CN117043030A

CN117043030A - Automatic driving control method, electronic equipment, mobile terminal and vehicle

Info

Publication number: CN117043030A
Application number: CN202180087693.0A
Authority: CN
Inventors: 缪宝杰
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2021-04-01
Filing date: 2021-04-01
Publication date: 2023-11-10
Also published as: WO2022205357A1

Abstract

The embodiment of the application provides an automatic driving control method, which comprises the following steps: receiving control information sent by a user through a mobile terminal, wherein the control information comprises parking control information; determining an automatic parking mode according to the parking control information; and controlling the vehicle to automatically park according to the automatic parking mode and a map of the parking lot, wherein the map is created based on the parking lot environment information acquired by the vehicle. According to the automatic driving control method provided by the embodiment of the application, a user can complete automatic parking only by simply operating the mobile terminal based on the map created by the parking lot environment information acquired by the vehicle, and the vehicle is not required to be directly controlled to park, so that the parking efficiency is improved, and the potential safety hazard caused by lower driving level is avoided.

Description

Automatic driving control method, electronic equipment, mobile terminal and vehicle

Technical Field

The present application relates to the field of autopilot technologies, and in particular, to an autopilot control method, an electronic device, a mobile terminal, and a vehicle.

Background

In the related automatic driving technology, for a parking function scene, only an auxiliary parking function can be realized, and a user is required to perform cooperation operation to finish parking. For example, for parking, a user needs to control the vehicle to park according to a parking track where the vehicle is planned, the whole process is low in efficiency, and for a user with poor driving level, the user may scratch with surrounding vehicles, so that potential safety hazards exist.

Disclosure of Invention

The embodiment of the application provides an automatic driving control method, electronic equipment, a mobile terminal and a vehicle, which are used for at least solving one of the technical problems.

In a first aspect, an embodiment of the present application provides an autopilot control method, including: receiving control information sent by a user through a mobile terminal, wherein the control information comprises parking control information; determining an automatic parking mode according to the parking control information; and controlling the vehicle to automatically park according to the automatic parking mode and a map of the parking lot, wherein the map is created based on the parking lot environment information acquired by the vehicle.

In a second aspect, an embodiment of the present application provides an autopilot control method, applied to a mobile terminal, including: responding to the operation of a user to present an automatic driving operation page; entering an automatic parking control page when a user selects automatic parking on the automatic driving operation page, wherein the automatic parking control page comprises at least one automatic parking mode option; and sending control information to the vehicle-mounted terminal at least according to the automatic parking mode selected by the user.

In a third aspect, an embodiment of the present application provides an autopilot control method, applied to a dispatch server in a parking lot, including: receiving control information sent by a user through a mobile terminal; and sending the control information to the corresponding vehicle to control the vehicle to automatically drive.

In a fourth aspect, an embodiment of the present application provides an electronic device, applied to a vehicle, including: the automatic driving control system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the automatic driving control method according to any embodiment of the application when executing the computer program.

In a fifth aspect, an embodiment of the present application provides a mobile terminal, including: the automatic driving control system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the automatic driving control method according to any embodiment of the application when executing the computer program.

In a sixth aspect, an embodiment of the present application provides a vehicle, in which the electronic device according to any one of the embodiments of the present application is mounted.

In a seventh aspect, an embodiment of the present application provides a scheduling server, including: the automatic driving control system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the automatic driving control method according to any embodiment of the application when executing the computer program.

In an eighth aspect, an embodiment of the present application provides a computer readable storage medium including a computer program, which when run on a computer, causes the computer to execute the autopilot control method according to any one of the embodiments of the present application.

The embodiment of the application provides an automatic driving control method, which is used for receiving control information sent by a user through a mobile terminal, wherein the control information comprises parking control information; determining an automatic parking mode according to the parking control information; according to the automatic parking mode and the map of the parking lot, the vehicle is controlled to automatically park, so that a user can complete automatic parking only by simply operating the mobile terminal based on the map created by the environment information of the parking lot acquired by the vehicle, the vehicle is not required to be directly controlled to park, the parking efficiency is improved, and potential safety hazards caused by lower driving level are avoided.

Drawings

FIG. 1 is a schematic diagram of an application scenario of the autopilot control method of the present application;

FIG. 2 is a flow chart of an embodiment of an autopilot control method of the present application;

FIGS. 3-10 are schematic diagrams of an interactive interface for creating a map in the present application;

FIG. 11 is a flow chart of another embodiment of an autopilot control method of the present application;

FIG. 12 is a flow chart of yet another embodiment of an autopilot control method of the present application;

FIG. 13 is a schematic view of a scenario in which automatic car washing is performed according to the present application;

FIG. 14 is a schematic view of a scenario in which automatic car washing is performed according to the present application;

FIG. 15 is a schematic diagram of the present application for implementing an automatic car washing function;

FIG. 16 is a flow chart of another embodiment of an autopilot control method of the present application;

FIG. 17 is a flow chart of another embodiment of an autopilot control method of the present application;

FIG. 18 is a flow chart of another embodiment of an autopilot control method of the present application;

FIGS. 19-22 are diagrams of interactive interfaces for implementing automatic summoning in the present application;

FIG. 23 is a flow chart of another embodiment of an autopilot control method of the present application;

fig. 24 is a schematic structural diagram of an embodiment of the electronic device of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.

Fig. 1 is a schematic diagram of an application scenario of the autopilot control method of the present application, wherein the application scenario includes a smart phone 100 and a vehicle 200, and the smart phone 100 and the vehicle 200 are in two-way communication. The two-way communication between the smartphone 100 and the vehicle may be wired or wireless communication. Where the wireless communication may be near field communication (e.g., bluetooth, wiFi, etc.) or far field communication (e.g., mobile internet), as the application is not limited in this regard. In this embodiment, the user may operate on the smartphone 100 and send control information to the vehicle to implement autopilot (e.g., park in or park call), or the user may control the vehicle to implement autopilot by directly operating on the vehicle (e.g., by a physical push-to-talk operation or by an interactive interface of the vehicle).

The automatic driving control method is suitable for the technical field of intelligent driving, and is particularly suitable for automatic parking and intelligent calling functions of an intelligent driving system. The typical application scene of the application is as follows: open parking lots, multi-floor parking lots, and multi-floor underground parking lots (such as, but not limited to, parking lots in places such as malls, office buildings, industrial parks, etc.).

As shown in fig. 2, an embodiment of the present application provides an automatic driving control method, applied to a vehicle-mounted terminal, including:

s110, receiving control information sent by a user through a mobile terminal, wherein the control information comprises parking control information;

s120, determining an automatic parking mode according to the parking control information;

and S130, controlling the vehicle to automatically park according to the automatic parking mode and a map of the parking lot, wherein the map is created based on the parking lot environment information acquired by the vehicle.

Through the automatic driving control method, a user can complete automatic parking only by simply operating the mobile terminal based on the map created by the parking lot environment information acquired by the vehicle, the vehicle is not required to be directly controlled to park, the parking efficiency is improved, and potential safety hazards caused by lower driving level are avoided.

For S110, the user operates on the autopilot control software installed in the mobile terminal, for example. For example, one of a plurality of automatic parking modes is selected, and then the mobile terminal transmits corresponding parking control information to the vehicle in response to a user's selection operation.

Illustratively, the auto-park mode includes at least one of the following modes: a specified parking space parking mode, a specified area parking mode and an automatic exploration parking mode. The mobile terminal can display a parking space distribution schematic diagram of the current parking lot and simultaneously display the position of the vehicle.

For the specified parking space parking mode, a user selects the specified parking space in a clicking mode, and further performs confirmation operation to generate parking control information to the vehicle; or the operation interface of the mobile terminal is provided with a shortcut key for one-key automatic parking, in this case, the user can preset the special parking space, and the user can start the vehicle to automatically park in the special parking space by pressing the shortcut key.

For a specified area parking mode, for example, a user may draw a selection frame on an operation interface of the mobile terminal, where the selected area is a target area for automatic parking, and the vehicle will detect an available parking space in the target area and complete automatic parking.

For the auto-exploration parking mode, for example, a shortcut key for starting the auto-exploration parking mode is provided on the interface of the mobile terminal, and the user can start the auto-exploration parking mode through one key of the shortcut key, in which the vehicle will cruise in the parking lot until an available parking space is found and auto-parking is completed.

For S120, different automatic parking modes are exemplarily configured with different parking control information. For example, the parking control information includes a parking pattern identifier, and different automatic parking patterns correspond to different parking pattern identifiers. And the vehicle-mounted terminal determines a corresponding automatic parking mode according to the parking mode identifier contained in the parking control information.

For S130, illustratively, a map of the parking lot is created by the current user or other users. In some embodiments, the current user may have already arrived at the current parking lot, and the image of the ring information of the parking lot is acquired by the image acquisition device of the vehicle and a self-built map (for example, various identification marks in the parking lot are acquired from environment information) is constructed, and the self-built map is uploaded to the mobile terminal of the user, so that the self-built map can be directly used for automatic parking when arriving again. In addition, in some embodiments, the self-built map is also uploaded to a local server (a server local to the parking lot) or cloud server for other users to obtain for automatic parking.

In some embodiments, controlling the vehicle to automatically park according to the automatic parking mode and the self-built map of the parking lot includes:

acquiring map data of a parking lot, wherein the map data comprises reference characteristic information of scenes in the parking lot;

acquiring an environment image of the parking lot in real time through a sensor carried on a vehicle;

determining the real-time position of the vehicle in the parking lot according to the feature information of the scenery in the environment image and the reference feature information of the scenery in the map data;

determining a movement path of the vehicle from a real-time location to a target parking space based on the environment image and the map data, the movement path being for guiding the vehicle from the real-time location to the target parking space;

and controlling vehicle movement based on the determined movement path in the automatic parking mode.

According to the embodiment of the application, the motion trail of the planning and guiding vehicle from the real-time position to the target parking space is determined based on the real-time collected environment image and the map data of the parking lot, the real-time collected real environment information and the map data of the parking lot are comprehensively considered to plan the motion trail, the obtained motion trail accords with the actual scene condition of the current parking lot, and the effectiveness and the usability of the planned motion trail are ensured. In addition, the method of the embodiment of the application does not need the user to perform track training in advance, reduces the requirements on the driving technology of the user and improves the user experience.

In some embodiments, the map of the parking lot built by the user includes reference feature information of scenes within the parking lot. For example, at least one piece of reference feature information of a scene on a motion path created by a current user or other users in a map creation mode.

The map data in this embodiment includes reference feature information of at least one scene on a previously created motion path. The pre-created motion path is created for the current user or other users. Therefore, in practical application, a user can realize automatic parking based on the map data created by the user, and can realize automatic parking by means of the map data created by other users.

In some embodiments, the vehicle realizes communication with the mobile terminal through the central control system, and based on the fact that a user in the central control system of the vehicle selects a starting point A to a map end point B from a built map, the user can synchronize to a mobile phone APP application program after successful map building, three automatic parking modes are selected remotely through the mobile phone APP application program, and tasks of automatic parking in any mode and intelligent calling function of appointed calling points are executed. The three modes of automatic parking and intelligent calling meet the function definition of the requirements of parking and intelligent calling in different user scenes; three auto park modes are summarized as follows:

Mode one: the parking mode of the parking space is specified, a user can automatically park through any position which is successfully identified and the parking space is established in the self-built map, and the common parking space (for example, the user purchases the parking space or habitual parking position) can be stored in the process of establishing the map. If the parking space is occupied in the parking process, the user is prompted to switch to a mode three of the parking mode until the parking of the vehicle is successful.

Mode two: and designating a regional parking mode, wherein a user can park by arbitrarily selecting a map region on the APP interface in a self-checking map. In the area, parking into the parking space is started according to the nearest and successful recognition and parking into the parking space of the vehicle in real time. (in a large parking lot, a user has tension in parking spaces and hopes to get closest to a store elevator, so that the time for finding a car is saved for the user, and the user efficiency is improved)

Mode three: after searching a parking mode, a user selects the mode through the mobile phone APP, and the vehicle automatically parks in after detecting a parking space in real time on a map.

In some embodiments, when the user initiates automatic driving on the vehicle, the mobile terminal is automatically detected and connected, and if the connection is unsuccessful, the user is guided to perform the connection operation. Further confirm to the user whether the map has been created, enter the map creation process if the user feedback has not been created (as in fig. 3-10), match the corresponding created map if the user feedback has been created, and enter the map creation process if the acquisition of the map fails.

In some embodiments, it is detected whether an auto-park condition is met (e.g., whether it is within the ODD range, operational Design Domain operational design area) before auto-park, and if not, the user is prompted to travel into the operational design area before auto-park. Further detecting whether a parking space is designated for parking after the automatic parking condition is met, if not, automatically judging and automatically executing an automatic parking task (for example, controlling the automatic cruising of the vehicle to detect that the available parking space is available for automatic parking), and if so, starting automatic parking according to the designated parking space; and prompting a user or automatically rescheduling to automatically park if an abnormal situation occurs in the automatic parking process.

For example, in the case of a specified parking space, prompting the user to reselect the specified parking space or automatically detecting available parking space in the accessories of the specified parking space to finish automatic parking when the specified parking space is detected to be unavailable; or the automatic parking planning path which is driven to the appointed parking space is not available, and the system re-plans a new automatic parking path to finish the automatic parking of the appointed parking space.

For example, in the case where the system autonomously judges that the automatic parking task is automatically performed, if the automatic cruising automatic parking time exceeds a predetermined time, the user is notified; or the environment is not allowed, for example, no available parking space exists in the parking lot, and the user is reminded; or the automatic cruising path is not available (e.g., traffic jam) then a new automatic cruising path is automatically re-planned.

Fig. 3-10 are schematic diagrams of an interactive interface for creating a map according to the present application. By way of example, the interactive interfaces in fig. 3-10 may be presented on top of a display screen within the vehicle on which the user creates the map by operating.

In some embodiments, the user may enter the operation interface shown in fig. 3 after selecting the map creation function on the display screen, where the parking space layout of the current parking lot and the current position of the vehicle are displayed on the interface, and a prompt message "create map within 300m, please select a starting point within the range to start creating map" is displayed, so as to guide the user to perform a correct operation to start creating map.

When the user clicks the "start" button, jumping to the map creation interface as shown in fig. 4, in this embodiment, the vehicle surroundings information is collected by an image collection device (e.g., 360 degree camera) configured for the vehicle, and a simulated live view is generated and displayed on the display screen. In addition, a parking space display schematic diagram is generated according to the relative position relation between the vehicle and the actually detected parking space (as shown in the right part of fig. 4).

As shown in fig. 5, each time a parking space is detected, it is marked, for example, by marking the location of the parking space with "P", and the user is asked whether to save the detected parking space.

As shown in fig. 6, when the user selects to save the detected parking space, the detected parking space is marked in the parking space display schematic (e.g., the parking space is marked as a dashed box).

After the detected parking space is saved, the user is prompted to indicate that the parking space is saved, and the vehicle continues to run to ensure that the range of the parking map comprises a calling starting point, so that the complete parking map can help smoothly complete automatic parking and intelligent calling. Thus, the user drives the vehicle to continuously detect the parking space in the driving process until the map is built. In addition, the map may be stopped after the parking space is detected and stored, and the map may be created with a shorter part, which is not limited in the present application.

As shown in fig. 8, the user is further prompted after the map is created to "map creation is successful, please save and name". When the user clicks "yes" on the interface of fig. 8 as shown in fig. 9, the map is saved and a map name input box is generated, and a keyboard is further displayed on the display interface for the user to input information.

As shown in fig. 10, each of the created parking maps is added to the map list and presented on the display screen. As shown in fig. 10, a plurality of self-built maps that have been created are arranged in a list form on the interface, wherein the selected self-built map displays a plurality of operation buttons (e.g., "delete", "rename" and "update") for the user to select. And in this embodiment the user may also initiate creation of a new map by clicking the "+ create map" button.

In some embodiments, if the current user has not previously created a self-built map, other user-created self-built maps may be obtained from a local server or cloud server.

Through the automatic driving control method of the embodiment, a user can complete automatic parking only by simply operating the mobile terminal, and even if the user does not arrive at the current parking lot, the user can complete automatic parking by means of the self-built map created by other users.

In some embodiments, the automatic driving control method of the present application further includes: and acquiring a self-built map of the parking lot in advance.

Illustratively, a self-built map of the parking lot may be pre-acquired by one of the following means:

Firstly, matching a self-built map of a corresponding parking lot according to a navigation destination;

the second mode is to match the self-built map of the corresponding parking lot according to the positioning information after reaching the destination;

and thirdly, matching the self-built map of the corresponding parking lot according to the image environment characteristics after the destination is reached.

In the first mode, driving route planning and pre-downloading of a self-built map of the terminal parking lot are performed in advance through cloud user route information. The user intention is perceived in advance by detecting the key information of the user, so that the pre-downloading of the self-built map can be realized. For example, if the user has reserved or planned travel tasks ahead of time (through, but not limited to, voice recognition devices, smartphones, smartwatches, and car terminals, etc.). At this time, the in-vehicle terminal automatically acquires the relevant data (e.g., self-built map) of the upcoming destination. The end user only needs to reach the destination and automatically start to finish tasks such as automatic parking, intelligent calling and the like based on the self-built map.

In the second mode, after the vehicle runs to the destination, a corresponding self-built map is requested to the server according to the positioning information of the GPS on the vehicle, and at the moment, the background of the vehicle downloads the map through the cloud, which is equivalent to noninductive interaction for the user. The server stores the corresponding relation between the GPS positioning information and the self-built map for matching the self-built map.

In the third mode, after the vehicle arrives at the destination, the current environment image is acquired by an image acquisition device installed on the vehicle, and then a corresponding self-built map is requested to the server according to the environment image. For example, the vehicle may complete the environmental scan with a 360 ° camera, and send the environmental identification point to the server for map matching to obtain a corresponding self-built map, and then download the map.

Fig. 11 is a flowchart of another embodiment of the automatic driving control method according to the present application, which further includes:

s210, when the automatic parking mode cannot be completed, notifying the mobile terminal to prompt a user to reselect a new automatic parking mode;

s220, receiving new control information sent by the mobile terminal according to the reselection of the user.

In this embodiment, if parking cannot be completed in the automatic parking mode selected by the user (for example, a situation that a specified parking space is unavailable or a specified area has no available parking space, etc.), the vehicle-mounted terminal sends a prompt message to the mobile terminal of the user to prompt the user to reselect a new automatic parking mode, where the new automatic parking mode may be the original selected automatic parking mode (only specific parameter information is changed, for example, the specified parking space is reselected in the specified parking space parking mode, the specified area is reselected in the specified area parking mode, etc.), or other automatic parking modes.

Fig. 12 is a flowchart of another embodiment of the automatic driving control method according to the present application, which further includes:

s310, when the automatic parking mode cannot be completed, determining a new automatic parking mode for recommending the new automatic parking mode for the user by the mobile terminal;

s320, receiving new control information sent by the mobile terminal.

In this embodiment, if parking cannot be completed in the automatic parking mode selected by the user (for example, a situation that a designated parking space is unavailable or a designated area has no available parking space, etc.), the central control system of the vehicle may automatically determine a new automatic parking mode according to the actual situation and recommend the new automatic parking mode to the user through the mobile terminal, and the user sends new control information to the central control system of the vehicle after the mobile terminal operates according to the recommended new automatic parking mode. Wherein the recommended new auto-park mode may be an explore park mode.

In some embodiments, the automatic driving control method of the present application further includes: and when the control information is calling control information, controlling the vehicle to complete automatic calling according to the calling control information.

Illustratively, a call point is determined from the call control information, the call point being a location where the user is about to get on the vehicle. The self-built map in this embodiment includes a map path generated when the user performs map creation, the start point of the map path being the start point of the vehicle starting to create the map, and the end point of the map path being the end point of the vehicle ending to create the map. The summoning point in this embodiment may be any point on the map path.

The intelligent calling function is set for the automatic driving control method according to the embodiment. The user can complete the operation of creating the map once in the vehicle, and call the vehicle at any position in the starting point and the end point path where the map is built. According to the scheme, the vehicle calling function can be completed through communication means such as Wi-fi and Bluetooth without being limited in environments such as an underground parking lot with poor network environment, an area without network communication base station coverage and the like.

The technical proposal of intelligent calling in the current routine is mostly based on the functions of vehicle calling by means of GPS positioning in the vehicle, GPS of a mobile phone and network communication. Regarding to the actual commercialized function in the current market, taking Tesla as an example, the practicality and success rate of the current function are lower, and a larger security risk can appear.

In some embodiments, the automatic driving control method of the present application further includes: and when the control information comprises task execution control information, controlling the vehicle to execute corresponding auxiliary tasks according to the task execution control information. The corresponding auxiliary task is at least one of automatic car washing, express replacement, automatic power exchange and automatic charging. In the embodiment, the auxiliary task is executed by controlling the vehicle through automatic driving, so that the idle time of the vehicle is fully utilized, and the user experience is improved.

Taking automatic car washing as an example, modern time is getting more and more precious, and dedicated time is taken out to wash the car or to reach a specified place to complete a boring task. Increasing the time cost for the user. On the one hand, the intelligent automobile can intelligently push and trigger the automatic parking and automatic car washing functions through current big data (such as, but not limited to, real-time weather, current environment, user habit, driving scene and the like). On the other hand, the user can perform an automatic car washing function through the remote control terminal in advance.

Fig. 13 is a schematic view of a scenario of automatic car washing according to the present application. In this embodiment, it includes:

1. the user stops the car at the elevator entrance of the mall parking lot.

2. And selecting an automatic car washing function through the mobile phone APP.

3. The vehicle automatically drives to an automatic car washing point, and the car is queued for waiting if the car is queued. For example, the vehicle-mounted terminal determines a driving path according to the current position of the vehicle and the position of the car washer, and drives to an automatic car washing point according to the driving path.

4. Automatically driving into a car washing place to start automatic car washing.

5. And after the car is washed, controlling the car to run out and find the parking space. For example, the vehicle-mounted terminal determines a driving path according to the current position of the vehicle, and detects an available parking space in real time in the driving process according to the driving path.

6. And finding available vehicle positions to finish automatic parking.

7. After shopping, the user opens the mobile phone APP to get the car, and the vehicle-mounted terminal receives the instruction to start and drive out the parking space and drive to the calling point.

8. The vehicle automatically travels to the location of the user.

Fig. 14 is a schematic view of a scenario of automatic car washing according to the present application. In the scene, the dispatching center of the parking lot uniformly dispatches vehicles to automatically wash the vehicles. In this embodiment, it includes:

1. the vehicle to be washed is parked in the parking lot.

2. And a staff in the dispatching room of the parking lot sends an automatic car washing instruction to the car to be washed through the mobile terminal. For example, multiple vehicles may be simultaneously controlled to initiate an automatic vehicle wash function.

3. And the vehicle to be washed receives the instruction, and is automatically started and driven to the car washer to wait for washing. And determining a driving path of the vehicle to be washed according to the current position and the position of the vehicle washing machine, and driving the vehicle to the vehicle washing machine according to the driving path.

4. And driving into a car washer to finish car washing.

5. After the car is washed, the car automatically runs to an available car position to complete automatic parking. The vehicle determines a driving path according to the current position and a specified parking space or a specified area, and then drives according to the driving path and detects the specified parking space or an available parking space to complete automatic parking.

6. And (5) cleaning all vehicles to be cleaned.

Fig. 15 is a schematic diagram of the principle of implementing the automatic car washing function in the present application. The embodiment comprises a mobile phone end, a vehicle end and a car washer end. The mobile phone terminal is provided with a corresponding mobile phone APP in advance, a user can operate on the APP to initiate a car washing request, the request can be simultaneously sent to the vehicle terminal and the car washer terminal, for example, the request can be sent to a vehicle-mounted terminal of a vehicle and simultaneously sent to a car washer cloud back stage to generate a car washing order.

The vehicle will close the windows and fold the rear view mirror after receiving an automatic wash request. And the current position of the vehicle is positioned, and then, path planning is carried out according to the current position of the vehicle and the position of the car washer, wherein the position of the car washer can be sent to an autonomous parking (AVP) cloud back stage by a car washer end, a self-built map of a parking lot is stored in the AVP cloud back stage, and the AVP cloud back stage can send information of the position of the car washer and the self-built map of the parking lot to the AVP vehicle for path planning. The vehicle is positioned in real time and an obstacle is detected (e.g., an obstacle, other vehicle, and pedestrian is detected) during traveling to the car washer, for example, by a camera mounted to the vehicle. Waiting in line at the moment when the vehicle is traveling near the car washer and there is temporarily no empty car washer. When the vehicle enters the parking machine, the vehicle information (such as the vehicle license plate) is identified and compared with the vehicle license plate corresponding to the generated vehicle washing order, and if the vehicle information is matched with the generated vehicle license plate, vehicle washing is started, otherwise, vehicle washing is refused.

Fig. 16 is a flowchart of another embodiment of an autopilot control method of the present application, which is applied to a mobile terminal, and includes:

and S410, responding to the operation of the user and presenting an automatic driving operation page.

S420, entering an automatic parking control page when the user selects automatic parking on the automatic driving operation page, wherein the automatic parking control page comprises at least one automatic parking mode option.

Illustratively, the at least one auto-park mode includes at least one of the following modes: a specified parking space parking mode, a specified area parking mode and an automatic exploration parking mode.

And S430, transmitting control information to the vehicle at least according to the automatic parking mode selected by the user.

According to the embodiment of the application, a user can realize parking in different automatic parking modes by simply operating the mobile terminal, and can select a proper automatic parking mode according to the actual demand of the user, so that the parking is convenient and quick.

In some embodiments, the automatic driving control method of the present application further includes: when the automatic parking mode selected by the user is a specified parking space parking mode, guiding the user to select the specified parking space based on a self-built map of the parking lot, wherein the self-built map is created by the current user or other users. The transmitting control information to the vehicle at least in accordance with the auto-park mode selected by the user includes: and sending control information to the vehicle at least according to the designated parking space selected by the user.

In this embodiment, when the user selects the specified parking space parking mode, the mobile terminal presents the self-built map to the user, and guides the user to select one parking space as the specified parking space. The selected parking space information (e.g., the parking space number, the parking space position information, etc.) for the specified parking space is then transmitted to the vehicle for the vehicle to determine an automatic parking path from the self-built map based thereon. For example, the vehicle selects a self-built map path including the current position of the vehicle and the position of the designated parking space from the self-built map, and then controls the vehicle to drive to the designated parking space according to the self-built map path.

In some embodiments, the automatic driving control method of the present application further includes: when the automatic parking mode selected by the user is the designated area parking mode, guiding the user to select the designated area based on a self-built map of the parking lot, wherein the self-built map is created by the current user or other users. The transmitting control information to the vehicle at least in accordance with the auto-park mode selected by the user includes: and sending control information to the vehicle at least according to the designated area selected by the user.

In this embodiment, when the user selects the specified area parking mode, the mobile terminal presents the self-built map to the user and guides the user to select the specified area from the middleboxes. The range information of the selected designated area is then transmitted to the vehicle for the vehicle to determine an auto-park path from the self-built map based thereon. For example, the vehicle selects a self-built map path including the current position of the vehicle and a point in the designated area from the self-built map, and then controls the vehicle to travel to the designated area according to the self-built map path.

In some embodiments, it is also necessary to obtain a self-built map of the current parking lot in advance between automatic parking, and the self-built map may be obtained by one of the following means:

and thirdly, matching the self-built map of the corresponding parking lot according to the image environment characteristics after reaching the destination.

In some embodiments, transmitting control information to the vehicle terminal based at least on the auto-park mode selected by the user includes: and sending control information to the vehicle-mounted terminal according to the current position of the vehicle and the automatic parking mode selected by the user.

In some embodiments, the automatic driving control method of the present application further includes obtaining the current location of the vehicle by:

determining the current position of the vehicle according to the acquired current image environment characteristics; or,

and determining the current position of the vehicle according to the current position selected by the user on the map of the parking lot.

In some embodiments, the automatic driving control method of the present application further includes: and receiving an automatic parking result notification sent back by the vehicle-mounted terminal.

In some embodiments, the automatic driving control method of the present application further includes: when the automatic parking result is notified as a parking failure, prompting a user to reselect a new automatic parking mode; and sending new control information to the vehicle-mounted terminal according to the reselection of the user.

Fig. 17 is a flowchart of another embodiment of the automatic driving control method according to the present application, which further includes:

s510, recommending a new automatic parking mode for a user when the automatic parking result is notified that parking fails;

s520, if the user accepts the recommendation, new control information is sent to the vehicle-mounted terminal according to the new automatic parking mode;

s530, prompting the user to reselect a new automatic parking mode if the user does not accept the recommendation;

s540, new control information is sent to the vehicle according to the reselection of the user.

Fig. 18 is a flowchart of another embodiment of the automatic driving control method according to the present application, which further includes:

s610, entering an automatic calling control page when a user selects automatic calling on the automatic driving operation page;

s620, sending calling control information to the vehicle according to the calling point selected by the user on the automatic calling control page.

Fig. 19-22 are schematic diagrams of an interactive interface for implementing automatic calling in the present application. After the user selects the calling function on the operation interface of the mobile terminal as shown in fig. 19, the page jumps to the page shown in fig. 20. A schematic of the parking space distribution of the parking lot and an available path in the parking lot are shown below the page of fig. 20, and the user is prompted by text on the page to select a summoning point from the path. After the user clicks the call point, a corresponding display is performed on the path, and then the user is reminded to confirm the call point (as shown in fig. 21), when the user clicks the confirmation, the user jumps to the page shown in fig. 22, a driving path reaching the call point from the current position of the vehicle is displayed on the page, and the user is further prompted to start intelligent call by pressing a button for a long time.

In some embodiments, the automatic driving control method of the present application further includes: and when the user selects an auxiliary task on the automatic driving operation page, sending task execution control information to the vehicle.

In some embodiments, before sending the task execution control information to the vehicle, further comprising: acquiring a predicted required time length for executing the selected auxiliary task by a dispatching server of the parking lot; confirming to a user whether to accept the required duration; and sending task execution control information to the vehicle when the user accepts the required duration.

The method and the device for confirming the auxiliary tasks confirm whether the required length for executing the auxiliary tasks is within an acceptable range or not to avoid that the vehicle is executing the auxiliary tasks when the user needs to take a car, and delay the journey of the user. For example, for an automatic car wash service, if there are more currently queued cars, it takes 30 minutes to complete a queued car wash, and the user may only stay there for 25 minutes, obviously if a car wash is judged, the user needs to wait for a car wash when he wants to leave after 25 minutes, thus affecting the user's routing.

In some embodiments, when the user does not accept the desired duration, further confirming to the user whether the selected auxiliary task needs to be preferentially executed; and sending task execution control information to the vehicle when the user selects to execute preferentially.

In this embodiment, when the user cannot accept the initially determined required duration for executing the auxiliary task, the auxiliary task may be preferentially executed in response to the request of the user. For example, for an automatic car wash service, a user may choose to preferentially perform the automatic car wash of his car in response to a query from the system (e.g., a service that may take an expedited car wash in the form of a plurality of fees) knowing that the length required to wash a car in line with a common queue exceeds the expectations.

In some embodiments, when the user selects an auxiliary task on the autopilot page, sending task execution control information to the vehicle includes: responding to the operation of a user on the automatic driving operation page to enter an auxiliary task selection page, wherein the auxiliary task selection page comprises at least one auxiliary task option; and sending task execution control information to the vehicle according to the auxiliary task selected by the user.

In some embodiments, the at least one auxiliary task includes at least one of automatic car washing, replacement express, automatic battery replacement, and automatic charging.

In some embodiments, the method further includes prompting the user to connect the vehicle after opening the autopilot page in response to the user's operation.

Fig. 23 is a flowchart of another embodiment of the automatic driving control method of the present application, which is applied to a dispatch server of a parking lot, the method comprising:

s710, receiving control information sent by a user through a mobile terminal;

and S720, the control information is sent to the corresponding vehicle to control the vehicle to automatically drive.

According to the embodiment of the application, the mobile terminal and the vehicle are mutually communicated through the scheduling server of the parking lot, so that the problem that communication cannot be performed due to poor network signals is solved. For example, for an underground parking garage, a user will typically need to call the vehicle upstairs to get to the boarding point so that the vehicle is already in place after the person has passed without waiting for the vehicle. Then, because the distance between the user and the vehicle is usually long, the user cannot remotely control the vehicle through a near field communication technology, and because the underground parking lot is usually poor in mobile network signal, the user cannot effectively call in advance. The application solves the problems by communicating the mobile terminal with the parking lot server and then transferring information to the vehicle by the parking lot server.

In some embodiments, the mobile terminal is connected with the scheduling server through the Internet; the vehicles are connected with the dispatching server through a near field communication network.

The mobile terminal may communicate with the scheduling server via the mobile internet or WiFi, for example, a WiFi signal typically providing full coverage in a mall, and may connect to a local area network where the scheduling server is located via the WiFi signal, so as to implement communication with the scheduling server. The dispatching server is arranged in the basement and is close to the vehicles in the underground parking garage, so that the dispatching server and the vehicles can be interconnected through a near field communication technology.

In some embodiments, the control information is parking control information or summoning control information or task execution control information.

In some embodiments, the automatic driving control method of the present application further includes: receiving task execution control information from a mobile terminal or a vehicle; and executing corresponding auxiliary tasks by controlling the vehicle according to the task execution control information.

In some embodiments, the automatic driving control method of the present application further includes: receiving task execution control information from a mobile terminal or a vehicle; estimating the required time for executing the corresponding auxiliary task; sending notification information to the mobile terminal for a user to confirm whether to accept the required duration; and adding the current corresponding auxiliary task into an execution task queue when the user accepts the required duration.

In some embodiments, the automatic driving control method of the present application further includes: when the user does not accept the required time length, further confirming whether the user needs to execute the corresponding auxiliary task preferentially or not; and adding the current corresponding auxiliary task into an execution task queue when the user selects to execute preferentially.

In some embodiments, the task execution control information is generated by the mobile terminal in response to a user operation on the autopilot operation page.

In some embodiments, the auxiliary tasks include at least one of automatic car washing, replacement express, automatic battery replacement, and automatic charging.

In some embodiments, an embodiment of the present application provides an electronic device, applied to a vehicle, including: the automatic driving control system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the automatic driving control method according to any embodiment of the application when executing the computer program.

In some embodiments, an embodiment of the present application provides a mobile terminal, including: the automatic driving control system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the automatic driving control method according to any embodiment of the application when executing the computer program.

In some embodiments, the present application provides a vehicle, which is mounted with the electronic device according to any one of the embodiments of the present application.

In some embodiments, an embodiment of the present application provides a scheduling server, including: the automatic driving control system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the automatic driving control method according to any embodiment of the application when executing the computer program.

In some embodiments, embodiments of the present application provide a computer readable storage medium comprising a computer program which, when run on a computer, causes the computer to perform the autopilot control method of any one of the embodiments of the present application.

It should be noted that, for simplicity of description, the foregoing method embodiments are all illustrated as a series of acts combined, but it should be understood and appreciated by those skilled in the art that the present application is not limited by the order of acts, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present application. In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.

In some embodiments, embodiments of the present application provide a non-transitory computer-readable storage medium having stored therein one or more programs including execution instructions that are readable and executable by an electronic device (including, but not limited to, a computer, a server, or a network device, etc.) for performing any of the above-described autopilot control methods of the present application.

In some embodiments, embodiments of the present application also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform any one of the above-described autopilot control methods.

Fig. 24 is a schematic hardware structure of an electronic device for executing an autopilot control method according to another embodiment of the present application, as shown in fig. 24, the device includes:

one or more processors 2410 and a memory 2420, one processor 2410 being illustrated in fig. 24.

The apparatus for performing the automatic driving control method may further include: an input device 2430 and an output device 2440.

The processor 2410, memory 2420, input device 2430, and output device 2440 may be connected by a bus or otherwise, for example in fig. 24.

The memory 2420 is a non-volatile computer readable storage medium, and may be used to store a non-volatile software program, a non-volatile computer executable program, and modules, such as program instructions/modules corresponding to the automatic driving control method in the embodiment of the present application. The processor 2410 executes various functional applications of the server and data processing by executing nonvolatile software programs, instructions and modules stored in the memory 2420, i.e., implements the above-described method embodiment autopilot control method.

The memory 2420 may include a storage program area that may store an operating system, at least one application program required for functions, and a storage data area; the storage data area may store data created according to the use of the automatic driving control apparatus, or the like. In addition, memory 2420 can include high speed random access memory and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 2420 may optionally include memory remotely located relative to the processor 2410, which may be connected to the autopilot control via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 2430 may receive input numeric or character information and generate signals related to user settings and function control of the autopilot control device. The output 2440 can include a display device such as a display screen.

The one or more modules are stored in the memory 2420 that, when executed by the one or more processors 2410, perform the autopilot control method of any of the method embodiments described above.

The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. Technical details not described in detail in this embodiment may be found in the methods provided in the embodiments of the present application.

The electronic device of the embodiments of the present application exists in a variety of forms including, but not limited to:

(1) Mobile communication devices, which are characterized by mobile communication functionality and are aimed at providing voice, data communication. Such terminals include smart phones (e.g., iPhone), multimedia phones, functional phones, and low-end phones, among others.

(2) Ultra mobile personal computer equipment, which belongs to the category of personal computers, has the functions of calculation and processing and generally has the characteristic of mobile internet surfing. Such terminals include PDA, MID and UMPC devices, etc., such as iPad.

(3) Portable entertainment devices such devices can display and play multimedia content. Such devices include audio, video players (e.g., iPod), palm game consoles, electronic books, and smart toys and portable car navigation devices.

(4) The server is similar to a general computer architecture in that the server is provided with high-reliability services, and therefore, the server has high requirements on processing capacity, stability, reliability, safety, expandability, manageability and the like.

(5) Other electronic devices with data interaction function.

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

From the above description of embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus a general purpose hardware platform, or may be implemented by hardware. Based on such understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the related art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the method described in the respective embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.

Claims

An autopilot control method, the method comprising:

receiving control information sent by a user through a mobile terminal, wherein the control information comprises parking control information;

determining an automatic parking mode according to the parking control information;

and controlling the vehicle to automatically park according to the automatic parking mode and a map of the parking lot, wherein the map is created based on the parking lot environment information acquired by the vehicle.
The method of claim 1, wherein the auto-park mode comprises at least one of: a specified parking space parking mode, a specified area parking mode and an automatic exploration parking mode.
The method as recited in claim 2, further comprising:

when the parking cannot be completed according to the automatic parking mode, notifying the mobile terminal to prompt a user to reselect a new automatic parking mode;

and receiving new control information sent by the mobile terminal according to the reselection of the user.
The method as recited in claim 2, further comprising:

when the automatic parking mode cannot be completed, determining a new automatic parking mode for recommending the new automatic parking mode for the user by the mobile terminal;

and receiving new control information sent by the mobile terminal.
The method as recited in claim 1, further comprising:

when the control information is summoning control information,

and controlling the vehicle to complete automatic calling according to the calling control information.
The method of any one of claims 1-5, further comprising:

when the control information includes task execution control information,

and controlling the vehicle to execute corresponding auxiliary tasks according to the task execution control information.
The method of claim 6, wherein the respective auxiliary task is at least one of automatic car washing, replacement express, automatic battery replacement, and automatic charging.
The method according to any one of claims 1-7, further comprising: the map of the parking lot is acquired in advance.
The method of claim 8, wherein the pre-acquiring the map of the parking lot comprises:

matching the map of the corresponding parking lot according to the navigation destination; or alternatively

Matching the map of the corresponding parking lot according to the positioning information after reaching the destination; or alternatively

And matching the map of the corresponding parking lot according to the image environment characteristics after reaching the destination.
An automatic driving control method applied to a mobile terminal, the method comprising:

responding to the operation of a user to present an automatic driving operation page;

entering an automatic parking control page when a user selects automatic parking on the automatic driving operation page, wherein the automatic parking control page comprises at least one automatic parking mode option;

and sending control information to the vehicle-mounted terminal at least according to the automatic parking mode selected by the user.
The method of claim 10, wherein the at least one auto-park mode comprises at least one of: a specified parking space parking mode, a specified area parking mode and an automatic exploration parking mode.
The method as recited in claim 11, further comprising:

when the automatic parking mode selected by the user is a specified parking space parking mode, guiding the user to select the specified parking space based on a map of a parking space, wherein the map is created based on the environment information of the parking space acquired by a vehicle;

the transmitting control information to the vehicle-mounted terminal at least according to the automatic parking mode selected by the user comprises: and sending control information to the vehicle-mounted terminal at least according to the appointed parking space selected by the user.
The method as recited in claim 11, further comprising:

when the automatic parking mode selected by the user is a specified area parking mode, guiding the user to select a specified area based on a map of a parking lot, wherein the map is created based on the environment information of the parking lot acquired by a vehicle;

the transmitting control information to the vehicle-mounted terminal at least according to the automatic parking mode selected by the user comprises: and sending control information to the vehicle-mounted terminal at least according to the designated area selected by the user.
The method according to claim 12 or 13, further comprising: the map is acquired in advance by:

matching the map of the corresponding parking lot according to the navigation destination; or alternatively

Matching the map of the corresponding parking lot according to the positioning information after reaching the destination; or alternatively

And matching the map of the corresponding parking lot according to the image environment characteristics after reaching the destination.
The method of claim 10, wherein the step of determining the position of the first electrode is performed,

the transmitting control information to the vehicle-mounted terminal at least according to the automatic parking mode selected by the user comprises: and sending control information to the vehicle-mounted terminal according to the current position of the vehicle and the automatic parking mode selected by the user.
The method of claim 15, wherein the current location of the vehicle is obtained by:

determining the current position of the vehicle according to the acquired current image environment characteristics; or,

and determining the current position of the vehicle according to the current position selected by the user on the map.
The method as recited in claim 16, further comprising: and receiving an automatic parking result notification sent back by the vehicle-mounted terminal.
The method as recited in claim 17, further comprising:

when the automatic parking result is notified as a parking failure, prompting a user to reselect a new automatic parking mode;

and sending new control information to the vehicle-mounted terminal according to the reselection of the user.
The method as recited in claim 17, further comprising:

when the automatic parking result is notified as a parking failure, recommending a new automatic parking mode for the user;

if the user accepts the recommendation, new control information is sent to the vehicle-mounted terminal according to the new automatic parking mode;

prompting the user to reselect a new automatic parking mode if the user does not accept the recommendation;

and sending new control information to the vehicle-mounted terminal according to the reselection of the user.
The method as recited in claim 10, further comprising:

entering an automatic calling control page when the user selects automatic calling on the automatic driving operation page;

and sending calling control information to the vehicle-mounted terminal according to the calling point selected by the user on the automatic calling control page.
The method according to any one of claims 10-20, further comprising:

and when the user selects an auxiliary task on the automatic driving operation page, sending task execution control information to the vehicle-mounted terminal.
The method according to claim 21, further comprising, before transmitting task execution control information to the in-vehicle terminal:

Acquiring a predicted required time length for executing the selected auxiliary task by a dispatching server of the parking lot;

confirming to a user whether to accept the required duration;

and when the user receives the required duration, sending task execution control information to the vehicle-mounted terminal.
The method of claim 22, wherein the step of determining the position of the probe is performed,

when the user does not accept the required time length, further confirming whether the selected auxiliary task needs to be executed preferentially or not to the user;

and when the user selects to execute preferentially, sending task execution control information to the vehicle-mounted terminal.
The method according to claim 21, wherein when the user selects an auxiliary task on the autopilot page, transmitting task execution control information to the in-vehicle terminal includes:

responding to the operation of a user on the automatic driving operation page to enter an auxiliary task selection page, wherein the auxiliary task selection page comprises at least one auxiliary task option;

and sending task execution control information to the vehicle-mounted terminal according to the auxiliary task selected by the user.
The method of claim 24, wherein the at least one auxiliary task comprises at least one of automatic car washing, replacement express, automatic battery replacement, and automatic charging.
The method according to any one of claims 10-25, further comprising: after opening the autopilot operation page in response to an operation of the user, the user is prompted to connect the vehicle-mounted terminal.
An automatic driving control method applied to a dispatch server of a parking lot, the method comprising:

receiving control information sent by a user through a mobile terminal;

and sending the control information to the corresponding vehicle to control the vehicle to automatically drive.
The method of claim 27, wherein the mobile terminal is connected to the scheduling server via the internet; the vehicle is connected with the dispatch server through a near field communication network.
The method of claim 28, wherein the control information is parking control information or summoning control information or task execution control information.
The method according to any one of claims 27-29, further comprising:

receiving task execution control information, wherein the task execution control information is used for the self-mobile terminal or the vehicle;

and controlling the vehicle to execute corresponding auxiliary tasks according to the task execution control information.
The method according to any one of claims 27-29, further comprising:

receiving task execution control information from the mobile terminal or the vehicle;

estimating the required time for executing the corresponding auxiliary task;

sending notification information to the mobile terminal for a user to confirm whether to accept the required duration;

and adding the current corresponding auxiliary task into an execution task queue when the user accepts the required duration.
The method of claim 31, wherein the step of determining the position of the probe is performed,

when the user does not accept the required time length, further confirming whether the user needs to execute the corresponding auxiliary task preferentially or not;

and adding the current corresponding auxiliary task into an execution task queue when the user selects to execute preferentially.
A method according to any of claims 29-32, wherein the task execution control information is generated by the mobile terminal in response to a user's operation on the autopilot operation page.
The method of any one of claims 30-33, wherein the auxiliary tasks include at least one of automatic car washing, replacement express, automatic battery replacement, and automatic charging.
An electronic device for use in a vehicle, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the autopilot control method according to any one of claims 1-9 when the computer program is executed.
A computer readable storage medium comprising a computer program which, when run on a computer, causes the computer to perform the autopilot control method of any one of claims 1-9.
A mobile terminal, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the autopilot control method of any one of claims 10-26 when the computer program is executed.
A computer readable storage medium comprising a computer program which, when run on a computer, causes the computer to perform the autopilot control method of any one of claims 10-26.
A vehicle, characterized in that the electronic device according to claim 35 is mounted.
A dispatch server, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the autopilot control method of any one of claims 27-34 when the computer program is executed.
A computer readable storage medium comprising a computer program which, when run on a computer, causes the computer to perform the autopilot control method of any one of claims 27 to 34.