatic parking in and parking out functions of the vehicle in parking assistance are realized under the condition that the UWB digital key is utilized to provide high-precision positioning capability, so that the user does not need to carry out multiparty interaction, the automatic parking operation of the user is simplified, the simplified and convenient intelligent parking use experience is provided for the user, and the purpose that the parking function can be a long-term continuous use function of the user in the whole life cycle of the vehicle is achieved.
Referring to fig. 6, a flowchart illustrating steps of yet another intelligent parking method based on a UWB digital key according to an embodiment of the present invention, focusing mainly on an automatic parking process of a vehicle based on a UWB digital key, may include the steps of:
UWB digital keys are typically carried around by a vehicle user, and the real-time location of the user, where they are typically located, may correspond to the real-time location of the UWB digital key. Specifically, the vehicle may be configured with a plurality of UWB receiving antennas, and when determining the real-time position of the UWB digital key, the deployed plurality of UWB receiving antennas may be used to position the real-time position of the UWB digital key, and the specific positioning manner of the UWB antenna may be implemented with reference to a conventional UWB sensing principle, which is not described herein in detail.
In practical applications, UWB receiving antennas may be loaded around and in the vehicle, for example, 6 UWB receiving antennas may be loaded around and in the vehicle, and specific deployment/loading numbers, specific deployment/loading positions and distributions of UWB receiving antennas may be determined based on different vehicle types and actual requirements, which is not limited by the embodiments of the present invention.
In a preferred embodiment of the present invention, the intelligent parking process based on the UWB digital key is mainly implemented based on a communication process, and in the process of positioning the UWB digital key in real time by using the UWB receiving antenna, a corresponding positioning signal may be generated in real time based on the real-time position of the UWB digital key determined in real time, and the generated positioning signal may be used to inform the vehicle-related system of the real-time position of the UWB digital key where the vehicle-related system is currently positioned, so that the vehicle-related system may perform a determination as to whether a preset position condition is satisfied based on the positioning signal generated and transmitted in real time, and perform a subsequent relevant communication process of intelligent parking in real time.
The vehicle-related system can judge whether the preset position condition is met or not based on the positioning signals generated and transmitted in real time, and when the real-time position is judged to meet the preset position condition, the positioning signals can be fed back to the vehicle-related parking system in response to the fact that the real-time position meets the preset position condition, and the vehicle is controlled to perform corresponding parking operation. The preset position condition for parking judgment may refer to a parking function requirement, may relate to a vehicle parking working condition and a vehicle parking working condition, and specifically, under the vehicle parking working condition, may be used to define a corresponding position which is met by a UWB digital key requirement when the vehicle performs a parking operation, that is, may be determined based on a generated positioning signal, and when the located real-time position meets the preset second position condition, the preset second position condition may refer to a preset position which meets the vehicle parking function requirement, and at this time, the vehicle may be controlled to perform the parking operation, so as to complete the corresponding parking operation.
In one embodiment of the present invention, in order to determine a target parking space for a subsequent control vehicle to perform a parking operation, before a vehicle parking signal is generated, when a user finds the target parking space using a parking assist function, the method may generally be represented by entering an intelligent remote control parking sub-function by selecting a remote control parking button at a vehicle end, determining the target parking space in response to an interactive operation of the user on any one of available parking spaces provided by an automatic parking system in a vehicle parking interface, and in addition, generating target parking space track planning information for the target parking space.
In a preferred embodiment of the present invention, after entering the intelligent remote parking sub-function by selecting the click of the car-end remote parking button, the automatic parking system may control the vehicle to stop slowly and prompt the user to get off with the key.
When the response real-time position meets the preset second position condition and the user door opening and closing signal is detected in real time, namely, the vehicle senses the getting-off action of the user, the automatic parking system can respond to the positioning signal to control the vehicle to carry out parking operation, specifically can generate a parking space parking signal, and sends a request to the automatic parking control system to request to control the vehicle to carry out the parking operation of the target parking space, so that corresponding parking operation is completed.
In the specific implementation, the automatic parking system of the vehicle can respond to the parking space parking signal to control the vehicle to perform parking operation, namely, when the parking system receives the request signal, the external loudspeaker of the vehicle sends out voice to prompt the parking to start, and the parking system controls the vehicle to start parking. The parking space parking signal can comprise a target parking space and target parking space track planning information, and in the process of controlling the vehicle to carry out parking operation, the automatic parking system of the vehicle can respond to the parking space parking signal and control the vehicle to automatically park in the target parking space based on the target parking space track planning information.
In practical application, as shown in fig. 7, when a user searches a target parking space by using a parking function, and the user selects remote control parking, the BCM body controller can continuously monitor a user door opening and closing signal and digital key positioning information, and mainly can be represented as that the BCM body controller receives positioning information sent by the DCK digital key controller, and the like, at this time, the BCM body controller can combine the positioning information of the UWB digital key to perform condition judgment in combination with key identity checking information, that is, can judge whether the positioning signal meets a preset position condition when the identity checking information passes, and can automatically send a parking start signal to the APA automatic parking control system when the identity checking information passes, and can automatically send a parking start signal to the speaker when the parking control system receives the request signal, after the user reaches a preset position, the preset position meets a preset second position condition, that is, in order to meet the preset position required by the parking function of the vehicle, the BCM body controller can simultaneously meet the position based on the real-time position of the positioned UWB digital key, for example, the user has been far from the preset position 6 m (the distance can be set by self-defining according to the user preference, and the like), and the parking control system can automatically send a parking start signal to the parking start after receiving the request signal. When the control vehicle controls the vehicle to automatically park into the target parking space based on the target parking space track planning information, namely after the parking is completed, the VCU vehicle controller can control the vehicle to execute operations such as closing, window lifting, power-down and the like, and at the moment, the user can easily leave after the parking function is completed. It should be noted that when the width or length of the target parking space desired to be parked by the user is relatively narrow (the parking space width is determined by the system according to the length and width of the vehicle), the automatic parking system may recommend the user to use the intelligent remote control parking sub-function.
According to the embodiment of the invention, the real-time position of the UWB digital key carried by the user is positioned, and when the real-time position of the positioned UWB digital key meets the preset position condition, the vehicle is automatically controlled to carry out corresponding parking in and/or parking out operation, and the automatic parking in and parking out functions of the vehicle in parking assistance are realized under the condition that the UWB digital key is utilized to provide high-precision positioning capability, so that the user does not need to carry out multiparty interaction, the automatic parking operation of the user is simplified, the simplified and convenient intelligent parking use experience is provided for the user, and the purpose that the parking function can be a long-term continuous use function of the user in the whole life cycle of the vehicle is achieved.
Referring to fig. 8, an application scenario diagram of intelligent parking based on a UWB digital key provided by an embodiment of the present invention is shown, where an application scenario of intelligent parking based on a UWB digital key may relate to a vehicle parking out condition and a vehicle parking in condition. In the application scenario of intelligent parking based on the UWB digital key, the vehicle may be deployed with a plurality of UWB receiving antennas, specifically, UWB receiving antennas may be loaded around and in the vehicle, for example, 6 UWB receiving antennas may be loaded around and in the vehicle, and specific deployment/loading numbers, specific deployment/loading positions and distributions of UWB receiving antennas may be determined based on different vehicle types and actual requirements, which is not limited in this embodiment of the present invention.
As shown in the left schematic diagram of fig. 8, the vehicle parking situation of the present invention mainly solves the problem of parking vehicles in vertical and inclined parking spaces, and is specifically expressed in that when the user parks the vehicle (i.e. the vehicle) on both sides or is blocked by an obstacle, such as obstacle 1, obstacle 2, etc., the user of the vehicle can stand at a predetermined position in front of the vehicle, such as predetermined position 1, the waiting time of predetermined position 2 reaches a predetermined time, such as 2 seconds (the predetermined time can be set by the system or user-defined), the predetermined position 1 and predetermined position 2 refer to positions meeting the preset first position condition, i.e. the predetermined positions meeting the requirement of the parking function of the vehicle, and the predetermined position 1 and predetermined position 2 can be located in the UWB sensing circle of the UWB receiving antenna disposed by the vehicle.
Under the vehicle parking working condition, the DCK digital key controller can check and position the UWB digital key, after the completion, the real-time position of the UWB digital key can be used as positioning information to be sent to the BCM body controller, the positioning information can be expressed as a positioning signal in the communication process, and the positioning signal can carry not only the real-time position of the UWB digital key, but also the identity check information, the time stamp and other information of the UWB digital key; then, the BCM body controller can receive positioning information and the like sent by the DCK digital key controller, and at the moment, the BCM body controller can combine the positioning information of the UWB digital key and the key identity checking information to judge the condition, namely judging whether the positioning signal meets the preset position condition or not when the identity checking information passes.
Under the condition that the real-time position of the UWB digital key carried by the positioning signal meets the preset first position condition, the BCM body controller can unlock and wake up the vehicle in response to the positioning signal, and meanwhile feeds back the positioning signal to the APA automatic parking system, so that the APA automatic parking system can control the vehicle to execute the parking action. Specifically, the method may be represented by the BCM body controller generating an on-vehicle electrolytic lock request and a parking system start signal, and sending a related request to the VCU vehicle controller to wake up the vehicle, and sending a parking system start signal to the APA automatic parking system to request start of the APA automatic parking system.
After receiving a parking system start signal, the APA automatic parking system can start a parking function, at the moment, the system can detect obstacle information according to vehicle looking around and ultrasonic sensors, the perceived obstacle information can refer to distance between vehicles on two sides, distance between other obstacles and the like, and when the obstacle information meets preset parking environment conditions, for example, meets the requirement of straight running of the vehicle, the system can control the awakened vehicle to carry out parking operation. In practical application, the method can be expressed as that the loudspeaker outside the vehicle sends out voice prompt to start parking, and the parking system can control the vehicle to move straight for a preset parking distance, for example, 3 meters (the preset parking distance can be calibrated according to different vehicle types or can be determined by combining the current environment condition of the vehicle moving straight under the calibration condition) to park the vehicle at the current parking position. After the straight running is completed, the automatic parking system can control the vehicle to park and prompt the completion of parking through a loudspeaker outside the vehicle, so that a main and auxiliary driving user can be informed of the vehicle to get on the vehicle easily.
As shown in the right schematic diagram of fig. 8, the vehicle parking condition of the BCM body controller may be suitable for a wide range of intelligent parking functions, and is shown that when a user finds a target parking space using the parking assist function, the BCM body controller may continuously monitor a user door opening and closing signal and digital key positioning information, and may mainly be shown that the BCM body controller receives positioning information sent by the DCK digital key controller, and the BCM body controller may perform condition judgment by combining the positioning information of the UWB digital key with key identity check information, that is, may determine whether the positioning signal meets a preset position condition when the identity check information passes, and when the BCM body controller detects that the user door opening and closing signal, and the user reaches a preset position (not shown in the figure, for example, the user is 6 meters away from the vehicle), may generate a parking space parking signal and send a request start signal to the APA automatic parking control system. When the APA parking control system receives the request signal, the loudspeaker outside the vehicle can send out voice prompt to start parking, and then the automatic parking system can control the vehicle to start parking. When the control vehicle controls the vehicle to automatically park into the target parking space based on the target parking space track planning information, namely after the parking is completed, the VCU vehicle controller can control the vehicle to execute operations such as closing, window lifting, power-down and the like.
In a preferred embodiment, besides the architecture deployment of the intelligent parking system as shown in fig. 2, the vehicle can be further provided with sensing hardware such as a panoramic camera, a front-back ultrasonic radar, a backward angle radar and the like, so as to prompt and timely early warn the state of obstacles around the vehicle in real time, and ensure that the vehicle is braked and parked when necessary. In the process of parking the vehicle based on the target parking space track planning information aiming at the target parking space, the target parking space track planning information can be updated and planned in real time based on the UWB sensing ring, so that the parking operation of the vehicle on the target parking space can be completed under the condition that the vehicle is prevented from being collided with the obstacle 1 and the obstacle 2 in the parking process.
According to the embodiment of the invention, the intelligent parking function which depends on multiparty interaction is optimized, the parking in or out of the vehicle is automatically started based on the UWB technology, the process of confirming interaction between the user and the vehicle for a plurality of times in the parking auxiliary function is simplified, the diversity and adaptability of the parking function are enhanced, the automatic parking in and out function of the vehicle in the parking auxiliary function is realized under the condition that the high-precision positioning capability is provided by using the UWB digital key, multiparty interaction is not needed by the user, the automatic parking operation of the user is simplified, the simplified and convenient intelligent parking use experience is provided for the user, and the purpose that the parking function can be a long-term continuous use function of the user in the whole life cycle of the vehicle is achieved.
It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required by the embodiments of the invention.
Referring to fig. 9, a schematic structural diagram of an intelligent parking apparatus based on a UWB digital key according to an embodiment of the present invention may include the following modules:
the real-time position acquisition module 901 is used for acquiring the real-time position of the UWB digital key;
the parking control module 902 is configured to control the vehicle to perform a corresponding parking operation in response to the real-time position meeting a preset position condition; the preset position condition is used for limiting corresponding positions met by the UWB digital key when the vehicle performs a parking operation and/or a parking operation.
In an embodiment of the present invention, the vehicle is deployed with a plurality of UWB receiving antennas, and the real-time position acquisition module 901 may include the following sub-modules:
The real-time position positioning sub-module is used for positioning the real-time position of the UWB digital key by adopting the plurality of UWB receiving antennas to obtain the real-time position of the UWB digital key;
the real-time position acquisition module 901 may further include the following sub-modules:
and the positioning signal generation sub-module is used for generating a positioning signal based on the real-time position of the UWB digital key.
In one embodiment of the invention, parking control module 902 may include the following sub-modules:
the automatic parking sub-module is used for responding to the real-time position to meet a preset first position condition and controlling the vehicle to perform parking operation;
and the automatic parking sub-module is used for responding to the real-time position to meet the preset second position condition and controlling the vehicle to perform parking operation.
In one embodiment of the present invention, the auto-parking sub-module may include the following units:
the identity check information acquisition unit is used for responding to the real-time position meeting the preset first position condition and acquiring the identity check information of the UWB digital key;
the parking system starting unit is used for responding to the positioning signal to wake up the vehicle and starting an automatic parking system of the vehicle when the identity checking information passes;
And the vehicle parking unit is used for controlling the awakened vehicle to perform parking operation through the automatic parking system of the vehicle.
In one embodiment of the invention, the vehicle parking unit may comprise the following sub-units:
an obstacle detection subunit configured to detect obstacle information by an automatic parking system of the vehicle;
the vehicle parking sub-unit is used for responding to the obstacle information to meet the preset parking environment condition and controlling the awakened vehicle to carry out parking operation; the preset parking environment condition is used for limiting environment information suitable for parking the vehicle.
In one embodiment of the present invention, the automated parking sub-module may include the following units:
the parking signal generating unit is used for responding to the fact that the real-time position meets the preset second position condition and detecting a door opening and closing signal of a user in real time to generate a parking space parking signal;
and the vehicle parking unit is used for responding to the parking space parking signal through the automatic parking system of the vehicle and controlling the vehicle to carry out parking operation.
In an embodiment of the present invention, before the generating the parking space parking signal, the automatic parking sub-module may further include the following units:
the system comprises a target parking space generating unit, a target parking space generating unit and a vehicle parking space control unit, wherein the target parking space generating unit is used for responding to the interactive operation of a user on any parking space which is provided by the automatic parking system in a vehicle parking interface, determining a target parking space and generating target parking space track planning information aiming at the target parking space;
The parking space parking signal comprises a target parking space and target parking space track planning information; the vehicle parking unit may comprise the following sub-units:
and the vehicle parking subunit is used for responding to the parking space parking signal through the automatic parking system of the vehicle and controlling the vehicle to automatically park in the target parking space based on the target parking space track planning information.
According to the intelligent parking device based on the UWB digital key, provided by the embodiment of the invention, through positioning the real-time position of the UWB digital key carried by the user, when the real-time position of the positioned UWB digital key meets the preset position condition, the vehicle is automatically controlled to carry out corresponding parking in and/or parking out operation, and under the condition that the UWB digital key is utilized to provide high-precision positioning capability, the automatic parking in and parking out function of the vehicle in parking assistance is realized, multiparty interaction of the user is not needed, the automatic parking operation of the user is simplified, the simplified and convenient intelligent parking use experience is provided for the user, and the purpose that the parking function can be a long-term continuous use function of the user in the whole life cycle of the vehicle is achieved.
For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.
The embodiment of the invention also provides a vehicle, which can comprise a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the computer program is executed by the processor to realize the intelligent parking method based on the UWB digital key.
The embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the intelligent parking method based on the UWB digital key is realized when the computer program is executed by a processor.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
It will be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.
The above description has been made in detail of a smart parking method based on UWB digital keys, a smart parking device based on UWB digital keys, a corresponding vehicle and a corresponding computer readable storage medium, and specific examples have been applied herein to illustrate the principles and embodiments of the present invention, the above examples being only for aiding in the understanding of the method and core idea of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (10)
1. An intelligent parking method based on a UWB digital key, which is characterized by comprising the following steps of:
acquiring the real-time position of the UWB digital key;
responding to the real-time position meeting the preset position condition, and controlling the vehicle to carry out corresponding parking operation; the preset position condition is used for limiting corresponding positions met by the UWB digital key when the vehicle performs a parking operation and/or a parking operation.
2. The method of claim 1, wherein the vehicle is deployed with a plurality of UWB receive antennas, the acquiring the real-time location of the UWB digital key comprising:
Positioning the real-time position of the UWB digital key by adopting the plurality of UWB receiving antennas to obtain the real-time position of the UWB digital key;
further comprises:
a positioning signal is generated based on the real-time location of the UWB digital key.
3. The method of claim 2, wherein controlling the vehicle to perform the corresponding parking operation in response to the real-time location satisfying a preset location condition comprises:
responding to the real-time position to meet a preset first position condition, and controlling the vehicle to carry out parking operation;
and/or, responding to the real-time position meeting the preset second position condition, and controlling the vehicle to carry out the parking operation.
4. A method according to claim 3, wherein said controlling the vehicle to perform a parking operation in response to the real-time location meeting a preset first location condition comprises:
responding to the real-time position to meet a preset first position condition, and acquiring identity check information of the UWB digital key;
when the identity checking information passes, responding to the positioning signal to wake up the vehicle, and starting an automatic parking system of the vehicle;
and controlling the awakened vehicle to carry out parking operation through the automatic parking system of the vehicle.
5. The method of claim 4, wherein controlling the awakened vehicle to perform an outbound maneuver by the vehicle's automated parking system comprises:
detecting obstacle information by an automatic parking system of the vehicle;
responding to the obstacle information to meet a preset parking environment condition, and controlling the awakened vehicle to perform parking operation; the preset parking environment condition is used for limiting environment information suitable for parking the vehicle.
6. A method according to claim 3, wherein said controlling the vehicle to perform a parking operation in response to the real-time location meeting a preset second location condition comprises:
responding to the real-time position meeting the preset second position condition and detecting a door opening and closing signal of a user in real time to generate a parking space parking signal;
and responding to the parking space parking signal through the automatic parking system of the vehicle, and controlling the vehicle to carry out parking operation.
7. The method of claim 6, comprising, prior to the generating the parking spot parking signal:
responding to the interactive operation of a user on any parking space provided by the automatic parking system in a vehicle parking interface, determining a target parking space, and generating target parking space track planning information aiming at the target parking space;
The parking space parking signal comprises a target parking space and target parking space track planning information; the automatic parking system for the vehicle responds to the parking space parking signal to control the vehicle to carry out parking operation, and the automatic parking system comprises the following steps:
and responding to the parking space parking signal through the automatic parking system of the vehicle, and controlling the vehicle to automatically park in the target parking space based on the target parking space track planning information.
8. An intelligent parking apparatus based on a UWB digital key, the apparatus comprising:
the real-time position acquisition module is used for acquiring the real-time position of the UWB digital key;
the parking control module is used for responding to the real-time position to meet the preset position condition and controlling the vehicle to perform corresponding parking operation; the preset position condition is used for limiting corresponding positions met by the UWB digital key when the vehicle performs a parking operation and/or a parking operation.
9. A vehicle comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the intelligent parking method based on UWB digital keys according to any of claims 1 to 7.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the intelligent parking method based on UWB digital keys according to any of the claims 1 to 7.
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| CN202310306874.9A CN116279429A (en) | 2023-03-27 | 2023-03-27 | Intelligent parking method and device based on UWB digital key, vehicle and medium |
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| CN202310306874.9A CN116279429A (en) | 2023-03-27 | 2023-03-27 | Intelligent parking method and device based on UWB digital key, vehicle and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117168833A (en) * | 2023-08-17 | 2023-12-05 | 中汽研汽车检验中心(广州)有限公司 | Automatic parking performance test method and system in complex meteorological environment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117168833A (en) * | 2023-08-17 | 2023-12-05 | 中汽研汽车检验中心(广州)有限公司 | Automatic parking performance test method and system in complex meteorological environment |
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