WO2020151188A1 - 基于自动泊车的洗车方法及车载终端 - Google Patents

基于自动泊车的洗车方法及车载终端 Download PDF

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Publication number
WO2020151188A1
WO2020151188A1 PCT/CN2019/093461 CN2019093461W WO2020151188A1 WO 2020151188 A1 WO2020151188 A1 WO 2020151188A1 CN 2019093461 W CN2019093461 W CN 2019093461W WO 2020151188 A1 WO2020151188 A1 WO 2020151188A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
car washing
car
parking
washing machine
Prior art date
Application number
PCT/CN2019/093461
Other languages
English (en)
French (fr)
Inventor
柳燕飞
吴贤
和卫民
Original Assignee
广州小鹏汽车科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广州小鹏汽车科技有限公司 filed Critical 广州小鹏汽车科技有限公司
Priority to EP19912145.0A priority Critical patent/EP3885211B1/en
Publication of WO2020151188A1 publication Critical patent/WO2020151188A1/zh

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • G05D1/0282—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal generated in a local control room
    • 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
    • B60W30/06—Automatic manoeuvring for parking
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S3/00—Vehicle cleaning apparatus not integral with vehicles
    • B60S3/04—Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • 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
    • B60W2556/45—External transmission of data to or from the vehicle

Definitions

  • the invention relates to the technical field of automobile cleaning, in particular to a car washing method based on automatic parking and a vehicle-mounted terminal.
  • the embodiment of the invention discloses a car washing method based on automatic parking and a vehicle-mounted terminal, which can control a vehicle to automatically park in a car washing area of a car washing machine, thereby improving the efficiency of car washing.
  • the first aspect of the embodiments of the present invention discloses a car washing method based on automatic parking, the method including:
  • a car washing request message is sent to the car washing machine, so that the car washing machine starts a car washing service according to the car washing request message.
  • the method further includes:
  • controlling the vehicle to drive to a preset initial parking position located around the car washing machine includes:
  • the geographic location of the car washer is the navigation destination, when it is detected that the real-time distance between the vehicle and the car washer is less than the preset distance threshold, it is determined that an automatic parking instruction is detected, and the vehicle is controlled Driving to a preset initial parking position around the car washing machine;
  • the vehicle is controlled to travel to a preset initial parking position located around the car washing machine.
  • the method further includes:
  • the location of the car washing area is determined according to the location of the marker.
  • the method further includes:
  • the deduction account is an account bound to a user account corresponding to the vehicle.
  • the method further includes:
  • the method further includes:
  • a second aspect of the embodiments of the present invention discloses a vehicle-mounted terminal, including:
  • the control unit is used to control the vehicle to drive to the initial parking position preset around the car washing machine when the automatic parking instruction is detected;
  • a path generation unit configured to generate a parking path according to the initial parking position and the position of the car washing area preset by the car washing machine;
  • a parking unit for controlling the vehicle to park into the car washing area according to the parking path
  • the request unit is configured to send a car washing request message to the car washing machine when the vehicle is parked in the car washing area, so that the car washing machine starts a car washing service according to the car washing request message.
  • the method further includes:
  • the parking unit is used to control the vehicle to leave the car washing area when an automatic parking instruction is detected.
  • control unit is specifically configured to detect that the vehicle and the car washer are the navigation destination in the geographic location of the car washer.
  • the vehicle is controlled to drive to the preset initial parking position around the car washer; or, when it is detected by the user
  • the vehicle is controlled to travel to a preset initial parking position located around the car washing machine.
  • the method further includes:
  • the first detection unit is configured to use the vehicle's camera and radar sensor to detect the preset markers inside the car washing machine;
  • the determining unit is configured to determine the location of the car washing area according to the location of the marker.
  • the method further includes:
  • the judging unit is used to judge whether a deduction success message is received
  • the parking unit is specifically configured to control the vehicle to park in the car washing area according to the parking path when the determining unit determines that the toll deduction success message is received;
  • the deduction success message is used to indicate that the server successfully deducts the deduction account, and the deduction account is an account bound to the user account corresponding to the vehicle.
  • the method further includes:
  • the second detection unit is used to detect whether the hardware devices of the vehicle are in the normal working state required for automatic parking;
  • the parking unit is specifically configured to, when the second detection unit detects that the hardware devices are all in the normal working state and the judgment unit determines that the deduction success message is received, control the vehicle to follow The parking entry path stops in the car washing area;
  • the prompt unit is configured to output parking prompt information to prompt the user to drive the vehicle into the car wash area when the second detection unit detects that any of the hardware devices is not in the normal working state.
  • the parking unit is specifically configured to detect whether the car washing service of the car washing machine is completed when an automatic parking instruction is detected; And when the end of the car wash service is detected, the vehicle is controlled to leave the car wash area.
  • a third aspect of the embodiments of the present invention discloses a vehicle-mounted terminal, including:
  • a memory storing executable program codes
  • a processor coupled with the memory
  • the processor invokes the executable program code stored in the memory to execute any method disclosed in the first aspect of the embodiment of the present invention.
  • a fourth aspect of the present invention discloses a computer-readable storage medium that stores a computer program, wherein the computer program causes a computer to execute any method disclosed in the first aspect of the embodiments of the present invention.
  • the fifth aspect of the embodiments of the present invention discloses a computer program product, which when the computer program product runs on a computer, causes the computer to execute any method disclosed in the first aspect of the embodiments of the present invention.
  • the vehicle After the automatic parking instruction is detected, the vehicle is automatically controlled to drive to the initial parking position preset around the car washer, and the parking path is generated according to the initial parking position and the position of the car washing area of the car washer, so that the vehicle can be controlled according to the parking
  • the entry path stops in the car washing area of the car washing machine; once it is detected that the vehicle has parked in the car washing area, the car washing machine can be requested to start the car washing service through the car washing request message. It can be seen that implementing the embodiments of the present invention can control the vehicle to automatically park in the designated car washing area of the car washing machine without manual manipulation by the driver, and it can also automatically start the car washing service after the vehicle parks in the car washing area, thereby reducing the parking time of the driver. Improve car wash efficiency.
  • Figure 1 is a schematic structural diagram of a car washing system disclosed in an embodiment of the present invention.
  • FIG. 2 is a schematic flowchart of a car washing method based on automatic parking according to an embodiment of the present invention
  • Fig. 3 is an exemplary top view of a car washing machine and an initial parking position disclosed in an embodiment of the present invention
  • FIG. 4 is a schematic flowchart of another car washing method based on automatic parking disclosed in an embodiment of the present invention.
  • FIG. 5 is a schematic flowchart of another car washing method based on automatic parking according to an embodiment of the present invention.
  • Fig. 6 is a schematic structural diagram of a vehicle-mounted terminal disclosed in an embodiment of the present invention.
  • Fig. 7 is a schematic structural diagram of another vehicle-mounted terminal disclosed in an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of another vehicle-mounted terminal disclosed in an embodiment of the present invention.
  • FIG. 9 is a schematic flowchart of another car washing method based on automatic parking disclosed in an embodiment of the present invention.
  • the embodiment of the invention discloses a car washing method based on automatic parking and a vehicle-mounted terminal, which can control a vehicle to automatically park in a car washing area of a car washing machine, thereby improving the efficiency of car washing. Detailed descriptions are given below.
  • FIG. 1 is a schematic structural diagram of a car washing system.
  • the car washing system may include a car washing machine, a server, and a vehicle equipped with a vehicle-mounted terminal; among them, the car washing machine, the server, and the vehicle-mounted terminal can communicate through 5G networks, 4G networks, wireless local area networks ((Wireless Local Area Networks; WLAN), and wide area networks). (Wide Area Network, WAN) or Bluetooth and other wireless communication connections for data transmission.
  • 5G networks 4G networks
  • wireless local area networks ((Wireless Local Area Networks; WLAN), and wide area networks).
  • WLAN Wireless Local Area Networks
  • WAN Wide Area Network
  • Bluetooth Bluetooth
  • FIG. 2 is a schematic flowchart of a car washing method based on automatic parking according to an embodiment of the present invention.
  • the method of washing a car based on automatic parking shown in FIG. 2 is applicable to the method shown in FIG. 2 as shown in FIG. 1.
  • the method of washing a car based on automatic parking may include the following steps:
  • the vehicle-mounted terminal When the vehicle-mounted terminal detects an automatic parking instruction, it controls the vehicle to drive to a preset parking initial position around the car washing machine.
  • the user can input the automatic parking instruction by voice or touching the touch screen of the vehicle-mounted terminal.
  • the vehicle-mounted terminal can search for car wash machines located around the vehicle to determine the car wash
  • the initial parking position preset around the machine.
  • FIG. 3 is an exemplary top view of a car washing machine and an initial parking position according to an embodiment of the present invention.
  • the initial parking position can be set around the entrance of the car washer, and can be any position within a certain distance from the entrance of the car washer; preferably, when the vehicle is parked in the initial parking position, it can be set with the entrance of the car washer.
  • the entrance is parallel or perpendicular to the entrance of the car washer, so that vehicles can enter the entrance of the car washer.
  • the direction of the front of the vehicle is not limited.
  • the front of the vehicle may face the entrance of the car washer.
  • the vehicle-mounted terminal generates a parking path according to the initial parking position and the position of the car washing area preset by the car washing machine.
  • the server may store the position information of multiple car washes, the position information of the car wash area of each car washer, and the position information of the initial parking position around each car washer.
  • the vehicle-mounted terminal can specifically query the location information of the car washing area in the car washing machine that is currently ready to park and the location information of the initial parking position of the vehicle currently (or about to be) parked through the server, so as to take the initial parking position as the starting point and take the car wash
  • the location of the area is the end point, and the parking path is generated.
  • the server may also store multiple parking paths from each parking initial position around the car washing machine to the car washing area of the car washing machine, and the vehicle-mounted terminal can park from multiple parking paths.
  • the starting point of the path is determined as the parking path corresponding to the initial parking position where the vehicle is currently (or about to) park.
  • the vehicle-mounted terminal controls the vehicle to park in the car washing area according to the aforementioned parking route.
  • the vehicle-mounted terminal sends a car washing request message to the car washing machine, so that the car washing machine starts the car washing service according to the car washing request message.
  • the vehicle-mounted terminal can control the vehicle to stop moving .
  • the car washing machine can also detect whether the vehicle has parked in the car washing area through the infrared detection equipment of its own device, and can also send a vehicle parked success message to the server when detecting that the vehicle has parked in the car washing area.
  • the user can input the car wash start instruction through the on-board terminal, the on-board terminal sends a car wash request message to the server, and the server will wash the car when it receives the vehicle parking success message sent by the on-board terminal and/or car washer
  • the request message is forwarded to the car washing machine, and the car washing machine starts the car washing service for the vehicle after receiving the car washing request message.
  • the vehicle-mounted terminal can control the vehicle to automatically park in the car washing area of the car washer without manual manipulation by the driver, thereby reducing the parking time of the driver and improving the efficiency of car washing; in addition, once the vehicle is detected In the car washing area, the car washing service of the car washing machine can also be automatically started, which can further improve the efficiency of car washing.
  • FIG. 4 is another car washing method based on automatic parking disclosed in an embodiment of the present invention.
  • the method for washing a car based on automatic parking may include the following steps:
  • the vehicle-mounted terminal When the vehicle-mounted terminal detects an automatic parking instruction, it controls the vehicle to drive to a preset parking initial position around the car washing machine.
  • the automatic parking instruction can be triggered by the following two implementation methods:
  • the automatic parking command is determined to be detected, and the vehicle is controlled to drive to the vicinity of the car washer
  • the preset initial parking position that is to say, the implementation of this implementation mode automatically triggers the parking instruction when the vehicle reaches the navigation destination.
  • the vehicle-mounted terminal can detect the automatic parking instruction input by the user through the following methods: 1. The automatic parking instruction input by touching the touch screen of the vehicle-mounted terminal (such as clicking the "park in” button); 2. Via the vehicle's electronics The automatic parking instruction input by the key; 3. The automatic parking instruction input through the mobile communication device (such as mobile phone) that has a communication connection with the vehicle terminal.
  • the mobile communication device such as mobile phone
  • the vehicle-mounted terminal generates a parking path according to the initial parking position and the position of the car washing area preset by the car washing machine.
  • the vehicle-mounted terminal can use the vehicle's camera and radar sensor to detect the preset markers (such as special lane lines) inside the car washer, and determine the location of the car-washing area according to the position of the marker; that is, the vehicle-mounted The terminal can adjust the position of the car washing area in real time according to the detection results of the camera and radar sensor when the vehicle enters the car washing machine, so that the specific parking route can be further adjusted, and the vehicle can be controlled to park in the car washing area more accurately.
  • the preset markers such as special lane lines
  • the vehicle-mounted terminal detects whether the hardware devices of the vehicle are in a normal working state required for automatic parking, if yes, execute step 404, if not, execute step 405.
  • each hardware device may include but is not limited to the following conditions: 1. Tire pressure is normal; 2. Four doors and two covers (four doors on the sides, hood at the front, and trunk at the rear Cover) are in a normally closed state; 3. The camera and radar sensors are not malfunctioning; 4. The intelligent controller used to control the movement of the vehicle is not abnormal; 5. The power system is not malfunctioning; 6. The controller or sensor related to automatic driving is not malfunction.
  • the vehicle-mounted terminal judges whether a deduction success message is received, if yes, execute step 406, if not, execute step 407.
  • the deduction success message is used to indicate that the server successfully deducts the deduction account, and the deduction account is an account bound to the user account corresponding to the vehicle.
  • the user account corresponding to the vehicle can be obtained by identifying the vehicle.
  • the car washing machine can communicate with the vehicle-mounted terminal.
  • the communication methods can include but are not limited to Bluetooth communication, 4G communication, Wi-Fi communication, and V2X (Vehicle to everything) communication.
  • V2X communication is specifically It can be the Internet of Things between the vehicle and the washing machine.
  • the car washing machine can obtain the vehicle VIN code (Vehicle Identification Number) as a user account through the above-mentioned communication method, or obtain the license plate information of the vehicle to identify the user account corresponding to the license plate information.
  • VIN code Vehicle Identification Number
  • the server can successfully deduct the deduction account under the following circumstances: when the current balance of the deduction account is greater than the cost of the car wash service; or, after deducting the cost of the car wash service, deduct the fee
  • the arrears limit of the account does not exceed the allowable overdraft limit.
  • the vehicle-mounted terminal outputs parking prompt information to prompt the user to drive the vehicle to park in the car wash area.
  • the vehicle-mounted terminal can output parking prompt information (specifically, in the form of voice or text), prompting the user to manually drive into the car washing area in the car washing machine.
  • parking prompt information specifically, in the form of voice or text
  • the vehicle-mounted terminal controls the vehicle to park in the car washing area according to the above-mentioned parking route, and continues to perform step 408.
  • the vehicle-mounted terminal outputs recharge prompt information to prompt the user to recharge the deduction account.
  • the vehicle-mounted terminal may output recharge prompt information in the form of voice, text, etc.
  • the vehicle-mounted terminal may also determine whether to receive the recharge completion message returned by the server, and if so, re-execute step 404 to initiate the parking request again.
  • the recharge completion message is used to indicate that the deduction account has been recharged.
  • the vehicle-mounted terminal sends a car washing request message to the car washing machine, so that the car washing machine starts the car washing service according to the car washing request message.
  • the vehicle-mounted terminal may also perform the following operations:
  • the vehicle-mounted terminal controls the vehicle's hardware equipment to enter the car wash preparation state through electronically controlled equipment; specifically, it can include but not limited to the following operations: 1. Close the window; 2. Close the wiper; 3. Fold the rearview mirror; 4. .Put into the parking gear.
  • the vehicle-mounted terminal can obtain the car-wash service package issued by the server and output it to the touch screen of the vehicle-mounted terminal for display; or the vehicle-mounted terminal can also send the car-wash service package to the vehicle-mounted terminal Displayed on mobile communication devices (such as mobile phones) with communication connections;
  • the vehicle-mounted terminal obtains any target service package determined by the user from the car wash service package, and detects the vehicle wash start instruction entered by the user; accordingly, the user can also input the vehicle wash start instruction by touching the touch screen of the vehicle terminal and through the mobile communication device , Or take the user's operation of locking the vehicle through the electronic key as the car wash start instruction.
  • the vehicle-mounted terminal After the vehicle-mounted terminal detects the car wash start instruction, it executes the step of sending a car wash request message to the car wash machine, so that the car wash machine starts the car wash service according to the car wash request message.
  • the car washing service started by the car washing machine is the car washing service corresponding to the target service package.
  • the vehicle-mounted terminal In the process of car washing, if the vehicle-mounted terminal detects one or more of the following conditions, it can send a car washing stop message to the car washing machine to stop the current car washing service: 1. Car windows, wipers, rearview mirrors , Any one of the four doors and two covers is opened; 2. The vehicle is not engaged in the parking gear; 3. The vehicle is ignited; 4. It may cause the vehicle to scratch surrounding obstacles and other vehicle conditions that affect safety.
  • the vehicle-mounted terminal when it detects the above situation, it can also output a status prompt message to remind the user to pay attention to the abnormal state of the vehicle.
  • the vehicle-mounted terminal can output status prompt messages in the following ways: control the flashing of car lights (such as continuous double flashing), control the sound of the horn (such as intermittent honking), output status prompt messages in the form of text or voice, and push status prompt messages
  • control the flashing of car lights such as continuous double flashing
  • control the sound of the horn such as intermittent honking
  • output status prompt messages in the form of text or voice
  • push status prompt messages To display in mobile communication devices such as mobile phones, etc., the embodiment of the present invention does not limit it.
  • the vehicle-mounted terminal can also obtain the car washing progress information fed back by the server, and output and display the car washing progress information.
  • the car wash progress information may include the current car wash stage (such as water spraying, foaming, etc.), remaining car wash time and other information. Among them, the remaining car wash time can be dynamically calculated by the server according to the target service package and the vehicle model.
  • the vehicle-mounted terminal detects the automatic parking instruction, it detects whether the car washing service of the car washing machine is finished, if yes, execute step 410, if not, continue to execute step 409.
  • the vehicle-mounted terminal can detect the automatic parking instruction input through the following methods: 1. The automatic parking instruction input by touching the touch screen of the vehicle-mounted terminal (such as clicking the "park-out” button); 2. Via the vehicle The automatic parking instruction input by the electronic key; 3. The automatic parking instruction input through the mobile communication device (such as mobile phone) that has a communication connection with the vehicle terminal.
  • the mobile communication device such as mobile phone
  • the user can input the automatic parking instruction and the automatic parking instruction through the touch screen of the vehicle terminal, the electronic key, or mobile communication devices such as mobile phones and smart tablets.
  • the user if the user enters the automatic parking instruction and automatic parking instruction through the electronic key or mobile communication device, the user does not need to enter the car washing machine during the entire car washing process, which can prevent the water vapor and stains in the car washing machine from contaminating the user. .
  • the user can get off the car first, and then input an automatic parking instruction through the electronic key or mobile communication device, and the on-board terminal automatically controls the vehicle to enter the car washing area of the car washer;
  • the user can input an automatic parking instruction through the electronic key or mobile communication device, and the on-board terminal automatically controls the vehicle to leave the car wash area; when the vehicle leaves the car wash area, the user gets in the car to complete the entire car wash process.
  • the vehicle-mounted terminal controls the vehicle to leave the car washing area only when the automatic parking instruction is detected and the car washing service of the car washing machine ends. That is to say, during the car washing process, even if the automatic parking instruction is detected, the vehicle cannot be controlled to park, so as to reduce the potential safety hazards caused by rashly starting the vehicle during the car washing process, thereby ensuring safety.
  • the server can send a service end message to the vehicle-mounted terminal to prompt the user that the car washing service is over, and can input an automatic parking instruction to guide the user to control the vehicle to leave the car washing area through the vehicle-mounted terminal in time.
  • the vehicle-mounted terminal controls the vehicle to leave the car washing area.
  • the vehicle-mounted terminal can control the vehicle to automatically park in and out of the car washing area, so that the user can conveniently complete the entire car washing process, and further improve the efficiency of the car washing. Furthermore, before the vehicle is controlled to park in the car wash area, the hardware equipment of the vehicle can also be detected, and the fee required for the car wash service can be deducted, thereby improving the safety of automatic parking. Furthermore, it is not allowed to control the vehicle to leave the car washing area during the car washing process to further ensure safety. In addition, in the method described in FIG.
  • FIG. 5 is another car washing method based on automatic parking disclosed in an embodiment of the present invention.
  • the server may include a car washing machine server in the background of the car washing machine and a smart car washing cloud server of a smart car washing platform.
  • the automatic parking-based The car washing method can include the following steps:
  • the vehicle-mounted terminal uses the geographic location of the car washer as a navigation destination to generate navigation information, so that the vehicle can drive to the car washer according to the navigation information.
  • the vehicle-mounted terminal can query car washing machines near the vehicle through a server (such as a smart car washing cloud server), and output information of several car washing machines that are inquired for selection by the user.
  • a server such as a smart car washing cloud server
  • the target car washing machine selected by the user from several car washing machines can be detected as a navigation destination, thereby controlling the vehicle to automatically drive to the vicinity of the car washing machine or assisting the user to drive the vehicle to the vicinity.
  • the vehicle-mounted terminal detects an automatic parking instruction when it detects that the real-time distance between the vehicle and the car washer is less than a preset distance threshold.
  • the vehicle-mounted terminal when the vehicle-mounted terminal detects that the vehicle has reached the vicinity of the navigation destination, it can start the car washing machine search function, and search for a closer distance to the vehicle through image recognition, wireless communication between the vehicle and the car washing machine, etc. Distance threshold).
  • the vehicle-mounted terminal may automatically trigger an automatic parking instruction when detecting that the real-time distance between the vehicle and the car washer is less than a preset distance threshold, or may detect an automatic parking instruction input by the user.
  • the vehicle-mounted terminal controls the vehicle to drive to a preset initial parking position around the car washer, and uploads vehicle identity information to the server.
  • the server recognizes the vehicle identity information and detects the working state of the car washer; if the vehicle identity is successfully recognized and the working state of the car washer is normal, it sends a parking permission message to the vehicle terminal.
  • the successful identification of the vehicle identity may include that the server queries the user account corresponding to the vehicle identity and the deduction account bound to the user account.
  • the normal working status of the car washing machine may include the absence of malfunctions in various parts of the car washing machine, and the smooth communication between the car washing machine and the server.
  • the vehicle-mounted terminal detects whether the hardware devices of the vehicle are in a normal working state required for automatic parking, and if so, execute step 506.
  • the vehicle-mounted terminal can specifically generate a parking path according to the initial parking position and the position of the car washing area preset by the car washing machine, thereby controlling the vehicle to park in the car washing area according to the generated parking path;
  • the vehicle-mounted terminal can use the vehicle's camera and radar sensor to detect the preset markers (such as special lane lines) inside the car washer, and adjust the position of the car washing area according to the position of the markers, which can further By adjusting the specific parking path, the vehicle can be controlled to park in the car wash area more accurately.
  • the vehicle-mounted terminal checks whether the hardware devices of the vehicle are in a car wash preparation state, and if so, sends a safety detection success message to the server; if not, outputs a status prompt message.
  • the car washing machine detects whether the vehicle has parked in the car washing area, and if it is, it sends a parking success message to the server; if not, it sends the vehicle not parked message to the vehicle-mounted terminal through the server.
  • the vehicle-mounted terminal if it receives the message that the vehicle is not parked, it controls the movement of the vehicle according to the message that the vehicle is not parked, so that the vehicle is parked in the car wash area.
  • the sent vehicle not parked message may contain control information indicating that the vehicle is moving forward, and the on-board terminal controls the vehicle to move forward according to the control information; if the car washing machine detects that the vehicle has passed the car washing area Area, then the control information can instruct the vehicle to reverse, and the vehicle-mounted terminal controls the vehicle to reverse according to the control information.
  • the server When receiving the safety detection success message and the parking success message, the server issues the car washing service package corresponding to the car washing machine to the vehicle-mounted terminal.
  • the vehicle-mounted terminal detects the target service package determined by the user from the car wash service package, and sends a car wash request message to the server.
  • the car wash request message may include relevant information of the target service package, and the car wash service initiated by the car wash and machine corresponds to the service included in the target service package.
  • the server creates a car wash order for the car wash service corresponding to the target service package, and deducts the fee deduction account bound to the user account according to the created car wash order; if the deduction is successful, it sends a car wash request message to the car washer; if If the deduction fails, a recharge prompt message is sent to the vehicle terminal.
  • the car washing machine When receiving the car washing request message, the car washing machine starts a car washing service for the vehicle and corresponding to the target service package.
  • the car washing machine reports the car washing progress information of the car washing service to the server in real time; the server obtains the car washing progress information of the car washing machine, and synchronizes the car washing progress information to the on-board terminal for display.
  • the car washing machine sends a service end message to the server, and the server forwards the service end message to the vehicle-mounted terminal; when the vehicle-mounted terminal receives the service end message, it outputs a departure prompting the user to drive the vehicle to leave the field Prompt message.
  • the vehicle-mounted terminal When the vehicle-mounted terminal detects an automatic parking instruction, it controls the vehicle to leave the car washing area.
  • the car washing machine When the car washing machine detects that the vehicle has left the car washing area, it sends a vehicle departure message to the server; when the server receives the above vehicle departure message, it updates the order status of the car wash order corresponding to the car wash service.
  • FIG. 9 is another car washing method based on automatic parking disclosed in an embodiment of the present invention.
  • the method for washing a car based on automatic parking may include the following steps:
  • the vehicle-mounted terminal When the vehicle-mounted terminal arrives near the car washing machine, it uploads the vehicle identity information to the smart car washing cloud service terminal and initiates a preliminary parking request.
  • the smart car wash cloud server recognizes the vehicle identity information, and forwards the pre-parking request to the car wash server.
  • the car washing machine server detects the working state of the car washing machine according to the preliminary parking request, and receives the working state fed back by the car washing machine.
  • the smart car washing cloud server If the smart car washing cloud server successfully recognizes the vehicle identity and the car washing machine server detects that the working state of the car washing machine is normal, it sends a parking permission message to the vehicle-mounted terminal. 905.
  • the vehicle-mounted terminal detects whether the hardware equipment of the vehicle is in a normal working state. If it is, it controls the vehicle to drive to the preset initial parking position around the car washer according to the detected automatic parking instruction when receiving the parking permission message , And park in the car wash area from the initial parking position.
  • the vehicle-mounted terminal may specifically generate a parking path according to the initial parking position and the car washing area, and control the vehicle to park in the car washing area according to the generated parking path.
  • Performing the above steps 901 to 905 can complete the parking entry process of the vehicle parking in the car washing machine, thereby realizing the automatic parking of the vehicle. After the vehicle has parked in the car wash area, the following steps 906 to 913 can be executed.
  • In-vehicle final check whether the hardware devices of the vehicle are in a car wash preparation state; if so, send a safety detection success message to the car washer server via the smart car wash cloud server; if not, output a status prompt message.
  • the car washing machine detects whether the vehicle has parked in the car washing area; if so, it sends a parking success message to the car washing machine server.
  • the car washing machine server receives the parking success message and the safety detection success message, it sends at least one car washing service package corresponding to the car washing machine to the vehicle terminal through the smart car washing cloud service terminal.
  • the vehicle-mounted terminal detects the target service package determined from the at least one car wash service package, and sends a car wash request message to the smart car wash cloud server.
  • the smart car wash cloud server creates a car wash order for the car wash service corresponding to the target service package according to the car wash request message, and deducts the fee deduction account bound to the user account according to the created car wash order; if the deduction is successful, pass the car wash
  • the machine server forwards the car washing request message to the car washing machine.
  • the car washing machine starts a car washing service for the vehicle and corresponding to the target service package when receiving the car washing request message.
  • the car washing machine synchronizes the car washing progress information to the on-board terminal for output and display through the car washing machine server and the smart car washing cloud server.
  • the car washer sends a service end message to the on-board terminal through the car washer server and the smart car wash cloud server, so that the on-board terminal outputs a departure prompt message.
  • the car wash service process for the vehicle can be completely targeted.
  • the following steps 914 to 915 may be executed.
  • the vehicle-mounted terminal detects the automatic parking instruction, and detects whether the hardware equipment of the vehicle is in a normal working state according to the automatic parking instruction, and if so, execute step 915.
  • the vehicle-mounted terminal controls the vehicle to leave the car washing area, and when the vehicle has left the car washing area, it reports the vehicle leaving message to the car washing machine server and the smart car washing cloud server.
  • the parking and leaving process of the vehicle leaving the car washer can be completed, thereby realizing the automatic parking of the vehicle. It can be seen that in the embodiment of the present invention, the user does not need to control the vehicle during the entire process from the vehicle entering the car washing machine, performing the car washing service to the vehicle using the car washing machine, which can free the user's attention and provide the user with good interaction. Experience.
  • FIG. 6 is a schematic structural diagram of a vehicle-mounted terminal disclosed in an embodiment of the present invention.
  • the vehicle-mounted terminal may include:
  • the control unit 601 is configured to control the vehicle to drive to the initial parking position preset around the car washing machine when the automatic parking instruction is detected;
  • the path generating unit 602 is configured to generate a parking path according to the initial parking position and the position of the car washing area preset by the car washing machine;
  • the path generation unit 602 can specifically query the location information of the car washing area in the car washer that is currently to be parked and the location information of the initial parking position of the vehicle currently (or about to be) parked through the server, thereby The initial position of the car is the starting point, and the position of the car washing area is the end point to generate a parking path.
  • the path generation unit 602 may also determine the parking path corresponding to the initial parking position where the vehicle is currently (or about to) park from a plurality of parking paths stored by the service device.
  • the parking unit 603 is used to control the vehicle to park in the car washing area according to the parking path;
  • the request unit 604 is configured to send a car washing request message to the car washing machine when the vehicle is parked in the car washing area, so that the car washing machine starts the car washing service according to the car washing request message.
  • the implementation of the vehicle-mounted terminal shown in Figure 6 can control the vehicle to automatically park in the car washing area of the car washing machine without manual manipulation by the driver, thereby reducing the driver's parking time and improving the efficiency of car washing; in addition, once the vehicle is detected to park in the car washing area , It can also automatically start the car washing service of the car washing machine, which can further improve the efficiency of car washing.
  • FIG. 7 is a schematic structural diagram of another vehicle-mounted terminal disclosed in an embodiment of the present invention.
  • the vehicle-mounted terminal may include:
  • the parking unit 605 is used to control the vehicle to leave the car washing area when an automatic parking instruction is detected.
  • the parking unit 605 can be specifically used to detect whether the car washing service of the car washing machine is completed when the automatic parking instruction is detected; and when detecting the end of the car washing service, control the vehicle to leave the car washing area to reduce car washing In the process, the potential safety hazards caused by rashly starting the vehicle will further ensure safety.
  • control unit 601 can be specifically used to detect that the real-time distance between the vehicle and the car washer is less than the preset distance threshold when the geographic location of the car washer is the navigation destination.
  • the automatic parking instruction is detected, and control the vehicle to drive to the preset initial parking position around the car washer; or, when the automatic parking instruction input by the user is detected, control the vehicle to travel to the car washer The preset initial parking position of the surrounding area.
  • control unit 601 can automatically trigger an automatic parking instruction when the car washer is the navigation destination and detect that the vehicle is near the car washer, so as to control the vehicle to drive to the initial parking position; Input the automatic parking instruction by yourself, and control the vehicle to the initial parking position according to the automatic parking instruction input by the user;
  • the vehicle-mounted terminal shown in FIG. 7 may also include:
  • the first detection unit 606 is configured to use the vehicle's camera and radar sensor to detect the markers preset inside the car washing machine;
  • the determining unit 607 is configured to determine the location of the car washing area according to the location of the marker.
  • the position of the car washing area can be adjusted in real time according to the detection results of the camera and radar sensor when the vehicle is entering the car washing machine, thereby triggering the path generation unit 602 to further By adjusting the specific parking path, the parking unit 603 can more accurately control the vehicle to park in the car wash area.
  • the vehicle-mounted terminal shown in FIG. 7 may also include:
  • the determining unit 608 is configured to determine whether a deduction success message is received; wherein the deduction success message is used to indicate that the server successfully deducts the deduction account, and the deduction account is an account bound to the user account corresponding to the vehicle;
  • the above-mentioned parking unit 603 is specifically configured to control the vehicle to park in the car washing area according to the parking route when the determining unit 608 determines that the toll deduction success message is received.
  • the vehicle-mounted terminal shown in FIG. 7 may also include:
  • the second detection unit 609 is used to detect whether the hardware devices of the vehicle are in the normal working state required for automatic parking;
  • the above-mentioned parking unit 603 is specifically configured to control the vehicle to park according to the parking path when the second detection unit 609 detects that the hardware devices are all in a normal working state and the judgment unit 608 determines that the deduction success message is received.
  • the prompt unit 610 is configured to output a parking prompt message to prompt the user to drive the vehicle into the car wash area when the second detection unit 609 detects that any hardware device is not in a normal working state.
  • the vehicle-mounted terminal can control the vehicle to park in the car wash area when the vehicle's hardware equipment is normal and the parking function can be normally activated; and when the vehicle's hardware equipment is detected When there is an abnormal situation and the automatic parking function may have a problem, the user is prompted to manually drive the vehicle to park in the car wash area.
  • implementing the vehicle-mounted terminal shown in FIG. 7 can control the vehicle to automatically park in and out of the car washing area, so that the user can conveniently complete the entire car washing process.
  • the hardware equipment of the vehicle before controlling the vehicle to automatically park in the car wash area, the hardware equipment of the vehicle can be tested, and the cost of the car wash service can be deducted, thereby improving the safety of automatic parking; when controlling the vehicle to automatically park out of the car wash area Previously, it was possible to detect whether the car wash service was over, so as to reduce the potential safety hazards caused by rashly starting the vehicle during the car wash process and further ensure safety.
  • FIG. 8 is a schematic structural diagram of another vehicle-mounted terminal disclosed in an embodiment of the present invention. As shown in Figure 8, the vehicle-mounted terminal may include:
  • a memory 701 storing executable program codes
  • a processor 702 coupled with the memory 701;
  • the processor 702 calls the executable program code stored in the memory 701 to execute the automatic parking-based car washing method shown in FIG. 2 or FIG. 4.
  • the embodiment of the present invention discloses a computer-readable storage medium that stores a computer program, where the computer program causes a computer to execute the automatic parking-based car washing method shown in FIG. 2 or FIG. 4.
  • the embodiment of the present invention discloses a computer program product.
  • the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute the automatic control system shown in FIG. 2 or FIG. Car washing method for parking.
  • the units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, and may be located in one place or distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.
  • the aforementioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-accessible memory.
  • the essence of the technical solution of the present invention or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory.
  • a computer device which may be a personal computer, a server, a network device, etc., specifically a processor in a computer device
  • the program can be stored in a computer-readable storage medium, which includes read-only Memory (Read-Only Memory, ROM), Random Access Memory (RAM), Programmable Read-only Memory (PROM), Erasable Programmable Read Only Memory, EPROM), One-time Programmable Read-Only Memory (OTPROM), Electronically-Erasable Programmable Read-Only Memory (EEPROM), CD-ROM (Compact Disc) Read-Only Memory (CD-ROM) or other optical disk storage, magnetic disk storage, tape storage, or any other computer-readable medium that can be used to carry or store data.
  • ROM read-only Memory
  • RAM Random Access Memory
  • PROM Programmable Read-only Memory
  • EPROM Erasable Programmable Read Only Memory
  • OTPROM One-time Programmable Read-Only Memory
  • EEPROM Electronically-Erasable Programmable Read-Only Memory
  • CD-ROM Compact Disc Read-Only Memory
  • CD-ROM Compact Disc

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Abstract

一种基于自动泊车的洗车方法及车载终端，该方法包括：在检测到自动泊入指令时，控制车辆行驶至洗车机周边预设的泊车初始位置（201）；根据所述泊车初始位置和所述洗车机预设的洗车区域的位置生成泊入路径（202）；控制所述车辆按照所述泊入路径停入所述洗车区域（203）；在所述车辆停入所述洗车区域时，向所述洗车机发送洗车请求消息，以使所述洗车机根据所述洗车请求消息启动洗车服务（204）。所述洗车方法，能够控制车辆自动泊入洗车机的洗车区域，从而提高洗车效率。

Description

基于自动泊车的洗车方法及车载终端 技术领域
本发明涉及汽车清洁技术领域，具体涉及一种基于自动泊车的洗车方法及车载终端。
背景技术
随着汽车保有量的提高，洗车行业也从传统的人工洗车转变至洗车机洗车，这不仅是消费方式的转变，更是一个标志着洗车自动化的新里程。然而，目前大部分洗车机的洗车方案都需要司机将车辆驶入指定的洗车区域，才能开始自动洗车。这种洗车方式对于大部分司机而言较为繁琐，尤其是对于新手司机而言，将车辆准确地停入指定区域更是存在较大难度，需要耗费较长的停车时间，从而导致洗车效率较低，用户体验不佳。
发明内容
本发明实施例公开了一种基于自动泊车的洗车方法及车载终端，能够控制车辆自动泊入洗车机的洗车区域，从而提高洗车效率。
本发明实施例第一方面公开一种基于自动泊车的洗车方法，所述方法包括：
在检测到自动泊入指令时，控制车辆行驶至洗车机周边预设的泊车初始位置；
根据所述泊车初始位置和所述洗车机预设的洗车区域的位置生成泊入路径；
控制所述车辆按照所述泊入路径停入所述洗车区域；
在所述车辆停入所述洗车区域时，向所述洗车机发送洗车请求消息，以使所述洗车机根据所述洗车请求消息启动洗车服务。
作为一种可选的实施方式，在本发明实施例第一方面中，所述方法还包括：
在检测到自动泊出指令时，控制所述车辆驶离所述洗车区域。
作为一种可选的实施方式，在本发明实施例第一方面中，所述在检测到自动泊入指令时，控制车辆行驶至位于洗车机周边的预设的泊车初始位置，包括：
如果所述洗车机的地理位置为导航目的地，在检测到所述车辆与所述洗车机之间的实时距离小于预设的距离阈值时，确定检测到自动泊入指令，并控制所述车辆行驶至位于所述洗车机周边的预设的泊车初始位置；
或者，在检测到由用户输入的自动泊入指令时，控制所述车辆行驶至位于所述洗车机周边的预设的泊车初始位置。
作为一种可选的实施方式，在本发明实施例第一方面中，所述方法还包括：
利用所述车辆的摄像头以及雷达传感器检测所述洗车机内部预设的标记物；
根据所述标记物的位置确定所述洗车区域的位置。
作为一种可选的实施方式，在本发明实施例第一方面中，所述方法还包括：
判断是否接收到扣费成功消息，如果是，执行所述控制车辆按照所述泊入路径停入所述洗车区域的步骤；所 述扣费成功消息用于表示服务器对扣费账户进行扣费成功，所述扣费账户为与所述车辆对应的用户账号绑定的账户。
作为一种可选的实施方式，在本发明实施例第一方面中，所述方法还包括：
检测所述车辆的硬件设备是否均处于自动泊车所需的正常工作状态；
如果所述硬件设备均处于所述正常工作状态并且接收到所述扣费成功消息，执行所述控制车辆按照所述泊入路径停入所述洗车区域的步骤；
如果存在任一所述硬件设备未处于所述正常工作状态，输出泊车提示信息，以提示用户驾驶所述车辆停入所述洗车区域。
作为一种可选的实施方式，在本发明实施例第一方面中，在检测到自动泊出指令之后，以及在控制所述车辆驶离所述洗车区域之前，所述方法还包括：
检测所述洗车机的所述洗车服务是否结束，如果是，执行所述在检测到自动泊出指令时，控制所述车辆驶离所述洗车区域的步骤。
本发明实施例第二方面公开一种车载终端，包括：
控制单元，用于在检测到自动泊入指令时，控制车辆行驶至洗车机周边预设的泊车初始位置；
路径生成单元，用于根据所述泊车初始位置和所述洗车机预设的洗车区域的位置生成泊入路径；
泊入单元，用于控制所述车辆按照所述泊入路径停入所述洗车区域；
请求单元，用于在所述车辆停入所述洗车区域时，向所述洗车机发送洗车请求消息，以使所述洗车机根据所述洗车请求消息启动洗车服务。
作为一种可选的实施方式，在本发明实施例第二方面中，还包括：
泊出单元，用于在检测到自动泊出指令时，控制所述车辆驶离所述洗车区域。
作为一种可选的实施方式，在本发明实施例第二方面中，所述控制单元，具体用于在所述洗车机的地理位置为导航目的地并且检测到所述车辆与所述洗车机之间的实时距离小于预设的距离阈值时，确定检测到自动泊入指令，并控制所述车辆行驶至位于所述洗车机周边的预设的泊车初始位置；或者，在检测到由用户输入的自动泊入指令时，控制所述车辆行驶至位于所述洗车机周边的预设的泊车初始位置。
作为一种可选的实施方式，在本发明实施例第二方面中，还包括：
第一检测单元，用于利用所述车辆的摄像头以及雷达传感器检测所述洗车机内部预设的标记物；
确定单元，用于根据所述标记物的位置确定所述洗车区域的位置。
作为一种可选的实施方式，在本发明实施例第二方面中，还包括：
判断单元，用于判断是否接收到扣费成功消息；
所述泊入单元，具体用于在所述判断单元判断出接收到所述扣费成功消息时，控制所述车辆按照所述泊入路径停入所述洗车区域；
其中，所述扣费成功消息用于表示服务器对扣费账户进行扣费成功，所述扣费账户为与所述车辆对应的用户账号绑定的账户。
作为一种可选的实施方式，在本发明实施例第二方面中，还包括：
第二检测单元，用于检测所述车辆的硬件设备是否均处于自动泊车所需的正常工作状态；
所述泊入单元，具体用于在所述第二检测单元检测出所述硬件设备均处于所述正常工作状态并且所述判断单元判断出接收到所述扣费成功消息时，控制车辆按照所述泊入路径停入所述洗车区域；
提示单元，用于在所述第二检测单元检测出存在任一所述硬件设备未处于所述正常工作状态时，输出泊车提示信息，以提示用户驾驶所述车辆停入所述洗车区域。
作为一种可选的实施方式，在本发明实施例第二方面中，所述泊出单元，具体用于在检测到自动泊出指令时，检测所述洗车机的所述洗车服务是否结束；并且在检测到所述洗车服务结束时，控制车辆驶离所述洗车区域。
本发明实施例第三方面公开一种车载终端，包括：
存储有可执行程序代码的存储器；
与所述存储器耦合的处理器；
所述处理器调用所述存储器中存储的所述可执行程序代码，执行本发明实施例第一方面公开的任一项方法。
本发明第四方面公开一种计算机可读存储介质，其存储计算机程序，其中，所述计算机程序使得计算机执行本发明实施例第一方面公开的任一项方法。
本发明实施例第五方面公开一种计算机程序产品，当所述计算机程序产品在计算机上运行时，使得所述计算机执行本发明实施例第一方面公开的任一项方法。
与现有技术相比，本发明实施例具有以下有益效果：
在检测到自动泊入指令之后，自动控制车辆行驶至洗车机周边预设的泊车初始位置，并根据泊车初始位置和洗车机的洗车区域的位置生成泊入路径，从而可以控制车辆按照泊入路径停入洗车机的洗车区域；一旦检测到车辆停入洗车区域，即可通过洗车请求消息请求洗车机启动洗车服务。可见，实施本发明实施例，可以控制车辆自动泊入洗车机的指定的洗车区域，无需司机人工操控，并且还可以在车辆停入洗车区域之后自动启动洗车服务，从而可以减少司机的停车时间，提高洗车效率。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例公开的一种洗车系统的结构示意图；
图2是本发明实施例公开的一种基于自动泊车的洗车方法的流程示意图；
图3是本发明实施例公开的一种洗车机及泊车初始位置的俯视示例图；
图4是本发明实施例公开的另一种基于自动泊车的洗车方法的流程示意图；
图5是本发明实施例公开的又一种基于自动泊车的洗车方法的流程示意图；
图6是本发明实施例公开的一种车载终端的结构示意图；
图7是本发明实施例公开的另一种车载终端的结构示意图；
图8是本发明实施例公开的又一种车载终端的结构示意图；
图9是本发明实施例公开的再一种基于自动泊车的洗车方法的流程示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，本发明实施例及附图中的术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。
本发明实施例公开了一种基于自动泊车的洗车方法及车载终端，能够控制车辆自动泊入洗车机的洗车区域，从而提高洗车效率。以下分别进行详细说明。
为了更好地理解本发明实施例公开的基于自动泊车的洗车方法及车载终，下面首先对本发明实施例适用的系统架构进行描述。如图1所示，图1为一种洗车系统的结构示意图。该洗车系统可以包括洗车机、服务器以及装设有车载终端的车辆；其中，洗车机、服务器以及车载终端之间可以通过5G网络、4G网络、无线局域网((Wireless Local Area Networks；WLAN)、广域网(Wide Area Network，WAN)或者蓝牙等无线通信连接进行数据传输。
实施例一
请参阅图2，图2是本发明实施例公开的一种基于自动泊车的洗车方法的流程示意图。其中，图2所示的基于自动泊车的洗车方法适用于如图1所示如图2所示，该基于自动泊车的洗车方法可以包括以下步骤：
201、车载终端在检测到自动泊入指令时，控制车辆行驶至洗车机周边预设的泊车初始位置。
本发明实施例中，用户可以通过语音或者触摸车载终端的触控屏幕等方式输入自动泊入指令，车载终端在接收到自动泊入指令之后，可以查找位于车辆周边的洗车机，从而确定出洗车机周边预设的泊车初始位置。请一并参阅图3，图3是本发明实施例公开的一种洗车机及泊车初始位置的俯视示例图。如图3所示，泊车初始位置可以围绕洗车机的入口设置，可以为洗车机入口一定距离范围内的任意一个位置；优选的，当车辆停入泊车初始位置时，可以与洗车机的入口平行或者与洗车机的入口垂直，以便于车辆驶入洗车机入口。此外，当车辆停入泊车初始位置时，车头的朝向不做限定，优选的，可以为车头朝向洗车机入口。
202、车载终端根据泊车初始位置和洗车机预设的洗车区域的位置生成泊入路径。
本发明实施例中，服务器中可以存储有多个洗车机的位置信息，每个洗车机的洗车区域的位置信息以及每个洗车机周边的泊车初始位置的位置信息。车载终端具体可以通过服务器查询出当前准备泊入的洗车机内洗车区域的位置信息以及车辆当前(或即将)停入的泊车初始位置的位置信息，从而以泊车初始位置为起点，以洗车区域的位置为终点，生成泊入路径。可选的，针对每个洗车机，服务器中也可以存储有从该洗车机周边的各个泊车初始位置行驶至该洗车机的洗车区域的多条泊入路径，车载终端可以从多条泊入路径中确定出起点为车辆当前(或 即将)停入的泊车初始位置对应的泊入路径。
203、车载终端控制车辆按照上述的泊入路径停入洗车区域。
204、车载终端在车辆停入洗车区域时，向洗车机发送洗车请求消息，以使洗车机根据洗车请求消息启动洗车服务。
本发明实施例中，当检测到车辆的指定部位(如车辆的后轴中心点)与洗车区域中某一预设位置重合时，可以认为车辆已停入洗车区域，车载终端可以控制车辆停止移动，此外，还可以向服务器发送车辆停入成功消息。进一步地，洗车机也可以通过自身装置的红外检测设备检测车辆是否已停入洗车区域，还可以在检测到车辆已停入洗车区域时，也向服务器发送车辆停入成功消息。当车辆停入洗车区域之后，用户可以通过车载终端输入洗车启动指令，车载终端向服务器发送洗车请求消息，由服务器在接收到车载终端和/或洗车机发送的车辆停入成功消息时，将洗车请求消息转发至洗车机，洗车机在接收到洗车请求消息后启动针对车辆的洗车服务。
可见，在图2所描述的方法中，车载终端可以控制车辆自动泊入洗车机的洗车区域，无需司机人工操控，从而可以减少司机的停车时间，提高洗车效率；此外，一旦检测到车辆停入洗车区域，还可以自动启动洗车机的洗车服务，可以进一步提高洗车效率。
实施例二
请参阅图4，图4是本发明实施例公开的另一种基于自动泊车的洗车方法。如图4所示，该基于自动泊车的洗车方法可以包括以下步骤：
401、车载终端在检测到自动泊入指令时，控制车辆行驶至洗车机周边预设的泊车初始位置。
本发明实施例中，可以通过以下两种实施方式触发自动泊入指令：
1.如果洗车机的地理位置为导航目的地，在检测到车辆与洗车机之间的实时距离小于预设的距离阈值时，确定检测到自动泊入指令，并执行控制车辆行驶至洗车机周边预设的泊车初始位置；也就是说，实施该实施方式，当车辆到达导航目的地时，自动触发泊入指令。
2.检测由用户输入的自动泊入指令；也就是说，实施该实施方式，需要用户人工输入自动泊入指令，并且在检测到泊入指令之后，车载终端执行控制车辆行驶至洗车机周边预设的泊车初始位置的步骤。
进一步地，车载终端可以检测用户通过以下方式输入的自动泊出指令：1.通过触摸车载终端的触控屏幕输入的自动泊入指令(如点击“泊入”按键)；2.通过车辆的电子钥匙输入的自动泊入指令；3.通过与车载终端存在通信连接的移动通信设备(如手机)输入的自动泊入指令。
402、车载终端根据泊车初始位置和洗车机预设的洗车区域的位置生成泊入路径。
本发明实施例中，车载终端可以利用车辆的摄像头以及雷达传感器检测洗车机内部预设的标记物(如特殊的车道线)，并根据标记物的位置确定洗车区域的位置；也就是说，车载终端可以在车辆驶入洗车机的过程中，根据摄像头和雷达传感器的检测结果实时调整洗车区域的位置，从而可以进一步调整具体的泊入路径，进而可以更加精准地控制车辆停入洗车区域。
403、车载终端检测车辆的硬件设备是否均处于自动泊车所需的正常工作状态，如果是，执行步骤404，如果否，执行步骤405。
本发明实施例中，各个硬件设备对应的正常工作状态可以包括但不限于以下情况：1.胎压正常；2.四门两盖(侧边四个车门、前方的引擎盖和后方的后备箱盖)均处于正常关闭状态；3.摄像头和雷达传感器无故障；4.用于控制车辆移动的智能控制器无异常；5.动力系统无故障；6.与自动驾驶相关的控制器或者传感器无故障。
404、车载终端判断是否接收到扣费成功消息，如果是，执行步骤406，如果否，执行步骤407。
本发明实施例中，扣费成功消息用于表示服务器对扣费账户进行扣费成功，扣费账户为与车辆对应的用户账号绑定的账户。其中，与车辆对应的用户账号可以通过对车辆进行身份识别而获得。具体的，可以由洗车机与车载终端进行通信，通信方式可以包括但不限于蓝牙通信、4G通信、Wi-Fi通信以及V2X(Vehicle to everything)通信等，在本发明实施例中，V2X通信具体可以为车辆与洗车机之间的物联网。洗车机可以通过上述的通信方式获取车辆VIN码(Vehicle Identification Number)作为用户账户，或者获取车辆的车牌信息，以识别出与车牌信息对应的用户账户。
此外，服务器可以在以下为情况对扣费账户进行扣费成功：当扣费账户的当前余额大于该次洗车服务所需的费用；或者，在扣除该次洗车服务所需的费用之后，扣费账户的欠费额度未超过允许透支额度。
405、车载终端输出泊车提示信息，以提示用户驾驶车辆停入洗车区域。
本发明实施例中，如果检测出任一硬件设备未处于自动泊车所需的正常工作状态，那么当前的车辆状况不适合进行自动泊车。因此，车载终端可以输出泊车提示信息(具体可以通过语音或者文字等形式)，提示用户人工开车进入洗车机内的洗车区域。
406、车载终端控制车辆按照上述的泊入路径停入洗车区域，并继续执行步骤408。
407、车载终端输出充值提示信息，以提示用户对扣费账户进行充值。
本发明实施例中，车载终端可以通过语音、文字等形式输出充值提示信息。可选的，车载终端还可以判断是否接收用服务器返回的充值完成消息，如果是，重新执行步骤404，以再次发起泊入请求。其中，充值完成消息用于表示已对扣费账户进行充值。
408、车载终端在车辆停入洗车区域时，向洗车机发送洗车请求消息，以使洗车机根据洗车请求消息启动洗车服务。
本发明实施例中，车载终端在车辆停入洗车区域之后，还可以执行下操作：
车载终端控制车辆的硬件设备中可通过电子控制的设备进入洗车准备状态；具体的，可以包括但不限于以下操作：1.关闭车窗；2.关闭雨刮；3.折叠后视镜；4.挂入停车档。
在上述的硬件设备进入洗车准备状态之后，车载终端可以获取服务器下发的洗车服务套餐，并输出至车载终端的触控屏幕中显示；或者，车载终端也可以将洗车服务套餐发送至与车载终端存在通信连接的移动通信设备(如手机)中显示；
车载终端获取用户从洗车服务套餐中确定出的任意一个目标服务套餐，并检测用户输入的洗车启动指令；相应地，用户也可以通过触摸车载终端的触控屏幕、通过移动通信设备输入洗车启动指令，或者将用户通过电子钥匙对车辆进行锁车的操作作为洗车启动指令。
车载终端在检测洗车启动指令之后，执行向洗车机发送洗车请求消息的步骤，以使洗车机根据洗车请求消息 启动洗车服务。具体的，洗车机启动的洗车服务为目标服务套餐对应的洗车服务。
在洗车的过程中，如果车载终端检测到以下的一种或者多种情况，可以向洗车机发送洗车停止消息，以使洗车机停止当前的洗车服务：1.车窗、雨刮、后视镜、四门两盖中的任意一个设备打开；2.车辆未挂入停车档；3.车辆点火；4.可能导致车辆刮碰周边障碍物等影响安全的车辆状态。
进一步的，车载终端在检测到上述的情况时，还可以输出状态提示消息，以提示用户留意车辆的异常状态。其中，车载终端可以通过以下方式输出状态提示消息：控制车灯闪烁(如持续双闪)、控制喇叭发声(如间歇鸣笛)、以文字或者语音等形式输出状态提示消息、将状态提示消息推送至手机等移动通信设备中显示等，本发明实施例不做限定。
此外，在洗车过程中，车载终端还可以获取服务器反馈的洗车进度信息，并且将洗车进度信息输出显示。洗车进度信息可以包括当前的洗车阶段(如喷水、打泡沫等)、剩余的洗车时间等信息。其中，剩余的洗车时间可以由服务器根据目标服务套餐以及车辆的车型动态计算得出。
409、车载终端在检测到自动泊出指令时，检测洗车机的洗车服务是否结束，如果是，执行步骤410，如果否，继续执行步骤409。
本发明实施例中，车载终端可以检测通过以下方式输入的自动泊出指令：1.通过触摸车载终端的触控屏幕输入的自动泊出指令(如点击“泊出”按键)；2.通过车辆的电子钥匙输入的自动泊出指令；3.通过与车载终端存在通信连接的移动通信设备(如手机)输入的自动泊出指令。
可见，在本发明实施例中，用户可以通过车载终端的触控屏幕、电子钥匙或者手机、智能平板等移动通信设备输入自动泊入指令和自动泊出指令。其中，如果用户通过电子钥匙或者移动通信设备输入自动泊入指令和自动泊出指令，在整个洗车过程中，用户无需进入洗车机内，从而可以避免洗车机内的水汽及污迹沾染到用户身上。举例来说，在车辆行驶至洗车机的附近区域之后，用户可以先行下车，然后通过电子钥匙或者移动通信设备输入自动泊入指令，由车载终端自动控制车辆驶入洗车机的洗车区域；当洗车结束时，用户可以通过电子钥匙或者移动通信设备输入自动泊出指令，由车载终端自动控制车辆驶离洗车区域；当车辆驶离洗车区域之后，用户上车，完成整个洗车流程。
此外，在本发明实施例中，在检测到自动泊出指令并且洗车机的洗车服务结束时，车载终端才控制车辆驶离洗车区域。也就是说，在洗车过程中，即使检测到自动泊出指令，也不能控制车辆泊出，以减少洗车过程中贸然启动车辆带来的安全隐患，从而保障安全。
进一步的，服务器在洗车机结束时，可以向车载终端发送服务结束消息，以提示用户洗车服务结束，可以输入自动泊出指令，从而引导用户及时通过车载终端控制车辆驶离洗车区域。
410、车载终端控制车辆驶离洗车区域。
可见，在图4所描述的方法中，车载终端可以控制车辆自动泊入及自动泊出洗车区域，使得用户可以便捷地完成整个洗车过程，进一步提高洗车效率。进一步地，在控制车辆泊入洗车区域之前，还可以对车辆的硬件设备进行检测、对洗车服务所需的费用进行扣费，从而可以提高自动泊入的安全性。更进一步地，在洗车过程中不允许控制车辆驶离洗车区域，以进一步保障安全。此外，在图4所描述的方法中，当用户通过电子设备或者移动通 信设备输入自动泊入指令和自动泊出指令时，在整个洗车过程中，用户无需进入洗车机内，从而可以避免洗车机内的水汽及污迹沾染到用户身上，进而改善用户体验。
实施例三
请参阅图5，图5是本发明实施例公开的又一种基于自动泊车的洗车方法。其中，在图5所描述的基于自动泊车的洗车方法中，服务器可以包括洗车机后台的洗车机服务器以及智能洗车平台的智能洗车云服务器等，如图5所示，该基于自动泊车的洗车方法可以包括以下步骤：
501、车载终端以洗车机的地理位置为导航目的地生成导航信息，以使车辆根据导航信息行驶至洗车机。
本发明实施例中，车载终端可以通过服务器(如智能洗车云服务器)查询车辆附近的洗车机，输出查询到的若干个洗车机的信息，以供用户选择。并且，可以检测用户从若干个洗车机中选取出的目标洗车机作为导航目的地，从而控制车辆自动驾驶至洗车机附近或者辅助用户将车辆驾驶至附近。
502、车载终端在检测到车辆与洗车机之间的实时距离小于预设的距离阈值时，检测自动泊入指令。
本发明实施例中，当车载终端检测到车辆到达导航目的地附近时，可以启动洗车机搜寻功能，通过图像识别、车辆与洗车机的无线通信等方式寻找与车辆距离较近(即实时距离小于距离阈值)的洗车机。
具体地，车载终端可以在检测到所述车辆与所述洗车机之间的实时距离小于预设的距离阈值时，自动触发自动泊入指令，也可以检测由用户输入的自动泊入指令。
503、车载终端控制车辆行驶至洗车机周边预设的泊车初始位置，并且向服务器上传车辆身份信息。
504、服务器对车辆身份信息进行识别并检测洗车机的工作状态；如果车辆身份识别成功且洗车机的工作状态正常，向车载终端发送泊入准许消息。
本发明实施例中，车辆身份识别成功可以包括服务器查询出与车辆身份对应的用户账号，以及与该用户账号绑定的扣费账户。洗车机的工作状态正常可以包括洗车机的各个零部件不存在故障，洗车机与服务器之间的通信顺畅等。
505、车载终端检测车辆的硬件设备是否均处于自动泊车所需的正常工作状态，如果是，执行步骤506。
506、车载终端在接收到泊入准许消息并且检测出硬件设备均处于正常工作状态时，控制车辆停入洗车区域。
本发明实施例中，车载终端具体可以根据泊车初始位置和洗车机预设的洗车区域的位置生成泊入路径，从而可以控制车辆按照生成的泊入路径停入洗车区域；此外，在控制车辆停入洗车区域的过程中，车载终端可以利用车辆的摄像头以及雷达传感器检测洗车机内部预设的标记物(如特殊的车道线)，并根据标记物的位置调整洗车区域的位置，从而可以进一步调整具体的泊入路径，进而可以更加精准地控制车辆停入洗车区域。
507、车载终端在车辆停入洗车区域时，检查车辆的硬件设备是否均处于洗车准备状态，如果是，向服务器发送安全检测成功消息；如果否，输出状态提示消息。
508、洗车机检测车辆是否已停入洗车区域，如果是，向服务器发送停入成功消息，如果否，通过服务器向车载终端发送车辆未停入消息。
本发明实施例中，车载终端如果接收到车辆未停入消息，根据车辆未停入消息控制车辆移动，以使车辆停入洗车区域。具体地，如果洗车机检测到车辆未到达洗车区域，那么发送的车辆未停入消息中可以包含指示车辆前 进的控制信息，车载终端根据控制信息控制车辆前进；如果洗车机检测到车辆已超过洗车区域，那么控制信息可以指示车辆后退，车载终端根据控制信息控制车辆后退。
509、服务器在接收到安全检测成功消息以及停入成功消息时，向车载终端下发洗车机对应的洗车服务套餐。
510、车载终端检测用户从洗车服务套餐中确定出的目标服务套餐，向服务器发送洗车请求消息。
本发明实施例中，洗车请求消息可以包含目标服务套餐的相关信息，洗车启机启动的洗车服务与目标服务套餐中包含的服务对应。
511、服务器创建与目标服务套餐对应的洗车服务的洗车订单，并根据创建出的洗车订单对用户账号绑定的扣费账户进行扣费；如果扣费成功，向洗车机发送洗车请求消息；如果扣费失败，向车载终端发送充值提示消息。
512、洗车机在接收到洗车请求消息时，启动针对车辆并且与目标服务套餐对应的洗车服务。
513、洗车机在洗车服务进行的过程中，将洗车服务的洗车进度信息实时上报至服务器；服务器获取洗车机的洗车进度信息，并将洗车进度信息同步至车载终端中进行显示。
514、洗车机在洗车服务结束时，向服务器发送服务结束消息，由服务器将服务结束消息转发至车载终端；车载终端在接收到服务结束消息时，输出用于提示用户驾驶车辆离场的离场提示消息。
515、车载终端在检测到自动泊出指令时，控制车辆驶离洗车区域。
516、洗车机在检测到车辆驶离洗车区域时，向服务器发送车辆离场消息；服务器在接收到上述的车辆离场消息时，更新洗车服务对应的洗车订单的订单状态。
可见，在图5所描述的方法中，通过洗车机、服务器、车载终端之间的通信交互，可以实现洗车机搜寻、自动停入洗车机、车辆硬件设备状态检测、车辆停入到位检测、洗车费用的免密支付、自动启动洗车服务、洗车进度同步、自动泊出洗车机等操作；用户只需选择合适的洗车服务套餐，无需其他操作，即可完成整个洗车流程，从而可以为用户提供高效、便捷以及安全的洗车服务。
实施例四
请参阅图9，图9是本发明实施例公开的又一种基于自动泊车的洗车方法。如图9所示，该基于自动泊车的洗车方法可以包括以下步骤：
901、车载终端在到达洗车机附近时向智能洗车云服务端上传车辆身份信息并发起预备泊入请求。
902、智能洗车云服务端对车辆身份信息进行识别，并向洗车机服务器转发预备泊入请求。
903、洗车机服务器根据预备泊入请求对洗车机进行工作状态检测，并接收洗车机反馈的工作状态。
904、如果智能洗车云服务器对车辆身份识别成功并且洗车机服务器检测到洗车机的工作状态正常，向车载终端发送泊入准许消息。905、车载终端检测车辆的硬件设备是否均为正常工作状态，如果是，在接收到泊入准许消息时根据检测到的自动泊入指令控制控制车辆行驶至洗车机周边预设的泊车初始位置，并从泊车初始位置停入洗车区域。
本发明实施例中，车载终端具体可以根据泊车初始位置以及洗车区域生成泊入路径，并控制车辆按照生成的泊入路径停入洗车区域。
执行上述的步骤901～步骤905，可以完成车辆泊入洗车机的泊车进入流程，从而实现车辆的自动泊入。当车 辆停入洗车区域之后，可以执行下述的步骤906～步骤913。
906、车载终检查车辆的硬件设备是否均处于洗车准备状态；如果是，经由智能洗车云服务器向洗车机服务器发送安全检测成功消息；如果否，输出状态提示消息。
907、洗车机检测车辆是否已停入洗车区域；如果是，向洗车机服务器发送停入成功消息。
908、洗车机服务器在接收到停入成功消息以及安全检测成功消息时，通过智能洗车云服务端向车载终端下发与该洗车机对应的至少一个洗车服务套餐。
909、车载终端检测用于从至少一个洗车服务套餐中确定出的目标服务套餐，并向智能洗车云服务器发送洗车请求消息。
910、智能洗车云服务器根据洗车请求消息创建与目标服务套餐对应的洗车服务的洗车订单，并根据创建出的洗车订单对用户账号绑定的扣费账户进行扣费；如果扣费成功，通过洗车机服务器向洗车机转发洗车请求消息。
911、洗车机在接收洗车请求消息时启动针对车辆并且与目标服务套餐对应的洗车服务。
912、洗车机在洗车服务的进行过程中，通过洗车机服务器以及智能洗车云服务器将洗车进度信息同步至车载终端中输出显示。
913、洗车机在洗车服务结束时，通过洗车机服务器以及智能洗车云服务器向车载终端发送服务结束消息，以使车载终端输出离场提示消息。
其中，执行上述的步骤906～步骤913，可以完整针对所述车辆的洗车服务流程。在完成对所述车辆的洗车服务之后，可以执行下述的步骤914～步骤915。
914、车载终端检测自动泊出指令，并且根据自动泊出指令检测车辆的硬件设备是否均为正常工作状态，如果是，执行步骤915。
915、车载终端控制车辆驶离洗车区域，并且在车辆已驶离洗车区域时，向洗车机服务器及智能洗车云服务器上报车辆离场消息。
其中，执行上述的步骤914～步骤915，可以完成车辆驶离洗车机的泊车离开流程，从而实现车辆的自动泊出。可见，在本发明实施例中，从车辆驶入洗车机、进行洗车服务到车辆使出洗车机整个过程中，用户无需对车辆进行控制，从而可以解放用户的注意力，为用户提供良好的交互体验。
实施例五
请参阅图6，图6是本发明实施例公开的一种车载终端的结构示意图。如图6所示，该车载终端可以包括：
控制单元601，用于在检测到自动泊入指令时，控制车辆行驶至洗车机周边预设的泊车初始位置；
路径生成单元602，用于根据泊车初始位置和洗车机预设的洗车区域的位置生成泊入路径；
本发明实施例中，路径生成单元602具体可以通过服务器查询出当前准备泊入的洗车机内洗车区域的位置信息以及车辆当前(或即将)停入的泊车初始位置的位置信息，从而以泊车初始位置为起点，以洗车区域的位置为终点，生成泊入路径。可选的，路径生成单元602也可以服务设别存储的从多条泊入路径中确定出起点为车辆当前(或即将)停入的泊车初始位置对应的泊入路径。
泊入单元603，用于控制车辆按照泊入路径停入洗车区域；
请求单元604，用于在车辆停入洗车区域时，向洗车机发送洗车请求消息，以使洗车机根据洗车请求消息启动洗车服务。
可见，实施图6所示的车载终端，可以控制车辆自动泊入洗车机的洗车区域，无需司机人工操控，从而可以减少司机的停车时间，提高洗车效率；此外，一旦检测到车辆停入洗车区域，还可以自动启动洗车机的洗车服务，可以进一步提高洗车效率。
实施例六
请参阅图7，图7是本发明实施例公开的另一种车载终端的结构示意图。如图7所示，该车载终端可以包括：
泊出单元605，用于在检测到自动泊出指令时，控制车辆驶离洗车区域。可选的，泊出单元605，具体可以用于在检测到自动泊出指令时，检测洗车机的洗车服务是否结束；并且在检测到洗车服务结束时，控制车辆驶离洗车区域，以减少洗车过程中贸然启动车辆带来的安全隐患，进一步保障安全。
此外，在图7所示的车载终端中，上述的控制单元601，具体可以用于在洗车机的地理位置为导航目的地并且检测到车辆与洗车机之间的实时距离小于预设的距离阈值时，确定检测到自动泊入指令，并控制车辆行驶至位于洗车机周边的预设的泊车初始位置；或者，在检测到由用户输入的自动泊入指令时，控制车辆行驶至位于洗车机周边的预设的泊车初始位置。也就是说，控制单元601可以在洗车机为导航目的地时，检测到车辆位于洗车机附近，即可自动触发自动泊入指令，以控制车辆行驶至泊车初始位置；或者，也可以由用户自行输入自动泊入指令，根据用户输入的自动泊入指令控制车辆行驶至泊车初始位置；
可选的，图7所示的车载终端，还可以包括：
第一检测单元606，用于利用车辆的摄像头以及雷达传感器检测洗车机内部预设的标记物；
确定单元607，用于根据标记物的位置确定洗车区域的位置。
也就是说，通过执行检测单元606和确定单元607的操作，可以在车辆驶入洗车机的过程中，根据摄像头和雷达传感器的检测结果实时调整洗车区域的位置，从而可以触发路径生成单元602进一步调整具体的泊入路径，进而可以使泊入单元603更加精准地控制车辆停入洗车区域。
进一步可选的，图7所示的车载终端，还可以包括：
判断单元608，用于判断是否接收到扣费成功消息；其中，扣费成功消息用于表示服务器对扣费账户进行扣费成功，扣费账户为与车辆对应的用户账号绑定的账户；
相应地，上述的泊入单元603，具体用于在判断单元608判断出接收到扣费成功消息时，控制车辆按照泊入路径停入洗车区域。
更进一步可选的，图7所示的车载终端，还可以包括：
第二检测单元609，用于检测车辆的硬件设备是否均处于自动泊车所需的正常工作状态；
相应地，上述的泊入单元603，具体用于在第二检测单元609检测出硬件设备均处于正常工作状态并且判断单元608判断出接收到扣费成功消息时，控制车辆按照泊入路径停入洗车区域；
提示单元610，用于在第二检测单元609检测出存在任一硬件设备未处于正常工作状态时，输出泊车提示信息，以提示用户驾驶车辆停入洗车区域。
也就是说，车载终端可以在检测本次洗车服务所需的费用扣除成功，并且车辆的硬件设备正常，能够正常启动泊车功能时，控制车辆停入洗车区域；而在检测出车辆的硬件设备存在异常情况，自动泊车功能可能出现问题时，提示用户人工驾驶车辆停入洗车区域。
可见，实施图7所示的车载终端，可以控制车辆自动泊入及自动泊出洗车区域，使得用户可以便捷地完成整个洗车过程。其中，在控制车辆自动泊入洗车区域之前，可以先对车辆的硬件设备进行检测、对洗车服务所需的费用进行扣费，从而提高自动泊入的安全性；在控制车辆自动泊出洗车区域之前，还可以检测洗车服务是否结束，以减少洗车过程中贸然启动车辆带来的安全隐患，进一步保障安全。
实施例七
请参阅图8，图8是本发明实施例公开的又一种车载终端的结构示意图。如图8所示，该车载终端可以包括：
存储有可执行程序代码的存储器701；
与存储器701耦合的处理器702；
其中，处理器702调用存储器701中存储的可执行程序代码，执行图2或图4所示的基于自动泊车的洗车方法。
本发明实施例公开一种计算机可读存储介质，其存储计算机程序，其中，该计算机程序使得计算机执行图2或图4所示的基于自动泊车的洗车方法。
本发明实施例公开一种计算机程序产品，该计算机程序产品包括存储了计算机程序的非瞬时性计算机可读存储介质，且该计算机程序可操作来使计算机执行图2或图4所示的基于自动泊车的洗车方法。
应理解，说明书通篇中提到的“一个实施例”或“一实施例”意味着与实施例有关的特定特征、结构或特性包括在本发明的至少一个实施例中。因此，在整个说明书各处出现的“在一个实施例中”或“在一实施例中”未必一定指相同的实施例。此外，这些特定特征、结构或特性可以以任意适合的方式结合在一个或多个实施例中。本领域技术人员也应该知悉，说明书中所描述的实施例均属于可选实施例，所涉及的动作和模块并不一定是本发明所必须的。
在本发明的各种实施例中，应理解，上述各过程的序号的大小并不意味着执行顺序的必然先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本发明实施例的实施过程构成任何限定。
上述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物单元，即可位于一个地方，或者也可以分布到多个网络单元上。可根据实际的需要选择其中的部分或全部单元来实现本实施例方案的目的。
另外，在本发明各实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
上述集成的单元若以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可获取的存储器中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或者部分，可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储器中，包括若干请求用以使 得一台计算机设备(可以为个人计算机、服务器或者网络设备等，具体可以是计算机设备中的处理器)执行本发明的各个实施例上述方法的部分或全部步骤。
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质包括只读存储器(Read-Only Memory，ROM)、随机存储器(Random Access Memory，RAM)、可编程只读存储器(Programmable Read-only Memory，PROM)、可擦除可编程只读存储器(Erasable Programmable Read Only Memory，EPROM)、一次可编程只读存储器(One-time Programmable Read-Only Memory，OTPROM)、电子抹除式可复写只读存储器(Electrically-Erasable Programmable Read-Only Memory，EEPROM)、只读光盘(Compact Disc Read-Only Memory，CD-ROM)或其他光盘存储器、磁盘存储器、磁带存储器、或者能够用于携带或存储数据的计算机可读的任何其他介质。
以上对本发明实施例公开的一种基于自动泊车的洗车方法及车载终端进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想。同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (14)

  1. 一种基于自动泊车的洗车方法，其特征在于，包括：
    在检测到自动泊入指令时，控制车辆行驶至洗车机周边预设的泊车初始位置；
    根据所述泊车初始位置和所述洗车机预设的洗车区域的位置生成泊入路径；
    控制所述车辆按照所述泊入路径停入所述洗车区域；
    在所述车辆停入所述洗车区域时，向所述洗车机发送洗车请求消息，以使所述洗车机根据所述洗车请求消息启动洗车服务。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    在检测到自动泊出指令时，控制所述车辆驶离所述洗车区域。
  3. 根据权利要求1所述的方法，其特征在于，所述在检测到自动泊入指令时，控制车辆行驶至位于洗车机周边的预设的泊车初始位置，包括：
    如果所述洗车机的地理位置为导航目的地，在检测到所述车辆与所述洗车机之间的实时距离小于预设的距离阈值时，确定检测到自动泊入指令，并控制所述车辆行驶至位于所述洗车机周边的预设的泊车初始位置；
    或者，在检测到由用户输入的自动泊入指令时，控制所述车辆行驶至位于所述洗车机周边的预设的泊车初始位置。
  4. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    利用所述车辆的摄像头以及雷达传感器检测所述洗车机内部预设的标记物；
    根据所述标记物的位置确定所述洗车区域的位置。
  5. 根据权利要求1～4任一项所述的方法，其特征在于，所述方法还包括：
    判断是否接收到扣费成功消息，如果是，执行所述控制车辆按照所述泊入路径停入所述洗车区域的步骤；所述扣费成功消息用于表示服务器对扣费账户进行扣费成功，所述扣费账户为与所述车辆对应的用户账号绑定的账户。
  6. 根据权利要求5所述的方法，其特征在于，所述方法还包括：
    检测所述车辆的硬件设备是否均处于自动泊车所需的正常工作状态；
    如果所述硬件设备均处于所述正常工作状态并且接收到所述扣费成功消息，执行所述控制车辆按照所述泊入路径停入所述洗车区域的步骤；
    如果存在任一所述硬件设备未处于所述正常工作状态，输出泊车提示信息，以提示用户驾驶所述车辆停入所述洗车区域。
  7. 根据权利要求2所述的方法，其特征在于，在检测到自动泊出指令之后，以及在控制所述车辆驶离所述洗车区域之前，所述方法还包括：
    检测所述洗车机的所述洗车服务是否结束，如果是，执行所述在检测到自动泊出指令时，控制所述车辆驶离所述洗车区域的步骤。
  8. 一种车载终端，其特征在于，包括：
    控制单元，用于在检测到自动泊入指令时，控制车辆行驶至洗车机周边预设的泊车初始位置；
    路径生成单元，用于根据所述泊车初始位置和所述洗车机预设的洗车区域的位置生成泊入路径；
    泊入单元，用于控制所述车辆按照所述泊入路径停入所述洗车区域；
    请求单元，用于在所述车辆停入所述洗车区域时，向所述洗车机发送洗车请求消息，以使所述洗车机根据所述洗车请求消息启动洗车服务。
  9. 根据权利要求8所述的车载终端，其特征在于，还包括：
    泊出单元，用于在检测到自动泊出指令时，控制所述车辆驶离所述洗车区域。
  10. 根据权利要求8所述的车载终端，其特征在于：
    所述控制单元，具体用于在所述洗车机的地理位置为导航目的地并且检测到所述车辆与所述洗车机之间的实时距离小于预设的距离阈值时，确定检测到自动泊入指令，并控制所述车辆行驶至位于所述洗车机周边的预设的泊车初始位置；或者，在检测到由用户输入的自动泊入指令时，控制所述车辆行驶至位于所述洗车机周边的预设的泊车初始位置。
  11. 根据权利要求8所述的车载终端，其特征在于，还包括：
    第一检测单元，用于利用所述车辆的摄像头以及雷达传感器检测所述洗车机内部预设的标记物；
    确定单元，用于根据所述标记物的位置确定所述洗车区域的位置。
  12. 根据权利要求8～11任一项所述的车载终端，其特征在于，还包括：
    判断单元，用于判断是否接收到扣费成功消息；
    所述泊入单元，具体用于在所述判断单元判断出接收到所述扣费成功消息时，控制所述车辆按照所述泊入路径停入所述洗车区域；
    其中，所述扣费成功消息用于表示服务器对扣费账户进行扣费成功，所述扣费账户为与所述车辆对应的用户账号绑定的账户。
  13. 根据权利要求12所述的车载终端，其特征在于，还包括：
    第二检测单元，用于检测所述车辆的硬件设备是否均处于自动泊车所需的正常工作状态；
    所述泊入单元，具体用于在所述第二检测单元检测出所述硬件设备均处于所述正常工作状态并且所述判断单元判断出接收到所述扣费成功消息时，控制车辆按照所述泊入路径停入所述洗车区域；
    提示单元，用于在所述第二检测单元检测出存在任一所述硬件设备未处于所述正常工作状态时，输出泊车提示信息，以提示用户驾驶所述车辆停入所述洗车区域。
  14. 根据权利要求9所述的车载终端，其特征在于：
    所述泊出单元，具体用于在检测到自动泊出指令时，检测所述洗车机的所述洗车服务是否结束；并且在检测到所述洗车服务结束时，控制车辆驶离所述洗车区域。
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