WO2022205357A1 - 自动驾驶控制方法、电子设备、移动终端及车辆 - Google Patents

自动驾驶控制方法、电子设备、移动终端及车辆 Download PDF

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Publication number
WO2022205357A1
WO2022205357A1 PCT/CN2021/085064 CN2021085064W WO2022205357A1 WO 2022205357 A1 WO2022205357 A1 WO 2022205357A1 CN 2021085064 W CN2021085064 W CN 2021085064W WO 2022205357 A1 WO2022205357 A1 WO 2022205357A1
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Prior art keywords
user
vehicle
automatic
parking
control information
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PCT/CN2021/085064
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English (en)
French (fr)
Inventor
缪宝杰
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深圳市大疆创新科技有限公司
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Priority to CN202180087693.0A priority Critical patent/CN117043030A/zh
Priority to PCT/CN2021/085064 priority patent/WO2022205357A1/zh
Publication of WO2022205357A1 publication Critical patent/WO2022205357A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/06—Automatic manoeuvring for parking

Definitions

  • the present invention relates to the technical field of automatic driving, and in particular, to an automatic driving control method, an electronic device, a mobile terminal and a vehicle.
  • auxiliary parking function For the parking function scene in the relevant automatic driving technology, only the auxiliary parking function can be realized, and the user needs to cooperate with the operation to complete the parking. For example, for parking in place, the user needs to control the vehicle to park according to the planned parking trajectory of the vehicle. The whole process is inefficient, and for users with poor driving skills, there may be collisions with surrounding vehicles, posing a potential safety hazard. .
  • Embodiments of the present application provide an automatic driving control method, an electronic device, a mobile terminal, and a vehicle, which are used to solve at least one of the above technical problems.
  • an embodiment of the present application provides an automatic driving control method, the method includes: receiving control information sent by a user through a mobile terminal, where the control information includes parking control information; determining automatic parking according to the parking control information car mode; control the vehicle to perform automatic parking according to the automatic parking mode and the map of the parking lot, the map is created based on the parking lot environment information collected by the vehicle.
  • an embodiment of the present application provides an automatic driving control method, which is applied to a mobile terminal.
  • the method includes: presenting an automatic driving operation page in response to a user's operation; when the user selects automatic parking on the automatic driving operation page
  • the automatic parking control page includes at least one automatic parking mode option; control information is sent to the vehicle terminal at least according to the automatic parking mode selected by the user.
  • an embodiment of the present application provides an automatic driving control method, which is applied to a scheduling server in a parking lot.
  • the method includes: receiving control information sent by a user through a mobile terminal; sending the control information to a corresponding vehicle to control Vehicles drive autonomously.
  • embodiments of the present application provide an electronic device applied to a vehicle, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor executing the When the computer program is used, the automatic driving control method described in any embodiment of the present application is realized.
  • an embodiment of the present application provides a mobile terminal, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, when the processor executes the computer program
  • a mobile terminal including: a memory, a processor, and a computer program stored on the memory and executable on the processor, when the processor executes the computer program
  • an embodiment of the present application provides a vehicle installed with the electronic device described in any embodiment of the present invention.
  • an embodiment of the present application provides a scheduling server, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, when the processor executes the computer program
  • a scheduling server including: a memory, a processor, and a computer program stored on the memory and executable on the processor, when the processor executes the computer program
  • an embodiment of the present application provides a computer-readable storage medium, including a computer program, which, when executed on a computer, enables the computer to execute the automatic driving control method described in any embodiment of the present application.
  • An embodiment of the present application provides an automatic driving control method, which receives control information sent by a user through a mobile terminal, where the control information includes parking control information; determines an automatic parking mode according to the parking control information; The parking mode and the map of the parking lot control the vehicle for automatic parking, so that the user can create a map based on the parking lot environment information collected by the vehicle, and simply operate on the mobile terminal to complete the automatic parking without direct control.
  • the vehicle is parked, which improves the parking efficiency and avoids the potential safety hazards caused by the low driving level.
  • 1 is a schematic diagram of an application scenario of the automatic driving control method of the present application
  • FIG. 2 is a flowchart of an embodiment of the automatic driving control method of the present application
  • Figure 3-10 is a schematic diagram of the interactive interface when creating a map in this application.
  • FIG. 11 is a flowchart of another embodiment of the automatic driving control method of the present application.
  • FIG. 12 is a flowchart of another embodiment of the automatic driving control method of the present application.
  • Fig. 13 is a scene schematic diagram of automatic car washing in the application.
  • Fig. 14 is a scene schematic diagram of automatic car washing in the application.
  • 15 is a schematic diagram of the principle of realizing the automatic car washing function in the application.
  • 16 is a flowchart of another embodiment of the automatic driving control method of the present application.
  • 17 is a flowchart of another embodiment of the automatic driving control method of the present application.
  • Figure 19- Figure 22 is a schematic diagram of an interactive interface for realizing automatic summoning in the application
  • FIG. 24 is a schematic structural diagram of an embodiment of the electronic device of the present application.
  • FIG. 1 is a schematic diagram of an application scenario of the automatic driving control method of the present application, which includes a smart phone 100 and a vehicle 200 , and two-way communication between the smart phone 100 and the vehicle 200 .
  • the two-way communication between the smartphone 100 and the vehicle may be wired or wireless communication.
  • the wireless communication may be near-field communication (eg, Bluetooth, WiFi, etc.), or may be far-field communication (eg, mobile Internet), which is not limited in this application.
  • the user can operate on the smart phone 100 and send control information to the vehicle to achieve automatic driving (for example, parking in a space or calling for parking), in addition, the user can also operate directly on the vehicle (for example, One-key operation through physical buttons or operation through the vehicle's interactive interface) to control the vehicle for automatic driving.
  • automatic driving for example, parking in a space or calling for parking
  • the user can also operate directly on the vehicle (for example, One-key operation through physical buttons or operation through the vehicle's interactive interface) to control the vehicle for automatic driving.
  • the automatic driving control method of the present application is suitable for the field of intelligent driving technology, especially suitable for the automatic parking and intelligent calling functions of the intelligent driving system.
  • Typical application scenarios of this application are: open-air parking lots, multi-storey ground parking lots, and multi-storey underground parking lots (such as but not limited to parking lots in shopping malls, office buildings, industrial parks, etc.).
  • an embodiment of the present application provides an automatic driving control method, which is applied to a vehicle-mounted terminal, and the method includes:
  • S130 Control the vehicle to perform automatic parking according to the automatic parking mode and a map of the parking lot, where the map is created based on the parking lot environment information collected by the vehicle.
  • the user can complete the automatic parking by simply operating the mobile terminal based on the map created by the parking lot environment information collected by the vehicle, without directly controlling the vehicle to park, improving the Parking efficiency is improved, and safety hazards caused by low driving levels are avoided.
  • the user operates on the automatic driving control software installed on the mobile terminal. For example, one is selected from multiple automatic parking modes, and then the mobile terminal sends corresponding parking control information to the vehicle in response to the user's selection operation.
  • the automatic parking mode includes at least one of the following modes: a designated parking space mode, a designated area parking mode, and an automatic exploration parking mode.
  • the mobile terminal can present a schematic diagram of the distribution of parking spaces in the current parking lot, and at the same time display the location of the vehicle.
  • the user can select the designated parking space by clicking, and further confirm the operation to generate the parking control information to the vehicle; or the operation interface of the mobile terminal provides a one-key automatic parking function Shortcut key, in this case, the user can pre-set an exclusive parking space, and the user only needs to press the shortcut key to start the vehicle to automatically park in the exclusive parking space.
  • the user can draw a selection box on the operation interface of the mobile terminal, and the area selected by the selection box is the target area for automatic parking, and the vehicle will detect the available parking spaces in the target area and complete the automatic parking. .
  • the mobile terminal interface provides a shortcut key to start the automatic exploration parking mode, and the user can use the shortcut key to start the automatic exploration parking mode.
  • the vehicle will be in the parking lot. Cruise until you find an available space and complete the automatic parking.
  • different automatic parking modes are configured with different parking control information.
  • the parking control information includes a parking mode identifier, and different automatic parking modes correspond to different parking mode identifiers.
  • the vehicle-mounted terminal determines the corresponding automatic parking mode according to the parking mode identifier included in the parking control information.
  • the map of the parking lot is created by the current user or other users.
  • the current user may have been to the current parking lot before, and the parking lot ring information image is collected through the image acquisition device of the vehicle, and a self-built map is constructed (for example, the parking lot is obtained from environmental information. Various identification signs in the field), and the self-built map is uploaded to the user's mobile terminal, so the self-built map can be used directly for automatic parking when it comes again.
  • the self-built map is also uploaded to a local server (a local server in the parking lot) or a cloud server for other users to obtain for automatic parking.
  • controlling the vehicle to perform automatic parking according to the automatic parking mode and the self-built map of the parking lot includes:
  • map data of the parking lot where the map data includes reference feature information of scenes in the parking lot;
  • Vehicle motion is controlled based on the determined motion path in the automatic parking mode.
  • the movement trajectory of the planning and guiding vehicle from the real-time position to the target parking space is determined based on the real-time collected environmental images and the map data of the parking lot, and the movement is planned by comprehensively considering the real-time environmental information collected in real time and the map data of the parking lot. trajectories, so that the obtained motion trajectories conform to the actual scene conditions of the current parking lot, which ensures the validity and availability of the planned motion trajectories.
  • the method of the embodiment of the invention does not require the user to perform trajectory training in advance, which reduces the requirements for the user's driving skills and improves the user experience.
  • the map of the parking lot built by the user includes reference feature information of the scene in the parking lot. For example, at least one piece of reference feature information of the scene on the moving path created by the current user or other users in the map creation mode.
  • the map data includes reference feature information of the scene on at least one pre-created moving path.
  • the pre-created motion path is created by the current user or other users. Therefore, in practical applications, users can realize automatic parking based on the map data created by themselves, and can also realize automatic parking with the help of map data created by other users.
  • the vehicle communicates with the mobile terminal through the central control system.
  • the user selects the starting point A to the end point B of the map. After the map is successfully built, it will be synchronized to the mobile phone.
  • APP application through the mobile phone APP application, the selection of three automatic parking modes can be remotely performed, and the tasks of automatic parking in any mode and the intelligent summoning function of the designated summoning point can be performed.
  • the three modes of automatic parking and smart summoning meet the functional definitions of parking and smart summoning needs in different user scenarios; the three automatic parking modes are summarized as follows:
  • Mode 1 Designated parking space parking mode, the user can automatically park at any location in the self-built map that has been successfully identified and established, and can save frequently used parking spaces during the map building process (for example, the user purchased a parking space or habitual parking position). If the parking space is occupied during the parking process, the user will be prompted to switch to mode 3 "Explore Parking Mode" until the vehicle is successfully parked.
  • Mode 2 Designated area parking mode, the user can select the map area on the APP interface through the self-check map to park. In this area, according to the real-time closest to the vehicle and successfully identified and parkable parking spaces, the parking spaces are started. (The user is in a large parking lot, the parking space is tight, and he wants the parking area closest to the elevator in the shopping mall to save the user's time to find a car and improve the user's efficiency)
  • Mode 3 Explore the parking mode. After the user selects this mode through the mobile APP, the vehicle will automatically park after detecting the available parking space on the map in real time.
  • the mobile terminal when the user starts automatic driving on the vehicle, the mobile terminal is automatically detected and connected, and if the connection is not successful, the user is guided to perform a connection operation. Further confirm to the user whether the map has been created. If the user feedback that the map has not been created, enter the map creation process (as shown in Figure 3-10). If the user feedback has been created, it will match the corresponding created map. If the map fails to be obtained, enter the map creation process. .
  • the automatic parking conditions are met (for example, whether it is within the ODD range, the Operational Design Domain operating design area), if otherwise, the user is prompted to drive into the operating design area before performing automatic parking. Parking.
  • the automatic parking conditions are met, it is further detected whether a parking space is designated for parking. If not, the system judges and automatically executes the automatic parking task (for example, control the automatic cruise of the vehicle to detect the available parking space and complete the automatic parking). If so, follow the designated parking space. Start automatic parking; if there is an abnormal situation during the automatic parking process, it will prompt the user or automatically re-plan for automatic parking.
  • the system re-plans a new automatic parking path to complete the self-parking parking.
  • the system judges and automatically executes the automatic parking task, if the automatic cruise and automatic parking time exceeds the predetermined time, the user will be notified; or if the environment does not allow, for example, there is no available parking space in the parking lot, the user will be reminded; or If the auto-cruise path is unavailable (eg, in traffic jams), a new auto-cruise path is automatically re-planned.
  • Figures 3-10 are schematic diagrams of the interactive interface when creating a map in the present application.
  • the interactive interfaces in FIGS. 3-10 may be presented on a display screen inside the vehicle, and the user creates a map by operating on the display screen.
  • the user may enter the operation interface shown in FIG. 3 after selecting the function of creating a map on the display screen.
  • the interface displays the current parking space layout of the parking lot and the current location of the vehicle, and displays the There is a prompt message "Create a map within a range of 300m, please select a starting point to create a map within this range" to guide users to perform correct operations to start creating a map.
  • the image acquisition device for example, a 360-degree camera
  • a simulated reality view is generated to display on the display screen.
  • a schematic diagram of parking space display is also generated according to the relative positional relationship between the vehicle and the actually detected parking space (as shown in the right part of FIG. 4 ).
  • a parking space is detected, it is marked, for example, “P” is marked at the location of the parking space, and the user is asked whether to save the detected parking space.
  • the detected parking space is marked in the parking space display diagram (for example, the parking space is marked as a dotted frame).
  • the user is prompted "The parking space has been saved, please continue to drive to ensure that the range of the parking map includes the starting point of the call.
  • the complete parking map can help the smooth completion of automatic parking and intelligent parking. call".
  • the user drives the vehicle to continuously detect the parking space during the driving process until the map creation is completed.
  • the map building can also be stopped after the parking space is detected and saved, which can complete the creation of a locally short map, which is not limited in this application.
  • each created parking map is added to the map list and presented on the display screen.
  • multiple self-built maps that have been created are arranged in the form of a list, and the selected self-built map will display multiple operation buttons (for example, "Delete”, "Rename” and "” Update") for the user to choose an action.
  • the user can also initiate the creation of a new map by clicking the "+Create Map” button.
  • the self-built map created by other users may be obtained from a local server or a cloud server.
  • the user can complete automatic parking by simply operating on the mobile terminal, and even if the user has never been to the current parking lot, he can complete the automatic parking with the help of self-built maps created by other users. Parking.
  • the automatic driving control method of the present application further includes: acquiring a self-built map of the parking lot in advance.
  • the self-built map of the parking lot can be pre-obtained in one of the following ways:
  • Method 1 Match the self-built map of the corresponding parking lot according to the navigation destination;
  • Method 2 Match the self-built map of the corresponding parking lot according to the positioning information after arriving at the destination;
  • the third method is to match the self-built map of the corresponding parking lot according to the image environment characteristics after reaching the destination.
  • the driving itinerary planning and the pre-download of the self-built map of the destination parking lot are performed in advance through the cloud user's itinerary information.
  • the pre-download of the self-built map can be realized. For example, if the user (through but not limited to voice recognition devices, smart phones, smart watches, and in-vehicle terminals, etc.) has reserved or planned travel tasks in advance.
  • the vehicle-mounted terminal will automatically acquire relevant data of the destination to be visited (for example, a self-built map). The end user only needs to reach the destination and automatically start to complete tasks such as automatic parking and smart summoning based on the self-built map.
  • the corresponding self-built map is requested from the server according to the GPS positioning information on the vehicle.
  • the background of the vehicle and the machine downloads the map through the cloud, which is equivalent to non-sensing interaction for the user.
  • the server stores the correspondence between the GPS positioning information and the self-built map for matching the self-built map.
  • the vehicle In the third mode, after the vehicle reaches the destination, the current environment image is acquired through the image acquisition device installed in the vehicle, and then a corresponding self-built map is requested from the server according to the environment image.
  • the vehicle may use a 360° camera to scan the environment, and send it to the server for map matching according to the environment identification points to obtain a corresponding self-built map, at which point the map will be downloaded.
  • FIG. 11 is a flowchart of another embodiment of the automatic driving control method of the present application, which further includes:
  • S220 Receive new control information sent by the mobile terminal according to the user's re-selection.
  • the in-vehicle terminal sends a prompt message to the user's mobile terminal to prompt the user Re-select a new automatic parking mode
  • the new automatic parking mode can be the originally selected automatic parking mode (only the specific parameter information has changed, for example, for the designated parking space parking mode, the designated parking space is re-selected, For the designated area parking mode, the designated area is re-selected, etc.) or other automatic parking modes.
  • FIG. 12 is a flowchart of another embodiment of the automatic driving control method of the present application, which further includes:
  • S320 Receive new control information sent by the mobile terminal.
  • the central control system of the vehicle can automatically determine the new parking space according to the actual situation.
  • the automatic parking mode is recommended to the user through the mobile terminal, and the user sends new control information to the central control system of the vehicle after the mobile terminal operates according to the new recommended automatic parking mode.
  • the recommended new automatic parking mode may be an exploration parking mode.
  • the automatic driving control method of the present application further includes: when the control information is summoning control information, controlling the vehicle to complete the automatic summoning according to the summoning control information.
  • a summoning point is determined according to the summoning control information, where the summoning point is a place where the user is about to get into the car.
  • the self-built map includes a map path generated when the user creates a map.
  • the starting point of the map path is the starting point where the vehicle starts to create the map
  • the end point of the map path is the end point where the vehicle finishes creating the map.
  • the summoning point can be any point on the map path.
  • a smart summoning function is provided for the automatic driving control method of the present application.
  • the user can complete a map creation operation in the car, and call the vehicle at any position in the starting point and destination path of the completed map.
  • the solution of the present application can complete the vehicle calling function through communication means such as not limited to Wi-Fi, Bluetooth, etc. in the environment of the underground parking lot with poor network environment, the area without the coverage of the network communication base station, etc.
  • the current conventional technical solutions for smart summoning mostly rely on the GPS positioning in the car, the GPS of the mobile phone, and the network communication method to perform the vehicle summoning function.
  • the current practicability and success rate of this function are low, and there will be greater security risks.
  • the automatic driving control method of the present application further includes: when the control information includes task execution control information, controlling the vehicle to execute a corresponding auxiliary task according to the task execution control information.
  • the corresponding auxiliary task is at least one of automatic car washing, express delivery, automatic power exchange, and automatic charging.
  • the vehicle is controlled by automatic driving to perform auxiliary tasks, which makes full use of the idle time of the vehicle and improves the user experience.
  • FIG. 13 is a schematic diagram of a scene of automatic car washing in the present application. In this embodiment, including:
  • the user parks the car at the elevator entrance of the shopping mall parking lot.
  • the vehicle will automatically drive to the automatic car wash point. If you need to queue up, you will wait in line.
  • the in-vehicle terminal determines the driving path according to the current position of the vehicle and the location of the car wash shop, and drives to the automatic car wash point according to the driving path.
  • control the vehicle to drive out and find a parking space For example, the in-vehicle terminal determines the driving path according to the current position of the vehicle, and detects available parking spaces in real time during driving according to the driving path.
  • the vehicle terminal After shopping, the user opens the mobile APP to pick up the car, the vehicle terminal receives the command to start and drives out of the parking space to the calling point.
  • the vehicle automatically drives to the user's location.
  • FIG. 14 is a schematic diagram of a scene of automatic car washing in the present application.
  • the dispatching center of the parking lot dispatches vehicles for automatic car washing.
  • the dispatching center of the parking lot dispatches vehicles for automatic car washing.
  • the dispatching center of the parking lot dispatches vehicles for automatic car washing.
  • the dispatching center of the parking lot dispatches vehicles for automatic car washing.
  • Vehicles to be washed are parked in the parking lot.
  • the staff of the parking lot dispatching room sends automatic car washing instructions to the vehicles to be washed through the mobile terminal.
  • multiple vehicles can be controlled to activate the automatic car wash function at the same time.
  • the vehicle to be washed receives the instruction, it will automatically turn on and drive to the car washing machine to wait for the car to be washed.
  • the vehicle to be washed determines the driving path according to the current position and the location of the car washing machine, and then drives to the car washing machine according to the driving path.
  • the vehicle After washing the car, the vehicle will automatically drive to the available parking space to complete the automatic parking.
  • the vehicle determines a driving path according to the current position and a designated parking space or a designated area, and then travels according to the driving path and detects a designated parking space or an available parking space to complete automatic parking.
  • FIG. 15 is a schematic diagram showing the principle of realizing the automatic car washing function in this application.
  • This embodiment includes a mobile phone terminal, a vehicle terminal and a car washing machine terminal.
  • the mobile phone terminal is pre-installed with the corresponding mobile phone APP, and the user can operate on the APP to initiate a car washing request, and the request can be sent to the vehicle terminal and the car washing machine terminal at the same time. Go to the cloud background of the car washing machine to generate a car wash order.
  • the vehicle will close the windows and fold the mirrors after receiving an automatic car wash request. And locate the current location of the vehicle, and then plan the path according to the current location of the vehicle and the location of the car washer, where the location of the car washer can be sent by the car washer to the autonomous parking (AVP) cloud background, and stored in the AVP cloud background If there is a self-built map of the parking lot, the AVP cloud background will send the information of the location of the car washing machine and the self-built map of the parking lot to the AVP vehicle for path planning.
  • the vehicle is positioned in real-time as it drives to the car washer and obstacle detection (eg, detection of obstacles, other vehicles, and pedestrians) can be performed, for example, through visual detection by a camera mounted on the vehicle.
  • obstacle detection eg, detection of obstacles, other vehicles, and pedestrians
  • the vehicle information eg, vehicle license plate
  • the vehicle license plate is identified and compared with the vehicle license plate corresponding to the generated car wash order.
  • FIG. 16 is a flowchart of another embodiment of the automatic driving control method of the present application. The method is applied to a mobile terminal, and includes:
  • the at least one automatic parking mode includes at least one of the following modes: a designated parking space mode, a designated area parking mode, and an automatic exploration parking mode.
  • S430 Send control information to the vehicle at least according to the automatic parking mode selected by the user.
  • the user can realize parking in different automatic parking modes by simply operating on the mobile terminal, and the user can select an appropriate automatic parking mode according to his actual needs, which is convenient and quick to park.
  • the automatic driving control method of the present application further includes: when the automatic parking mode selected by the user is the designated parking space parking mode, guiding the user to select the designated parking space based on the self-built map of the parking lot, wherein the Self-built maps are created by the current user or other users.
  • Sending control information to the vehicle at least according to the automatic parking mode selected by the user includes: sending control information to the vehicle at least according to the designated parking space selected by the user.
  • the mobile terminal when the user selects the designated parking space parking mode, the mobile terminal presents the self-built map to the user, and guides the user to select a parking space as the designated parking space. Then, the parking space information (eg, parking space number, parking space location information, etc.) of the selected designated parking space is sent to the vehicle, so that the vehicle can determine the automatic parking path from the self-built map accordingly. For example, the vehicle selects a self-built map path including the current position of the vehicle and the position of the designated parking space from the self-built map, and then controls the vehicle to drive to the designated parking space according to the self-built map path.
  • the parking space information eg, parking space number, parking space location information, etc.
  • the automatic driving control method of the present application further includes: when the automatic parking mode selected by the user is the designated area parking mode, guiding the user to select the designated area based on the self-built map of the parking lot, wherein the Self-built maps are created by the current user or other users.
  • Sending control information to the vehicle at least according to the automatic parking mode selected by the user includes: sending control information to the vehicle at least according to the designated area selected by the user.
  • the mobile terminal when the user selects the parking mode in the designated area, the mobile terminal presents the self-built map to the user, and guides the user to select the designated area in a frame. Then, the range information of the selected designated area is sent to the vehicle, so that the vehicle can determine the automatic parking route from the self-built map accordingly. For example, the vehicle selects a self-built map path including the current position of the vehicle and a point in the designated area from the self-built map, and then controls the vehicle to drive to the designated area according to the self-built map path.
  • the self-built map of the current parking lot needs to be obtained in advance before automatic parking, and the self-built map can be obtained in one of the following ways:
  • Method 1 Match the self-built map of the corresponding parking lot according to the navigation destination;
  • Method 2 Match the self-built map of the corresponding parking lot according to the positioning information after arriving at the destination;
  • Method 3 Match the self-built map of the corresponding parking lot according to the image environment characteristics after arriving at the destination.
  • sending control information to the vehicle-mounted terminal at least according to the automatic parking mode selected by the user includes: sending control information to the vehicle-mounted terminal according to the current location of the vehicle and the automatic parking mode selected by the user.
  • the automatic driving control method of the present application further includes obtaining the current location of the vehicle in the following manner:
  • the current position of the vehicle is determined according to the current position selected by the user on the parking lot map.
  • the automatic driving control method of the present application further includes: receiving an automatic parking result notification sent back by the vehicle terminal.
  • the automatic driving control method of the present application further includes: when the automatic parking result is notified as a parking failure, prompting the user to re-select a new automatic parking mode; sending to the vehicle terminal according to the user's re-selection New control information.
  • FIG. 17 is a flowchart of another embodiment of the automatic driving control method of the present application, which further includes:
  • FIG. 18 is a flowchart of another embodiment of the automatic driving control method of the present application, which further includes:
  • S620 Send summoning control information to the vehicle according to the summoning point selected by the user on the automatic summoning control page.
  • FIG. 19-FIG. 22 are schematic diagrams of interactive interfaces for realizing automatic calling in the present application.
  • FIG. 19 after the user selects the calling function on the operation interface of the mobile terminal, the page jumps to the page shown in FIG. 20 .
  • a schematic diagram of the distribution of parking spaces in the parking lot and an available path in the parking lot are displayed under the page of FIG. 20 , and the user is prompted to select a summoning point from the path through text on this page.
  • the user clicks the call point the corresponding display will be displayed on the path, and then the user is reminded to confirm the call point (as shown in Figure 21). It shows the driving path from the current position of the vehicle to the summoning point, and further prompts the user to start the smart summoning by long pressing the button.
  • the automatic driving control method of the present application further comprises: when a user selects an auxiliary task on the automatic driving operation page, sending task execution control information to the vehicle.
  • the method before sending the task execution control information to the vehicle, the method further includes: obtaining the estimated time required for executing the selected auxiliary task by the dispatch server of the parking lot; confirming to the user whether to accept the required duration; when the user accepts the required duration, mission execution control information is sent to the vehicle.
  • auxiliary task when the user does not accept the required duration, it is further confirmed to the user whether the selected auxiliary task needs to be preferentially executed; when the user selects the preferential execution, task execution control information is sent to the vehicle.
  • the auxiliary task when the user cannot accept the initially determined required duration for executing the auxiliary task, the auxiliary task may be preferentially executed in response to the user's request.
  • the automatic car wash service when the user knows that the time required to wash the car according to the normal queue is longer than expected, he can choose to execute the automatic car wash of his own car preferentially in response to the inquiry of the system (for example, the expedited car wash can be obtained in the form of overpayment. Serve).
  • sending task execution control information to the vehicle includes: entering auxiliary task selection in response to the user's operation on the automatic driving operation page
  • the auxiliary task selection page includes at least one auxiliary task option; the task execution control information is sent to the vehicle according to the auxiliary task selected by the user.
  • the at least one auxiliary task includes at least one of automatic car washing, express delivery, automatic power exchange, and automatic charging.
  • the method further includes prompting the user to connect the vehicle.
  • Figure 23 shows a flowchart of another embodiment of the automatic driving control method of the present application, which is applied to a scheduling server of a parking lot, and the method includes:
  • the mobile terminal and the vehicle communicate with each other through the dispatch server of the parking lot, thereby avoiding the problem of inability to communicate due to poor network signals.
  • the mobile terminal communicates with the parking lot server, and then the parking lot server relays the information to the vehicle, thereby solving the above problems.
  • the mobile terminal and the dispatch server are connected through the Internet; the vehicle and the dispatch server are connected through a near field communication network.
  • the mobile terminal can communicate with the dispatch server through the mobile Internet or WiFi.
  • a WiFi signal with full coverage is usually provided in a shopping mall, and the mobile terminal can be connected to the local area network where the dispatch server is located through the WiFi signal, so as to realize the Communication between the scheduling servers.
  • the dispatch server is set in the basement and is close to the vehicles in the underground parking lot, so it can be interconnected with the vehicles through the near field communication technology.
  • control information is parking control information or summoning control information or mission performance control information.
  • the automatic driving control method of the present application further includes: receiving task execution control information from a mobile terminal or a vehicle; and controlling the vehicle to execute corresponding auxiliary tasks according to the task execution control information.
  • the automatic driving control method of the present application further includes: receiving task execution control information, the task execution control information is from a mobile terminal or a vehicle; estimating the time required to execute the corresponding auxiliary task; sending a notification to the mobile terminal information for the user to confirm whether to accept the required duration; when the user accepts the required duration, the current corresponding auxiliary task is added to the execution task queue.
  • the automatic driving control method of the present application further includes: when the user does not accept the required duration, further confirming to the user whether the corresponding auxiliary task needs to be performed preferentially; Join the execution task queue.
  • the task execution control information is generated by the mobile terminal in response to a user's operation on the automatic driving operation page.
  • the auxiliary task includes at least one of automatic car washing, express delivery, automatic power exchange, and automatic charging.
  • the embodiments of the present application provide an electronic device applied to a vehicle, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor When the computer program is executed, the automatic driving control method described in any embodiment of the present application is implemented.
  • the embodiments of the present application provide a mobile terminal, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor executing the computer
  • the automatic driving control method described in any embodiment of the present application is implemented during the program.
  • the embodiments of the present application provide a vehicle equipped with the electronic device described in any of the embodiments of the present application.
  • embodiments of the present application provide a scheduling server, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor executing the computer
  • the automatic driving control method described in any embodiment of the present application is implemented during the program.
  • the embodiments of the present application provide a computer-readable storage medium, including a computer program, which, when executed on a computer, causes the computer to execute the automatic driving control method described in any of the embodiments of the present application.
  • embodiments of the present application provide a non-volatile computer-readable storage medium, where one or more programs including execution instructions are stored in the storage medium, and the execution instructions can be read by an electronic device (including But it is not limited to a computer, a server, or a network device, etc.) to read and execute it, so as to execute any one of the above-mentioned automatic driving control methods in this application.
  • an electronic device including But it is not limited to a computer, a server, or a network device, etc.
  • the embodiments of the present application also provide a computer program product
  • the computer program product includes a computer program stored on a non-volatile computer-readable storage medium
  • the computer program includes program instructions, when all When the program instructions are executed by the computer, the computer is made to execute any one of the above-mentioned automatic driving control methods.
  • FIG. 24 is a schematic diagram of the hardware structure of an electronic device for executing an automatic driving control method provided by another embodiment of the present application. As shown in FIG. 24 , the device includes:
  • One or more processors 2410 and a memory 2420, one processor 2410 is taken as an example in FIG. 24 .
  • the apparatus for executing the automatic driving control method may further include: an input device 2430 and an output device 2440 .
  • the processor 2410, the memory 2420, the input device 2430, and the output device 2440 may be connected through a bus or in other ways, and the connection through a bus is taken as an example in FIG. 24 .
  • the memory 2420 can be used to store non-volatile software programs, non-volatile computer-executable programs and modules, such as programs corresponding to the automatic driving control method in the embodiments of the present application Directive/Module.
  • the processor 2410 executes various functional applications and data processing of the server by running the non-volatile software programs, instructions and modules stored in the memory 2420, that is, to implement the automatic driving control method of the above method embodiments.
  • the memory 2420 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the automatic driving control device, and the like. Additionally, memory 2420 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 2420 may optionally include memory located remotely from the processor 2410, which remote memory may be connected to the automated driving controls via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
  • the input device 2430 may receive input numerical or character information, and generate signals related to user settings and function control of the automatic driving control device.
  • the output device 2440 may include a display device such as a display screen.
  • the one or more modules are stored in the memory 2420, and when executed by the one or more processors 2410, execute the automatic driving control method in any of the above method embodiments.
  • the above product can execute the method provided by the embodiments of the present application, and has functional modules and beneficial effects corresponding to the execution method.
  • the above product can execute the method provided by the embodiments of the present application, and has functional modules and beneficial effects corresponding to the execution method.
  • the electronic devices of the embodiments of the present application exist in various forms, including but not limited to:
  • Mobile communication equipment This type of equipment is characterized by having mobile communication functions, and its main goal is to provide voice and data communication.
  • Such terminals include: smart phones (eg iPhone), multimedia phones, feature phones, and low-end phones.
  • Ultra-mobile personal computer equipment This type of equipment belongs to the category of personal computers, has computing and processing functions, and generally has the characteristics of mobile Internet access.
  • Such terminals include: PDAs, MIDs, and UMPC devices, such as iPads.
  • Portable entertainment equipment This type of equipment can display and play multimedia content.
  • Such devices include: audio and video players (eg iPod), handheld game consoles, e-books, as well as smart toys and portable car navigation devices.
  • the composition of the server includes a processor, a hard disk, a memory, a system bus, etc.
  • the server is similar to a general computer architecture, but due to the need to provide highly reliable services, the processing power, stability , reliability, security, scalability, manageability and other aspects of high requirements.
  • the device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • each embodiment can be implemented by means of software plus a general hardware platform, and certainly can also be implemented by hardware.
  • the above-mentioned technical solutions can be embodied in the form of software products in essence, or the parts that make contributions to related technologies, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic disks , optical disc, etc., including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the methods described in various embodiments or some parts of the embodiments.

Abstract

本申请实施例提供了一种自动驾驶控制方法，该方法包括：接收用户通过移动终端发送的控制信息，所述控制信息包括泊车控制信息；根据所述泊车控制信息确定自动泊车模式；根据所述自动泊车模式和停车场的地图控制车辆进行自动泊车，所述地图是基于所述车辆采集的停车场环境信息创建的。通过本申请实施例的自动驾驶控制方法，用户可以基于车辆采集的停车场环境信息所创建的地图，只需简单的在移动终端进行操作即可完成自动泊车，无需直接控制车辆进行泊车，提升了泊车效率，也避免了由于驾驶水平较低而导致的安全隐患。

Description

自动驾驶控制方法、电子设备、移动终端及车辆 技术领域
本发明涉及自动驾驶技术领域，尤其涉及一种自动驾驶控制方法、电子设备、移动终端及车辆。
背景技术
相关自动驾驶技术中对于泊车功能场景，还仅仅只能实现辅助泊车功能，需要用户自己进行配合操作才能完成泊车。例如，对于泊车入位，用户需要根据车辆所规划处的泊车轨迹控制车辆实现泊车，整个过程效率低下，且对于驾驶水平较差的用户可能还会与周边车辆发生剐蹭，存在安全隐患。
发明内容
本申请实施例提供一种自动驾驶控制方法、电子设备、移动终端及车辆，用于至少解决上述技术问题之一。
第一方面，本申请实施例提供一种自动驾驶控制方法，该方法包括：接收用户通过移动终端发送的控制信息，所述控制信息包括泊车控制信息；根据所述泊车控制信息确定自动泊车模式；根据所述自动泊车模式和停车场的地图控制车辆进行自动泊车，所述地图是基于所述车辆采集的停车场环境信息创建的。
第二方面，本申请实施例提供一种自动驾驶控制方法，应用于移动终端，该方法包括：响应于用户的操作呈现自动驾驶操作页面；当用户在所述自动驾驶操作页面上选择自动泊车时进入自动泊车控制页面，所述自动泊车控制页面包括至少一种自动泊车模式选项；至少根据用户所选择的自动泊车模式向车载终端发送控制信息。
第三方面，本申请实施例提供一种自动驾驶控制方法，应用于停车场的调度服务器，该方法包括：接收用户通过移动终端发送的控制信息；将 所述控制信息发送至相应的车辆以控制车辆自动驾驶。
第四方面，本申请实施例提供一种电子设备，应用于车辆，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现本申请任一实施例所述的自动驾驶控制方法。
第五方面，本申请实施例提供一种移动终端，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现本申请任一实施例所述的自动驾驶控制方法。
第六方面，本申请实施例提供一种车辆，其安装有本发明任一实施例所述的电子设备。
第七方面，本申请实施例提供一种调度服务器，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现本申请任一实施例所述的自动驾驶控制方法。
第八方面，本申请实施例提供一种计算机可读存储介质，包括计算机程序，当其在计算机上运行时，使得所述计算机执行本申请任一实施例所述的自动驾驶控制方法。
本申请实施例提供了一种自动驾驶控制方法，接收用户通过移动终端发送的控制信息，所述控制信息包括泊车控制信息；根据所述泊车控制信息确定自动泊车模式；根据所述自动泊车模式和停车场的地图控制车辆进行自动泊车，使得用户可以基于车辆采集的停车场环境信息所创建的地图，只需简单的在移动终端进行操作即可完成自动泊车，无需直接控制车辆进行泊车，提升了泊车效率，也避免了由于驾驶水平较低而导致的安全隐患。
附图说明
图1为本申请的自动驾驶控制方法的一种应用场景的示意图；
图2为本申请的自动驾驶控制方法的一实施例的流程图；
图3-10为本申请中创建地图时的交互界面示意图；
图11为本申请的自动驾驶控制方法的另一实施例的流程图；
图12为本申请的自动驾驶控制方法的又一实施例的流程图；
图13为本申请中进行自动洗车的一场景示意图；
图14为本申请中进行自动洗车的一场景示意图；
图15为本申请中实现自动洗车功能的原理示意图；
图16为本申请的自动驾驶控制方法的另一实施例的流程图；
图17为本申请的自动驾驶控制方法的另一实施例的流程图；
图18为本申请的自动驾驶控制方法的另一实施例的流程图；
图19-图22为本申请中实现自动召唤的交互界面示意图；
图23为本申请的自动驾驶控制方法的另一实施例的流程图；
图24为本申请的电子设备的一实施例的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
如图1所示为本申请的自动驾驶控制方法的一种应用场景的示意图，其中包括智能手机100和车辆200，智能手机100与车辆200之间双向通信。智能手机100与车辆之间的双向通信可以是有线或者无线通信。其中无线通信可以是近场通信(例如，蓝牙、WiFi等)，还可以是远场通信(例如，移动互联网)，本申请对此不作限定。在该实施例中用户可以在智能手机100上进行操作并发送控制信息至车辆实现自动驾驶(例如，泊车入位或者泊车召唤)，此外用户也可以通过在车辆上直接进行操作(例如，通过实体按键一键操作或者通过车辆的交互界面进行操作)控制车辆进行自动驾驶。
本申请的自动驾驶控制方法适用于智能驾驶技术领域，尤其适用于智能驾驶系统的自动泊车与智能召唤功能。本申请典型应用场景为：露天停车场、多层地面停车场和多层地下停车场(例如但不仅限于商场、写字楼、工业园等场所的停车场)。
如图2所示，本申请的实施例提供一种自动驾驶控制方法，应用于车载终端，该方法包括：
S110、接收用户通过移动终端发送的控制信息，所述控制信息包括泊车控制信息；
S120、根据所述泊车控制信息确定自动泊车模式；
S130、根据所述自动泊车模式和停车场的地图控制车辆进行自动泊车，所述地图是基于所述车辆采集的停车场环境信息创建的。
通过本实施例的自动驾驶控制方法，用户可以基于车辆采集的停车场环境信息所创建的地图，只需简单的在移动终端进行操作即可完成自动泊车，无需直接控制车辆进行泊车，提升了泊车效率，也避免了由于驾驶水平较低而导致的安全隐患。
对于S110，示例性地，用户在移动终端所安装的自动驾驶控制软件上进行操作。例如，从多种自动泊车模式中选择一种，然后移动终端响应于用户的选择操作向车辆发送相应的泊车控制信息。
示例性地，自动泊车模式包括以下模式中的至少一种：指定车位泊车模式、指定区域泊车模式和自动探索泊车模式。移动终端上可以呈现当前停车场的车位分布示意图，同时显示本车所在位置。
对于指定车位泊车模式，可以是用户通过点选的方式来选择指定车位，并进一步的进行确认操作后生成泊车控制信息至车辆；或者移动终端的操作界面上提供了一键自动泊车的快捷键，这种情况下可以是用户预先设置了专属车位，用户只需按下该快捷键即可启动车辆自动泊入专属车位。
对于指定区域泊车模式，例如用户可以在移动终端的操作界面上画选择框，该选择框所选区域就是自动泊车的目标区域，车辆将在该目标区域内检测可用车位并完成自动泊车。
对于自动探索泊车模式，例如，移动终端界面上提供了启动自动探索泊车模式的快捷键，用户可以通过该快捷键一键启动自动探索泊车模式，在该模式下车辆将在停车场中进行巡航直到找到可用车位并完成自动泊车。
对于S120，示例性地，不同的自动泊车模式配置有不同的泊车控制信息。例如，泊车控制信息中包含有泊车模式标识，不同的自动泊车模式对应有不同的泊车模式标识。车载终端根据泊车控制信息所包含的泊车模式 标识来确定相应的自动泊车模式。
对于S130，示例性地，停车场的地图由当前用户或者其他用户创建。在一些实施例中，当前用户在此之前可能就已经来过当前的这个停车场，并且通过车辆的图像采集装置进行停车场环信息像采集并构建了自建地图(例如，从环境信息获取停车场中的各种标识标志)，并且将自建地图上传到了用户的移动终端，因此再次到来时可以直接使用自建地图进行自动泊车。此外，在一些实施例中还将自建地图上传至本地服务器(停车场本地的服务器)或者云端服务器，以供其他用户获取以用于自动泊车。
在一些实施例中，根据所述自动泊车模式和停车场的自建地图控制车辆进行自动泊车，包括：
获取停车场的地图数据，所述地图数据包括所述停车场内的景物的参考特征信息；
通过搭载于车辆的传感器实时获取所述停车场的环境图像；
根据所述环境图像中景物的特征信息和所述地图数据中的景物的参考特征信息确定所述车辆在所述停车场内的实时位置；
基于所述环境图像和所述地图数据确定所述车辆从实时位置到目标停车位的运动路径，所述运动路径用于指引所述车辆由实时位置到目标停车位；
在所述自动泊车模式下基于确定的所述运动路径控制车辆运动。
本申请实施例通过基于实时采集的环境图像和停车场的地图数据确定规划指引车辆从实时位置到目标停车位的运动轨迹，综合考虑了实时采集的真实环境信息和停车场的地图数据来规划运动轨迹，使得到的运动轨迹符合当前停车场的实际场景状况，确保了规划出的运动轨迹的有效性和可用性。此外，发明实施例的方法无需用户预先进行轨迹训练，降低了对用户的驾驶技术的要求，提升了用户体验。
在一些实施例中，用户所自建的停车场的地图包括停车场内的景物的参考特征信息。例如，至少一条由当前用户或者其他用户在地图创建模式下所创建的运动路径上的景物的参考特征信息。
本实施例中地图数据包括了至少一条预先创建的运动路径上的景物的参考特征信息。该预先创建的运动路径为当前用户或者其他用户所创 建。从而在实际应用中用户即可以基于自己创建的地图数据实现自动泊车，也可以借助其他用户所创建的地图数据实现自动泊车。
在一些实施例中，车辆通过所中控系统实现与移动终端之间的通信，基于车辆的中控系统中用户自建地图选择起始点A到地图终点B，成功建图后将会同步至手机APP应用程序，通过手机APP应用程序远程进行三种自动泊车模式的选择，并执行任意模式的自动泊车与指定召唤点的智能召唤功能的任务。自动泊车三种模式与智能召唤满足不同用户场景下对于泊车与智能召唤需求的功能定义；三种自动泊车模式概述如下：
模式一：指定车位泊车模式，用户可以通过自建地图中任意已成功识别且建立车位的位置进行自动泊车，并可以在建图过程中保存常用泊车位(例如，用户自己购买了车位或习惯性泊车位置)。如果在泊车过程中出现车位被占用的情况下，将会提示用户转换成模式三“探索泊车模式”直至车辆泊入成功为止。
模式二：指定区域泊车模式，用户可以通过自检地图中任意在APP界面上框选地图区域进行泊车。在该区域中根据实时距离本车最近且成功识别与可泊入车位开始泊入车位。(用户在大型停车场，车位紧张并希望离商场电梯最近的停车区域，为用户节省找车的时间，提高用户效率)
模式三：探索泊车模式，用户通过手机APP选择该模式后，车辆会根据地图上实时检测到可停车位后，车辆将会进行自动泊入。
在一些实施例中，当用户在车辆上启动自动驾驶时，自动检测并连接移动终端，如果未连接成功则引导用户进行连接操作。进一步地向用户确认是否已创建地图，如果用户反馈未创建则进入创建地图流程(如图3-10)，如果用户反馈已创建则匹配相应的已创建地图，如果获取地图失败则进入创建地图流程。
在一些实施例中，在进行自动泊车之前检测是否满足自动泊车条件(例如，是否在ODD范围内，Operational Design Domain运行设计区域)，如果否则提示用户行驶至运行设计区域内之后再进行自动泊车。在满足自动泊车条件之后进一步检测是否指定了车位进行泊车，如果否则系统自行判断并自动执行自动泊车任务(例如，控制车辆自动巡航检测可用车位完成自动泊车)如果是则按照指定车位开始自动泊车；在自动泊车过程中如 果出现异常情况则提示用户或者自动重新规划进行自动泊车。
例如，在指定停车位情况下，检测到指定车位不可用则提示用户重新选择指定车位或者自动在指定车位附件检测可用车位完成自动泊车；或者行驶至指定车位的自动泊车规划路径不可通行，则系统重新规划新的自动泊车路径以完成自定车位泊车。
例如，在系统自行判断自动执行自动泊车任务的情况下，如果自动巡航自动泊车时间超过预定时间，则通知用户；或者环境不允许，例如停车场内已经没有可用车位，则提醒用户；或者自动巡航路径不可用(例如，堵车)则自动重新规划新的自动巡航路径。
如图3-图10所示为本申请中创建地图时的交互界面示意图。示例性地，图3-图10中的交互界面可以是呈现在车辆内部的显示屏幕之上的，用户通过在该显示屏幕上进行操作来创建地图。
在一些实施例中，用户可以在显示屏幕上选择创建地图功能后就会进入到图3所示的操作界面上，在该界面下显示了当前停车场的车位布局以及车辆当前所在位置，并且显示有提示信息“在300m范围内创建地图，请在该范围内选择起始点开始创建地图”用于引导用户进行正确的操作以开始创建地图。
当用户点击“开始”按钮之后跳转至如图4所示的创建地图的界面，在本实施例中，通过车辆所配置的图像采集装置(例如，360度摄像头)采集车辆周围环境信息，并生成模拟实景视图显示在显示屏幕之上。此外，还根据本车与实际检测到的泊车位之间的相对位置关系生成车位展示示意图(如图4中右侧部分所示)。
如图5所示，每当检测到一个泊车位时，均将其标记出来，例如在车位所在位置标注“P”，并且询问用户是否保存该检测到的泊车位。
如图6所示，当用户选择保存所检测到的泊车位时，在车位展示示意图中将该检测到的泊车位标示出来(例如，将该车位标记为虚线框)。
如图7所示在保存所检测出的泊车位之后提示用户“车位已经保存，请继续行驶以确保泊车地图的范围包括召唤起始点，完整泊车地图可以帮助顺利的完成自动泊车和智能召唤”。就这样用户驾驶车辆在行驶过程中不断检测泊车位，直到完成地图创建。此外，还可以在检测到泊车位并保 存之后停止建图，可完成局部较短的地图创建，本申请对此不作限定。
如图8所示，在完成地图创建之后还进一步的提示用户“地图创建成功，请保存并命名”。如图9所示当用户在图8的界面之上点击“是”，则会保存地图并生成地图名称输入框，进一步的在显示界面上显示键盘供用户输入信息用。
如图10所示，每一个创建完成的泊车地图均加入了地图列表并呈现在显示屏幕上。如图10所示，在该界面上多个已经创建的自建地图排列成列表的形式，其中被选中的自建地图会显示多个操作按钮(例如，“删除”、“重命名”和“更新”)供用户选择操作。并且在该实施例中，用户还可以通过点击“+创建地图”按钮来启动创建新的地图。
在一些实施例中，如果当前用户在此之前并未创建过自建地图，则可以从本地服务器或者云端服务器获取其他用户创建的自建地图。
通过本实施例的自动驾驶控制方法，用户只需简单的在移动终端进行操作即可完成自动泊车，即便是用户未曾到过当前的停车场也可以借助其他用户所创建的自建地图完成自动泊车。
在一些实施例中，本申请的自动驾驶控制方法还包括：预先获取停车场的自建地图。
示例性地，可以通过以下方式之一预先获取停车场的自建地图：
方式一、根据导航目的地匹配相应的停车场的自建地图；
方式二、根据到达目的地后的定位信息匹配相应的停车场的自建地图；
方式三、根据达到目的地后的图像环境特征匹配相应的停车场的自建地图。
在方式一中，通过云端用户行程信息，提前进行驾驶行程规划与终点停车场的自建地图的预下载。只要检测用户关键信息，提前感知到用户的意图，就可以实现自建地图的预下载。例如，如果用户(通过但不限于语音识别设备、智能手机、智能手表和车载终端等)提前预约或规划了出行任务。此时车载终端会自动获取将即将去的目的地的相关数据(例如，自建地图)。最终用户只需要到达目的地基于自建地图自动开始完成自动泊车、智能召唤等任务。
在方式二中，在车辆行驶到目的地之后根据车上GPS的定位信息向服务器请求相应的自建地图，此时车机后台通过云端下载地图，对于用户来说相当于是无感交互。服务器中存储有GPS定位信息与自建地图之间的对应关系，以供匹配自建地图。
在方式三中，车辆到达目的地之后通过车辆所安装的图像采集装置获取当前的环境图像，然后根据环境图像向服务器请求相应的自建地图。示例性地，车辆可以利用360°相机完成环境扫描，根据环境识别点发送至服务器进行地图匹配得到相应的自建地图，此时将会进行地图下载。
如图11所示为本申请的自动驾驶控制方法的另一实施例的流程图，在该实施例中还包括：
S210、当按照所述自动泊车模式无法完成泊车时，通知所述移动终端以提示用户重新选择新的自动泊车模式；
S220、接收所述移动终端根据用户的重新选择所发送的新的控制信息。
在本实施例中如果用户所选择的自动泊车模式下无法完成泊车(例如，指定车位不可用或者指定区域无可用车位等情况)，则车载终端向用户的移动终端发送提示信息，提示用户重新选择新的自动泊车模式，该新的自动泊车模式可以是原来所选的自动泊车模式(只是具体参数信息发生了变化，例如，对于指定车位泊车模式下重新选择了指定车位，对于指定区域泊车模式下重新选择了指定区域等)或者其它自动泊车模式。
如图12所示为本申请的自动驾驶控制方法的另一实施例的流程图，在该实施例中还包括：
S310、当按照所述自动泊车模式无法完成泊车时，确定新的自动泊车模式以用于移动终端为用户推荐新的自动泊车模式；
S320、接收所述移动终端所发送的新的控制信息。
在本实施例中，如果用户所选择的自动泊车模式下无法完成泊车(例如，指定车位不可用或者指定区域无可用车位等情况)，则车辆的中控系统可以根据实际情况自动确定新的自动泊车模式并通过移动终端推荐给 用户，用户在移动终端根据所推荐的新的自动泊车模式进行操作之后发送新的控制信息至车辆的中控系统。其中，所推荐的新的自动泊车模式可以是探索泊车模式。
在一些实施例中，本申请的自动驾驶控制方法的还包括：当所述控制信息为召唤控制信息时，根据所述召唤控制信息控制车辆完成自动召唤。
示例性地，根据召唤控制信息确定召唤点，该召唤点是用户即将上车的地点。本实施例中自建地图包括用户进行地图创建时生成的地图路径，该地图路径的起始点为车辆开始创建地图的起点，该地图路径的终端是车辆结束创建地图的终点。本实施例中召唤点可以是地图路径上的任意一点。
通过本实施例为本申请的自动驾驶控制方法设置了智能召唤功能。用户可以在车内完成一次创建地图的操作，在完成建图的起始点与终点路径中任意位置进行车辆召唤。本申请的方案可以在网络环境较差的地下停车场、未有网络通讯基站覆盖区域等环境下通过不限于Wi-fi、蓝牙等通讯手段完成车辆召唤功能。
而当前常规对于智能召唤的技术方案多为依赖于车内GPS定位与手机GPS、网络通讯方式进行车辆召唤功能。针对于目前市场上实际产品化的功能上看，以Tesla为例，当前该功能的实用性与成功率较低，且会出现较大的安全风险。
在一些实施例中，本申请的自动驾驶控制方法的还包括：当所述控制信息包括任务执行控制信息时，根据所述任务执行控制信息控制车辆执行相应辅助任务。示例性地，相应辅助任务为自动洗车、代取快递、自动换电和自动充电中的至少一种。本实施例中通过自动驾驶控制车辆执行辅助任务，充分利用了车辆闲置的时间，提升了用户体验。
以自动洗车为例，现代人的时间越来越宝贵，专门抽出时间去洗车或者到达规定的地点才能完成枯燥乏味的任务。对于用户来说增加了时间成本。一方面智能汽车可以通过当前的大数据(例如，但不仅限于实时天气、当前环境、用户习惯、驾驶场景等)智能推送与触发自动泊车、自动洗车 功能。另一方面用户可以提前通过远程控制终端进行自动洗车功能。
如图13所示为本申请中进行自动洗车的一场景示意图。在该实施例中，包括：
1、用户将车停在商场停车场电梯口。
2、通过手机APP选择自动洗车功能。
3、车辆自动驶向自动洗车点，如需排队将排队等待。例如，车载终端根据车辆当前位置和洗车店所在位置确定行车路径，并按照该行车路径驶向自动洗车点。
4、自动驶入洗车位开始自动洗车。
5、洗完车之后控制车辆驶出并查找停车位。例如，车载终端根据当前车辆所在位置确定行车路径，并在按照该行车路径行驶过程中实时检测可用车位。
6、找到可用车位完成自动泊车。
7、用户购物完毕，打开手机APP取车，车载终端接收到指令启动并驶出车位，驶向召唤点。
8、车辆自动行驶至用户所在位置。
如图14所示为本申请中进行自动洗车的一场景示意图。在该场景下由停车场的调度中心统一调度车辆进行自动洗车。在该实施例中，包括：
1、停车场内停着待洗车辆。
2、停车场调度室工作人员通过移动终端向待洗车辆发送自动洗车指令。示例性地，可以同时控制多辆车启动自动洗车功能。
3、待洗车辆收到指令，自动开启并行使至洗车机等待洗车。待洗车辆根据当前位置和洗车机所在位置确定行使路径，然后按照该行车路径驶向洗车机。
4、驶入洗车机完成洗车。
5、洗完车之后车辆自动行驶至可用车位完成自动泊车。示例性地，车辆根据当前位置和指定车位或者指定区域确定行车路径，然后按照该行车路径行驶并检测指定车位或者可用车位完成自动泊车。
6、完成对所有待洗车辆的清洗。
如图15所示为本申请中实现自动洗车功能的原理示意图。该实施例 中包括手机端、车辆端和洗车机端。其中，手机端预先安装了相应的手机APP，用户可以在该APP上进行操作发起洗车请求，该请求可以同时发送至车辆端和洗车机端，例如该请求可以发送至车辆的车载终端，同时发送至洗车机云后台生成洗车订单。
车辆在收到自动洗车请求之后将关闭车窗，折叠后视镜。并且定位车辆当前所在位置，进而根据车辆当前所在位置和洗车机所在位置进行路径规划，其中洗车机所在位置可以是由洗车机端发送至自主泊车(AVP)云后台的，AVP云后台中存储有停车场的自建地图，AVP云后台会将洗车机所在位置的信息以及停车场的自建地图发送至AVP车辆，以供其进行路径规划。车辆在驶向洗车机的过程中进行实时定位并且进行障碍探测(例如，探测障碍物、其他车辆和行人)，例如可以通过车辆所安装的摄像装置进行视觉探测。当车辆行驶至洗车机附近并且暂时没有空闲洗车机时刻排队等候。当车辆输入停车机后对该车辆信息(例如，车辆牌照)进行识别，并与所生成的洗车订单所对应的车辆牌照进行对比，如果相匹配则开始进行洗车，否则拒绝洗车。
如图16所示为本申请的自动驾驶控制方法的另一实施例的流程图，该方法应用于移动终端，其包括：
S410、响应于用户的操作呈现自动驾驶操作页面。
S420、当用户在所述自动驾驶操作页面上选择自动泊车时进入自动泊车控制页面，所述自动泊车控制页面包括至少一种自动泊车模式选项。
示例性地，所述至少一种自动泊车模式包括以下模式的至少一种：指定车位泊车模式、指定区域泊车模式和自动探索泊车模式。
S430、至少根据用户所选择的自动泊车模式向车辆发送控制信息。
基于本申请实施例，用户在只需简单的在移动终端进行操作就可以实现不同自动泊车模式的泊车，用户可以根据自己实际需求选择合适的自动泊车模式，泊车方便快捷。
在一些实施例中，本申请的自动驾驶控制方法还包括：当用户所选择的自动泊车模式为指定车位泊车模式时，基于停车场的自建地图引导用户选择指定车位，其中，所述自建地图由当前用户或者其他用户所创建。至少根据用户所选择的自动泊车模式向车辆发送控制信息包括：至少根据用 户所选择的指定车位向车辆发送控制信息。
本实施例中当用户选择指定车位泊车模式时，移动终端将自建地图呈现给用户，并引导用户从中选择一个车位作为指定车位。然后将所选择的指定车位的车位信息(例如，车位编号、车位位置信息等)发送至车辆，以供车辆据此从自建地图中确定自动泊车路径。例如，车辆从自建地图中选择包含了车辆当前位置和指定车位位置的自建地图路径，然后根据该自建地图路径控制车辆驶向指定车位。
在一些实施例中，本申请的自动驾驶控制方法还包括：当用户所选择的自动泊车模式为指定区域泊车模式时，基于停车场的自建地图引导用户选择指定区域，其中，所述自建地图由当前用户或者其他用户所创建。至少根据用户所选择的自动泊车模式向车辆发送控制信息包括：至少根据用户所选择的指定区域向车辆发送控制信息。
本实施例中当用户选择指定区域泊车模式时，移动终端将自建地图呈现给用户，并引导用户从中框选指定区域。然后将所选择的指定区域的范围信息发送至车辆，以供车辆据此从自建地图中确定自动泊车路径。例如，车辆从自建地图中选择包含了车辆当前位置和指定区域中一点的自建地图路径，然后根据该自建地图路径控制车辆驶向指定区域。
在一些实施例中，在进行自动泊车之间还需要预先获取当前停车场的自建地图，可以通过以下方式之一获取自建地图：
方式一、根据导航目的地匹配相应的停车场的自建地图；
方式二、根据到达目的地后的定位信息匹配相应的停车场的自建地图；
方式三、根据到达目的地后的图像环境特征匹配相应的停车场的自建地图。
在一些实施例中，至少根据用户所选择的自动泊车模式向车载终端发送控制信息包括：根据所述车辆当前所在位置和用户所选择的自动泊车模式向车载终端发送控制信息。
在一些实施例中，本申请的自动驾驶控制方法还包括通过以下方式获取车辆当前所在位置：
根据所获取的当前图像环境特征确定车辆当前所在位置；或者，
根据用户在停车场地图上所选择的当前位置确定车辆当前所在位置。
在一些实施例中，本申请的自动驾驶控制方法还包括：接收所述车载终端发回的自动泊车结果通知。
在一些实施例中，本申请的自动驾驶控制方法还包括：当所述自动泊车结果通知为泊车失败时，提示用户重新选择新的自动泊车模式；根据用户的重新选择向车载终端发送新的控制信息。
如图17所示为本申请的自动驾驶控制方法的另一实施例的流程图，在该实施例中还包括：
S510、当所述自动泊车结果通知为泊车失败时，为用户推荐新的自动泊车模式；
S520、如果用户接受推荐则根据所述新的自动泊车模式向车载终端发送新的控制信息；
S530、如果用户不接受推荐则提示用户重新选择新的自动泊车模式；
S540、根据用户的重新选择向车辆发送新的控制信息。
如图18所示为本申请的自动驾驶控制方法的另一实施例的流程图，在该实施例中还包括：
S610、当用户在所述自动驾驶操作页面上选择自动召唤时进入自动召唤控制页面；
S620、根据用户在所述自动召唤控制页面上所选择的召唤点向所述车辆发送召唤控制信息。
如图19-图22所示为本申请中实现自动召唤的交互界面示意图。如图19所示用户在移动终端的操作界面上选择召唤功能之后页面跳转至图20所示页面。在图20页面下显示了停车场车位分布示意图，以及该停车场中的一条可用路径，并且在该页面上通过文字提示用户从该路径上选择召唤点。在用户点击召唤点之后会在路径上进行相应的显示，然后再提醒用户确认召唤点(如图21所示)，当用户点击确认之后跳转至图22所示的页面，在该页面上显示了从车辆的当前位置到达召唤点的行车路径，并进一步提示用户通过长按按钮来启动智能召唤。
在一些实施例中，本申请的自动驾驶控制方法还包括：当用户在所述自动驾驶操作页面上选择辅助任务时，向所述车辆发送任务执行控制信 息。
在一些实施例中，在向所述车辆发送任务执行控制信息之前还包括：获取由停车场的调度服务器预估的执行所选择的辅助任务的所需时长；向用户确认是否接受所述所需时长；当用户接受所述所需时长时向所述车辆发送任务执行控制信息。
通过本实施例向用户确认执行辅助任务所需时长是否在可接受范围内，以避免当用户需要用车时车辆正在执行辅助任务，从而耽误了用户行程。例如，对于自动洗车服务，如果当前排队车辆较多，完成排队洗车需要30分钟，而用户可能只在这里停留25分钟，显然如果要是判断洗车的话，当25分钟后用户想要离开时就需要等待洗车，从而影响到用户的行程安排。
在一些实施例中，当用户不接受所述所需时长时，进一步向用户确认是否需要优先执行所选择的辅助任务；当用户选择优先执行时向所述车辆发送任务执行控制信息。
本实施例中当用户无法接受初始确定的执行辅助任务的所需时长时可以响应于用户的请求优先执行。例如，对于自动洗车服务，用户在知道按照普通排队洗车所需时长超过预期时，可以响应于系统的询问选择优先执行本车的自动洗车(例如，可以通过多付费用的形式获取加急洗车的服务)。
在一些实施例中，当用户在所述自动驾驶操作页面上选择辅助任务时，向所述车辆发送任务执行控制信息，包括：响应于用户在所述自动驾驶操作页面上的操作进入辅助任务选择页面，所述辅助任务选择页面中包含至少一种辅助任务选项；根据用户所选择的辅助任务向车辆发送任务执行控制信息。
在一些实施例中，所述至少一种辅助任务包括自动洗车、代取快递、自动换电和自动充电中的至少一种。
在一些实施例中，在响应于用户的操作打开自动驾驶操作页面之后还包括，提示用户连接车辆。
如图23所示为本申请的自动驾驶控制方法的另一实施例的流程图，其应用于停车场的调度服务器，该方法包括：
S710、接收用户通过移动终端发送的控制信息；
S720、将所述控制信息发送至相应的车辆以控制车辆自动驾驶。
本申请实施例中移动终端与车辆之间通过停车场的调度服务器实现相互通信，从而避免了由于网络信号不好而无法通信的问题。例如，对于地下停车场，用户通常会在楼上就需要召唤车辆到达上车点，这样当人过去之后车辆已经在了，无需等待车辆。然后由于用户在楼上通常与车辆之间距离较远，无法通过近场通信技术进行远程控制，又由于地下停车场通常移动网络信号又不好，所以无法有效进行提前召唤。而本申请则是通过移动终端与停车场服务器进行通信，然后再由停车场服务器中转信息到车辆，从而解决了以上问题。
在一些实施例中，移动终端与调度服务器之间通过互联网连接；车辆与调度服务器之间通过近场通信网络连接。
示例性地，移动终端可以通过移动互联网或者WiFi与调度服务器进行通信，例如，在商场中通常提供了全范围覆盖的WiFi信号，移动终端可以通过该WiFi信号连接至调度服务器所在局域网，从而实现与调度服务器之间的通信。调度服务器设置在地下室中，距离地下停车场中的车辆较近，因而可以与车辆之间通过近场通信技术实现互联。
在一些实施例中，控制信息为泊车控制信息或者召唤控制信息或者任务执行控制信息。
在一些实施例中，本申请的自动驾驶控制方法还包括：接收任务执行控制信息，所述任务执行控制信息来自移动终端或者车辆；根据所述任务执行控制信息通过控制车辆执行相应辅助任务。
在一些实施例中，本申请的自动驾驶控制方法还包括：接收任务执行控制信息，所述任务执行控制信息来自移动终端或者车辆；预估执行相应辅助任务的所需时长；向移动终端发送通知信息以供用户确认是否接受所述所需时长；当用户接受所述所需时长时将当前相应辅助任务加入执行任务队列。
在一些实施例中，本申请的自动驾驶控制方法还包括：当用户不接受所述所需时长时，进一步向用户确认是否需要优先执行相应辅助任务；当用户选择优先执行时将当前相应辅助任务加入执行任务队列。
在一些实施例中，任务执行控制信息由移动终端响应于用户在所述自动驾驶操作页面上的操作生成。
在一些实施例中，辅助任务包括自动洗车、代取快递、自动换电和自动充电中的至少一种。
在一些实施例中，本申请实施例提供一种电子设备，应用于车辆，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现本申请任一实施例所述的自动驾驶控制方法。
在一些实施例中，本申请实施例提供一种移动终端，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现本申请任一实施例所述的自动驾驶控制方法。
在一些实施例中，本申请实施例提供一种车辆，其安装有本申请任一实施例所述的电子设备。
在一些实施例中，本申请实施例提供一种调度服务器，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现本申请任一实施例所述的自动驾驶控制方法。
在一些实施例中，本申请实施例提供一种计算机可读存储介质，包括计算机程序，当其在计算机上运行时，使得所述计算机执行本申请任一实施例所述的自动驾驶控制方法。
需要说明的是，对于前述的各方法实施例，为了简单描述，故将其都表述为一系列的动作合并，但是本领域技术人员应该知悉，本申请并不受所描述的动作顺序的限制，因为依据本申请，某些步骤可以采用其他顺序或者同时进行。其次，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优选实施例，所涉及的动作和模块并不一定是本申请所必须的。在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。
在一些实施例中，本申请实施例提供一种非易失性计算机可读存储介质，所述存储介质中存储有一个或多个包括执行指令的程序，所述执行指 令能够被电子设备(包括但不限于计算机，服务器，或者网络设备等)读取并执行，以用于执行本申请上述任一项自动驾驶控制方法。
在一些实施例中，本申请实施例还提供一种计算机程序产品，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使所述计算机执行上述任一项自动驾驶控制方法。
图24是本申请另一实施例提供的执行自动驾驶控制方法的电子设备的硬件结构示意图，如图24所示，该设备包括：
一个或多个处理器2410以及存储器2420，图24中以一个处理器2410为例。
执行自动驾驶控制方法的设备还可以包括：输入装置2430和输出装置2440。
处理器2410、存储器2420、输入装置2430和输出装置2440可以通过总线或者其他方式连接，图24中以通过总线连接为例。
存储器2420作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块，如本申请实施例中的自动驾驶控制方法对应的程序指令/模块。处理器2410通过运行存储在存储器2420中的非易失性软件程序、指令以及模块，从而执行服务器的各种功能应用以及数据处理，即实现上述方法实施例自动驾驶控制方法。
存储器2420可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储根据自动驾驶控制装置的使用所创建的数据等。此外，存储器2420可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，存储器2420可选包括相对于处理器2410远程设置的存储器，这些远程存储器可以通过网络连接至自动驾驶控制装置。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
输入装置2430可接收输入的数字或字符信息，以及产生与自动驾驶控制装置的用户设置以及功能控制有关的信号。输出装置2440可包括显 示屏等显示设备。
所述一个或者多个模块存储在所述存储器2420中，当被所述一个或者多个处理器2410执行时，执行上述任意方法实施例中的自动驾驶控制方法。
上述产品可执行本申请实施例所提供的方法，具备执行方法相应的功能模块和有益效果。未在本实施例中详尽描述的技术细节，可参见本申请实施例所提供的方法。
本申请实施例的电子设备以多种形式存在，包括但不限于:
(1)移动通信设备:这类设备的特点是具备移动通信功能，并且以提供话音、数据通信为主要目标。这类终端包括:智能手机(例如iPhone)、多媒体手机、功能性手机，以及低端手机等。
(2)超移动个人计算机设备:这类设备属于个人计算机的范畴，有计算和处理功能，一般也具备移动上网特性。这类终端包括:PDA、MID和UMPC设备等，例如iPad。
(3)便携式娱乐设备:这类设备可以显示和播放多媒体内容。该类设备包括:音频、视频播放器(例如iPod)，掌上游戏机，电子书，以及智能玩具和便携式车载导航设备。
(4)服务器:提供计算服务的设备，服务器的构成包括处理器、硬盘、内存、系统总线等，服务器和通用的计算机架构类似，但是由于需要提供高可靠的服务，因此在处理能力、稳定性、可靠性、安全性、可扩展性、可管理性等方面要求较高。
(5)其他具有数据交互功能的电子装置。
以上所描述的装置实施例仅仅是示意性的，其中所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理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对相关技术做出贡献的 部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (41)

  1. 一种自动驾驶控制方法，所述方法包括：
    接收用户通过移动终端发送的控制信息，所述控制信息包括泊车控制信息；
    根据所述泊车控制信息确定自动泊车模式；
    根据所述自动泊车模式和停车场的地图控制车辆进行自动泊车，所述地图是基于所述车辆采集的停车场环境信息创建的。
  2. 根据权利要求1所述的方法，其特征在于，所述自动泊车模式包括以下模式中的至少一种：指定车位泊车模式、指定区域泊车模式和自动探索泊车模式。
  3. 根据权利要求2所述的方法，其特征在于，还包括：
    当按照所述自动泊车模式无法完成泊车时，通知所述移动终端以提示用户重新选择新的自动泊车模式；
    接收所述移动终端根据用户的重新选择所发送的新的控制信息。
  4. 根据权利要求2所述的方法，其特征在于，还包括：
    当按照所述自动泊车模式无法完成泊车时，确定新的自动泊车模式以用于移动终端为用户推荐新的自动泊车模式；
    接收所述移动终端所发送的新的控制信息。
  5. 根据权利要求1所述的方法，其特征在于，还包括：
    当所述控制信息为召唤控制信息时，
    根据所述召唤控制信息控制车辆完成自动召唤。
  6. 根据权利要求1-5中任一项所述的方法，其特征在于，还包括：
    当所述控制信息包括任务执行控制信息时，
    根据所述任务执行控制信息控制车辆执行相应辅助任务。
  7. 根据权利要求6所述的方法，其特征在于，所述相应辅助任务为自动洗车、代取快递、自动换电和自动充电中的至少一种。
  8. 根据权利要求1-7中任一项所述的方法，其特征在于，还包括：预先获取停车场的所述地图。
  9. 根据权利要求8所述的方法，其特征在于，所述预先获取停车场的所述地图包括：
    根据导航目的地匹配相应的停车场的所述地图；或者
    根据到达目的地后的定位信息匹配相应的停车场的所述地图；或者
    根据达到目的地后的图像环境特征匹配相应的停车场的所述地图。
  10. 一种自动驾驶控制方法，应用于移动终端，所述方法包括：
    响应于用户的操作呈现自动驾驶操作页面；
    当用户在所述自动驾驶操作页面上选择自动泊车时进入自动泊车控制页面，所述自动泊车控制页面包括至少一种自动泊车模式选项；
    至少根据用户所选择的自动泊车模式向车载终端发送控制信息。
  11. 根据权利要求10所述的方法，其特征在于，所述至少一种自动泊车模式包括以下模式的至少一种：指定车位泊车模式、指定区域泊车模式和自动探索泊车模式。
  12. 根据权利要求11所述的方法，其特征在于，还包括：
    当用户所选择的自动泊车模式为指定车位泊车模式时，基于停车场的地图引导用户选择指定车位，所述地图是基于车辆采集的停车场环境信息创建的；
    至少根据用户所选择的自动泊车模式向车载终端发送控制信息包括：至少根据用户所选择的指定车位向车载终端发送控制信息。
  13. 根据权利要求11所述的方法，其特征在于，还包括：
    当用户所选择的自动泊车模式为指定区域泊车模式时，基于停车场的地图引导用户选择指定区域，所述地图是基于车辆采集的停车场环境信息创建的；
    至少根据用户所选择的自动泊车模式向车载终端发送控制信息包括：至少根据用户所选择的指定区域向车载终端发送控制信息。
  14. 根据权利要求12或13所述的方法，其特征在于，还包括：通过以下方式预先获取所述地图：
    根据导航目的地匹配相应的停车场的所述地图；或者
    根据到达目的地后的定位信息匹配相应的停车场的所述地图；或者
    根据到达目的地后的图像环境特征匹配相应的停车场的所述地图。
  15. 根据权利要求10所述的方法，其特征在于，
    至少根据用户所选择的自动泊车模式向车载终端发送控制信息包括：根据所述车辆当前所在位置和用户所选择的自动泊车模式向车载终端发送控制信息。
  16. 根据权利要求15所述的方法，其特征在于，通过以下方式获取车辆当前所在位置：
    根据所获取的当前图像环境特征确定车辆当前所在位置；或者，
    根据用户在所述地图上所选择的当前位置确定车辆当前所在位置。
  17. 根据权利要求16所述的方法，其特征在于，还包括：接收所述车载终端发回的自动泊车结果通知。
  18. 根据权利要求17所述的方法，其特征在于，还包括：
    当所述自动泊车结果通知为泊车失败时，提示用户重新选择新的自动泊车模式；
    根据用户的重新选择向车载终端发送新的控制信息。
  19. 根据权利要求17所述的方法，其特征在于，还包括：
    当所述自动泊车结果通知为泊车失败时，为用户推荐新的自动泊车模式；
    如果用户接受推荐则根据所述新的自动泊车模式向车载终端发送新的控制信息；
    如果用户不接受推荐则提示用户重新选择新的自动泊车模式；
    根据用户的重新选择向车载终端发送新的控制信息。
  20. 根据权利要求10所述的方法，其特征在于，还包括：
    当用户在所述自动驾驶操作页面上选择自动召唤时进入自动召唤控制页面；
    根据用户在所述自动召唤控制页面上所选择的召唤点向所述车载终端发送召唤控制信息。
  21. 根据权利要求10-20中任一项所述的方法，其特征在于，还包括：
    当用户在所述自动驾驶操作页面上选择辅助任务时，向所述车载终端发送任务执行控制信息。
  22. 根据权利要求21所述的方法，其特征在于，在向所述车载终端发送任务执行控制信息之前还包括：
    获取由停车场的调度服务器预估的执行所选择的辅助任务的所需时长；
    向用户确认是否接受所述所需时长；
    当用户接受所述所需时长时向所述车载终端发送任务执行控制信息。
  23. 根据权利要求22所述的方法，其特征在于，
    当用户不接受所述所需时长时，进一步向用户确认是否需要优先执行所选择的辅助任务；
    当用户选择优先执行时向所述车载终端发送任务执行控制信息。
  24. 根据权利要求21所述的方法，其特征在于，当用户在所述自动驾驶操作页面上选择辅助任务时，向所述车载终端发送任务执行控制信息，包括：
    响应于用户在所述自动驾驶操作页面上的操作进入辅助任务选择页面，所述辅助任务选择页面中包含至少一种辅助任务选项；
    根据用户所选择的辅助任务向车载终端发送任务执行控制信息。
  25. 根据权利要求24所述的方法，其特征在于，所述至少一种辅助任务包括自动洗车、代取快递、自动换电和自动充电中的至少一种。
  26. 根据权利要求10-25中任一项所述的方法，其特征在于，还包括：在响应于用户的操作打开自动驾驶操作页面之后，提示用户连接车载终端。
  27. 一种自动驾驶控制方法，应用于停车场的调度服务器，所述方法包括：
    接收用户通过移动终端发送的控制信息；
    将所述控制信息发送至相应的车辆以控制车辆自动驾驶。
  28. 根据权利要求27所述的方法，其特征在于，所述移动终端与所述调度服务器之间通过互联网连接；所述车辆与所述调度服务器之间通过近场通信网络连接。
  29. 根据权利要求28所述的方法，其特征在于，所述控制信息为泊车控制信息或者召唤控制信息或者任务执行控制信息。
  30. 根据权利要求27-29中任一项所述的方法，其特征在于，还包括：
    接收任务执行控制信息，所述任务执行控制信息来所述自移动终端或者所述车辆；
    根据所述任务执行控制信息控制所述车辆执行相应辅助任务。
  31. 根据权利要求27-29中任一项所述的方法，其特征在于，还包括：
    接收任务执行控制信息，所述任务执行控制信息来自所述移动终端或者所述车辆；
    预估执行相应辅助任务的所需时长；
    向所述移动终端发送通知信息以供用户确认是否接受所述所需时长；
    当用户接受所述所需时长时将当前相应辅助任务加入执行任务队列。
  32. 根据权利要求31所述的方法，其特征在于，
    当用户不接受所述所需时长时，进一步向用户确认是否需要优先执行相应辅助任务；
    当用户选择优先执行时将当前相应辅助任务加入执行任务队列。
  33. 根据权利要求29-32中任一项所述的方法，其特征在于，所述任务执行控制信息由所述移动终端响应于用户在所述自动驾驶操作页面上的操作生成。
  34. 根据权利要求30-33中任一项所述的方法，其特征在于，所述辅助任务包括自动洗车、代取快递、自动换电和自动充电中的至少一种。
  35. 一种电子设备，应用于车辆，其特征在于，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如权利要求1-9任一项所述的自动驾驶控制方法。
  36. 一种计算机可读存储介质，其特征在于，包括计算机程序，当其在计算机上运行时，使得所述计算机执行如权利要求1-9任一项所述的自动驾驶控制方法。
  37. 一种移动终端，其特征在于，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如权利要求10-26任一项所述的自动驾驶控制方法。
  38. 一种计算机可读存储介质，其特征在于，包括计算机程序，当其在计算机上运行时，使得所述计算机执行如权利要求10-26任一项所述的自动驾驶控制方法。
  39. 一种车辆，其特征在于，安装有权利要求35所述的电子设备。
  40. 一种调度服务器，其特征在于，包括：存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如权利要求27-34任一项所述的自动驾驶控制方法。
  41. 一种计算机可读存储介质，其特征在于，包括计算机程序，当其在计算机上运行时，使得所述计算机执行如权利要求27-34任一项所述的自动驾驶控制方法。
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