WO2022057238A1

WO2022057238A1 - Remote control parking control method and device, vehicle, and storage medium

Info

Publication number: WO2022057238A1
Application number: PCT/CN2021/084454
Authority: WO
Inventors: 丁磊; 常博; 邓晓天; 何彦
Original assignee: 华人运通(上海)自动驾驶科技有限公司
Priority date: 2020-09-15
Filing date: 2021-03-31
Publication date: 2022-03-24
Also published as: CN112224199A

Abstract

A remote control parking control method and device, a vehicle, and a storage medium, relating to the field of intelligent driving. According to the remote control parking control method, upon receipt of parking space parking-out information sent by a user by means of a mobile terminal, the current parking position of a moving body is obtained, and the position relation between the mobile terminal and the moving body is identified according to the position relation between the current position of the mobile terminal and the current parking position so as to determine the parking direction, and thus a parking-out path is generated according to the parking direction and the current parking position, so that the moving body drives, according to the parking-out path, from the current parking position into the vicinity of the position where the mobile terminal is located. The operation of the user is reduced, and the user experience effect is improved.

Description

Remote parking control method, device, vehicle and storage medium

technical field

The invention relates to the field of intelligent driving, in particular to a remote parking control method, device, vehicle and storage medium.

Background technique

As a means of transportation, vehicles have received continuous attention when road traffic is becoming more and more developed and urban areas are becoming larger and larger. Various technologies applied to vehicles are also advancing with the times, and driver assistance control technology is one of them. Driving assistance control technology can assist or replace the driver to operate the vehicle in certain scenarios, improving the comfort of the vehicle.

Automatic parking control technology is one of the most commonly used driver assistance control technologies in vehicles. It measures the distance and angle between the vehicle and surrounding obstacles through ultrasonic probes scattered around the body, and then calculates the vehicle through the semi-automatic parking control unit. The driving trajectory required to park in/out of the parking space. The automatic parking control technology can assist driving when reversing, and guide the driver by detecting ultrasonic waves or cameras, so as to avoid traffic accidents caused by the blind spot behind the vehicle when reversing. However, the existing automatic parking control method only supports parallel parking or vertical parking, the parking direction is fixed, the parking direction cannot be adjusted according to the user's position, and the user experience effect is poor.

SUMMARY OF THE INVENTION

In view of the problem that the parking direction of the existing automatic parking control method is fixed, and the parking direction cannot be adjusted according to the user's position, a remote parking control method aiming at setting the parking direction according to the user's position is provided, Devices, vehicles and storage media.

The present invention provides a remote-controlled parking control method, which is applied to a moving body and includes:

Receive parking space parking information sent by a mobile terminal associated with the moving body, where the parking space parking information includes a parking space parking request and the current position of the mobile terminal;

obtain the current parking position of the moving body;

detecting the positional relationship between the current position and the current parking position, and determining the parking direction according to the positional relationship;

According to the parking space parking request, a parking path is generated according to the current parking position and the parking direction.

Optionally, the parking direction includes forward parking, rear parking, left parking, right parking, left front parking, right front parking, left rear parking, and right rear parking .

Optionally, also include:

The moving body is controlled to park out of the current parking position according to the parking path.

Optionally, controlling the mobile body to park out of the current parking position according to the parking path further includes:

Detecting whether the parking path meets a preset condition;

If the parking path meets the preset condition, the mobile body is controlled to park out of the current parking position according to the parking path.

Optionally, also include:

If the parking path does not meet the preset condition, a message that the mobile terminal cannot be parked at the current location of the mobile terminal is generated, and the message is sent to the mobile terminal.

Optionally, the preset condition is that there is no obstacle target in the parking path.

Optionally, detecting whether the parking path meets a preset condition includes:

The ultrasonic radar in the parking assist device is used to detect whether there is an obstacle target in the parking path.

The present invention also provides a remote control parking control device, which is applied to a mobile body, including:

a receiving unit, configured to receive parking space parking information sent by a mobile terminal associated with the moving body, where the parking space parking information includes a parking space parking request and the current position of the mobile terminal;

an acquisition unit for acquiring the current parking position of the moving body;

a determining unit, configured to detect the positional relationship between the current position and the current parking position, and determine the parking direction according to the positional relationship;

A generating unit, configured to generate a parking path according to the current parking position and the parking direction according to the parking request for parking spaces.

Optionally, also include:

The execution unit is configured to control the moving body to park out of the current parking position according to the parking path.

Optionally, also include:

a detection unit, configured to detect whether the parking path meets a preset condition;

The execution unit is configured to control the moving body to park out of the current parking position according to the parking path when the parking path meets a preset condition.

Optionally, also include:

A prompting unit, configured to generate a message that the mobile terminal cannot be parked at the current position of the mobile terminal when the parking path does not meet the preset condition, and send the message to the mobile terminal.

Optionally, the detection unit is configured to detect whether there is an obstacle target in the parking path by using an ultrasonic radar in the parking assistance device.

The present invention also provides a vehicle comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the above method when executing the computer program.

The present invention also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the steps of the above method.

The remote parking control method, device, vehicle and storage medium provided by the present invention can obtain the current parking position of the mobile body after receiving the parking space parking information sent by the user through the mobile terminal, and can obtain the current parking position of the mobile body according to the current position of the mobile terminal and the current parking position. The positional relationship between the mobile terminal and the moving body is identified, so as to determine the parking direction, so as to generate a parking path according to the parking direction and the current parking position, so that the mobile body can move from the current parking path according to the parking path. The parking position is driven near the position of the mobile terminal, which reduces user operations and improves user experience.

Description of drawings

FIG. 1 is a flowchart of an embodiment of a remote parking control method according to Embodiment 1 of the present invention;

FIG. 2 is a flowchart of an embodiment of the remote parking control method according to Embodiment 2 of the present invention;

3 is a flowchart of another embodiment of the remote parking control method according to Embodiment 2 of the present invention;

4 is a block diagram of an embodiment of the remote parking control device according to the present invention;

FIG. 5 is a block diagram of another embodiment of the remote parking control device according to the present invention;

FIG. 6 is a hardware architecture diagram of an embodiment of the vehicle of the present invention.

detailed description

The advantages of the present invention are further described below with reference to the accompanying drawings and specific embodiments.

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. Where the following description refers to the drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the illustrative examples below are not intended to represent all implementations consistent with this disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as recited in the appended claims.

The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to limit the present disclosure. As used in this disclosure and the appended claims, the singular forms "a," "the," and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various pieces of information, such information should not be limited by these terms. These terms are only used to distinguish the same type of information from each other. For example, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information, without departing from the scope of the present disclosure. Depending on the context, the word "if" as used herein can be interpreted as "at the time of" or "when" or "in response to determining."

In the description of the present invention, it should be understood that the numerical labels before the steps do not identify the sequence of executing the steps, but are only used to facilitate the description of the present invention and to distinguish each step, and therefore should not be construed as a limitation of the present invention.

The mobile body of the embodiment of the present invention can adopt new energy vehicles such as pure electric vehicles and hybrid electric vehicles, and a parking controller, a parking assist device (Auto Parking Assist, APA) and an HMI interactive device can be installed on the mobile body. Among them, the parking controller is implemented using a microcomputer including a central processing unit (CPU), a communication unit, a memory, and an electronic power steering mechanism (EPS). The parking controller installs and executes a computer program for causing the microcomputer to function as an in-vehicle computer (ECU). The parking controller has the function of controlling the operation of the moving body. The communication unit can include a WiFi module and a Bluetooth module, etc. The communication unit can support 4G and 5G communication modes, and the communication unit can communicate with the associated mobile terminal; the parking aid device includes multiple ultrasonic radars and surround cameras, and the ultrasonic radar can be set On the front bumper, rear bumper and the skin near the tires of the moving body. The distance between the moving body and the obstacle target is detected by the ultrasonic radar moving body. Surrounding cameras are arranged around the moving body. The surrounding cameras collect images around the moving body, and the images collected by each camera are synthesized to obtain a full-angle visual image looking down from the top of the moving body. Since the camera cannot shoot the vehicle, the vehicle icon is used. An image that replaces the actual vehicle in the panoramic image. The HMI interactive device may include a display unit and an audio capture unit. A touch screen (central control screen) is provided on the display unit for inputting various control operations on the vehicle. The audio collection unit is installed in the mobile body and is used for adopting the user's voice signal, so as to perform corresponding operations based on the voice signal.

The remote parking control method, device, vehicle and storage medium implemented by the present invention can be applied to the mobile body after reaching the navigation destination, such as: shopping malls, residences, parking lots, and parking spaces of charging stations (charging piles), the mobile body needs to be parked. In the scene of exiting the parking space.

In this embodiment of the present invention, a user may send a control request (eg, a parking space parking request) to a communication unit of the mobile body through a mobile terminal associated with the mobile body. The mobile body can obtain the current parking position of the mobile body after receiving the parking space information sent by the user through the mobile terminal, and identify the difference between the mobile terminal and the mobile body according to the positional relationship between the current position of the mobile terminal and the current parking position. position relationship, so as to determine the parking direction, so as to generate a parking path according to the parking direction and the current parking position, so that the mobile body can drive from the current parking position to the vicinity of the location of the mobile terminal according to the parking path, reducing the user's operation. , which improves the user experience.

Example 1

Referring to FIG. 1 , a remote parking control method of this embodiment is applied to a moving body, and the method may include the following steps:

S1. Receive parking space information sent by a mobile terminal associated with the mobile body.

Wherein, the parking space parking information includes a parking space parking request and the current position of the mobile terminal.

It should be noted that: the mobile terminal may be a smart phone carried by the user, or may be a remote control key of a mobile body.

In this embodiment, when the user needs to park the mobile body from the current parking position, the mobile terminal associated with the mobile body can send the parking space to the mobile body in an area (eg, 1m-5m area) near the mobile body. out information.

S2. Obtain the current parking position of the moving body.

In this embodiment, a positioning unit (eg, a GPS module) inside the mobile body can be used to obtain the current position.

S3. Detect the positional relationship between the current position and the current parking position, and determine the parking direction according to the positional relationship.

The parking directions may include forward parking, rear parking, left parking, right parking, left front parking, right front parking, left rear parking, and right rear parking.

It should be noted that: the current parking position includes the coordinates of the current parking position and the parking direction.

Specifically, according to the coordinates of the current parking position, the parking direction and the coordinates of the current position, the position angle between the position of the mobile terminal and the position of the mobile body is calculated; each parking direction corresponds to an angular range, and the obtained angle matches the position angle The angular range of , and the parking direction corresponding to the angular range is taken as the parking direction of the mobile body.

S4. According to the parking space parking request, generate a parking path according to the current parking position and the parking direction.

The current parking position may also include a parking type, and the parking types include a non-glyph parking space, a diagonal parking space, a flat-line parking space, a parking space on the side of a pillar, and the like.

Further, step S4 may also include:

The camera of the parking assist device installed on the mobile body collects images around the mobile body to generate a full-angle visual image of the mobile body; the ultrasonic radar in the parking assist device detects the obstacles of the mobile body within the first preset range The position of the object; the auxiliary image is formed based on the position of the obstacle in the full-angle visual image, and the parking type of the moving object is obtained according to the position of the current parking position of the moving object in the auxiliary image; according to the parking direction, the shape parameters of the moving object, the current The parking type corresponding to the parking position and the current position of the mobile terminal are used to plan the global path and the parking path. The global path and the parking path are spliced, node optimization, smoothing, and path fitting are performed to obtain a smooth transitional parking path.

In this embodiment, the remote parking control method can obtain the current parking position of the mobile body after receiving the parking space information sent by the user through the mobile terminal, and according to the positional relationship between the current position of the mobile terminal and the current parking position, Identify the positional relationship between the mobile terminal and the moving body, so as to determine the parking direction, so as to generate a parking path according to the parking direction and the current parking position, so that the mobile body can enter the mobile terminal from the current parking position according to the parking path. Near the location, the operation of the user is reduced, and the user experience effect is improved.

Embodiment 2

Referring to FIG. 2 , a remote parking control method of the present embodiment is applied to a moving body, and the method may include the following steps:

S2. Obtain the current parking position of the moving body.

S5. Control the moving body to park out of the current parking position according to the parking path.

In this embodiment, after the parking path is generated, the electronic power steering mechanism can control the mobile body from the current parking position to the area where the mobile terminal is located according to the parking path to complete the parking operation.

In one embodiment, referring to FIG. 3 , before performing step S5, it may further include:

A1. Detect whether the parking path meets the preset condition, if yes, go to step S5; if not, go to step A2.

Wherein, the preset condition is that there is no obstacle target in the parking path, that is, there is no obstacle target in the area corresponding to the driving direction when the moving body moves out of the current parking position

Specifically, the ultrasonic radar in the parking assist device can be used to detect whether there is an obstacle target in the parking path.

In this embodiment, the parking path refers to the traveling direction when the moving body moves out of the target position. Obstacle targets are obstacles (including: dynamic obstacles and static obstacles) that hinder the moving body in the driving direction, such as: moving vehicles, pedestrians, piles, buckets, pillars, small animals, etc.

A2. Generate a message that the current location of the mobile terminal cannot park, and send the message to the mobile terminal.

In this embodiment, when there is an obstacle hindering the traveling of the mobile body in the driving direction of the parking path, a parking impossible message is generated to remind the user that the current location of the mobile terminal cannot park.

Embodiment 3

Referring to FIG. 4 , a remote parking control device 1 of this embodiment, applied to a mobile body, includes: a receiving unit 11 , an acquiring unit 12 , a determining unit 13 and a generating unit 14 .

The receiving unit 11 is configured to receive the parking space information sent by the mobile terminal associated with the moving body.

In this embodiment, when the user needs to park the mobile body from the current parking position, the mobile terminal associated with the mobile body can use the mobile terminal associated with the mobile body in an area near the mobile body (for example, an area of 1m-5m) to the receiving unit of the mobile body. 11Send parking space information.

The obtaining unit 12 is configured to obtain the current parking position of the moving body.

Specifically, a GPS module inside the mobile body can be used to obtain the current position.

The determining unit 13 is configured to detect the positional relationship between the current position and the current parking position, and determine the parking direction according to the positional relationship.

The parking directions include forward parking, rear parking, left parking, right parking, left front parking, right front parking, left rear parking, and right rear parking.

Specifically, the determining unit 13 calculates the position angle between the position of the mobile terminal and the position of the mobile body according to the coordinates of the current parking position, the parking direction and the coordinates of the current position; The angle range in which the included angle is matched, and the parking direction corresponding to the angle range is used as the parking direction of the mobile body.

The generating unit 14 is configured to generate a parking path according to the current parking position and the parking direction according to the parking request for parking spaces.

Further, the process of using the generating unit 14 to generate the parking path may include:

The camera of the parking assist device installed on the mobile body collects images around the mobile body to generate a full-angle visual image of the mobile body; the ultrasonic radar in the parking assist device detects the obstacles of the mobile body within the first preset range The position of the object; the auxiliary image is formed based on the position of the obstacle in the full-angle visual image, and the parking type of the moving object is obtained according to the position of the current parking position of the moving object in the auxiliary image; according to the parking direction, the shape parameters of the moving object, the current The parking type corresponding to the parking position and the current position of the mobile terminal plan the global path and the parking path, and splicing the global path and the parking path, node optimization, smooth processing, and path fitting to obtain a smooth transition of the parking path.

In this embodiment, the remote parking control device 1 uses the receiving unit 11 to receive the parking space information sent by the user through the mobile terminal, uses the obtaining unit 12 to obtain the current parking position of the mobile object, and uses the determining unit 13 to obtain the current parking position of the mobile body according to the current position of the mobile terminal and the mobile terminal. The positional relationship between the current parking positions, identify the positional relationship between the mobile terminal and the moving body, so as to determine the parking direction, so that the generating unit 14 can generate a parking path according to the parking direction and the current parking position, so that the moving body can be Driving from the current parking location to the vicinity of the location of the mobile terminal according to the parking path reduces user operations and improves user experience.

In one embodiment, referring to FIG. 5 , the remote parking control device 1 may further include: an execution unit 15 .

The execution unit 15 is configured to control the moving body to park out of the current parking position according to the parking path.

In this embodiment, after generating the parking path, the execution unit 15 can use the electronic power steering mechanism to control the moving body from the current parking position to the area where the mobile terminal is located according to the parking path to complete the parking operation.

In a preferred embodiment, referring to FIG. 5 , the remote parking control device 1 may further include: a detection unit 16 .

The detection unit 16 is configured to detect whether the parking path meets a preset condition.

Wherein, the preset condition is that there is no obstacle target in the parking path.

Further, the detection unit 16 is configured to detect whether there is an obstacle target in the parking path through the ultrasonic radar in the parking aid device.

The execution unit 15 is configured to control the moving body to park out of the current parking position according to the parking path when the parking path meets a preset condition.

In one embodiment, referring to the remote parking control device 1 shown in FIG. 5 , the remote parking control device 1 may further include: a prompt unit 17 .

The prompting unit 17 is configured to generate a message that the current location of the mobile terminal cannot park when the parking path does not meet the preset condition, and send the message to the mobile terminal.

In this embodiment, when there is an obstacle hindering the traveling of the mobile body in the driving direction of the parking path, the prompting unit 17 generates a parking unable message to prompt the user that the current location of the mobile terminal cannot park.

Embodiment 4

In order to achieve the above purpose, the present invention also provides a vehicle 2, the vehicle 2 in this embodiment at least includes but is not limited to: a memory 21, a processor 23, a network interface 22 and a remote parking control device that can be communicated and connected to each other through a system bus 1 (refer to Figure 6). It should be noted that FIG. 6 only shows the vehicle 2 with the component -, but it should be understood that it is not required to implement all of the components shown, and that more or less components may be implemented instead.

In this embodiment, the memory 21 includes at least one type of computer-readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access Memory (RAM), Static Random Access Memory (SRAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Programmable Read Only Memory (PROM), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 21 may be an internal storage unit of the vehicle 2 , such as a hard disk or memory of the vehicle 2 . In other embodiments, the memory 21 may also be an external storage device of the vehicle 2, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) equipped on the vehicle 2 Card, Flash Card, etc. Of course, the memory 21 may also include both an internal storage unit of the vehicle 2 and an external storage device thereof. In this embodiment, the memory 21 is generally used to store the operating system and various application software installed in the vehicle 2 , such as the program codes of the remote parking control methods of the first and second embodiments. In addition, the memory 21 can also be used to temporarily store various types of data that have been output or will be output.

The processor 23 may be a central processing unit (Central Processing Unit, CPU), a controller, a microcontroller, a microprocessor, or other data processing chips in some embodiments. The processor 23 is generally used to control the overall operation of the vehicle 2 such as performing control and processing related to data interaction or communication with the vehicle 2 . In this embodiment, the processor 23 is used for running the program code or processing data stored in the memory 21, for example, running the remote parking control device 1 and the like.

The network interface 22 may comprise a wireless network interface or a wired network interface, and the network interface 22 is typically used to establish a communication connection between the vehicle 2 and other vehicles 2 . For example, the network interface 22 is used to connect the vehicle 2 with an external terminal through a network, and establish a data transmission channel and a communication connection between the vehicle 2 and the external terminal. The network can be an intranet (Intranet), the Internet (Internet), a Global System of Mobile communication (GSM), a Wideband Code Division Multiple Access (WCDMA), a 4G network, a 5G network Wireless or wired network such as network, Bluetooth (Bluetooth), Wi-Fi, etc.

It should be noted that FIG. 6 only shows the vehicle 2 having the components 21-23, but it should be understood that it is not a requirement to implement all of the shown components and that more or fewer components may be implemented instead.

In this embodiment, the remote parking control device 1 stored in the memory 21 can also be divided into one or more program modules, and the one or more program modules are stored in the memory 21 and are composed of one or more program modules. or multiple processors (the processor 23 in this embodiment) to complete the present invention.

Embodiment 5

In order to achieve the above object, the present invention also provides a computer-readable storage medium, which includes a plurality of storage media, such as flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM). ), Static Random Access Memory (SRAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Programmable Read Only Memory (PROM), Magnetic Memory, Disk, Optical, Server, App A shopping mall, etc., has a computer program stored thereon, and when the program is executed by the processor 23, a corresponding function is realized. The computer-readable storage medium of this embodiment is used to store the remote parking control apparatus 1 , and when executed by the processor 23 , implements the remote parking control methods of Embodiment 1 and Embodiment 2.

The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages or disadvantages of the embodiments.

From the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general hardware platform, and of course hardware can also be used, but in many cases the former is better implementation.

The above are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields , are similarly included in the scope of patent protection of the present invention.

Claims

A remote control parking control method, applied to a mobile body, is characterized in that, comprising:

Receive parking space parking information sent by a mobile terminal associated with the moving body, where the parking space parking information includes a parking space parking request and the current position of the mobile terminal;

obtain the current parking position of the moving body;

detecting the positional relationship between the current position and the current parking position, and determining the parking direction according to the positional relationship;

According to the parking space parking request, a parking path is generated according to the current parking position and the parking direction.
The remote control parking control method according to claim 1, wherein the parking direction comprises forward parking, rear parking, left parking, right parking, left front parking, and right front parking car, left rear parking and right rear parking.
The remote control parking control method according to claim 1, further comprising:

The moving body is controlled to park out of the current parking position according to the parking path.
The remote control parking control method according to claim 3, wherein the step of controlling the moving body to park out of the current parking position according to the parking path further comprises:

Detecting whether the parking path meets a preset condition;

If the parking path meets the preset condition, the mobile body is controlled to park out of the current parking position according to the parking path.
The remote control parking control method according to claim 4, characterized in that, further comprising:

If the parking path does not meet the preset condition, a message that the mobile terminal cannot be parked at the current location of the mobile terminal is generated, and the message is sent to the mobile terminal.
The remote parking control method according to claim 4, wherein the preset condition is that there is no obstacle target in the parking path.
The remote parking control method according to claim 6, wherein detecting whether the parking path meets a preset condition comprises:

The ultrasonic radar in the parking assist device is used to detect whether there is an obstacle target in the parking path.
A remote control parking control device, applied to a mobile body, is characterized in that, comprising:

a receiving unit, configured to receive parking space parking information sent by a mobile terminal associated with the mobile body, where the parking space parking information includes a parking space parking request and the current position of the mobile terminal;

an acquisition unit for acquiring the current parking position of the moving body;

a determining unit, configured to detect the positional relationship between the current position and the current parking position, and determine the parking direction according to the positional relationship;

The generating unit is configured to generate a parking path according to the current parking position and the parking direction according to the parking space request.
The remote control parking control device according to claim 8, wherein the parking directions include forward parking, rear parking, left parking, right parking, left front parking, and right front parking car, left rear parking and right rear parking.
The remote control parking control device according to claim 8, further comprising:

The execution unit is configured to control the moving body to park out of the current parking position according to the parking path.
The remote parking control device according to claim 10, further comprising:

a detection unit, configured to detect whether the parking path meets a preset condition;

The execution unit is configured to control the moving body to park out of the current parking position according to the parking path when the parking path meets a preset condition.
The remote parking control device of claim 11, further comprising:

The prompting unit is configured to generate a message that the mobile terminal cannot park at the current position when the parking path does not meet the preset condition, and send the message to the mobile terminal.
The remote parking control device according to claim 11, wherein the preset condition is that there is no obstacle in the parking path.
The remote parking control device according to claim 13, wherein the detection unit is configured to detect whether there is an obstacle in the parking path by using an ultrasonic radar in the parking assist device.
A vehicle, characterized in that the vehicle includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements any one of claims 1 to 7 when the processor executes the computer program the steps of the method described in item.
A computer-readable storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.