WO2023104147A1 - 泊车控制系统、方法、车辆及存储介质 - Google Patents
泊车控制系统、方法、车辆及存储介质 Download PDFInfo
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- WO2023104147A1 WO2023104147A1 PCT/CN2022/137514 CN2022137514W WO2023104147A1 WO 2023104147 A1 WO2023104147 A1 WO 2023104147A1 CN 2022137514 W CN2022137514 W CN 2022137514W WO 2023104147 A1 WO2023104147 A1 WO 2023104147A1
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- Prior art keywords
- parking
- vehicle
- mobile terminal
- memory
- service device
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 230000004044 response Effects 0.000 claims abstract description 11
- 238000004891 communication Methods 0.000 claims description 86
- 230000006870 function Effects 0.000 claims description 44
- 230000004913 activation Effects 0.000 claims description 33
- 230000007613 environmental effect Effects 0.000 claims description 20
- 238000001514 detection method Methods 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 14
- 238000012795 verification Methods 0.000 claims description 12
- 230000010354 integration Effects 0.000 claims description 7
- 238000003384 imaging method Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 230000003213 activating effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000010295 mobile communication Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000004083 survival effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
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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
- B60W30/06—Automatic manoeuvring for parking
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
Definitions
- the present application relates to the technical field of vehicles, in particular to a parking control system, method, vehicle and storage medium.
- some vehicles can support the automatic parking function, and the vehicle can find a free parking space by itself, and automatically park in or out of the parking space.
- the automatic parking function is generally triggered by the car machine in the vehicle, and the user needs to stay in the vehicle to trigger the vehicle to automatically park in or out of the parking space, which makes the parking process more inconvenient.
- the embodiment of the present application discloses a parking control system, method, vehicle and storage medium, which can improve the convenience of automatic parking.
- the embodiment of the present application discloses a parking control system, the system includes: a vehicle, a service device, and a mobile terminal; the service device is respectively connected to the vehicle and the mobile terminal in communication;
- the mobile terminal is configured to detect a parking start operation input by a user; and, in response to the parking start operation, verify a preset condition; and, when the check of the preset condition passes, send The service device sends a memory parking start instruction;
- the service device is configured to send the memory parking activation instruction to the vehicle
- the vehicle is configured to acquire a memory parking route according to the memory parking start instruction, and drive according to the memory parking route.
- the preset conditions include: the battery level of the mobile terminal; the mobile terminal is also used to verify the battery level of the mobile terminal in response to the parking start operation; and , when the power of the mobile terminal is higher than the power threshold, determine that the verification of the power of the mobile terminal passes, and send a memory parking start command to the service device;
- the preset conditions include: a detection distance between the mobile terminal and the vehicle; and, the mobile terminal is further configured to calibrate the detection distance in response to the parking start operation. and, when the detection distance is less than a distance threshold, determine that the detection distance has passed the verification, and send a memory parking activation instruction to the service device.
- the vehicle includes: a controller, a gateway and a communication module;
- the communication module is configured to receive the memory parking instruction sent by the service equipment, and convert the memory parking instruction into a parking start signal, and the parking start signal is a vehicle Ethernet signal; and The parking start signal is sent to the gateway;
- the gateway configured to forward the parking activation signal to the controller
- the controller is configured to activate a memory parking function of the vehicle according to the parking activation signal, acquire a memory parking route, and control the vehicle to drive according to the memory parking route; and, the vehicle's When the memory parking function is unavailable, identify the cause of the memory parking function being unavailable, and send failure information to the communication module; the failure information includes the cause of the memory parking function being unavailable;
- the communication module is further configured to send the failure information to the service device, so as to send the failure information to the mobile terminal through the service device;
- the mobile terminal is configured to output the failure information.
- the communication module is also used to detect the heartbeat connection status of the communication link, the communication link includes the mobile terminal, the communication module and the service device; and, in the When the heartbeat connection of the communication link is interrupted, a parking interruption signal is sent to the controller;
- the controller is further configured to control the vehicle to stop running according to the stored parking route according to the parking interruption signal.
- the vehicle further includes: a panoramic image system and an electronic control integration system, and the panoramic image system includes: at least four camera devices arranged around the vehicle;
- the panoramic image system is used to obtain environmental images captured by each of the camera devices, and send the environmental images to the electronic control integration system;
- the electronic control integration system is used to send the environmental image to the communication module
- the communication module is further configured to send the environment image to the service device, so as to send the environment image to the mobile terminal through the service device;
- the mobile terminal is configured to output the environment image.
- the communication module is further configured to send the environment image to the mobile terminal after receiving the memory parking instruction;
- the communication module is further configured to send the environment image to the mobile terminal when the vehicle stops driving according to the stored parking route.
- the vehicle is further configured to send real-time driving parameters of the vehicle to the mobile terminal when driving according to the stored parking route;
- the mobile terminal is further configured to output real-time driving parameters of the vehicle; and output a current parking stage corresponding to the real-time driving parameters or output a next expected parking stage after the current parking stage.
- the embodiment of the present application discloses a parking control method, which is applied to a vehicle, and the vehicle is connected to a service device through communication, and the service device is connected to a mobile terminal through communication; the method includes:
- the memory parking start instruction is that the mobile terminal responds to the parking start operation input by the user, checks the preset condition, and in the preset condition sent to the service device when the check is passed;
- the embodiment of the present application discloses a vehicle, including a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the processor implements any one of the methods disclosed in the embodiment of the present application.
- a parking control method is disclosed in the embodiment of the present application.
- the embodiment of the present application discloses a computer-readable storage medium, on which a computer program is stored, wherein, when the computer program is executed by a processor, any parking control method disclosed in the embodiment of the present application is implemented.
- the mobile terminal can detect the parking start operation input by the user, so that the user triggers and starts the memory parking function of the vehicle through the parking start operation.
- the mobile terminal can send the memory parking start command to the service device, and send the memory parking start command to the vehicle through the service device, so that the vehicle can obtain the memory parking start command according to the memory parking start command.
- Parking route and drive according to the memory parking route. That is to say, the user can directly control the vehicle to start the memory parking function through the mobile terminal, which can expand the applicable distance of the memory parking function and allow the user to control the vehicle to automatically park in or out through mobile terminals such as mobile phones at a position far away from the parking space. , making the automatic parking function more convenient.
- Fig. 1 is a schematic structural diagram of a parking control system disclosed in an embodiment
- Fig. 2 is a schematic structural diagram of another parking control system disclosed in an embodiment
- Fig. 3 is a schematic structural diagram of another parking control system disclosed in an embodiment
- Fig. 4 is a schematic flow chart of a parking control method disclosed in an embodiment
- Fig. 5 is a schematic structural diagram of a vehicle disclosed by an embodiment.
- the embodiment of the present application discloses a parking control system, method, vehicle and storage medium, which can improve the convenience of automatic parking. Each will be described in detail below.
- FIG. 1 is a schematic structural diagram of a parking control system disclosed in an embodiment.
- a vehicle 10 a service device 20 and a mobile terminal 30 may be included.
- the service device 20 can communicate with the vehicle 10 and the mobile terminal 30 respectively, and the communication connection can be Code Division Multiple Access (CDMA) Division Multiple Access, CDMA), Wideband Code Division Multiple Access (Wideband Code Division Multiple Access, WCDMA), Long Term Evolution (LTE), 4th Generation Mobile Communication Technology (4G), 5th Generation Mobile Communication Mobile Communication Technology, 5G), etc., but not limited to this.
- CDMA Code Division Multiple Access
- CDMA Code Division Multiple Access
- WCDMA Wideband Code Division Multiple Access
- LTE Long Term Evolution
- 4G 4th Generation Mobile Communication Technology
- 5G 5th Generation Mobile Communication Mobile Communication Technology
- the mobile terminal 30 may include electronic devices such as smart phones and smart tablets, and is not specifically limited.
- the mobile terminal 30 can be used to detect the parking start operation input by the user.
- the parking start operation may be input by the user in the human-computer interaction interface provided by the mobile terminal 30, and is used to instruct the user to automatically park in or out of the vehicle.
- the interface of the mobile terminal 30 may display a virtual button of "automatic parking".
- the mobile terminal 30 may determine that a parking start operation input by the user is detected when detecting the user's touch operation on the virtual key.
- the mobile terminal 30 may be configured to check the preset condition in response to the parking start operation after the parking start operation is detected.
- the preset condition may include the operating state of the mobile terminal 30 itself, and the operating state of the mobile terminal 30 may include: the power of the mobile terminal 30, the sensitivity of the screen of the mobile terminal 30, etc., but not limited thereto.
- the vehicle 20 can also collect environmental information around the vehicle 20 and send the environmental information to the mobile terminal 30;
- the mobile terminal 30 may be configured to send a memory parking activation instruction to the service device 20 when the verification of the preset condition is passed.
- the memory parking activation command can be used to trigger the vehicle 10 to activate the memory parking function.
- the vehicle 10 can automatically park into the memory parking space from a fixed starting position according to the memory parking route learned in advance; end position.
- the preset condition verified by the mobile terminal 30 may include: the battery level of the mobile terminal 30 .
- the mobile terminal may determine that the power verification of the mobile terminal 30 has passed, and send a memory parking start instruction to the service device 20 .
- the power threshold can be set according to actual business requirements, and is not specifically limited. For example, the power threshold can be set to 10%, 15% and so on. That is to say, when the power of the mobile terminal 30 is too low, the user can be prohibited from activating the memory parking function of the vehicle 10 through the mobile terminal 30, so as to prevent the user from being unable to control the vehicle 10 through the mobile terminal 30 after the mobile terminal 30 is shut down due to low power.
- the automatic parking process is monitored, resulting in reduced parking safety of the vehicle 10 .
- the preset condition for verification by the mobile terminal 30 may include: the detection distance between the mobile terminal 30 and the vehicle 10 .
- the vehicle 10 may send the first positioning position of the vehicle 10 detected by a positioning module (eg Global Positioning System, GPS) of the vehicle 10 to the mobile terminal 30 .
- the mobile terminal 30 can also detect the second positioning position of the mobile terminal 30 through its own positioning module, and determine the distance between the vehicle 10 and the mobile terminal 30 according to the first positioning position of the vehicle 10 and the second positioning position of the mobile terminal 30. Detection distance.
- the above is an example for the mobile terminal 30 to obtain the detection distance between the mobile terminal 30 and the vehicle 10 , and the mobile terminal 30 may also obtain the detection distance in other ways, which are not specifically limited.
- the mobile terminal 30 may determine that the detection distance has passed the verification, and send the memory parking activation instruction to the service device 20 . That is to say, the mobile terminal 30 can prohibit the user from activating the memory parking function of the vehicle 10 through the mobile terminal 30 when the distance between the vehicle 10 and the mobile terminal 30 is too far, so as to avoid the vehicle 10 from being too far away from the user.
- the mobile terminal 30 can prohibit the user from activating the memory parking function of the vehicle 10 through the mobile terminal 30 when the distance between the vehicle 10 and the mobile terminal 30 is too far, so as to avoid the vehicle 10 from being too far away from the user.
- the mobile terminal 30 may send a memory parking activation instruction to the service device 20 .
- the service device 20 may include a cloud server, a background server of an automatic parking management system, etc., which are not specifically limited.
- the service device 20 can be used to send the memory parking activation command to the vehicle 10 .
- the service device 20 may receive memory parking activation instructions sent by multiple different mobile terminals 30 , and the memory parking activation instructions sent by different mobile terminals 30 may indicate different vehicles 10 .
- the start memory parking instruction sent by mobile terminal A may be used to instruct vehicle B to start the memory parking function; the memory parking start instruction sent by mobile terminal B may be used to instruct vehicle A to start the memory parking function.
- the service device 20 can identify the vehicle identification carried in the memory parking activation command, so as to correctly forward the memory parking activation command to the vehicle 10 indicated by the vehicle identification.
- the vehicle 10 may be configured to receive a memory parking start instruction sent by the service device 20, obtain a memory parking route according to the memory parking start instruction, and drive according to the memory parking route.
- the vehicle 10 can obtain the pre-stored memory parking route from the memory of the vehicle 10 according to the memory parking activation instruction.
- the memory parking route may also be stored in the memory of the service device 20 , and the memory parking activation command sent by the service device 20 to the vehicle 10 may also carry the memory parking route corresponding to the vehicle 10 , which is not specifically limited.
- the memory parking route can be used to instruct the vehicle 10 to park into the memory parking space from a fixed starting position; if the memory parking activation instruction instructs the vehicle 10 to automatically park out , the memory parking route can be used to instruct the vehicle to drive away from the memory parking space to a fixed end position.
- the vehicle 10 can also be used to send the real-time driving parameters of the vehicle 10 to the mobile terminal 30 via the service device when driving according to the stored parking route.
- the real-time driving parameters of the vehicle 10 may include: gear position, vehicle speed, parking progress, parking animation, remaining driving distance, etc., but not limited thereto.
- the mobile terminal 30 can be used to output the real-time driving parameters of the vehicle 10; and, determine the current parking stage according to the real-time driving parameters, or the next estimated parking stage after the current parking stage, and output the current parking stage or the estimated parking stage In the car phase, the user of the mobile terminal 30 can know the driving state and parking progress of the vehicle 10 when the vehicle 10 cannot be observed with naked eyes.
- the setting of the service device 20 enables the user to directly control the vehicle 10 to activate the memory parking function through the mobile terminal 30, which can expand the applicable distance of the memory parking function and allow the user to park at a position far from the parking space.
- the automatic parking or parking of the vehicle is controlled by a mobile terminal such as a mobile phone, making the automatic parking function more convenient.
- the user can get off at the entrance of the parking lot, and trigger the vehicle 10 to automatically park into the parking space from the entrance of the parking lot through the mobile terminal 30 .
- the user may trigger the vehicle 10 to park from the parking space through the mobile terminal 30 at the exit of the parking lot, and drive to the exit of the parking lot.
- FIG. 2 is a schematic structural diagram of another parking control system disclosed in an embodiment.
- the vehicle 10 may include: a controller 110 , a gateway 120 and a communication module 130 .
- the controller (X Processing Unit, XPU) 110 may include any kind of controller or control chip with computing capability, for example, may include a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphic Processing Unit, GPU), ASIC (Application Specific Integrated Circuit, ASIC), and Field Programmable Gate Array (Field Programmable Gate Array, FPGA) four mainstream chip controllers, not specifically limited.
- CPU Central Processing Unit
- GPU Graphic Processing Unit
- ASIC Application Specific Integrated Circuit
- FPGA Field Programmable Gate Array
- the gateway (Gate Way, GW) 120 can be the data exchange hub of the vehicle network, so that the data can be safely and reliably transmitted in multiple networks inside the vehicle.
- the multiple networks inside the vehicle include a controller area network (Controller Area Network, CAN), automotive Ethernet, etc.
- a communication module 130 may be used to establish a communication connection with the service device 20 .
- the communication module 130 can be used to receive the memory parking command sent by the service device 20, and convert the memory parking command into a parking start signal, and the parking start signal is a vehicle Ethernet signal; and, send the parking start signal to Gateway 120.
- the gateway 120 can be used to forward the parking activation signal to the controller 110 .
- the controller 110 is used for activating the memory parking function of the vehicle according to the parking activation signal, acquiring the memory parking route, and controlling the vehicle 10 to drive according to the memory parking route.
- the controller 110 can also be used to identify the cause of the memory parking function being unavailable when the memory parking function of the vehicle is unavailable, and send failure information to the communication module 130; the failure information includes For example, the memory parking function cannot be activated due to a sensor failure, and the memory parking function cannot be activated due to low oil in the tank, etc., but not limited thereto.
- the communication module 130 can send the failure information to the service device 20 so as to send the failure information to the mobile terminal 30 through the service device 20 .
- the mobile terminal 30 can be used to output failure information to prompt the user that the memory parking function of the vehicle 10 is unavailable.
- the mobile terminal 30 may output the failure information in one or more ways such as text, pop-up window, and voice, which is not specifically limited.
- the communication module 130 can also be used to detect the heartbeat connection status of the communication link formed by the mobile terminal 30 , the service device 20 and the communication module 130 .
- Heartbeat connection can refer to the use of the heartbeat mechanism to determine whether the communication link still exists.
- the communication module 130 may send an alive signal to the service device 20 at regular intervals to inform the service device 20 that the communication module 130 still exists on the communication link.
- the service device 20 can also send the communication module 130 a survival signal that the service device 20 still exists on the communication link every fixed time
- the mobile terminal 30 can also send the mobile terminal 30 signal to the service device 20 every fixed time.
- the keep alive signal still exists on the communication link, and forward the keep alive signal sent by the mobile terminal 30 to the communication module 130 .
- the communication module 130 may determine that the heartbeat connection of the communication link is interrupted when the survival signal sent by the service device 20 to indicate that the service device 20 or the mobile terminal 30 still exists on the communication link cannot be received. At this time, the communication module 130 may send a parking interruption signal to the controller 110 .
- the controller 110 can be used to control the vehicle to stop running according to the stored parking route according to the parking interruption signal. That is to say, when the communication module 130 detects that the communication link cannot perform data transmission normally, the trigger controller 110 suspends the memory parking process of the vehicle 10 to ensure that the memory parking process of the vehicle 10 is performed between the service device 20 and the mobile Interruption 30 is carried out under the supervision, so that the parking memory can be remembered to increase safety.
- the interruption of the heartbeat connection of the communication link may be caused by failure of any one module or device among the communication module 130 , the service device 20 and the mobile terminal 30 , which is not specifically limited.
- the vehicle 10 can receive the memory parking activation command sent by the mobile terminal 30 via the service device 20 through the communication module 130, and convert it into a parking activation signal understandable by the controller 110, and then transmit it via the communication module 130.
- the gateway 120 correctly transmits the parking activation signal to the controller 110 so that the controller 110 executes the memory parking function of the vehicle 10 according to the parking activation signal.
- the communication module 130 can also detect the heartbeat connection status of the communication link, so as to trigger the controller 110 to suspend the memory parking function of the vehicle in time when the heartbeat connection is interrupted, so as to improve safety.
- FIG. 3 is a schematic structural diagram of another parking control system disclosed in an embodiment.
- the vehicle 10 can also include: a panoramic image system (Around View Monitor, AVM) 140 and electronic control integrated system 150 (Conversion & Distribution Unit, CDU).
- AVM Around View Monitor
- CDU Conversion & Distribution Unit
- the panoramic image system 140 may include at least four camera devices arranged around the vehicle.
- the camera device may include a fisheye camera, a wide-angle camera, an ordinary optical camera, etc., but is not limited to a second.
- the panoramic image system 140 can be used to acquire environmental images captured by various camera devices, and these environmental images can include 360° environmental information around the vehicle 10 .
- the panoramic image system 140 can send the environment image to the CDU150.
- Electronic control integration system CDU150 can be integrated with DC/AC (DC/AC) converter, on-board charger, high-voltage junction box and other functions.
- the CDU 150 can be used to send the environmental image collected by the panoramic imaging system 140 to the communication module 130 .
- the communication module 130 can be used to send the received environment image to the service device 20, so that the environment image can be sent to the mobile terminal 30 through the service device 20;
- the mobile terminal 30 can be used to output environment images. That is to say, the vehicle 10 can transmit the environmental image collected by the panoramic imaging system 140 to the mobile terminal 30 for display through the communication module 130, so that the user can judge the safety of the surrounding environment of the vehicle 10 through the environmental image and judge the surrounding environment of the vehicle 10. Whether the vehicle 10 is allowed to perform the memory parking function can also improve safety.
- the communication module 130 can send the environmental image captured by the panoramic image system 140 to the mobile terminal 30 after receiving the memory parking instruction, so that the user of the mobile terminal 30 can activate the vehicle 10 on the controller 110. Confirm the safety of the environment around the vehicle 10 before using the memory parking function.
- the communication module 130 can also send the environment image to the mobile terminal 30 when the vehicle is suspended and driving according to the stored parking route.
- the controller 110 may control the vehicle 10 to stop running if there is an obstacle around the vehicle 10 that affects driving safety.
- the communication module 130 can send the environment image collected by the panoramic impact system 140 to the mobile terminal 30 , so that the user of the mobile terminal 30 can confirm the safety of the surrounding environment of the vehicle 10 through the environment image.
- the vehicle 10 can collect environmental images around the vehicle 10 through the panorama influencing system 140, and send the environmental images to the communication module 130 via the CDU 150, so that the communication module 130 can send the environmental images to the
- the mobile terminal 30 enables the user of the mobile terminal 30 to confirm the safety of the environment around the vehicle 10 through the environment image.
- FIG. 4 is a schematic flowchart of a parking control method disclosed in an embodiment. As shown in Figure 4, the method may include the following steps:
- the mobile terminal detects the parking start operation input by the user, and verifies the preset condition in response to the parking start operation.
- the mobile terminal sends the memory parking activation instruction to the service device.
- the service device sends the memory parking activation command to the vehicle.
- the vehicle receives the memory parking start instruction sent by the service device.
- the memory parking start instruction is sent by the mobile terminal to the service device when the preset condition is checked by the mobile terminal in response to the parking start operation input by the user and the check of the preset condition is passed.
- the aforementioned preset conditions may include: the battery level of the mobile terminal.
- the memory parking start instruction may be sent by the mobile terminal to the service device when the mobile terminal checks the power of the mobile terminal in response to the parking start operation input by the user, and when the power of the mobile terminal is higher than the power threshold.
- the aforementioned preset conditions may include: the detection distance between the mobile terminal and the vehicle.
- the memory parking start command may be sent by the mobile terminal to verify the detection distance in response to the parking start operation, and when the detection distance is less than the distance threshold, send it to the service device.
- a vehicle may include: a controller, a gateway, and a communication module.
- Embodiments in which the vehicle performs step 440 may include:
- the memory start command sent by the service device is received through the communication module.
- Embodiments in which the vehicle performs step 450 may include:
- the memory parking instruction is converted into a parking start signal through the communication module, and the parking start signal is a vehicle Ethernet signal; and, the parking start signal is sent to the gateway through the communication module.
- step 450 after the vehicle executes step 450, the following steps can also be executed:
- the controller When the memory parking function of the vehicle is unavailable, the controller identifies the cause of the memory parking function being unavailable, and sends failure information to the communication module; the failure information includes the cause of the memory parking function being unavailable.
- the failure information is sent to the service device through the communication module, so that the failure information is sent to the mobile terminal through the service device.
- the failure information is used to instruct the mobile terminal to output the reason why the memory parking function is unavailable, so as to prompt the user of the mobile terminal.
- step 450 after the vehicle executes step 450, the following steps can also be executed:
- the communication link includes the mobile terminal, the communication module and the service equipment; and, when the heartbeat connection of the communication link is interrupted through the communication module, send a parking interrupt to the controller Signal.
- the controller controls the vehicle to suspend and travel according to the stored parking route according to the parking interruption signal.
- the vehicle may further include: a panoramic image system and a CDU, and the panoramic image system includes: at least four camera devices arranged around the vehicle.
- the vehicle can also perform the following steps:
- the environment image is sent to the service device through the communication module, so that the environment image is sent to the mobile terminal through the service device, and the environment image is output by the mobile terminal.
- the communication module can send the environment image to the mobile terminal after performing the aforementioned step 440 .
- the communication module can also send the environment image to the mobile terminal when the vehicle is suspended and driving according to the stored parking route.
- the user can activate the memory parking function of the vehicle in the mobile terminal, and the vehicle can receive the memory parking instruction forwarded by the service device, so that the user can directly control the vehicle through the mobile terminal 30 10 Start the memory parking function, which can expand the applicable distance of the memory parking function and make the automatic parking function more convenient.
- FIG. 5 is a schematic structural diagram of a vehicle disclosed in an embodiment. As shown in Figure 5, the vehicle may include:
- a memory 510 storing executable program code
- processor 520 coupled to the memory 510;
- the processor 520 invokes the executable program code stored in the memory 510 to execute the steps performed by the vehicle in any one of the parking control methods disclosed in the foregoing embodiments.
- the embodiment of the present application discloses a computer-readable storage medium, which stores a computer program, wherein the computer program causes the computer to execute any one of the parking control methods disclosed in the foregoing embodiments.
- the embodiment of the present application discloses a computer program product, the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to make the computer execute any parking method disclosed in the foregoing embodiments Control Method.
- the units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, located in one place, or distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
- each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
- the above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.
- the above-mentioned integrated units are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-accessible memory.
- the technical solution of the present application in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a memory , including several requests to make a computer device (which may be a personal computer, a server, or a network device, etc., specifically, a processor in the computer device) execute some or all of the steps of the above-mentioned methods in various embodiments of the present application.
- a computer device which may be a personal computer, a server, or a network device, etc., specifically, a processor in the computer device
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Abstract
本申请实施例公开一种泊车控制系统、方法、车辆及存储介质，所述系统包括：车辆、服务设备及移动终端；所述服务设备分别与所述车辆和所述移动终端通信连接；所述移动终端，用于检测用户输入的泊车启动操作；以及，响应于所述泊车启动操作，对预设条件进行校验；以及，在所述预设条件的校验通过时，向所述服务设备发送记忆泊车启动指令；所述服务设备，用于将所述记忆泊车启动指令发送至所述车辆；所述车辆，用于根据所述记忆泊车启动指令获取记忆泊车路线，并按照所述记忆泊车路线行驶。
Description
本申请要求于2021年12月9日申请的、申请号为202111503832.1的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本申请涉及车辆技术领域，具体涉及一种泊车控制系统、方法、车辆及存储介质。
目前，部分车辆能够支持自动泊车功能，车辆可以自行寻找空闲的停车位，并自动泊入或者泊出停车位。然而，在实践中发现，自动泊车功能一般是通过车辆内的车机进行触发，用户需要留在车辆内才能触发车辆自动泊入或者泊出停车位，导致泊车流程较为不便。
本申请实施例公开了一种泊车控制系统、方法、车辆及存储介质，能够提高自动泊车的便捷性。
本申请实施例公开一种泊车控制系统，所述系统包括：车辆、服务设备及移动终端；所述服务设备分别与所述车辆和所述移动终端通信连接；
所述移动终端，用于检测用户输入的泊车启动操作；以及，响应于所述泊车启动操作，对预设条件进行校验；以及，在所述预设条件的校验通过时，向所述服务设备发送记忆泊车启动指令；
所述服务设备，用于将所述记忆泊车启动指令发送至所述车辆；
所述车辆，用于根据所述记忆泊车启动指令获取记忆泊车路线，并按照所述记忆泊车路线行驶。
在一个实施例中，所述预设条件，包括：所述移动终端的电量；所述移动终端，还用于响应于所述泊车启动操作，对所述移动终端的电量进行校验；以及，在所述移动终端的电量高于电量阈值时，确定对所述移动终端电量的校验通过，向所述服务设备发送记忆泊车启动指令；
或者，所述预设条件，包括：所述移动终端与所述车辆之间的检测距离；以及，所述移动终端，还用于响应于所述泊车启动操作，对所述检测距离进行校验；以及，在所述检测距离小于距离阈值时，确定对所述检测距离的校验通过，向所述服务设备发送记忆泊车启动指令。
在一个实施例中，所述车辆，包括：控制器、网关和通信模组；
所述通信模组，用于接收所述服务设备发送的记忆泊车指令，并将所述记忆泊车指令转换为泊车启动信号，所述泊车启动信号为车载以太网信号；以及，将所述泊车启动信号发送至所述网关；
所述网关，用于将所述泊车启动信号转发至所述控制器；
所述控制器，用于根据所述泊车启动信号激活所述车辆的记忆泊车功能，获取记忆泊车路线，并控制所述车辆按照所述记忆泊车路线行驶；以及，所述车辆的记忆泊车功能不可用时，识别导致所述记忆泊车功能不可用的原因，并向所述通信模组发送失败信息；所述失败信息包括导致所述记忆泊车功能不可用的原因；
所述通信模组，还用于将所述失败信息发送至所述服务设备，以通过所述服务设备将所述失败信息发送至所述移动终端；
所述移动终端，用于输出所述失败信息。
在一个实施例中，所述通信模组，还用于检测通信链路的心跳连接状态，所述通信链路包括所述移动终端、所述通信模组和所述服务设备；以及，在所述通信链路的心跳连接中断时，向所述控制器发送泊车中断信号；
所述控制器，还用于根据所述泊车中断信号控制所述车辆暂停按照所述记忆泊车路线行驶。
在一个实施例中，所述车辆，还包括：全景影像系统和电控集成系统，所述全景影像系统包括：围绕所述车辆设置的至少四个摄像装置；
所述全景影像系统，用于获取各个所述摄像装置拍摄到环境图像，并将所述环境图像发送至所述电控集成系统；
所述电控集成系统，用于将所述环境图像发送至所述通信模组；
所述通信模组，还用于将所述环境图像发送至所述服务设备，以通过所述服务设备将所述环境图像发送至所述移动终端；
所述移动终端，用于输出所述环境图像。
在一个实施例中，所述通信模组，还用于在接收到所述记忆泊车指令之后，将所述环境图像发送至所述移动终端；
或者，所述通信模组，还用于在所述车辆暂停按照所述记忆泊车路线行驶时，将所述环境图像发送至所述移动终端。
在一个实施例中，所述车辆还用于在按照所述记忆泊车路线行驶时，将所述车辆的实时行驶参数发送至所述移动终端；
所述移动终端，还用于输出所述车辆的实时行驶参数；以及，输出与所述实时行驶参数对应的当前泊车阶段或者输出在所述当前泊车阶段之后的下一个预计泊车阶段。
本申请实施例公开一种泊车控制方法，应用于车辆，所述车辆与服务设备通信连接，所述服务设备与移动终端通信连接；所述方法包括：
接收所述服务设备发送的记忆泊车启动指令；所述记忆泊车启动指令是所述移动终端响应于用户输入的泊车启动操作，对预设条件进行校验，并且在所述预设条件的校验通过时，向所述服务设备发送的；
根据所述记忆泊车启动指令获取记忆泊车路线，并按照所述记忆泊车路线行驶。
本申请实施例公开一种车辆，包括存储器及处理器，所述存储器中存储有计算机程序，所述计算机程序被所述处理器执行时，使得所述处理器实现本申请实施例公开的任意一种泊车控制方法。
本申请实施例公开一种计算机可读存储介质，其上存储有计算机程序，其中，所述计算机程序被处理器执行时实现本申请实施例公开的任意一种泊车控制方法。
与相关技术相比，本申请实施例具有以下有益效果：
移动终端可以检测用户输入的泊车启动操作，以使用户通过泊车启动操作触发启动车辆的记忆泊车功能。同时，移动终端可以在对预设条件的校验通过时，向服务设备发送记忆泊车启动指令，经由服务设备将记忆泊车启动指令发送至车辆，使得车辆可以根据记忆泊车启动指令获取记忆泊车路线，并按照记忆泊车路线行驶。也就是说，用户可以通过移动终端直接控制车辆启动记忆泊车功能，可以扩大记忆泊车功能的适用距离，允许用户在距离车位较远的位置通过手机等移动终端控制车辆自动泊入或者泊出，使得自动泊车功能更加便捷。
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是一个实施例公开的一种泊车控制系统的结构示意图；
图2是一个实施例公开的另一种泊车控制系统的结构示意图；
图3是一个实施例公开的另一种泊车控制系统的结构示意图；
图4是一个实施例公开的一种泊车控制方法的方法流程示意图；
图5是一个实施例公开的一种车辆的结构示意图。
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，显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
需要说明的是，本申请实施例及附图中的术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。
本申请实施例公开了一种泊车控制系统、方法、车辆及存储介质，能够提高自动泊车的便捷性。以下分别进行详细说明。
请参阅图1，图1是一个实施例公开的一种泊车控制系统的结构示意图。如图1所示，可包括车辆10、服务设备20和移动终端30。服务设备20可以分别和车辆10以及移动终端30通信连接，该通信连接可以是码分多址（Code
Division Multiple Access，CDMA）、宽带码分多址（Wideband
Code Division Multiple Access, WCDMA）、长期演进（Long Term Evolution，LTE）、第四代移动通信（4th Generation Mobile Communication Technology，4G）、第五代移动通信（5th Generation
Mobile Communication Technology，5G）等，但不限于此。
移动终端30，可包括智能手机、智能平板等电子设备，具体不做限定.
移动终端30，可用于检测用户输入的泊车启动操作。泊车启动操作可以是用户在移动终端30提供的人机交互界面中输入的，用于指示车辆自动泊入或者自动泊出的用户操作。
示例性的，移动终端30的界面中可以显示有“自动泊入”的虚拟按键。移动终端30可以在检测用户对该虚拟按键的触控操作时，确定检测到用户输入的泊车启动操作。
移动终端30，可用于在检测到泊车启动操作之后，响应于泊车启动操作，对预设条件进行校验。其中，预设条件可以包括移动终端30自身的运行状态，移动终端30的运行状态可以包括：移动终端30的电量、移动终端30的屏幕灵敏性等，但不限于此。或者，车辆20也可以采集车辆20周边的环境信息，并将环境信息发送至移动终端30；移动终端校验的预设条件还可包括车辆20周边的环境信息。
移动终端30，可用于在预设条件的校验通过时，向服务设备20发送记忆泊车启动指令。
记忆泊车启动指令可用于触发车辆10启动记忆泊车功能。当车辆10的记忆泊车功能启动时，车辆10可根据预先学习到的记忆泊车路线，从固定的起点位置自动泊入记忆车位；或者，从记忆车位泊出，自动行驶至预先学习到的终点位置。
在一个实施例中，移动终端30校验的预设条件可以包括：移动终端30的电量。移动终端可以在移动终端30的电量高于电量阈值时，确定对移动终端30的电量校验通过，向服务设备20发送记忆泊车启动指令。其中，电量阈值可以根据实际的业务需求设置，具体不做限定。例如，电量阈值可以设置为10%、15%等。也就是说，在移动终端30的电量过低时，可以禁止用户通过移动终端30激活车辆10的记忆泊车功能，以免由于移动终端30低电量关机后，用户无法通过移动终端30对车辆10的自动泊车过程进行监控，导致车辆10的泊车安全性降低。
在一个实施例中，移动终端30校验的预设条件可以包括：移动终端30和车辆10之间的检测距离。其中，车辆10可向移动终端30发送车辆10的定位模组（如全球定位系统，Global Positioning System，GPS）检测到的车辆10的第一定位位置。移动终端30也可以通过自身的定位模组检测到移动终端30的第二定位位置，并根据车辆10的第一定位位置和移动终端30的第二定位位置确定车辆10和移动终端30之间的检测距离。以上为移动终端30获取移动终端30与车辆10之间的检测距离的一种示例，移动终端30还可以通过其它方式获取检测距离，具体不做限定。
移动终端30可以在移动终端30和车辆10之间的检测距离小于距离阈值时，确定对检测距离的校验通过，向服务设备20发送记忆泊车启动指令。也就是说，移动终端30可以在车辆10与移动终端30之间的距离过远时，禁止用户通过移动终端30激活车辆10的记忆泊车功能，以免由于车辆10与用户的距离过远而导致车辆10在自动泊车过程中发生事故时，用户无法及时赶到事故现场进行处理。
移动终端30在对前述的一种或者多种预设条件的校验通过时，可以向服务设备20发送记忆泊车启动指令。
服务设备20，可包括云端服务器、自动泊车管理系统的后台服务器等，具体不做限定。服务设备20，可用于将记忆泊车启动指令发送至车辆10。
其中，服务设备20可接收多个不同的移动终端30发送的记忆泊车启动指令，不同的移动终端30发送的记忆泊车启动指令指示的车辆10可能并不相同。示例性的，移动终端A发送的记忆泊车启动指令可用于指示车辆B启动记忆泊车功能；移动终端B发送的记忆泊车启动指令可用于指示车辆A启动记忆泊车功能。服务设备20在接收到记忆泊车启动指令之后，可以识别记忆泊车启动指令携带的车辆标识，从而将记忆泊车启动指令正确地转发至车辆标识所指示的车辆10中。
车辆10，可用于接收服务设备20发送的记忆泊车启动指令，根据记忆泊车启动指令获取记忆泊车路线，并按照记忆泊车路线行驶。
车辆10可根据记忆泊车启动指令，从车辆10的存储器中获取预先存储的记忆泊车路线。或者，记忆泊车路线也可以存储在服务设备20的存储器中，服务设备20向车辆10发送的记忆泊车启动指令，还可携带有与车辆10对应的记忆泊车路线，具体不做限定。
需要说明的是，若记忆泊车启动指令指示车辆10自动泊入，则记忆泊车路线可用于指示车辆10从固定的起点位置泊入记忆车位；若记忆泊车启动指令指示车辆10自动泊出，则记忆泊车路线可用于指示车辆从记忆车位驶离至固定的终点位置。
在一个实施例中，车辆10，还可用于在按照记忆泊车路线行驶时，将车辆10的实时行驶参数经由服务设备发送至移动终端30。车辆10的实时行驶参数可以包括：档位、车速、泊车进度、泊车动画、剩余行驶距离等，但不限于此。
移动终端30，可用于输出车辆10的实时行驶参数；以及，根据实时行驶参数确定当前泊车阶段，或者在当前泊车阶段之后的下一个预计泊车阶段，并输出当前泊车阶段或者预计泊车阶段，以便于移动终端30的用户在无法肉眼观察车辆10时，知悉车辆10的行驶状态和泊车进度。
可见，在前述实施例中，服务设备20的设置，使得用户可以通过移动终端30直接控制车辆10启动记忆泊车功能，可以扩大记忆泊车功能的适用距离，允许用户在距离车位较远的位置通过手机等移动终端控制车辆自动泊入或者泊出，使得自动泊车功能更加便捷。例如，用户可以在停车场入口下车，通过移动终端30触发车辆10自动从停车场入口泊入停车位。或者，用户也可以在停车场出口通过移动终端30触发车辆10从停车位泊出，并行驶至停车场出口。
请参阅图2，图2是一个实施例公开的另一种泊车控制系统的结构示意图。如图2所示，车辆10可包括：控制器110、网关120和通信模组130。
控制器（X Processing Unit，XPU）110，可包括任意一种具有运算能力的控制器或者控制芯片，例如可包括中央处理器（Central Processing Unit，CPU）、图形处理器（Graphic Processing
Unit，GPU）、专用集成电路（Application
Specific Integrated Circuit，ASIC），以及现场可编程门阵列（Field Programmable Gate Array，FPGA）四种主流芯片的控制器，具体不做限定。
网关（Gate Way，GW）120，可为车载网络的数据交互枢纽，使得数据在车辆内部的多个网络中安全可靠地进行传输，车辆内部的多个网络包括控制器局域网络（Controller Area Network, CAN）、车载以太网等。
通信模组（Telematics BOX，Tbox）130，可用于与服务设备20建立通信连接。
通信模组130，可用于接收服务设备20发送的记忆泊车指令，并将记忆泊车指令转换为泊车启动信号，泊车启动信号为车载以太网信号；以及，将泊车启动信号发送至网关120。
网关120，可用于将泊车启动信号转发至控制器110。
控制器110，用于根据泊车启动信号激活车辆的记忆泊车功能，获取记忆泊车路线，并控制车辆10按照记忆泊车路线行驶。
此外，控制器110，还可用于在车辆的记忆泊车功能不可用时，识别导致记忆泊车功能不可用的原因，并向通信模组130发送失败信息；失败信息包括导致记忆泊车功能不可用的原因，例如由于传感器故障导致记忆泊车功能无法激活、由于邮箱油量过低导致记忆泊车功能无法激活等，但不限于此。
通信模组130可将失败信息发送至服务设备20，以通过服务设备20将失败信息发送至移动终端30。
移动终端30，可用于输出失败信息，以提示用户车辆10的记忆泊车功能不可用。移动终端30可通过文字、弹窗、语音等一种或多种方式输出失败信息，具体不做限定。
在一个实施例中，通信模组130，还可用于检测由移动终端30、服务设备20和通信模组130构成的通信链路的心跳连接状态。
心跳连接，可指利用心跳机制判断通信链路是否仍然存在。通信模组130可以每隔一固定时间向将服务设备20发送存活信号，以告知服务设备20通信模组130仍然存在于通信链路上。同理，服务设备20也可每隔固定时间向通信模组130发送服务设备20仍存在于通信链路上的存活信号，移动终端30也可每隔固定时间向的服务设备20发送移动终端30仍存在于通信链路上的存活信号，并将移动终端30发送的存活信号转发至通信模组130。
通信模组130，可以在无法接收到服务设备20发送的用于指示服务设备20或移动终端30仍然存在于通信链路上的存活信号时，确定通信链路的心跳连接中断。此时，通信模组130可向控制器110发送泊车中断信号。
控制器110，可用于根据泊车中断信号控制车辆暂停按照记忆泊车路线行驶。也就是说，当通信模组130检测到通信链路无法正常进行数据传输时，触发控制器110暂停车辆10的记忆泊车过程，以保障车辆10的记忆泊车过程是在服务设备20和移动中断30的监管下进行的，从而可以记忆泊车的提高安全性。
需要说明的是，通信链路的心跳连接中断，可能是通信模组130、服务设备20和移动终端30中的任意一个模组或者设备发生故障而导致的，具体不做限定。
可见，在前述实施例中，车辆10可通过通信模组130接收移动终端30经由服务设备20发送的记忆泊车启动指令，并将其转换为控制器110可理解的泊车启动信号，再经由网关120将泊车启动信号正确地传送至控制110，以使控制器110根据泊车启动信号执行车辆10的记忆泊车功能。此外，通信模组130还可检测通信链路的心跳连接状态，以便于在心跳连接中断时，及时触发控制器110暂停车辆的记忆泊车功能，以提高安全性。
请参阅图3，图3是一个实施例公开的另一种泊车控制系统的结构示意图。如图3，除图2的各种模块以外，车辆10还可以包括：全景影像系统（Around View
Monitor，AVM）140和电控集成系统150（Conversion &
Distribution Unit，CDU）。
全景影像系统140，可包括围绕车辆设置的至少四个摄像装置。摄像装置可以包括鱼眼摄像头、广角摄像头、普通光学摄像头等，但不限于次。全景影像系统140，可用于获取各个摄像装置拍摄到的环境图像，这些环境图像可包括车辆10周围360°的环境信息。全景影像系统140，可将环境图像发送至CDU150。
电控集成系统CDU150，可集成有直流/交流（DC/AC）变换器、车载充电机、高压接线盒等功能。CDU150，可用于将全景影像系统140采集到的环境图像发送至通信模组130。
通信模组130，可用于将接收到的环境图像发送至服务设备20，以通过服务设备20将环境图像发送至移动终端30；
移动终端30，可用于输出环境图像。也就是说，车辆10可以通过通信模组130将全景影像系统140采集到的环境图像传输至移动终端30中显示，以便于用户通过环境图像判断车辆10周边环境的安全性，判断车辆10周边环境是否允许车辆10执行记忆泊车功能，也可以提高安全性。
在一个实施例中，通信模组130可以在接收到记忆泊车指令之后，将全景影像系统140采集到环境图像发送至移动终端30，以便于移动终端30的用户可以在控制器110激活车辆10的记忆泊车功能之前，确认车辆10周围环境的安全性。
在一个实施例中，通信模组130，还可以在车辆暂停按照记忆泊车路线行驶时，将环境图像发送至移动终端30。控制器110在控制车辆10按照记忆泊车路线行驶的过程中，若车辆10周边存在影响行车安全的障碍物时，可控制车辆10暂停行驶。此时，通信模组130可将全景影响系统140采集到的环境图像发送至移动终端30，以便于移动终端30的用户通过环境图像确认车辆10周边环境的安全性。
在前述实施例中，车辆10可通过全景影响系统140采集车辆10周边的环境图像，并经由CDU150将环境图像发送至通信模组130，以使通信模组130经由服务设备20将环境图像发送至移动终端30，使得移动终端30的用户可以通过环境图像确认车辆10周围环境的安全性。
请参阅图4，图4是一个实施例公开的一种泊车控制方法的方法流程示意图。如图4所示，该方法可以包括以下步骤：
410、移动终端检测用户输入的泊车启动操作，并响应于泊车启动操作，对预设条件进行校验。
420、移动终端在预设条件的校验通过时，向服务设备发送记忆泊车启动指令。
430、服务设备将记忆泊车启动指令发送至车辆。
440、车辆接收服务设备发送的记忆泊车启动指令。
也就是说，记忆泊车启动指令是移动终端响应于用户输入的泊车启动操作，对预设条件进行校验，并且在预设条件的校验通过时，向服务设备发送的。
在一个实施例中，前述的预设条件，可包括：移动终端的电量。
记忆泊车启动指令，可以是移动终端响应于用户输入的泊车启动操作，对移动终端的电量进行校验，并且在移动终端的电量高于电量阈值时，向服务设备发送的。
在一个实施例中，前述的预设条件，可包括：移动终端与车辆之间的检测距离。
记忆泊车启动指令，可以是移动终端响应于泊车启动操作，对检测距离进行校验，并且在检测距离小于距离阈值时，向服务设备发送的。
450、根据记忆泊车启动指令获取记忆泊车路线，并按照记忆泊车路线行驶。
在一个实施例中，车辆可包括：控制器、网关和通信模组。车辆执行步骤440的实施方式可以包括：
通过通信模组接收服务设备发送的记忆启动指令。
车辆执行步骤450的实施方式可以包括：
通过通信模组将记忆泊车指令转换为泊车启动信号，泊车启动信号为车载以太网信号；以及，通过通信模组将泊车启动信号发送至网关。
通过网关将泊车启动信号转发至控制器；以及，通过控制器根据泊车启动信号激活车辆的记忆泊车功能，获取记忆泊车路线，并控制车辆按照记忆泊车路线行驶。
在一个实施例中，车辆在执行步骤450之后，还可以执行以下步骤：
通过控制器在车辆的记忆泊车功能不可用时，识别导致记忆泊车功能不可用的原因，并向通信模组发送失败信息；失败信息包括导致记忆泊车功能不可用的原因。
通过通信模组将失败信息发送至服务设备，以通过服务设备将失败信息发送至移动终端。失败信息用于指示移动终端输出导致记忆泊车功能不可用的原因，以提示移动终端的用户。
在一个实施例中，车辆在执行步骤450之后，还可以执行以下步骤：
通过通信模组检测通信链路的心跳连接状态，通信链路包括移动终端、通信模组和服务设备；以及，通过通信模组在通信链路的心跳连接中断时，向控制器发送泊车中断信号。
通过控制器在根据泊车中断信号控制车辆暂停按照记忆泊车路线行驶。
在一个实施例中，车辆还可包括：全景影像系统和CDU，全景影像系统包括：围绕车辆设置的至少四个摄像装置。
车辆还可执行以下步骤：
通过全景影像系统获取各个摄像装置拍摄到环境图像，并将环境图像发送至CDU；
通过CDU将环境图像发送至通信模组；
通过通信模组将环境图像发送至服务设备，以通过服务设备将环境图像发送至移动终端，并由移动终端输出环境图像。
在一个实施例中，通信模组可以在执行前述的步骤440之后，将环境图像发送至移动终端。
在一个实施例中，通信模组也可以在车辆暂停按照记忆泊车路线行驶时，将环境图像发送至移动终端。
在前述实施例公开的泊车控制方法中，用户可以在移动终端中触发启用车辆的记忆泊车功能，车辆可以接收由服务设备转发的记忆泊车指令，使得用户可以通过移动终端30直接控制车辆10启动记忆泊车功能，可以扩大记忆泊车功能的适用距离，使得自动泊车功能更加便捷。
请参阅图5，图5是一个实施例公开的一种车辆的结构示意图。如图5所示，该车辆可以包括：
存储有可执行程序代码的存储器510；
与存储器510耦合的处理器520；
其中，处理器520调用存储器510中存储的可执行程序代码，执行前述实施例公开的任意一种泊车控制方法中车辆执行的步骤。
本申请实施例公开一种计算机可读存储介质，其存储计算机程序，其中，该计算机程序使得计算机执行前述实施例公开的任意一种泊车控制方法。
本申请实施例公开一种计算机程序产品，该计算机程序产品包括存储了计算机程序的非瞬时性计算机可读存储介质，且该计算机程序可操作来使计算机执行前述实施例公开的任意一种泊车控制方法。
应理解，说明书通篇中提到的“一个实施例”或“一实施例”意味着与实施例有关的特定特征、结构或特性包括在本申请的至少一个实施例中。因此，在整个说明书各处出现的“在一个实施例中”或“在一实施例中”未必一定指相同的实施例。此外，这些特定特征、结构或特性可以以任意适合的方式结合在一个或多个实施例中。本领域技术人员也应该知悉，说明书中所描述的实施例均属于本申请一些实施例，所涉及的动作和模块并不一定是本申请所必须的。
在本申请的各种实施例中，应理解，上述各过程的序号的大小并不意味着执行顺序的必然先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
上述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物单元，即可位于一个地方，或者也可以分布到多个网络单元上。可根据实际的需要选择其中的部分或全部单元来实现本实施例方案的目的。
另外，在本申请各实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
上述集成的单元若以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可获取的存储器中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或者部分，可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储器中，包括若干请求用以使得一台计算机设备（可以为个人计算机、服务器或者网络设备等，具体可以是计算机设备中的处理器）执行本申请的各个实施例上述方法的部分或全部步骤。
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质包括只读存储器（Read-Only Memory，ROM）、随机存储器（Random Access
Memory，RAM）、可编程只读存储器（Programmable
Read-only Memory，PROM）、可擦除可编程只读存储器（Erasable
Programmable Read Only Memory，EPROM）、一次可编程只读存储器（One-time Programmable Read-Only Memory，OTPROM）、电子抹除式可复写只读存储器（Electrically-Erasable
Programmable Read-Only Memory，EEPROM）、只读光盘（Compact Disc Read-Only Memory，CD-ROM）或其他光盘存储器、磁盘存储器、磁带存储器、或者能够用于携带或存储数据的计算机可读的任何其他介质。
以上对本申请实施例公开的一种泊车控制系统、方法、车辆及计算机存储介质进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想。同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。
Claims (10)
- 一种泊车控制系统，其中，所述系统包括：车辆、服务设备及移动终端；所述服务设备分别与所述车辆和所述移动终端通信连接；所述移动终端，用于检测用户输入的泊车启动操作；以及，响应于所述泊车启动操作，对预设条件进行校验；以及，在所述预设条件的校验通过时，向所述服务设备发送记忆泊车启动指令；所述服务设备，用于将所述记忆泊车启动指令发送至所述车辆；所述车辆，用于根据所述记忆泊车启动指令获取记忆泊车路线，并按照所述记忆泊车路线行驶。
- 根据权利要求1所述的系统，其中，所述预设条件，包括：所述移动终端的电量；所述移动终端，还用于响应于所述泊车启动操作，对所述移动终端的电量进行校验；以及，在所述移动终端的电量高于电量阈值时，确定对所述移动终端电量的校验通过，向所述服务设备发送记忆泊车启动指令；或者，所述预设条件，包括：所述移动终端与所述车辆之间的检测距离；以及，所述移动终端，还用于响应于所述泊车启动操作，对所述检测距离进行校验；以及，在所述检测距离小于距离阈值时，确定对所述检测距离的校验通过，向所述服务设备发送记忆泊车启动指令。
- 根据权利要求1或2所述的系统，其中，所述车辆，包括：控制器、网关和通信模组；所述通信模组，用于接收所述服务设备发送的记忆泊车指令，并将所述记忆泊车指令转换为泊车启动信号，所述泊车启动信号为车载以太网信号；以及，将所述泊车启动信号发送至所述网关；所述网关，用于将所述泊车启动信号转发至所述控制器；所述控制器，用于根据所述泊车启动信号激活所述车辆的记忆泊车功能，获取记忆泊车路线，并控制所述车辆按照所述记忆泊车路线行驶；以及，所述车辆的记忆泊车功能不可用时，识别导致所述记忆泊车功能不可用的原因，并向所述通信模组发送失败信息；所述失败信息包括导致所述记忆泊车功能不可用的原因；所述通信模组，还用于将所述失败信息发送至所述服务设备，以通过所述服务设备将所述失败信息发送至所述移动终端；所述移动终端，用于输出所述失败信息。
- 根据权利要求3所述的方法，其中，所述通信模组，还用于检测通信链路的心跳连接状态，所述通信链路包括所述移动终端、所述通信模组和所述服务设备；以及，在所述通信链路的心跳连接中断时，向所述控制器发送泊车中断信号；所述控制器，还用于根据所述泊车中断信号控制所述车辆暂停按照所述记忆泊车路线行驶。
- 根据权利要求3所述的系统，其中，所述车辆，还包括：全景影像系统和电控集成系统，所述全景影像系统包括：围绕所述车辆设置的至少四个摄像装置；所述全景影像系统，用于获取各个所述摄像装置拍摄到环境图像，并将所述环境图像发送至所述电控集成系统；所述电控集成系统，用于将所述环境图像发送至所述通信模组；所述通信模组，还用于将所述环境图像发送至所述服务设备，以通过所述服务设备将所述环境图像发送至所述移动终端；所述移动终端，用于输出所述环境图像。
- 根据权利要求5所述的系统，其中，所述通信模组，还用于在接收到所述记忆泊车指令之后，将所述环境图像发送至所述移动终端；或者，所述通信模组，还用于在所述车辆暂停按照所述记忆泊车路线行驶时，将所述环境图像发送至所述移动终端。
- 根据权利要求1-6任一项所述的系统，其中，所述车辆还用于在按照所述记忆泊车路线行驶时，将所述车辆的实时行驶参数经由所述服务设备发送至所述移动终端；所述移动终端，还用于输出所述车辆的实时行驶参数；以及，输出与所述实时行驶参数对应的当前泊车阶段或者输出在所述当前泊车阶段之后的下一个预计泊车阶段。
- 一种泊车控制方法，其中，应用于车辆，所述车辆与服务设备通信连接，所述服务设备与移动终端通信连接；所述方法包括：接收所述服务设备发送的记忆泊车启动指令；所述记忆泊车启动指令是所述移动终端响应于用户输入的泊车启动操作，对预设条件进行校验，并且在所述预设条件的校验通过时，向所述服务设备发送的；根据所述记忆泊车启动指令获取记忆泊车路线，并按照所述记忆泊车路线行驶。
- 一种车辆，其中，包括存储器及处理器，所述存储器中存储有计算机程序，所述计算机程序被所述处理器执行时，使得所述处理器实现如权利要求8任一项所述的方法。
- 一种计算机可读存储介质，其上存储有计算机程序，其中，所述计算机程序被处理器执行时实现如权利要8所述的方法。
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