Control method, device and vehicle for remote vehicle movement

Abstract

The present application provides a control method, device and vehicle for remote vehicle moving, the method comprising: obtaining the identity information of the remote controller who is currently to control the remote vehicle moving; storing the identity information of the remote controller and / or displaying the identity information of the remote controller on the display device of the vehicle to be remotely moved; and automatically controlling or controlling the remote vehicle moving of the vehicle according to the operation instructions of the remote controller. The control method, device and vehicle for remote vehicle moving according to the embodiments of the present application store or display the identity information of the remote controller when performing remote vehicle moving, which facilitates evidence collection in the event of a vehicle moving accident, can solve the problem of attribution of responsibility in the event of a vehicle moving accident, provide a safer remote vehicle moving solution, and can prevent the remote controller from maliciously harming the vehicle, which is beneficial to social security.

Description

Technical Field

[0001] The present application relates to the field of remote control parking, and more specifically to a control method, device and vehicle for remotely moving a vehicle. Background Art

[0002] With the rapid development of intelligent vehicles, various new parking technologies have emerged one after another. Typical solutions include: assisted parking systems monitored by someone in the car; fully independent and autonomous automatic parking systems, where the driver does not need to be in the car; remote control parking (including low-speed maneuvering) systems with someone nearby. The above solutions can solve the parking difficulty problem, but some of these solutions cannot achieve automatic parking, and some solutions can achieve automatic parking, but require someone to remotely control the car next to the vehicle.

[0003] However, in our lives, we often encounter a situation where we park our car temporarily and the person is not at the scene. If some unexpected situation occurs, such as the car blocks the vehicle next to it or occupies other people's private places, the person or the owner of the place will notify the owner through the phone on the car, asking him to come back and move immediately. For the driver, this is a bad experience. In such a scenario, although the fully automatic parking system in the above scheme can realize remote car moving, since the remote controller is not at the scene, it is not convenient to hold him accountable if an accident occurs; in addition, if the remote controller attempts to remotely control the vehicle to maliciously harm others, his remote control makes it easier to escape, which is not good for social security. Summary of the invention

[0004] On the one hand, the present application provides a control method for remote vehicle moving, the method comprising: obtaining the identity information of a remote controller who is currently controlling the remote vehicle moving; storing the identity information of the remote controller and / or displaying the identity information of the remote controller on a display device of a vehicle on which the remote vehicle moving is to be performed; and automatically performing the remote vehicle moving or performing the remote vehicle moving according to the operation instructions of the remote controller.

[0005] In one embodiment of the present application, the method further includes: determining whether the remote controller is a designated authorized person according to the identity information of the remote controller, and allowing remote vehicle moving control only after determining that the remote controller is a designated authorized person.

[0006] In one embodiment of the present application, determining whether the remote controller is a designated authorized person based on the identity information of the remote controller includes: performing biometric identification on the remote controller to determine the identity information of the remote controller to determine whether the remote controller is a designated authorized person.

[0007] In one embodiment of the present application, the method further includes: before and / or during remote vehicle movement, obtaining a real-time head portrait video of the remote controller, storing the real-time head portrait video and / or displaying the real-time head portrait video on a display device of the vehicle.

[0008] In one embodiment of the present application, the real-time head portrait video is stored in a driving recorder of the vehicle.

[0009] In one embodiment of the present application, the method further includes: obtaining and storing other information associated with the vehicle moving, the other information including at least one of the following: a telephone recording requesting the vehicle moving, the time of the vehicle moving, the location of the vehicle moving, and the head portrait information of the remote controller.

[0010] In one embodiment of the present application, the identity information of the remote controller and the other information are stored in a cloud server.

[0011] In one embodiment of the present application, before and / or during remote vehicle maneuvering, the remote controller's attention status to the vehicle maneuvering image is monitored, and when the attention status does not meet preset requirements, vehicle maneuvering is not allowed or is automatically stopped.

[0012] In one embodiment of the present application, the vehicle moving image is a 360° panoramic image.

[0013] In one embodiment of the present application, the vehicle moving image is transmitted to the remote control terminal via a 5G signal.

[0014] In one embodiment of the present application, during the remote vehicle movement process, preset safety measures are used to control the vehicle.

[0015] In one embodiment of the present application, the preset safety measures include at least one of the following: controlling the vehicle to issue a warning message to prompt people around the vehicle moving site to avoid it; controlling the vehicle to move within a preset safety speed range; automatically stopping the vehicle moving when an abnormality occurs in the signal transmission between the vehicle and the remote control end, and prompting the remote controller to go to the scene for processing; automatically stopping the vehicle moving when an unexpected collision occurs during the vehicle moving process, and prompting the remote controller to go to the scene for processing; performing outside-vehicle living body detection, and automatically stopping the vehicle moving when it is detected that the distance between the living body and the vehicle is less than a safety threshold; performing outside-vehicle obstacle detection, and automatically stopping the vehicle moving when it is detected that the distance between the obstacle and the vehicle is less than a safety threshold.

[0016] In one embodiment of the present application, the method further includes: locating the current position of the vehicle by means of a vehicle-mounted positioning system, and prohibiting remote vehicle movement when the vehicle is located in a preset remote control prohibited area.

[0017] In one embodiment of the present application, the method further includes: detecting, by a detection device on the vehicle, whether the vehicle is currently in a preset remote control prohibited state, and if so, prohibiting remote vehicle movement.

[0018] In one embodiment of the present application, the preset remote control prohibited state includes the vehicle being parked on a road section with a slope greater than a safety threshold and / or the current temperature being lower than a preset threshold.

[0019] On the other hand, the present application provides a control device for remote vehicle moving, the device comprising a memory and a processor, the memory storing a computer program executed by the processor, and when the computer program is executed by the processor, the processor executes the above-mentioned control method for remote vehicle moving.

[0020] In yet another aspect of the present application, a vehicle is provided, comprising a remote vehicle moving control unit, a sensor, and an in-vehicle external display device, wherein: the remote vehicle moving control unit is used to exchange data with the above-mentioned control device for remote vehicle moving to perform remote vehicle moving, and the data interaction at least includes: providing the vehicle moving image collected by the sensor to the control device for remote vehicle moving, and displaying the identity information of the remote controller transmitted by the control device for remote vehicle moving on the in-vehicle external display device.

[0021] According to the control method, device and vehicle for remote car moving according to the embodiments of the present application, when executing remote car moving, the identity information of the remote controller of the remote car moving is stored or displayed. Once a car moving accident occurs, it is convenient to collect evidence, which can solve the problem of attribution of responsibility when a car moving accident occurs, provide a safer remote car moving solution, and can prevent the remote controller from causing malicious harm, which is beneficial to social security. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0023] Figure 1 A schematic flow chart of a control method for remote vehicle movement according to an embodiment of the present application is shown.

[0024] Figure 2 A schematic flow chart showing a process of executing remote automatic control of vehicle maneuvering under a control method for remote vehicle maneuvering according to an embodiment of the present application.

[0025] Figure 3A schematic flow chart showing a process of executing remote manual control of vehicle maneuvering under a control method for remote vehicle maneuvering according to an embodiment of the present application is shown.

[0026] Figure 4 A schematic structural block diagram of a control device for remotely moving a vehicle according to an embodiment of the present application is shown.

[0027] Figure 5 A schematic diagram showing some components of a control device for remotely moving a vehicle and its operation interface according to an embodiment of the present application.

[0028] Figure 6 A schematic structural block diagram of a vehicle according to an embodiment of the present application is shown.

[0029] Figure 7 A schematic diagram showing an example of a vehicle according to an embodiment of the present application.

[0030] Figure 8 A schematic diagram is shown of data interaction between a control device for remote vehicle maneuvering according to an embodiment of the present application and a vehicle according to an embodiment of the present application to perform remote vehicle maneuvering. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the present application more obvious, the example embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application described in the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present application.

[0032] First, refer to Figure 1 The control method for remotely moving a vehicle according to an embodiment of the present application is described below. Figure 1 FIG. 1 is a schematic flow chart of a control method 100 for remotely moving a vehicle according to an embodiment of the present application. Figure 1 As shown, the control method 100 for remotely moving a vehicle according to an embodiment of the present application may include the following steps:

[0033] In step S110, the identity information of the remote controller who is currently controlling the remote vehicle movement is obtained.

[0034] In step S120, the identity information of the remote controller is stored and / or the identity information of the remote controller is displayed on a display device of the vehicle to be remotely moved.

[0035] In step S130, the vehicle is remotely moved automatically or according to the operation instruction of the remote controller.

[0036] In an embodiment of the present application, before controlling the vehicle to perform remote vehicle movement, the identity information of the remote controller to be controlled to perform remote vehicle movement is obtained, and the identity information of the remote controller is stored and / or transmitted to the display device of the vehicle (such as an external display device). In this way, once any accident occurs, evidence can be obtained through the stored identity information, or on-site evidence can be obtained through the identity information displayed on the vehicle display device, thereby solving the problem of responsibility attribution when a vehicle moving accident occurs. In addition, since the identity information of the remote controller is recorded, it is possible to prevent the remote controller from maliciously harming the person or property of others, which is beneficial to social security. Even if the remote controller performs malicious harm, there is a trace to be traced because his identity information has been obtained, which is convenient for tracing. Therefore, in general, the control method for remote vehicle movement of the present application provides a relatively safe remote vehicle moving control solution that can resolve liability disputes when vehicle moving accidents occur and can avoid intentional remote vehicle control crimes in advance.

[0037] In one example, the identity information of the remote controller can be obtained by receiving user input. In this example, the remote controller who wants to control the remote car moving can input his identity information by himself. In another example, the user can provide the identity information of one or more remote controllers who may control the remote car moving in the future in advance, and store the biometric features (such as fingerprints, faces, etc.) corresponding to each of these remote controllers (such as the car owner, the car owner's family, the car owner's friends, etc.). Based on this, the biometric features of the current remote controller can be obtained, and the matching features can be searched from the stored biometric features according to the biometric features, so as to obtain the corresponding identity information. In addition, in an embodiment of the present application, these remote controllers (such as the car owner, the car owner's family, the car owner's friends, etc.) can be set as designated authorized persons. In this embodiment, only designated authorized persons can perform remote car moving control. Therefore, it can be determined first whether the current remote controller is a designated authorized person, and the remote car moving control is allowed to be performed only after it is determined that the current remote controller is a designated authorized person, which can further improve the security of remote car moving and prevent unauthorized persons from remotely moving the car privately. Exemplarily, biometric features (such as fingerprints, faces, etc.) of designated authorized persons may be stored in advance, and whether the current authorizer is the designated authorized person may be determined through biometric recognition.

[0038] In a further embodiment of the present application, before and / or during the execution of remote vehicle movement, a real-time head-view video of the remote controller can also be obtained, and the real-time head-view video can be stored and / or displayed on the display device of the vehicle. The stored or displayed real-time head-view video further facilitates the collection of evidence when an accident or intentional injury occurs. In one embodiment, the real-time head-view video can be stored in the vehicle's driving recorder or in a cloud server. In addition, in a further embodiment of the present application, other information associated with the vehicle movement can also be obtained and stored, such as a telephone recording requesting the vehicle movement, the time of the vehicle movement, the location of the vehicle movement, the head-view information of the remote controller, etc. Similarly, this information further facilitates the collection of evidence when an accident or intentional injury occurs. In one embodiment, the above-mentioned other information associated with the vehicle movement can also be stored in a cloud server.

[0039] The above describes the evidence collection problem of resolving liability disputes or intentional injury in the control method for remote vehicle movement according to the present application. In the control method for remote vehicle movement of the present application, safety measures such as for remote vehicle movement are also provided, which can further improve the safety of remote vehicle movement. These safety measures will be described below.

[0040] In an embodiment of the present application, before controlling the vehicle to perform remote car moving, the attention state of the remote controller to the car moving image (since the car moving has not started at this time, the car moving image may include some images of the car moving scene) can be monitored. When the attention state does not meet the preset requirements, the car moving is not allowed. Among them, the attention state meeting the preset requirements can be, for example, that the remote controller continues to pay attention to the car moving image and reaches a predetermined time. Exemplarily, the attention state of the remote controller to the car moving image can be monitored by monitoring the eye state of the remote controller, which can be achieved by, for example, collecting the remote controller image by a camera and according to a certain image algorithm. Since the remote car moving is not driven by a person, safety needs to be guaranteed, which requires the remote controller of the remote car moving to be focused to avoid or reduce accidents as much as possible. Therefore, in this embodiment, before executing the remote car moving, the safety of the remote car moving can be further improved by controlling whether the car moving is allowed by monitoring the attention state of the remote controller to the car moving image.

[0041] Similarly, in the process of controlling the vehicle to perform remote car moving, the remote controller's attention state to the car moving image (since the car moving has already started at this time, the car moving image may include the image during the car moving process) may also be monitored, and when the attention state does not meet the preset requirements, the car moving is automatically stopped. Among them, the attention state meeting the preset requirements may be, for example, that the remote controller continues to pay attention to the car moving image. Exemplarily, the attention state of the remote controller to the car moving image may be monitored by monitoring the remote controller's eye state, which may be achieved by, for example, collecting the remote controller's image through a camera and according to a certain image algorithm. Since the remote car moving is not driven by a person, safety needs to be guaranteed, which requires the remote controller of the remote car moving to be focused to avoid or reduce accidents as much as possible. Therefore, in this embodiment, in the process of performing remote car moving, the safety of the remote car moving may be further improved by controlling whether to stop the car moving by monitoring the remote controller's attention state to the car moving image.

[0042] In the embodiment of the present application, the aforementioned vehicle maneuvering image may be a 360° panoramic image, which enables the remote controller to observe the situation in all directions around the vehicle, further improving the safety of vehicle maneuvering. In one example, the panoramic image may include a 360° panoramic bird's-eye view image and an infinitely distant single-view camera image, which may be collected by a 360° panoramic image camera on the vehicle (to be combined later in conjunction with the Figure 7 In the embodiment of the present application, the aforementioned vehicle moving image can be transmitted from the vehicle to the remote control end via a 5G signal, which can achieve ultra-low latency remote video monitoring and further improve the safety of remote vehicle moving.

[0043] In the embodiments of the present application, during the process of remote vehicle movement, at least one of the safety measures can also be implemented: controlling the vehicle to send out warning information (for example, by honking, lighting, voice and other warning information) to remind people around the vehicle movement site to avoid it; controlling the vehicle to move within a preset safe speed range (for example, lower than the walking speed of the elderly and children); when the signal transmission between the vehicle and the remote control end is abnormal, the vehicle movement is automatically stopped, and the remote controller is prompted to go to the scene for processing; when an unexpected collision occurs during the vehicle movement process, the vehicle movement is automatically stopped, and the remote controller is prompted to go to the scene for processing; performing live body detection outside the vehicle, when the distance between the live body and the vehicle is detected to be less than the safety threshold, the vehicle movement is automatically stopped; performing obstacle detection outside the vehicle, when the distance between the obstacle and the vehicle is detected to be less than the safety threshold, the vehicle movement is automatically stopped. These safety measures can further improve the safety of remote vehicle movement.

[0044] In an embodiment of the present application, before executing remote vehicle movement, the current position of the vehicle can also be located by the vehicle positioning system. When the vehicle is located in a preset remote control prohibited area, remote vehicle movement is prohibited. The preset remote control prohibited area includes an overpass, an aerial parking lot, etc. In this embodiment, an electronic fence can be set to mark the preset remote control prohibited area. Within the electronic fence, the remote control is invalid to avoid accidents in places requiring higher safety.

[0045] In addition, in an embodiment of the present application, before executing remote vehicle moving, it is also possible to detect whether the vehicle is currently in a preset remote control prohibition state through a detection device on the vehicle. If so, remote vehicle moving is prohibited. When the vehicle is in some special states, the probability of an accident occurring when executing remote vehicle moving is high. In such a scenario, remote vehicle moving can be prohibited. For example, when the vehicle is parked on a road section with a large slope (for example, the slope is greater than the safety threshold, such as detected by a slope detection device provided by the vehicle), the remote control vehicle can be disabled to prevent the vehicle from losing control during remote control, or the remote controller maliciously allows the vehicle to slide to a more dangerous area to achieve intentional harm to a third party. For another example, when the current temperature is low (for example, lower than a preset threshold, such as detected by a temperature detection device provided by the vehicle), the current road may be icy, which may cause a skidding accident, and thus the remote control vehicle can be disabled to prevent the vehicle from skidding during remote control and causing an accident. Furthermore, the judgment can be made in combination with the vehicle's detected tire speed. For example, when the vehicle detects that the speed of the four wheels is abnormal, it is determined that the vehicle is slipping on the ice. At this time, the vehicle speed is forced to be further reduced. If it is still slipping, the movement is stopped and the driver is notified to go to the scene for processing, etc.

[0046] The above exemplary describes the control method for remotely moving a car according to an embodiment of the present application. The control method for remotely moving a car according to an embodiment of the present application can be implemented by an application program, which can be installed on a computing device (such as a mobile terminal such as a mobile phone, which will be combined later) of a user (such as a car owner, a family member of the car owner, a friend of the car owner, etc.) Figure 4 and Figure 5 To describe), so that the user can remotely control the vehicle to move through his computing device.

[0047] Based on the above description, the control method for remote car moving according to the embodiment of the present application stores or displays the identity information of the remote controller when performing remote car moving, and can also store the real-time head portrait video of the remote controller and various other information associated with the current car moving. Once a car moving accident occurs, it is convenient to collect evidence, which can solve the problem of responsibility attribution when a car moving accident occurs, provide a safer remote car moving solution, and prevent the remote controller from maliciously harming, which is beneficial to social security. In addition, the control method for remote car moving according to the embodiment of the present application provides various safety measures when performing remote car moving, which can further improve the safety of remote car moving.

[0048] Combine the following Figure 2 and Figure 3 The schematic processes of performing remote automatic control of vehicle moving and remote manual control of vehicle moving under the control method for remote vehicle moving according to the embodiment of the present application are described respectively.

[0049] Figure 2 FIG. 2 is a schematic flow chart of a process 200 for executing remote automatic vehicle maneuvering in a control method for remote vehicle maneuvering according to an embodiment of the present application. Figure 2 As shown, process 200 includes the following steps:

[0050] In step S210, a request to move the vehicle is received. It is understandable that before this step, the vehicle has been stopped and locked. In an embodiment of the present application, after the vehicle is parked and all people in the vehicle have left, the vehicle's external display device can automatically light up, displaying the owner's mobile phone number and text such as "temporary parking, please forgive me" to contact the owner when the vehicle needs to be moved. When the owner receives a call from someone else asking to move the car, he can open the remote car moving software interface on the mobile phone and click "I want to move the car automatically". The mobile phone software confirms the identity of the operator through fingerprint and / or face recognition, and the system self-checks to confirm that the network is 5G and the data transmission is stable. At this time, the car starts the car moving mode.

[0051] In step S220, preparations for moving the vehicle are made, which may include displaying warning information and remote controller identity information, retrieving images to determine the surrounding conditions of the vehicle and the destination of the vehicle moving, and issuing warning information again after confirming the vehicle moving. Specifically, first, the vehicle's external display device may be controlled to display warning text, the owner's contact information, and the remote controller identity information, and real-time head portrait video may also be displayed to remind people around the vehicle to avoid it. Then, the vehicle can be controlled to retrieve 360° panoramic images, which are remotely transmitted to the mobile phone via 5G signals. The remotely transmitted panoramic images can include a bird's-eye view within a certain distance (such as four meters) around the vehicle, as well as a single camera image that can be observed to infinity. The remote controller can observe whether there are obstacles around the vehicle through the bird's-eye view image, and whether there are frequent vehicles coming from a distance around the vehicle through the single-view infinite distance image. During this period, the front camera of the mobile phone can judge whether the owner's eyes have been paying attention to the panoramic image for a preset time based on the image algorithm. If it has been reached, a prompt will pop up, asking the remote controller to click the destination to be exited in the visible area around the vehicle in the image. After clicking, the vehicle will then determine whether there are obstacles around it based on the image recognition algorithm of several (such as 12) ultrasonic radar probes and panoramic images throughout the body. If the conditions are met, a pop-up message "Confirm automatic vehicle movement" will pop up. After the remote controller clicks to confirm, the vehicle will honk several times on the spot, and the double flash warning lights will be activated. If it is at night, the headlights will be automatically activated. At the same time, the external speaker of the vehicle can start the human voice loop broadcast "Remote vehicle movement, please pay attention to avoid", and simultaneously emit a simulated engine sound to remind the surrounding personnel to pay attention to avoid. Once the above process is completed, the preparation for moving the vehicle is complete.

[0052] In step S230, the automatic control of moving the vehicle is executed. The vehicle will start at an extremely low speed within the safe range, and the double flashing action of the double flash warning lights and the simulated engine sound of the external speaker, and the human voice loop broadcast will continue throughout the moving process; during this period, the ultrasonic radar will continue to monitor. During the movement of the vehicle, once an obstacle is detected, the vehicle will be forced to stop until the obstacle disappears. If the obstacle continues to disappear, the vehicle will automatically return to its original position after a period of time. In addition, during the automatic moving of the vehicle, the front camera of the mobile phone can continuously monitor whether the remote control operator's eyes are focused on the screen. Once the remote control operator's eyes leave the screen, the vehicle will automatically stop moving. The remote control operator relies on the full range of 360 remote video images to determine whether the vehicle has potential dangers. If the operator determines that there is a danger, he can immediately manually press the stop button to stop the moving of the vehicle. Based on the ultra-low latency performance of 5G, instant braking can be achieved. In addition, if the vehicle finds that there is an abnormality in the transmission of the mobile phone signal, it will also stop moving the vehicle, and automatically return to its original position after a period of time, and pop up "Communication abnormality, please go to the scene to deal with it." If an accidental collision occurs during the process of moving the vehicle, the vehicle will stop immediately and the external display device inside the vehicle will continue to display until the owner rushes to the scene and manually turns it off, making it easier for bystanders to collect evidence.

[0053] In step S240, the vehicle is moved. The user can check through the mobile phone remote image or phone call to see whether the problem of the vehicle moving requester has been solved. If it has been solved, the user can press the return button to the parking space, and the vehicle will automatically return to its original state.

[0054] The above exemplarily illustrates the process of executing remote automatic control of vehicle maneuvering under the control method for remote vehicle maneuvering according to an embodiment of the present application.

[0055] Figure 3 FIG. 3 is a schematic flow chart showing a process 300 of executing remote manual vehicle maneuvering in a control method for remote vehicle maneuvering according to an embodiment of the present application. Figure 3 As shown, process 300 may include the following steps:

[0056] In step S310, a request to move the vehicle is received. It can be understood that before this step, the vehicle has been stopped and locked. In an embodiment of the present application, after the vehicle is parked and all people in the vehicle have left, the vehicle's external display device can automatically light up, displaying the owner's mobile phone number and text such as "Temporary parking, please forgive me" to contact the owner when the vehicle needs to be moved. When the owner receives a call from someone else asking to move the car, he can open the remote car moving software interface on the mobile phone and click "I want to move the car automatically". The mobile phone software confirms the identity of the operator through fingerprint and / or face recognition, and the system self-checks to confirm that the network is 5G and the data transmission is stable. At this time, the car starts the car moving mode.

[0057] In step S320, preparations for moving the vehicle are made, which may include displaying warning information and the identity information of the remote controller, retrieving images to determine the surrounding conditions of the vehicle and the destination of the vehicle moving, and issuing warning information again after confirming the vehicle moving. Specifically, first, the external display device of the vehicle can be controlled to display warning text, the owner's contact information and the identity information of the remote controller, and real-time head portrait video can also be displayed to remind people around the vehicle to avoid it. Then, the vehicle can be controlled to retrieve 360° panoramic images, which are remotely transmitted to the mobile phone through 5G signals. The remotely transmitted panoramic images can include a bird's-eye view within a certain distance (such as four meters) around the vehicle, as well as a single camera image that can be observed to infinity. The remote controller can observe whether there are obstacles around the vehicle through the bird's-eye view image, and whether there are frequent vehicles coming from a distance around the vehicle through the single-view infinite distance image. During this period, the front camera of the mobile phone can judge whether the owner's eyes have been paying attention to the panoramic image for a preset time based on the image algorithm. If it has been reached, a prompt will pop up, asking the remote controller to click the destination to be exited in the visible area around the vehicle in the image. After clicking, the vehicle will then determine whether there are obstacles around it based on the image recognition algorithm of several (such as 12) ultrasonic radar probes and panoramic images throughout the body. If the conditions are met, a "Confirm manual car move" will pop up. After the remote controller clicks to confirm, the vehicle will honk several times on the spot, and the double flash warning lights will be activated. If it is at night, the headlights will be automatically activated. At the same time, the external speaker of the vehicle can start the human voice loop broadcast "Remote car move, please pay attention to avoid", and simultaneously emit a simulated engine sound to remind the surrounding personnel to pay attention to avoid. Once the above process is completed, the preparation for moving the vehicle is complete.

[0058] In step S230, manual control of the vehicle is performed. Among them, the permissions of the mobile phone control buttons begin to be released. The remote controller combines the 5G real-time video and operates the mobile phone screen buttons to realize remote real-time control of the vehicle. The vehicle will start at an extremely low speed within the safe range. The double flash warning lights and the simulated engine sound of the external speaker, and the human voice loop broadcast will continue throughout the vehicle moving process; during this period, the ultrasonic radar continues to monitor. During the movement of the vehicle, once an obstacle is detected, the vehicle will be forced to stop until the obstacle disappears. If the obstacle continues to not disappear, the vehicle will automatically return to its original position after a period of time. In addition, during the manual vehicle moving process, the front camera of the mobile phone can continuously monitor whether the remote controller's eyes are focused on the screen. Once the remote controller's eyes leave the screen, the vehicle automatically stops moving. The remote controller relies on the full range of 360 remote video images to determine whether the vehicle is potentially dangerous. If the operator determines that there is a danger, he can immediately press the manual stop button to stop the vehicle. Based on the ultra-low latency performance of 5G, instant braking can be achieved. In addition, if the vehicle detects an abnormality in the signal transmission with the mobile phone, it will stop moving and automatically return to its original position after a period of time, with a pop-up message "Communication abnormality, please go to the scene to deal with it". If an accidental collision occurs during the moving process, the vehicle will stop immediately, and the external display device inside the car will continue to display until the owner rushes to the scene to manually turn it off, so that onlookers can collect evidence.

[0059] In step S340, the vehicle is moved. The user can check through the mobile phone remote image or phone call to see whether the problem of the vehicle moving requester has been solved. If it has been solved, the user can press the return button to the parking space, and the vehicle will automatically return to its original state.

[0060] The above exemplarily illustrates the process of performing remote manual control of vehicle maneuvering under the control method for remote vehicle maneuvering according to an embodiment of the present application.

[0061] In general, whether it is remote automatic control or remote manual control of moving the car, under the control of the control method for remote car moving according to the embodiment of the present application, a safe remote car moving solution can be implemented that can resolve liability disputes when car moving accidents occur and avoid intentional remote car control crimes in advance.

[0062] Combine the following Figure 4 A control device for remotely moving a vehicle is described according to another aspect of the present application. Figure 4 FIG. 4 is a schematic block diagram of a control device 400 for remotely moving a vehicle according to an embodiment of the present application. Figure 4 As shown, the control device 400 for remotely moving a car according to an embodiment of the present application includes a memory 410 and a processor 420. The memory 410 stores a computer program executed by the processor 420. When the computer program is executed by the processor 420, the processor 420 executes the control method for remotely moving a car according to the embodiment of the present application described above. Those skilled in the art can understand the specific operation of the control device for remotely moving a car according to the embodiment of the present application in combination with the above content. For the sake of brevity, the specific details are not repeated here.

[0063] In the embodiment of the present application, the control device 400 for remotely moving the vehicle may be a mobile terminal such as a mobile phone, as described above. Figure 5 A schematic diagram describing some components of a control device for remotely moving a vehicle and its operation interface according to an embodiment of the present application. Figure 5In the figure, the control device for remote car moving is shown as a mobile phone, which includes a display screen that can display remote images, such as 360° panoramic bird's-eye view images and infinite single-view camera images; in addition, the front camera included in it can be used to monitor the remote controller's attention state to the car moving image as described above, and can also be used for face recognition to determine the identity information of the remote controller; in addition, the fingerprint recognition component included in it can be used for fingerprint recognition to determine the identity information of the remote controller. For the operation interface of the remote car moving application, it can provide a virtual steering wheel, in which the remote controller can simulate a real steering wheel by rotating it clockwise or counterclockwise with his fingers, and the angle relationship with the real steering wheel can be 1:1. In addition, the operation interface can provide throttle control, brake button and forward / reverse switch button, which can be used for manual remote control of the car moving by the remote controller. When the car is moved automatically by remote control, the brake button is also available to deal with abnormal situations observed by the remote controller.

[0064] In general, the control device for remote car moving according to the embodiment of the present application stores or displays the identity information of the remote controller of the remote car moving when controlling the execution of remote car moving. Once a car moving accident occurs, it is convenient to collect evidence, which can solve the problem of attribution of responsibility when a car moving accident occurs, provide a safer remote car moving solution, and can prevent the remote controller from causing malicious harm, which is beneficial to social security.

[0065] Combine the following Figure 6 A vehicle is described according to yet another aspect of the present application. Figure 6 FIG. 6 shows a schematic block diagram of a vehicle 600 according to an embodiment of the present application. Figure 6 As shown, the vehicle 600 according to the embodiment of the present application may include a remote vehicle moving control unit 610, a sensor 620, and an in-vehicle external display device 630. The remote vehicle moving control unit 610 is used to perform data interaction with the control device for remote vehicle moving according to the embodiment of the present application described above to perform remote vehicle moving, and the data interaction at least includes: providing the vehicle moving image collected by the sensor 610 to the control device for remote vehicle moving, and displaying the identity information of the remote controller transmitted by the control device for remote vehicle moving on the in-vehicle external display device 630. The vehicle 600 according to the embodiment of the present application can cooperate with the control device for remote vehicle moving according to the embodiment of the present application described above and realize remote vehicle moving under its control. Those skilled in the art can understand the specific operation according to remote vehicle moving in combination with the above-mentioned content. For the sake of brevity, the specific details are not repeated here.

[0066] In an embodiment of the present application, the sensor 610 of the vehicle 600 may include a reversing radar, a front camera, and a 360° panoramic camera, which may be used to detect obstacles and collect vehicle moving images, respectively. Figure 7 FIG. 1 is a schematic diagram showing an example of a vehicle according to an embodiment of the present application. Figure 7 As shown, the vehicle (4) may include a reversing radar probe (1) distributed around the vehicle body, a front camera (2) for driving monitoring, a 360° panoramic camera (3), and an internal and external display device (5). The vehicle (4) may cooperate with the control device for remote vehicle movement of the embodiment of the present application described above and realize remote vehicle movement under the control of the control device, such as Figure 8 shown. Figure 8 The content shown has been described in the previous description of automatic / manual control remote vehicle moving, and will not be repeated here.

[0067] Based on the above description, the control method, device and vehicle for remote car moving according to the embodiments of the present application store or display the identity information of the remote control controller of the remote car moving when performing remote car moving. Once a car moving accident occurs, it is convenient to collect evidence, which can solve the problem of responsibility attribution when a car moving accident occurs, provide a safer remote car moving solution, and prevent the remote control controller from causing malicious harm, which is beneficial to social security.

[0068] In addition, according to an embodiment of the present application, a storage medium is also provided, on which program instructions are stored, and when the program instructions are executed by a computer or a processor, the corresponding steps of the control method for remotely moving a vehicle according to an embodiment of the present application are executed. The storage medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disk read-only memory (CD-ROM), a USB memory, or any combination of the above storage media.

[0069] In addition, according to an embodiment of the present application, a computer program is also provided, which can be stored in a cloud or local storage medium. When the computer program is run by a computer or a processor, it is used to execute the control method for remote vehicle movement according to an embodiment of the present application.

[0070] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present application to this. Those of ordinary skill in the art may make various changes and modifications therein without departing from the scope and spirit of the present application. All these changes and modifications are intended to be included within the scope of the present application as required by the appended claims.

[0071] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0072] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0073] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0074] Similarly, it should be understood that in order to streamline the present application and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present application should not be interpreted as reflecting the following intention: the claimed application requires more features than the features clearly stated in each claim. More specifically, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with features less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are hereby explicitly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present application.

[0075] Those skilled in the art will understand that, except for mutually exclusive features, all features disclosed in this specification (including the accompanying claims, abstract and drawings) and all processes or units of any method or device disclosed in this specification may be combined in any combination. Unless otherwise explicitly stated, each feature disclosed in this specification (including the accompanying claims, abstract and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0076] In addition, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0077] The various component embodiments of the present application can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or a digital signal processor (DSP) can be used in practice to implement some or all functions of some modules according to the embodiments of the present application. The present application can also be implemented as a device program (e.g., a computer program and a computer program product) for executing part or all of the methods described herein. Such a program implementing the present application can be stored on a computer-readable medium, or can be in the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0078] It should be noted that the above embodiments illustrate the present application rather than limit the present application, and that those skilled in the art may design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets should not be constructed as a limitation to the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of multiple such elements. The present application may be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim that lists several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names.

[0079] The above is only a specific implementation or description of a specific implementation of the present application, and the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. The protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A control method for remote vehicle movement, characterized in that: The method comprises: Obtain the identity information of the remote controller who is currently controlling the remote vehicle movement; Storing the identity information of the remote controller and / or displaying the identity information of the remote controller on a display device of the vehicle to be remotely moved; Automatically control or remotely move the vehicle according to the operation instructions of the remote controller; During the remote vehicle movement, a real-time head-mounted video of the remote controller is obtained and displayed on a display device of the vehicle to facilitate evidence collection in the event of an accident or intentional injury.

2. The method according to claim 1, characterized in that The method further comprises: It is determined whether the remote controller is a designated authorized person according to the identity information of the remote controller, and the remote vehicle moving control is allowed only after it is determined that the remote controller is a designated authorized person.

3. The method according to claim 2, characterized in that The determining whether the remote controller is a designated authorized person according to the identity information of the remote controller includes: The remote controller is subjected to biometric identification to determine the identity information of the remote controller and whether the remote controller is a designated authorized person.

4. The method according to claim 1, characterized in that: The method further comprises: Before executing remote vehicle movement, a real-time head portrait video of the remote controller is obtained, and the real-time head portrait video is stored and / or displayed on a display device of the vehicle.

5. The method according to claim 4, characterized in that The real-time head-mounted video is stored in the driving recorder of the vehicle.

6. The method according to claim 1, characterized in that The method further comprises: Acquire and store other information associated with the vehicle moving operation, wherein the other information includes at least one of the following: a telephone recording requesting the vehicle moving operation, the time of the vehicle moving operation, the location of the vehicle moving operation, and the head portrait information of the remote controller.

7. The method according to claim 6, characterized in that The identity information of the remote controller and the other information are stored in a cloud server.

8. The method according to claim 1, characterized in that Before and / or during the execution of remote vehicle movement, the attention state of the remote controller to the vehicle movement image is monitored, and when the attention state does not meet the preset requirements, the vehicle movement is not allowed to be executed or the vehicle movement is automatically stopped.

9. The method according to claim 8, characterized in that The car moving image is a 360° panoramic image.

10. The method according to claim 8, characterized in that The vehicle moving image is transmitted to the remote control terminal via 5G signal.

11. The method according to claim 1, characterized in that: During remote vehicle movement, the vehicle is controlled using pre-set safety measures.

12. The method according to claim 11, characterized in that The preset safety measures include at least one of the following: Control the vehicle to send out warning information to remind people around the vehicle moving site to avoid it; Control the vehicle to move within the preset safe speed range; When the signal transmission between the vehicle and the remote control terminal is abnormal, the vehicle will be automatically stopped and the remote controller will be prompted to go to the scene for processing; When an unexpected collision occurs during the vehicle moving process, the vehicle moving will automatically stop and the remote controller will be prompted to go to the scene for processing; Perform liveness detection outside the vehicle. When the distance between the liveness and the vehicle is detected to be less than the safety threshold, the vehicle will automatically stop moving. Perform obstacle detection outside the vehicle and automatically stop moving the vehicle when it detects that the distance between the obstacle and the vehicle is less than the safety threshold.

13. The method according to claim 1, characterized in that The method further comprises: The vehicle's current position is located through the vehicle positioning system. When the vehicle is in a preset remote control prohibited area, remote vehicle movement is prohibited.

14. The method according to claim 1, characterized in that The method further comprises: The detection device on the vehicle detects whether the vehicle is currently in a preset remote control prohibited state. If so, remote vehicle movement is prohibited.

15. The method according to claim 14, characterized in that The preset remote control prohibition state includes the vehicle being parked on a road section with a slope greater than a safety threshold and / or the current temperature being lower than a preset threshold.

16. A control device for remotely moving a vehicle, characterized in that: The device includes a memory and a processor, wherein the memory stores a computer program executed by the processor, and when the computer program is executed by the processor, the processor executes the control method for remote vehicle movement according to any one of claims 1 to 15.

17. A vehicle, characterized in that: The vehicle includes a remote vehicle moving control unit, a sensor, and an in-vehicle external display device, wherein: the remote vehicle moving control unit is used to exchange data with the control device for remote vehicle moving according to claim 16 to perform remote vehicle moving, and the data interaction at least includes: providing the vehicle moving image collected by the sensor to the control device for remote vehicle moving, and displaying the identity information of the remote controller transmitted by the control device for remote vehicle moving on the in-vehicle external display device.

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