WO2023241564A1

WO2023241564A1 - Parking method and apparatus, vehicle, and storage medium

Info

Publication number: WO2023241564A1
Application number: PCT/CN2023/099891
Authority: WO
Inventors: 杜建宇; 李超; 王恒凯; 曹天书; 王皓南; 黄显晴; 李佳骏; 吴岗岗
Original assignee: 中国第一汽车股份有限公司
Priority date: 2022-06-15
Filing date: 2023-06-13
Publication date: 2023-12-21
Also published as: CN114935905A

Abstract

Embodiments of the present application relate to the technical field of computers. Disclosed are a parking method and apparatus, a vehicle, and a storage medium. The parking method comprises: acquiring a communication request sent by a mobile terminal, and establishing a communication connection between the vehicle and the mobile terminal according to the communication request; acquiring environmental information of an environment where the vehicle is located, and sending the environmental information to the mobile terminal, the environmental information being obtained by a visual device integrated on the vehicle; and receiving a control instruction sent by the mobile terminal, and controlling the vehicle according to the control instruction to move, so as to achieve parking, the control instruction being generated by the mobile terminal on the basis of the environmental information.

Description

Parking methods, devices, vehicles and storage media

This application claims priority to the Chinese patent application with application number 202210676637.7, which was submitted to the China Patent Office on June 15, 2022. The entire content of this application is incorporated into this application by reference.

Technical field

Embodiments of the present application relate to the field of computer technology, such as parking methods, devices, vehicles and storage media.

Background technique

With the advancement of science and technology, the intelligence of cars has continued to develop. As the number of cars increases, parking has become a worry for most people. In an environment where parking spaces are tight and the driving area is small, it is often difficult to park, accidentally occupying other people's parking spaces, or parked vehicles impede the movement of other vehicles. Generally, car owners are required to quickly return to the vehicle to move the vehicle.

The L2 level remote parking technology equipped on some vehicles can realize the automatic parking function, but it requires the owner to control the vehicle-related function keys in the cab to realize automatic parking, or to control the mobile terminal near the vehicle to complete the movement of the vehicle.

However, the automatic parking technology in related technologies requires the car owner to be near the vehicle in order to control the vehicle, which is inconvenient for the user experience.

Contents of the invention

Embodiments of the present application provide a parking method, device, vehicle and storage medium, which can perform remote parking through a mobile terminal, thereby improving existing parking solutions.

An embodiment of the present application provides a parking method, which includes: obtaining a communication request sent by a mobile terminal, establishing a communication connection between a vehicle and the mobile terminal according to the communication request; obtaining environmental information of the current environment of the vehicle, and The environmental information is sent to the mobile terminal, and the environmental information is obtained through a visual device integrated on the vehicle; the control instructions sent by the mobile terminal are received, and the vehicle is controlled to move according to the control instructions. Thus, parking is realized, and the control instruction is generated by the mobile terminal based on the environmental information.

Optionally, obtaining the environmental information of the environment in which the vehicle is currently located includes: receiving sub-environment information respectively sent by a preset number of visual devices, where the number of sub-environment information is equal to the preset number of visual devices. One-to-one correspondence; integrate the sub-environment information to obtain environmental information of the current environment where the vehicle is located.

Optionally, after the communication connection between the vehicle and the mobile terminal is established according to the communication request, the method further includes: obtaining the current location information of the vehicle, and marking the current location information as the initial starting point.

Optionally, the control instruction includes a parking mode and a target end position; controlling the vehicle to move according to the control instruction to achieve parking includes: according to the initial starting position and the target end position, Generate path planning information of the vehicle; control the movement of the vehicle based on the path planning information according to the parking mode to achieve parking.

Optionally, in the case where the vehicle is controlled to move according to the parking method based on the path planning information, it also includes: obtaining the real-time distance of the vehicle controlled according to the control instruction, the real-time The distance is the distance that the vehicle travels from the initial starting position to the current position; determine whether the real-time distance exceeds the preset value; in response to the determination result that the real-time distance does not exceed the preset value, according to the path The planning information obtains the actual path information of the vehicle; in response to the determination result that the real-time distance exceeds the preset value, the first preset processing is performed on the real-time distance, and the vehicle is obtained according to the path planning information. Travel processing route information.

Optionally, performing a first preset process on the real-time distance and obtaining processing path information of the vehicle traveling according to the path planning information includes: setting a position whose distance from the current position is the preset value. Mark it as a candidate starting point position, and discard the distance between the initial starting point position and the candidate starting point position; obtain the processing path information of the vehicle according to the candidate starting point position and the target end position.

Optionally, after controlling the vehicle to move according to the control instruction to achieve parking, the method further includes: performing a second preset process on the actual path information to obtain memory path information, where the memory path information is The starting point position is the initial starting point position; or, the second preset processing is performed on the processing path information to obtain memory path information, and the starting point position of the memory path information is the candidate starting point position; in the obtained memory After the path information is stored, the method further includes: using the target end position in the memory path information as the current starting position, and using the designated position in the memory path information as the target position; controlling the memory path information according to the memory path information. The vehicle returns from the current starting position to the target position.

An embodiment of the present application provides a parking device, which includes: a first acquisition module configured to acquire a communication request sent by a mobile terminal, and establish a communication connection between the vehicle and the mobile terminal according to the communication request; a second acquisition module A module configured to obtain environmental information of the current environment of the vehicle and send the environmental information to the mobile terminal, where the environmental information is obtained through a visual device integrated on the vehicle; an instruction receiving module, The vehicle is configured to receive a control instruction sent by the mobile terminal and control the vehicle to move according to the control instruction to achieve parking. The control instruction is generated by the mobile terminal based on the environmental information.

An embodiment of the present application also provides a vehicle, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores information that can be executed by the at least one processor. A computer program, which is executed by the at least one processor, so that the at least one processor can execute the parking method described in any embodiment of the present application.

Embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium stores computer instructions. The computer instructions are used to enable the processor to implement the parking described in any embodiment of the present application when executed. method.

Description of the drawings

The drawings needed to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For ordinary people in the art Technical personnel can also obtain other related drawings based on these drawings without exerting creative work.

Figure 1 is a schematic flow chart of the parking method provided by the embodiment of the present application;

Figure 2 is a system architecture diagram of the parking method provided by the embodiment of the present application;

Figure 3 is another schematic flow chart of the parking method provided by the embodiment of the present application;

Figure 4 is another schematic flow chart of the parking method provided by the embodiment of the present application;

Figure 5 is a schematic structural diagram of the parking device provided by the embodiment of the present application;

Figure 6 is a schematic structural diagram of a vehicle provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts should fall within the scope of protection of this application.

The present application will be described below in conjunction with the drawings and embodiments. It can be understood that the embodiments described here are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for convenience of description, only part of the structure related to the present application is shown in the drawings.

Figure 1 is a schematic flow chart of a parking method provided by an embodiment of the present application. This embodiment can be applied to situations where a user needs to park a vehicle through remote control. This method can be executed by a parking device. The parking device It can be implemented in the form of hardware and/or software, and the parking device can be configured in the parking controller of the vehicle. Referring to Figure 1, the method may include the following steps.

S110. Obtain the communication request sent by the mobile terminal, and establish a communication connection between the vehicle and the mobile terminal according to the communication request.

When the mobile terminal sends a connection request to the vehicle, the connection can be made through communication between the third-party application (Application, App) downloaded on the mobile terminal and the telematics box (T-box) integrated on the vehicle. .

Please refer to Figure 2, which is a system architecture diagram of the parking method provided by the embodiment of the present application. After the mobile terminal establishes a communication connection with the vehicle, the mobile terminal can send the control command to the T-box. After receiving the control command sent by the mobile terminal, the T-box sends the control command to the parking controller. The parking controller Execute the current control command. After the parking controller executes the current control command and obtains the execution result (such as the movement of the vehicle), the execution result can be sent to the mobile terminal by the T-box for remote viewing by the user.

The way for the App on the mobile terminal to establish a communication connection with the T-box integrated on the vehicle can be as follows: the mobile terminal sends a communication request to the vehicle, and the communication request can carry a communication identifier. The function of the communication identifier is for vehicle-based communication. The identification is subject to security verification. If the communication identification sent by the mobile terminal is pre-stored in the T-box of the vehicle, the security verification passes, indicating that the mobile terminal held by the current user can communicate with the vehicle to facilitate subsequent steps. Chinese users remotely control vehicles for parking through mobile terminals.

The above communication identifier can be the user's personal identity (Identity, ID) information, or the mobile terminal's Internet Protocol Address (Internet Protocol Address, IP) information, etc., which are not limited here. The above-mentioned mobile terminal can be the user's personal smartphone, smart tablet, etc., and the type of the mobile terminal is not limited here.

S120. Obtain environmental information of the current environment where the vehicle is located, and send the environmental information to the mobile terminal.

Environmental information represents the surrounding environment where the vehicle is located. The current environmental information is obtained through the visual device integrated on the vehicle. It is easy to imagine that when the environmental information is sent to the mobile terminal, the environmental information received by the mobile terminal is integrated Information within the visual range of visual equipment on the vehicle.

The above-mentioned environmental information is generally an image or video, but the parking method provided by the embodiment of the present application requires remote control of the vehicle based on a mobile terminal to achieve the purpose of remote parking. Optionally, the environmental information refers to the real-time video information of the environment where the vehicle is located. The advantage of obtaining the video information is that as the vehicle moves, the real-time situation of the vehicle can be dynamically obtained on the mobile terminal.

In order to enable the environmental information displayed on the mobile terminal to fully and truly reflect the real situation around the vehicle, the number of visual devices can be 4, 6 or 8. The number of visual devices is not limited here, as long as it can completely reflect the situation of the vehicle. The actual environment is enough. The above-mentioned visual device may be a surround-view camera.

S130. Receive the control instruction sent by the mobile terminal, and control the vehicle to move according to the control instruction to realize parking.

After the mobile terminal receives the environment information, the current environment information is displayed on the visual interface of the mobile terminal for the user's convenience. Operation buttons are displayed on the visual interface of the mobile terminal, and users can trigger corresponding operation buttons to form corresponding control instructions, thereby controlling vehicle movement according to the control instructions to achieve remote parking.

Click the operation button on the mobile terminal. After the mobile terminal generates the corresponding control instruction according to the operation button, the control instruction is sent to the vehicle. After the vehicle's T-box receives the control instruction, the control instruction can be sent to the vehicle's parking control. The controller executes the control instructions through the parking controller to control the movement of the vehicle according to the control instructions to realize the parking operation.

The above control instructions can be divided into first control instructions and second control instructions. The first control instruction can be used to instruct the parking mode of the vehicle, and the second control instruction is used by the user to control the movement of the vehicle in the corresponding parking mode. The first control instruction and the second control instruction are both implemented by triggering corresponding control buttons on the environment screen displayed on the mobile terminal.

For example, the above-mentioned first control instructions may include: parking in, parking out, or searching for a parking space, etc.; the above-mentioned second control instructions may include: moving forward, going backward, controlling the steering wheel (turn left, turn right), decelerating, braking, and Stop waiting. The contents of the first control instruction and the second control instruction are not limited here.

After the vehicle's environmental information is displayed on the visual interface of the mobile terminal, the first control instructions such as parking in, parking out or searching for a parking space are also displayed on the visual interface. After the user clicks the first control instruction according to the current actual needs, The current first control instruction is sent to the vehicle, and the vehicle starts a program corresponding to the first control instruction and enters a waiting state. The user remotely controls the vehicle based on the actual environment information displayed on the mobile terminal. The current control interface can include second control instructions, such as: forward button, backward button, control steering wheel button (turn left, turn right) , deceleration button, brake button, stop button, etc., when the user clicks the corresponding operation button on the live control interface where the vehicle is located, a second control instruction is generated. After the vehicle's T-box receives the second control instruction, it will The command is sent to the parking controller of the vehicle, so that the parking controller controls the vehicle to execute the second control command, thereby controlling the movement of the vehicle to achieve the purpose of remote control of the vehicle.

Control instructions are generated by the mobile terminal based on environmental information. That is, when the user clicks the operation button on the environment screen of the mobile terminal, he can see the movement of the vehicle in real time. When the vehicle is moving, there may be obstacles within the scanning range of the visual device. When the user clicks on the visual interface of the mobile terminal, When an obstacle appears on the vehicle, the user controls the operation button corresponding to the second control instruction to avoid the obstacle.

Optionally, when the user manipulates the operation button corresponding to the second control instruction to avoid obstacles, the vehicle can Automatic obstacle avoidance based on the actual conditions of obstacles. When sending the vehicle's environmental information to the mobile terminal, there may be information delays due to signal problems. At this time, the vehicle can automatically avoid obstacles based on the live information.

Optionally, the distance between the vehicle and the obstacle can be displayed on the visual interface of the mobile terminal, and when it is determined that the distance between the vehicle and the obstacle is less than the preset distance (for example, 5 meters), text, sound or screen prompts, etc. Warning information is generated and sent to the mobile terminal to remind users of the risk of collision, thereby avoiding collision between vehicles and obstacles. The above obstacles can be detected by integrating ultrasonic radar on the vehicle.

In the parking method provided by the embodiment of the present application, after the mobile terminal establishes a connection with the vehicle, the environmental information of the current environment of the vehicle is obtained through the visual device integrated on the vehicle, and the current environmental information is displayed in the mobile terminal. The mobile terminal Control instructions can be sent to the vehicle based on current environmental information, so that the vehicle can park based on the control instructions, thereby achieving the purpose of remote control of the vehicle. It solves the problem in related technologies that the car owner needs to be near the vehicle to control the vehicle. The remote control of vehicle parking saves users time and improves user experience.

FIG. 3 is another schematic flow diagram of the parking method provided by the embodiment of the present application. The relationship between this embodiment and the above-mentioned embodiment is explained with respect to the corresponding features of the above-mentioned embodiment. As shown in Figure 3, the method may include the following steps.

S210. Obtain the communication request sent by the mobile terminal, and establish a communication connection between the vehicle and the mobile terminal according to the communication request.

S220: Obtain the current location information of the vehicle, and mark the current location information as the initial starting point.

After the mobile terminal communicates with the vehicle, the current location information of the vehicle is first marked, and the current location information is used as the initial starting point. The purpose of obtaining the initial starting position is to facilitate path planning based on the initial starting position and the subsequently determined target end position (ie, the position where the user wants to park the car).

S230: Receive sub-environment information respectively sent by a preset number of visual devices.

Multiple visual devices are integrated around the vehicle. In order to facilitate a more comprehensive understanding of the real situation around the vehicle, all environmental information within the preset range centered on the vehicle can be obtained without blind spots as much as possible.

The current sub-environment information can be understood as a visual device obtaining environmental information within the corresponding scanning range. Since each visual device is installed at a different position of the vehicle, the information content obtained by each sub-environment information is different, so the sub-environment The amount of information corresponds to the preset number of visual devices.

Optionally, the number of visual devices is set to 4, and the type of visual device can be set to surround-view cameras.

S231. Integrate the sub-environment information to obtain the environmental information of the current environment where the vehicle is located.

The purpose of integrating the sub-environment information here is to integrate the obtained multiple sub-environment information into a complete vehicle's current environment information, so that it can be completely displayed on the vehicle's display screen from a God's perspective, making it easier for the user to view.

The method of integrating the sub-environment information may be to splice multiple sub-environment information, and then filter the overlapping parts of the multiple sub-environment information to obtain the environmental information of the current environment where the vehicle is located.

S232. Send the environment information to the mobile terminal.

S240. Receive the control command sent by the mobile terminal.

The mobile terminal performs control by sending control instructions to the vehicle according to the received environmental information. The current control instructions may include the parking method and the target end position.

The above-mentioned parking methods can be: parking in, parking out or searching for a parking space; the target end position is any position in the current environmental information received by the mobile terminal.

The above parking methods can be selected according to the actual operations required by the current vehicle. For example, if the user enters the mall after parking the vehicle and leaving, but the parking mode of the vehicle affects the travel of other vehicles, the current user can communicate with the vehicle in the mall and use the mobile terminal based on the received environmental information of the vehicle. Select the vehicle's current parking mode as "Park Out" to control the vehicle to move from its current location.

The above target terminal location can be selected based on the parking out method selected by the user. For example, when the parking mode is "park out", the user can select the location where the vehicle needs to be parked, and use the selected location as the target end location. After the vehicle is parked, the vehicle can stay at the target end location.

It should be noted that since the visual interface of the mobile terminal displays environmental information within the scanning range of the current vehicle vision device, the current environmental information may not include the most suitable target end position for the parked vehicle, so you can first Select a candidate terminal location from the current environmental information. As the vehicle moves, the environmental information received on the mobile terminal will be updated synchronously. After the vehicle travels to the candidate terminal location, the next suitable stop can be selected again based on the current environmental information. points until a location suitable for the current vehicle is found, and the final location where the vehicle stops is the target end location.

S241. Generate vehicle path planning information based on the initial starting point position and the target end point position.

The path planning information is that after the vehicle's parking controller receives the target end position sent by the user on the mobile terminal, it will plan the path for the vehicle based on the initial starting position and the target end position, combined with obstacles and road conditions in the environmental information. , generate vehicle path planning information.

Combined with step S240, if the environmental information does not include the target end position that is most suitable for parking of the parked vehicle, a candidate end position can be selected in the current environment information, and the candidate end position can be selected based on the initial starting position and the candidate end position. point position to generate candidate path planning information for the vehicle. After the vehicle reaches the candidate end position, the current candidate end position is used as the starting point, and the next candidate end position is selected again until the vehicle is moved to the target end position. The method of selecting the target end position and the method of generating corresponding path planning information are not limited here.

S242. Control the movement of the vehicle based on the path planning information according to the parking method to achieve parking.

Please refer to FIG. 4 , which is a schematic structural diagram of a parking device provided by an embodiment of the present application. When controlling the movement of the vehicle based on the path planning information according to the parking mode, the parking method provided by the embodiment of the present application may also include the following steps.

S310. Obtain the real-time distance controlled by the vehicle according to the control instruction.

The real-time distance is the distance traveled by the vehicle from the initial starting position to the current position. The purpose of obtaining the real-time distance is to save the vehicle's driving path, so that the vehicle can be controlled to perform a one-click return operation based on the saved driving path.

S320. Determine whether the real-time distance exceeds the preset value.

Due to the limitation of vehicle memory, when the vehicle travels a long distance during one movement, if the complete driving path during one movement is saved, it may easily cause problems such as insufficient vehicle memory or high memory pressure. Therefore, in order to avoid the above problems, the parking method provided by the embodiment of the present application needs to determine whether the real-time distance traveled by the vehicle exceeds the preset value. If the actual distance does not exceed the preset value, step S330 is executed. If the actual distance exceeds the preset value, step S340 is executed.

The above-mentioned preset value can be 50 meters, 100 meters or 200 meters, and the setting of the preset value is not limited here.

S330. Obtain the actual path information of the vehicle according to the path planning information.

Actual path information refers to the process of actual driving based on path planning information. The actual path traveled by the vehicle is not completely consistent with the path in the ideal state in the path planning information. When the user remotely controls the vehicle on the mobile terminal, there may be sudden changes. When turning the steering wheel or braking suddenly, the actual path information obtained when the vehicle moves according to the path planning information will deviate to a certain extent from the planned path information.

S340: Perform first preset processing on the real-time distance, and obtain processing path information for vehicle driving according to the path planning information.

The purpose of performing the first preset processing on the real-time distance is to keep the real-time distance traveled by the vehicle at the preset value so as not to affect the storage memory of the vehicle. After performing the first processing on the real-time distance, the distance traveled by the vehicle can be obtained. Handle path information.

Perform first preset processing on the real-time distance, and obtain the processing route of the vehicle based on the path planning information. When obtaining path information, the parking method provided by the embodiment of the present application can be implemented through the following steps.

a) Mark the position that is a preset value from the current position as the candidate starting position, and discard the distance between the initial starting position and the candidate starting position.

For example, taking the preset value of 50m as an example, assuming that the distance from the initial starting point when the vehicle travels to the current position is 51m, then the position 1m from the initial starting point is marked as the candidate starting point, then the current The vehicle memory saves the path information between the candidate starting position and the current position, and discards the 1m distance between the initial starting position and the candidate starting position. The purpose of this is to ensure that the vehicle driving path information saved in the vehicle memory is always maintained. Preset distances to alleviate vehicle memory usage.

b) Obtain the vehicle's processing path information based on the candidate starting position and the target end position.

The vehicle's processing path information is obtained based on the vehicle's candidate starting point location and target end location.

When the distance from the candidate starting position to the current position is still greater than the preset distance, continue to discard the current candidate starting position and reselect a new candidate starting position until the distance between the candidate starting position and the target end position reaches the preset value. Only the final processing path information is retained.

Optionally, in the parking method provided by the embodiment of the present application, if the vehicle's memory has sufficient capacity, the first preset processing of the above-mentioned real-time distance may not be performed, that is, the complete path traveled by the vehicle according to the planned path information is retained and saved. The method of path information is not limited here.

After the above steps S310 to S340, the vehicle can be controlled to move based on the path planning information according to the parking mode to achieve parking.

In an optional embodiment, the parking method provided by the embodiment of the present application can also be used by the user to select a vehicle based on the mobile terminal after the vehicle is controlled to move according to the control instruction to realize parking. Key return operation, so that the vehicle automatically returns to the starting position based on the above traveling path information, includes the following steps.

S250: Perform second preset processing on the actual path information to obtain the memory path information, and the starting point of the memory path information is the initial starting point.

S251. Perform second preset processing on the processing path information to obtain memory path information, and the starting point of the memory path information is the candidate starting point.

During the actual driving process of the vehicle, there may be a series of user subjective sudden operations. For example, it can be a gear shifting operation, a sharp steering operation, or a sudden braking operation. When a sudden operation occurs, the actual operation of the vehicle will be affected. The route traveled according to the sudden operation will be saved in the route information or processing route information. When the vehicle returns with one click according to the memorized route information, when it travels to the place where the sudden operation occurs, Road section, at this time, the system no longer performs the user's sudden operation, and it is necessary to perform a second preset process on the actual path information or processing path information obtained above to avoid the above problems.

The second preset processing method may be to integrate the path information of the vehicle and perform splicing and smoothing processing on road sections with sudden operations, so that the vehicle can return in a relatively ideal manner when performing one-click return. .

When the memorized path information is obtained according to step S250, the starting point of the memorized path information is the initial starting point, and the path of the memorized path information is consistent with the path of the planned path information.

When the memory path information is obtained according to step S251, the starting point position of the current memory path information is the candidate starting point position.

S260. Use the target end position in the memory path information as the current starting position, and use the designated position in the memory path information as the target position.

When the user selects the one-click return operation on the mobile terminal, the user's visual interface can display the saved memory path information to the user, and mark the target end position as the current starting position when driving the one-click return operation, and obtain The end position (i.e. target position) when performing a one-key return operation.

The above target position can be determined by the user displaying any position in the memory path information on the visual interface of the mobile terminal. Any current position can be arbitrarily designated by the user, and the currently designated position is sent to the vehicle as the target position.

When the vehicle receives the target position, it can control the vehicle to return from the current starting position to the target position based on the memory path information, thereby realizing a one-click return operation using a mobile terminal to remotely control the vehicle.

The parking method provided by the embodiment of the present application can synchronize the vehicle's environmental information to the user's mobile terminal in real time, and the user can control vehicle parking through the mobile terminal. During the parking process, the distance information of obstacles detected by ultrasonic radar can be superimposed on the environmental information received by the mobile terminal in real time, allowing users to understand the obstacle information around the vehicle in real time; users can remotely control the vehicle through the mobile terminal , realizes a series of parking operations such as parking out, parking in, and searching for parking spaces, and realizes remote control of moving the car beyond the visual range; it can also perform one-click return operations according to the driving path, and the user can set the return target point at will, which is beneficial to the user more Intelligently control the vehicle for parking.

FIG. 5 is a schematic structural diagram of a parking device provided by an embodiment of the present application. The device is suitable for executing the parking method provided by an embodiment of the present application. As shown in Figure 5, the device may include: a first acquisition module 410, a second acquisition module 420 and an instruction receiving module 430, wherein: the first acquisition module 410 is configured to acquire a communication request sent by the mobile terminal, according to the communication Requesting to establish a communication connection between the vehicle and the mobile terminal; the second acquisition module 420 is configured to obtain environmental information of the environment where the vehicle is currently located, and send the environmental information to the mobile terminal, where the environmental information is obtained by Obtained from the visual equipment integrated on the vehicle; the instruction receiving module 430 is configured to receive the control sent by the mobile terminal. The vehicle is controlled to move according to the control instruction to realize parking, and the control instruction is generated by the mobile terminal based on the environmental information.

The parking device provided by the embodiment of the present application, after the mobile terminal establishes a connection with the vehicle, obtains the environmental information of the current environment of the vehicle through the visual device integrated on the vehicle, and displays the current environmental information in the mobile terminal. The mobile terminal Control instructions can be sent to the vehicle based on current environmental information, so that the vehicle can park based on the control instructions, thereby achieving the purpose of remote control of the vehicle. It solves the problem in related technologies that the car owner needs to be near the vehicle to control the vehicle. It saves user time and improves user experience by remotely controlling vehicle parking.

In one embodiment, the second acquisition module 420 includes: a receiving unit and a processing unit, wherein: the receiving unit is configured to receive sub-environment information sent by a preset number of visual devices respectively, and the number of sub-environment information is related to the number of sub-environment information. The preset number of the visual devices corresponds to one-to-one; the processing unit is configured to integrate the sub-environment information and obtain the environmental information of the current environment of the vehicle.

In one embodiment, the device further includes: a third acquisition module, wherein: the third acquisition module is configured to acquire the current location information of the vehicle and mark the current location information as the initial starting point.

In one embodiment, the control instruction includes a parking mode and a target end position; the instruction receiving module 430 includes: a generating unit and a control unit, wherein: the generating unit is configured to operate according to the initial starting position and the target end position. position to generate path planning information of the vehicle; a control unit configured to control the movement of the vehicle based on the path planning information according to the parking mode to achieve parking.

In one embodiment, the device further includes: a fourth acquisition module, a judgment module, an acquisition module and a first processing module, wherein: the fourth acquisition module is configured to acquire the real-time distance of the vehicle driven according to the control instruction. , the real-time distance is the distance from the initial starting point to the current position of the vehicle; the judgment module is configured to judge whether the real-time distance exceeds the preset value; if the real-time distance does not exceed the preset value, then The acquisition module is configured to obtain the actual path information of the vehicle according to the path planning information; if the real-time distance exceeds the preset value, the first processing module is configured to perform first preset processing on the real-time distance. , obtaining processing path information for the vehicle traveling according to the path planning information.

In one embodiment, the processing module includes: a marking unit and an obtaining unit, wherein: the marking unit is configured to mark a position that is a distance from the current position by the preset value as a candidate starting position, and discard the initial position. The distance between the starting point position and the candidate starting point position; the obtaining unit is configured to obtain the processing path information of the vehicle according to the candidate starting point position and the target end position.

In one embodiment, the device further includes: a second processing module, wherein: the second processing module is configured to perform a second preset process on the actual path information to obtain memory path information, and the memory path information The starting position of the information is the initial starting position; or, the second preset processing is performed on the processing path information to obtain the memory path information, and the starting position of the memory path information is the candidate starting position; the second processing The module is configured to use the target end position in the memory path information as the current starting position and the designated position in the memory path information as the target position; and control the vehicle from the current starting position according to the memory path information. The starting position is returned to the target position.

Those skilled in the art can understand that for the convenience and simplicity of description, only the division of the above multiple functional modules is used as an example. In practical applications, the above functions can be allocated to different functional modules according to needs, that is, the device The internal structure is divided into different functional modules to complete all or part of the functions described above. For the working process of the functional module described above, reference may be made to the corresponding process in the foregoing method embodiment, which will not be described again here.

Embodiments of the present application also provide a computer-readable medium. The computer-readable storage medium stores computer instructions. The computer instructions are used to enable the processor to implement the parking method described in any embodiment of the present application when executed. .

Referring now to FIG. 6 , a schematic structural diagram of a vehicle computer system 500 suitable for implementing embodiments of the present application is shown. The vehicle shown in FIG. 6 is only an example and should not impose any restrictions on the functions and scope of use of the embodiments of the present application.

As shown in Figure 6, the computer system 500 includes a central processing unit (Central Processing Unit, CPU) 501, which can be loaded into a random accessory according to a program stored in a read-only memory (Read-Only Memory, ROM) 502 or from a storage part 508. Access the program in the memory (Random Access Memory, RAM) 503 to perform various appropriate actions and processes. In the RAM 503, various programs and data required for the operation of the system 500 are also stored. CPU 501, ROM 502 and RAM 503 are connected to each other through bus 504. An input/output (I/O) interface 505 is also connected to bus 504.

The following components are connected to the I/O interface 505: an input part 506 including a keyboard, a mouse, etc.; an output part 507 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc. ; A storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a Local Area Network (LAN) card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. Driver 510 is also connected to I/O interface 505 as needed. Removable media 511, such as magnetic disks, optical disks, magneto-optical disks, semiconductor memories, etc., are installed on the drive 510 as needed, so that a computer program read therefrom is installed into the storage portion 508 as needed.

According to embodiments disclosed in the present application, the process described above with reference to the flowchart may be implemented as a computer software program. For example, embodiments disclosed in the present application include a computer program product including a computer program carried on a computer-readable medium, the computer program including program code for executing the method shown in the flowchart. In such embodiments, the computer program may be downloaded and installed from the network via communication portion 509 and/or installed from removable media 511 . When this computer program is executed by the CPU 501, the above functions defined in the system of the present application are executed.

It should be noted that the computer-readable medium shown in this application may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the above two. The computer-readable storage medium may be, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any combination thereof. Examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard drives, RAM, ROM, Erasable Programmable Read-Only Memory (EPROM) ) or flash memory, optical fiber, portable compact disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. As used herein, a computer-readable storage medium may be any tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, in which computer-readable program code is carried. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device . Program code contained on a computer-readable medium can be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, radio frequency (Radio Frequency, RF), etc., or any suitable combination of the above.

The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functions and operations of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more logic functions that implement the specified executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown one after another may actually execute substantially in parallel, or they may sometimes execute in the reverse order, depending on the functionality involved. It will also be noted that each block in the block diagram or flowchart illustration, and combinations of blocks in the block diagram or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or operations, or may be implemented by special purpose hardware-based systems that perform the specified functions or operations. Achieved by a combination of specialized hardware and computer instructions.

The modules and/or units involved in the embodiments described in this application can be implemented in the form of software. Now, it can also be implemented through hardware. The described modules and/or units may also be provided in a processor. For example, it may be described as follows: a processor includes a first acquisition module, a second acquisition module and an instruction receiving module. Among them, the names of these modules do not constitute a limitation on the module itself under certain circumstances.

This application also provides a computer-readable medium. The computer-readable medium may be included in the device described in the above embodiments; it may also exist separately without being assembled into the device. The above-mentioned computer-readable medium carries one or more programs. When the above-mentioned one or more programs are executed by a device, the device includes: obtaining a communication request sent by a mobile terminal, and establishing a relationship between the vehicle and the vehicle according to the communication request. Communication connection of the mobile terminal; obtaining environmental information of the current environment of the vehicle and sending the environmental information to the mobile terminal, where the environmental information is obtained through a visual device integrated on the vehicle; receiving The control instruction sent by the mobile terminal controls the vehicle to move according to the control instruction to realize parking, and the control instruction is generated by the mobile terminal based on the environmental information.

According to the technical solution of the embodiment of the present application, after the mobile terminal establishes a connection with the vehicle, the environmental information of the current environment of the vehicle can be obtained through the visual device integrated on the vehicle, and the current environmental information is displayed in the mobile terminal. The mobile terminal Control instructions can be sent to the vehicle based on current environmental information, so that the vehicle can park based on the control instructions, thereby achieving the purpose of remote control of the vehicle. It solves the problem in related technologies that the car owner needs to be near the vehicle to control the vehicle. It saves user time and improves user experience by remotely controlling vehicle parking.

Claims

A parking method including:

Obtain the communication request sent by the mobile terminal, and establish a communication connection between the vehicle and the mobile terminal according to the communication request;

Obtain environmental information of the environment where the vehicle is currently located, and send the environmental information to the mobile terminal, where the environmental information is obtained through a visual device integrated on the vehicle;

Receive a control instruction sent by the mobile terminal, and control the vehicle to move according to the control instruction to realize parking. The control instruction is generated by the mobile terminal based on the environmental information.
The method according to claim 1, wherein said obtaining the environmental information of the current environment of the vehicle includes:

Receive sub-environment information sent respectively by a preset number of visual devices, where the number of sub-environment information corresponds one-to-one to the preset number of visual devices;

The sub-environment information is integrated and processed to obtain environmental information of the current environment where the vehicle is located.
The method according to claim 1, after establishing a communication connection between the vehicle and the mobile terminal according to the communication request, further comprising:

Obtain the current location information of the vehicle, and mark the current location information as the initial starting point.
The method according to claim 3, wherein the control instructions include a parking mode and a target end position;

Controlling the vehicle to move according to the control instruction to achieve parking includes:

Generate path planning information for the vehicle according to the initial starting point position and the target end point position;

According to the parking method, the vehicle is controlled to move based on the path planning information to achieve parking.
The method according to claim 4, in the case of controlling the movement of the vehicle based on the path planning information according to the parking mode, further comprising:

Obtain the real-time distance traveled by the vehicle according to the control instruction, where the real-time distance is the distance traveled by the vehicle from the initial starting position to the current position;

Determine whether the real-time distance exceeds a preset value;

In response to the determination result that the real-time distance does not exceed the preset value, obtain the actual path information of the vehicle traveling according to the path planning information;

In response to the real-time distance exceeding the preset value, a first preset processing is performed on the real-time distance. processing, and obtaining processing path information for the vehicle traveling according to the path planning information.
The method according to claim 5, wherein said performing first preset processing on said real-time distance and obtaining processing path information of said vehicle traveling according to said path planning information includes:

Mark the position that is the preset value away from the current position as a candidate starting position, and discard the distance between the initial starting position and the candidate starting position;

Processing path information of the vehicle is obtained based on the candidate starting point position and the target end point position.
The method according to claim 5 or 6, after controlling the vehicle to move according to the control instruction to achieve parking, further comprising:

Perform second preset processing on the actual path information to obtain memory path information, and the starting point of the memory path information is the initial starting point;

Or, perform the second preset processing on the processing path information to obtain memory path information, and the starting point of the memory path information is the candidate starting point;

After obtaining the memory path information, the method further includes:

Use the target end position in the memory path information as the current starting position, and use the designated position in the memory path information as the target position;

The vehicle is controlled to return from the current starting position to the target position according to the memorized path information.
A parking device including:

The first acquisition module is configured to acquire the communication request sent by the mobile terminal, and establish a communication connection between the vehicle and the mobile terminal according to the communication request;

The second acquisition module is configured to acquire environmental information of the environment where the vehicle is currently located, and send the environmental information to the mobile terminal, where the environmental information is obtained through a visual device integrated on the vehicle;

An instruction receiving module is configured to receive a control instruction sent by the mobile terminal, and control the vehicle to move according to the control instruction to realize parking. The control instruction is generated by the mobile terminal based on the environmental information.
A vehicle including:

at least one processor; and

a memory communicatively connected to the at least one processor; wherein,

The memory stores a computer program executable by the at least one processor, and the calculation The machine program is executed by the at least one processor, so that the at least one processor can execute the parking method according to any one of claims 1-7.
A computer-readable storage medium on which a computer program is stored, wherein when the program is executed by a processor, the parking method according to any one of claims 1-7 is implemented.