Vehicle remote control method, device, vehicle terminal and system

Abstract

The present application relates to the field of automatic parking technology, and more particularly to a vehicle remote control method, device, vehicle terminal, and system, wherein the method comprises the following steps: receiving a vehicle remote control command sent by a mobile terminal; controlling the vehicle to perform a corresponding target action according to the remote control command, and upon detecting an interruption in the heartbeat signal sent by the mobile terminal, obtaining the duration of the interruption in the heartbeat signal sent by the mobile terminal; and when the duration is greater than a preset duration, determining that the mobile terminal is in a preset offline state, controlling the vehicle to stop performing the target action, and simultaneously transmitting the vehicle's location information to the mobile terminal. This solves the problems of unstable data transmission and low automatic parking safety that arise when using the Http protocol or MQTT protocol for message communication between the vehicle terminal and the mobile terminal to realize remote summoning and parking of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of automatic parking technology, and in particular to a vehicle remote control method, device, vehicle terminal and system. Background Art

[0002] Today, with the continuous development of vehicle automatic parking technology, mobile phone remote summoning and parking functions are an important part of the automatic parking system. The real-time, reliability, and stability of communication between the mobile phone and the vehicle affect the effectiveness of mobile phone summoning, parking functions, and mobile phone scene reconstruction and rendering, and even affect the automatic parking experience and user satisfaction.

[0003] However, most current remote parking operations for remote vehicles use the Http (Hyper Text Transfer Protocol) or MQTT (Message Queuing Telemetry Transport) protocol for message communication between the vehicle and the mobile terminal, but there are still problems such as the inability to guarantee the stability of data transmission and the safety of automatic parking. Summary of the Invention

[0004] The present application provides a vehicle remote control method, device, vehicle terminal and system to solve the problems in the related art of using Http protocol or MQTT protocol for message communication between the vehicle end and the mobile end, which cannot guarantee the stability of data transmission and the safety of automatic parking.

[0005] The first aspect of the present application provides a method for remote control of a vehicle, which is applied to a vehicle terminal and includes the following steps: receiving a remote control instruction for the vehicle sent by a mobile terminal; controlling the vehicle to perform a corresponding target action according to the remote control instruction, and obtaining the duration of the interruption of the heartbeat signal sent by the mobile terminal when it is detected that the heartbeat signal sent by the mobile terminal is interrupted; when the duration is greater than a preset duration, determining that the mobile terminal is in a preset offline state, controlling the vehicle to stop performing the target action, and sending the vehicle's location information device to the mobile terminal.

[0006] According to the above technical means, the embodiment of the present application monitors the connection status of the vehicle terminal by adding a heartbeat signal, and can accurately know the connection status between the vehicle and the server. If the connection is disconnected, the automatic parking is stopped and the current location of the vehicle is sent, thereby improving the security of vehicle remote control, improving the safety of automatic parking, and improving the user experience.

[0007] Furthermore, while controlling the vehicle to perform the target action according to the remote control instruction, it also includes: collecting video information of the vehicle during driving and scene information in a preset map; sending the video information and the scene information to the mobile terminal, and monitoring the current driving status of the vehicle through the mobile terminal.

[0008] According to the above technical means, the embodiment of the present application monitors the current driving status of the vehicle and the scene information in which the vehicle is currently located through a mobile terminal, which can ensure the real-time nature of the obtained vehicle information, thereby ensuring the safety of the vehicle when performing the target action.

[0009] Furthermore, before receiving the remote control instructions of the vehicle sent by the mobile terminal, it includes: obtaining the identity information and authentication information of the vehicle; generating an acquisition request based on the identity information and the authentication information, and sending the acquisition request to the service terminal, and accepting the connection address and subscription message name of the MQTT protocol issued by the service terminal; establishing an MQTT connection with the service terminal based on the connection address of the MQTT protocol, and loading the CA (CertificationAuthority) certificate and user information, and after detecting that the connection is successful, subscribing to the message topic according to the subscription message name.

[0010] According to the above technical means, the embodiment of the present application generates an acquisition request by using the vehicle's identity information and authentication information, which serves as the unique verification code information for connecting to the server, and is verified by the CA certificate, thereby ensuring the stability of the connection and improving the message reliability and security of the automatic parking process.

[0011] Furthermore, the remote control instruction includes any one of an automatic parking instruction and a remote summoning instruction.

[0012] The second aspect of the present application provides a remote control device for a vehicle, which is applied to a vehicle terminal and includes: a receiving module for receiving a remote control instruction for the vehicle sent by a mobile terminal; a detection module for controlling the vehicle to perform a corresponding target action according to the remote control instruction, and obtaining the duration of the interruption of the heartbeat signal sent by the mobile terminal when detecting that the heartbeat signal sent by the mobile terminal is interrupted; a control module for determining that the mobile terminal is in a preset offline state when the duration is greater than a preset duration, controlling the vehicle to stop performing the target action, and sending the vehicle's location information device to the mobile terminal.

[0013] Furthermore, it also includes: an acquisition module, which is used to collect video information of the vehicle during driving and scene information in a preset map while controlling the vehicle to perform the target action according to the remote control instruction; a sending module, which is used to send the video information and the scene information to the mobile terminal, and monitor the current driving status of the vehicle through the mobile terminal.

[0014] Furthermore, it includes: a connection module, which is used to obtain the identity information and authentication information of the vehicle before receiving the remote control instructions of the vehicle sent by the mobile terminal; generate an acquisition request based on the identity information and the authentication information, and send the acquisition request to the service terminal, and accept the connection address and subscription message name of the MQTT protocol issued by the service terminal; establish an MQTT connection with the service terminal based on the connection address of the MQTT protocol, and load the CA certificate and user information, and after detecting that the connection is successful, subscribe to the message topic according to the subscription message name.

[0015] Furthermore, the remote control instruction includes any one of an automatic parking instruction and a remote summoning instruction.

[0016] The third aspect of the present application provides a vehicle terminal, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle remote control method as described in the above embodiment.

[0017] The fourth aspect of the present application provides a remote control system for a vehicle, including: a mobile terminal, sending remote control instructions and heartbeat signals of the vehicle to a service terminal; a service terminal, forwarding the remote control instructions and the heartbeat signal to a vehicle terminal; a vehicle terminal, receiving the remote control instructions of the vehicle forwarded by the service terminal, controlling the vehicle to perform a target action according to the remote control instructions, and obtaining the duration of the heartbeat signal interruption when detecting that the heartbeat signal sent by the mobile terminal is interrupted, and when the duration is greater than a preset duration, determining that the mobile terminal is in a preset offline state, controlling the vehicle to stop performing the target action, and sending the vehicle's location information device to the mobile terminal.

[0018] Therefore, this application has at least the following beneficial effects:

[0019] (1) The embodiment of the present application monitors the connection status of the vehicle terminal by adding a heartbeat signal, and can accurately know the connection status between the vehicle and the server. If the connection is disconnected, the automatic parking is stopped and the current location of the vehicle is sent, thereby improving the security of vehicle remote control, improving the safety of automatic parking, and enhancing the user experience;

[0020] (2) The embodiment of the present application monitors the current driving status of the vehicle and the scene information in which the vehicle is currently located through a mobile terminal, thereby ensuring the real-time nature of the vehicle information obtained, thereby ensuring the safety of the vehicle when performing the target action;

[0021] (3) The embodiment of the present application generates an acquisition request by using the vehicle's identity information and authentication information, which serves as the unique verification code information for connecting to the server, and is verified by the CA certificate, thereby ensuring the stability of the connection and improving the message reliability and security of the automatic parking process.

[0022] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0024] Figure 1 A block diagram of a remote control system for a vehicle provided according to an embodiment of the present application;

[0025] Figure 2 A connection diagram between an MQTT client and a server according to an embodiment of the present application;

[0026] Figure 3 This is a flowchart of a vehicle remote control method provided according to an embodiment of the present application;

[0027] Figure 4 A flowchart of an MQTT client connection provided according to an embodiment of the present application;

[0028] Figure 5 A block diagram of a remote control device for a vehicle provided according to an embodiment of the present application;

[0029] Figure 6 The figure is a schematic diagram of the structure of a vehicle terminal provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0030] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0031] Mobile phone remote summoning and parking are crucial components of automated parking systems. The real-time, reliability, and stability of communication between the phone and the vehicle impact the effectiveness of these functions, including scene reconstruction and rendering, and ultimately, the automated parking experience and user satisfaction. Currently, most remote vehicle summoning and parking operations utilize HTTP for messaging between the vehicle and mobile devices. This approach presents several challenges: high protocol overhead, high communication latency, and low information security.

[0032] The controller based on the MQTT protocol described in the related art solves the real-time problem of data transmission and reduces the protocol overhead, but does not consider the security of the MQTT client being disconnected from the server when the vehicle is controlling the vehicle in a poor network environment.

[0033] The current MQTT protocol uses a client / server model. When the network environment of the mobile MQTT client or the vehicle-side MQTT client is poor, it will be disconnected from the server. The client on one end cannot know the connection status of the other end, and the stability of data transmission and the safety of the automatic parking process cannot be guaranteed.

[0034] The following describes the vehicle remote control method, device, vehicle terminal and system of the embodiment of the present application with reference to the accompanying drawings. In view of the problem mentioned in the above background technology that the message communication between the vehicle end and the mobile terminal using the Http protocol or the MQTT protocol to realize the remote parking operation of the vehicle cannot guarantee the stability of data transmission and the safety of automatic parking, the present application provides a vehicle remote control method. In this method, based on the original MQTT protocol, the communication heartbeat information of the MQTT connection is added on this basis, and the vehicle's TUID information is used as the unique verification code information for connecting to the server. Through SSL encryption information and CA certificate verification, the stability of network communication during automatic parking, the reliability of messages, and security are improved. As a result, the problems of unstable data transmission and low safety of automatic parking generated when the Http protocol or the MQTT protocol is used for message communication between the vehicle end and the mobile terminal to realize remote summoning and parking of the vehicle are solved.

[0035] Specifically, Figure 1 A block diagram of a vehicle remote control system provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the vehicle remote control system 10 includes a mobile terminal 100 , a service terminal 200 and a vehicle terminal 300 .

[0036] Among them, the mobile terminal 100 sends the vehicle's remote control instructions and heartbeat signals to the service terminal; the service terminal 200 forwards the remote control instructions and heartbeat signals to the vehicle terminal; the vehicle terminal 300 receives the vehicle's remote control instructions forwarded by the service terminal, controls the vehicle to perform the target action according to the remote control instructions, and obtains the duration of the heartbeat signal interruption when it detects that the heartbeat signal sent by the mobile terminal is interrupted. When the duration is greater than the preset duration, it is determined that the mobile terminal is in a preset offline state, controls the vehicle to stop performing the target action, and sends the vehicle's location information device to the mobile terminal.

[0037] Mobile terminal 100 can be understood as a mobile phone. Remote control commands refer to commands issued by a user from a mobile terminal to control vehicle actions, including automatic parking commands and remote summon commands. Heartbeat signals refer to the signals that maintain the connection between the client and the service terminal. Target actions refer to the actions performed by the vehicle in response to remote control commands. The preset duration refers to the duration during which the heartbeat signal can be interrupted. This value is set based on specific circumstances and is not specifically limited.

[0038] For example, the preset duration is 10s, and the duration of the heartbeat signal interruption is 12s. At this time, the duration is greater than the preset duration, so it is judged that the mobile terminal is offline, the vehicle terminal is controlled to stop executing the target action, and the mobile terminal is notified to take over the vehicle.

[0039] It can be understood that there is a relationship between the mobile terminal 100 and the service terminal 200 in terms of sending and receiving remote control commands and heartbeat commands, and there is a relationship between the service terminal 200 and the vehicle terminal 300 in terms of sending and receiving remote control commands and heartbeat commands. The mobile terminal 100 and the vehicle terminal 300 forward messages to each other through the MQTT server, such as Figure 2 shown.

[0040] Based on the vehicle remote control system described in the above embodiment, the vehicle remote control method is applied to the vehicle terminal, such as Figure 3 As shown, the following steps are included:

[0041] In step S101, a remote control instruction of a vehicle sent by a mobile terminal is received.

[0042] The mobile terminal can be understood as an MQTT client on a mobile phone. The remote control command includes any one of an automatic parking command and a remote summon command. The implementation of remote control of a vehicle when the remote control commands are different will be described in detail in the following embodiments and will not be repeated here.

[0043] In an embodiment of the present application, before receiving the remote control instructions of the vehicle sent by the mobile terminal, it includes: obtaining the identity information and authentication information of the vehicle; generating an acquisition request based on the identity information and authentication information, and sending the acquisition request to the service terminal, and accepting the connection address and subscription message name of the MQTT protocol issued by the service terminal; establishing an MQTT connection with the service terminal based on the connection address of the MQTT protocol, and loading the CA certificate and user information, and after detecting that the connection is successful, subscribing to the message topic according to the subscription message name.

[0044] It is understandable that the vehicle terminal needs to establish an MQTT connection with the mobile terminal before receiving the remote control command of the vehicle sent by the mobile terminal. Only after the connection is successful can the remote control of the vehicle continue. The steps for establishing a connection between the vehicle terminal and the mobile terminal are as follows: Figure 4 As shown:

[0045] 1. The MQTT client first requests the vehicle computer to obtain the vehicle's ID information and authentication information through the UDP (User Datagram Protocol). If the acquisition fails, it waits a few seconds and then requests the vehicle computer again.

[0046] 2. Use the obtained ID information to request the cloud platform through the https protocol to obtain the connection address and subscription message name of the vehicle's MQTT protocol. If the acquisition fails, request the cloud platform again;

[0047] 3. Establish an MQTT client, establish an MQTT connection with the MQTT server based on the MQTT5.0 protocol and load the CA certificate and user information. After the connection is successfully established, subscribe to the message topic. The MQTT connection is successfully established and waits for the user to send instructions.

[0048] In step S102, the vehicle is controlled to perform the corresponding target action according to the remote control instruction, and when the heartbeat signal sent by the mobile terminal is detected to be interrupted, the duration of the interruption of the heartbeat signal sent by the mobile terminal is obtained.

[0049] It is understandable that it is necessary to obtain the interruption duration of the heartbeat signal to determine whether to terminate the target action to ensure parking safety.

[0050] In an embodiment of the present application, while controlling the vehicle to perform the target action according to the remote control instruction, it also includes: collecting video information during the vehicle's driving process and scene information in a preset map; sending the video information and scene information to the mobile terminal, and monitoring the current driving status of the vehicle through the mobile terminal.

[0051] It is understandable that the mobile terminal has been receiving real-time video of the vehicle's driving process and real-time scene information of the vehicle in the map, which is used by the mobile terminal to monitor the vehicle's status in real time and ensure the real-time information obtained during automatic parking.

[0052] In step S103, when the duration is longer than the preset duration, it is determined that the mobile terminal is in a preset offline state, and the vehicle is controlled to stop executing the target action while sending the vehicle's location information to the mobile terminal.

[0053] The preset duration can be set according to specific circumstances, for example, it can be 10s.

[0054] It can be understood that the vehicle terminal determines whether the mobile terminal is online by receiving the heartbeat message sent by the mobile terminal. If the heartbeat signal of the mobile terminal is not received within the preset time, it is determined that the mobile terminal has lost connection, the current operation of the vehicle terminal is stopped, and the service terminal is informed of the loss of mobile terminal connection and vehicle location information. The cloud server notifies the mobile terminal via SMS to take over the vehicle and informs the vehicle location to avoid safety accidents when the mobile terminal is not online, thereby increasing safety during automatic parking.

[0055] Specifically, the remote summoning and parking functions on mobile phones mainly establish an MQTT connection through the MQTT client on the vehicle and mobile phone and the MQTT server on the cloud platform to exchange data between the vehicle and mobile phone. The mobile phone renders the real-time scene to reconstruct the data and issue parking and vehicle summoning function instructions. After the vehicle receives the instructions, the vehicle controller controls the vehicle to perform parking and summoning actions.

[0056] The following is a specific example to illustrate the implementation of the mobile phone remote parking and remote summon functions:

[0057] 1. Remote parking function

[0058] 1. When the user enters a valet parking area, the vehicle-side computer prompts that valet parking is supported. The user selects the valet parking function on the vehicle-side computer. The vehicle-side computer prompts the user to get out of the vehicle and select a parking space through the mobile app. At the same time, the vehicle-side MQTT client reports the availability status of the vehicle-side valet parking function to the mobile app.

[0059] 2. The user gets out of the car and enters the mobile app to select a parking space on the parking lot map and click to start parking. The mobile phone sends a parking function instruction and heartbeat information. After the vehicle-side MQTT client receives the parking instruction, it distributes the received instruction to the global path planning module, plans the vehicle driving path, and sends it to the state machine module to control the vehicle to start driving towards the target parking space.

[0060] 3. While the vehicle is in motion, the vehicle-side MQTT client transmits the vehicle status information and real-time scene information reported by the internal module to the mobile app via the MQTT protocol. Users can view the vehicle's status in real time through the mobile app. The MQTT client monitors the communication status between the phone and the vehicle through the heartbeat information sent by the phone. If the vehicle does not detect the phone's heartbeat information within 10 seconds, it determines that the phone is disconnected. The vehicle-side MQTT client sends a parking pause signal to the internal module and sends a message indicating that the phone's heartbeat signal is lost and the vehicle's location information to the MQTT server. Upon receiving this message, the cloud platform sends a text message to remind the user to take over the vehicle.

[0061] 4. When the vehicle reaches the target parking space, the MQTT client on the vehicle will send a parking completion signal to the mobile phone APP, as well as the parking space information where the vehicle is parked, and the mobile phone remote parking function is completed.

[0062] 2. Remote Summoning Function

[0063] 1. The vehicle is powered off. The user clicks the "Get Vehicle" function on the mobile app. The vehicle's TBOX receives a TLV command from the phone and powers the vehicle back on. After the vehicle powers on, the MQTT client automatically connects to the MQTT server. Once the connection is established, it waits for the phone to send a summon command.

[0064] 2. The mobile phone sends a summoning command. After receiving the command, the vehicle-side MQTT forwards the command information to the internal module, and the internal module controls the vehicle to drive to the summoning location. During driving, the vehicle-side MQTT client will report the current vehicle status information and real-time scene data to the mobile phone in real time. The user can view the real-time scene and status of the vehicle on the mobile phone. The mobile phone will send a heartbeat signal to the vehicle to maintain the connection. If the vehicle does not receive the heartbeat after a cycle of 10 seconds, it is determined that the mobile phone is disconnected. The vehicle-side MQTT client sends a summoning pause signal to the internal module and sends a mobile phone heartbeat signal loss message and vehicle location information to the MQTT server. After receiving the message, the cloud platform reminds the user to take over the vehicle via SMS.

[0065] 3. After the vehicle arrives at the summoning location, the user is prompted to take over the vehicle, and the remote summoning via mobile phone is completed.

[0066] According to the vehicle remote control method proposed in the embodiment of the present application, by adding a heartbeat signal to monitor the connection status of the vehicle terminal, the connection status of the vehicle and the server can be accurately known. If the connection is disconnected, the automatic parking is stopped and the current location of the vehicle is sent, thereby improving the security of the vehicle remote control, improving the safety of automatic parking, and improving the user experience; by monitoring the current driving status of the vehicle and the current scene information of the vehicle through the mobile terminal, the real-time nature of the obtained vehicle information can be ensured, thereby ensuring the safety of the vehicle when performing the target action; by using the vehicle's identity information and authentication information to generate an acquisition request, making it the only verification code information for connecting to the server, and verifying it through the CA certificate, the stability of the connection is guaranteed, and the message reliability and security of the automatic parking process are improved.

[0067] Next, a remote control device for a vehicle according to an embodiment of the present application will be described with reference to the accompanying drawings.

[0068] Figure 5 4 is a block diagram of a remote control device for a vehicle according to an embodiment of the present application.

[0069] like Figure 5 As shown, the vehicle remote control device 20 is applied to a vehicle terminal and includes: a receiving module 201 , a detection module 202 and a control module 203 .

[0070] Among them, the receiving module 201 is used to receive the remote control instructions of the vehicle sent by the mobile terminal; the detection module 202 is used to control the vehicle to perform the corresponding target action according to the remote control instructions, and when it detects that the heartbeat signal sent by the mobile terminal is interrupted, obtain the duration of the interruption of the heartbeat signal sent by the mobile terminal; the control module 203 is used to determine that the mobile terminal is in a preset offline state when the duration is greater than the preset duration, control the vehicle to stop performing the target action, and send the vehicle's location information device to the mobile terminal.

[0071] In the embodiment of the present application, the device 20 of the embodiment of the present application further includes: a collection module and a sending module.

[0072] Among them, the acquisition module is used to control the vehicle to perform the target action according to the remote control instructions, while collecting video information during the vehicle's driving process and scene information in the preset map; the sending module is used to send video information and scene information to the mobile terminal, and monitor the current driving status of the vehicle through the mobile terminal.

[0073] In an embodiment of the present application, the apparatus 20 of the embodiment of the present application includes: a connection module. The connection module is configured to obtain the identity information and authentication information of the vehicle before receiving a remote control command for the vehicle sent by a mobile terminal; generate an acquisition request based on the identity information and authentication information, send the acquisition request to a service terminal, and accept the MQTT protocol connection address and subscription message name issued by the service terminal; establish an MQTT connection with the service terminal based on the MQTT protocol connection address, load a CA certificate and user information, and, after detecting a successful connection, subscribe to a message topic based on the subscription message name.

[0074] In the embodiment of the present application, the remote control instruction includes any one of an automatic parking instruction and a remote summon instruction.

[0075] It should be noted that the above explanation of the embodiment of the vehicle remote control method is also applicable to the vehicle remote control device of this embodiment, and will not be repeated here.

[0076] According to the remote control device for a vehicle proposed in the embodiment of the present application, by adding a heartbeat signal to monitor the connection status of the vehicle terminal, the connection status of the vehicle and the server can be accurately known. If the connection is disconnected, the automatic parking is stopped and the current location of the vehicle is sent, thereby improving the security of the vehicle remote control, improving the safety of automatic parking, and improving the user experience; by monitoring the current driving status of the vehicle and the current scene information of the vehicle through the mobile terminal, the real-time nature of the obtained vehicle information can be ensured, thereby ensuring the safety of the vehicle when performing the target action; by using the vehicle's identity information and authentication information to generate an acquisition request, making it the only verification code information for connecting to the server, and verifying it through the CA certificate, the stability of the connection is guaranteed, and the message reliability and security of the automatic parking process are improved.

[0077] Figure 6 This is a schematic diagram of the structure of a vehicle terminal provided in an embodiment of the present application. The vehicle terminal may include:

[0078] A memory 601 , a processor 602 , and a computer program stored in the memory 601 and executable on the processor 602 .

[0079] When the processor 602 executes the program, the vehicle control fault handling method provided in the above embodiment is implemented.

[0080] Furthermore, the vehicle terminal further includes:

[0081] The communication interface 603 is used for communication between the memory 601 and the processor 602 .

[0082] The memory 601 is used to store computer programs that can be run on the processor 602 .

[0083] The memory 601 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0084] If the memory 601, the processor 602, and the communication interface 603 are implemented independently, the communication interface 603, the memory 601, and the processor 602 can be connected to each other via a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0085] Optionally, in a specific implementation, if the memory 601, the processor 602 and the communication interface 603 are integrated on a chip, the memory 601, the processor 602 and the communication interface 603 can communicate with each other through an internal interface.

[0086] The processor 602 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0087] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0088] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "N" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0089] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0090] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiment, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0091] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0092] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A remote control method for a vehicle, characterized in that: The method is applied to a vehicle terminal, wherein the method comprises the following steps: Receiving remote control instructions of the vehicle sent by the mobile terminal; controlling the vehicle to perform a corresponding target action according to the remote control instruction, and upon detecting an interruption in the heartbeat signal sent by the mobile terminal, obtaining a duration of the interruption in the heartbeat signal sent by the mobile terminal; When the duration is longer than a preset duration, determining that the mobile terminal is in a preset offline state, controlling the vehicle to stop executing the target action, and sending the vehicle's location information to the mobile terminal; While controlling the vehicle to perform a target action according to the remote control instruction, the method further includes: Collecting video information of the vehicle during driving and scene information in a preset map; sending the video information and the scene information to the mobile terminal, and monitoring the current driving state of the vehicle through the mobile terminal; Before receiving the remote control command of the vehicle sent by the mobile terminal, it includes: Obtaining identity information and authentication information of the vehicle; Generate an acquisition request based on the identity information and the authentication information, send the acquisition request to the service terminal, and accept the MQTT protocol connection address and subscription message name issued by the service terminal; An MQTT connection is established with the service terminal based on the connection address of the MQTT protocol, and the CA certificate and user information are loaded. After detecting that the connection is successful, a message topic is subscribed according to the subscription message name.

2. The method according to claim 1, characterized in that The remote control command includes any one of an automatic parking command and a remote summon command.

3. A remote control device for a vehicle, characterized in that: The device is applied to a vehicle terminal, wherein the device comprises: A receiving module, configured to receive a remote control command of a vehicle sent by a mobile terminal; a detection module, configured to control the vehicle to perform a corresponding target action according to the remote control instruction, and, upon detecting that the heartbeat signal sent by the mobile terminal is interrupted, obtain a duration of the interruption in sending the heartbeat signal by the mobile terminal; A control module is configured to determine that the mobile terminal is in a preset offline state when the duration is greater than a preset duration, control the vehicle to stop executing the target action, and simultaneously send the vehicle's location information to the mobile terminal; an acquisition module, configured to acquire video information of the vehicle during its travel and scene information in a preset map while controlling the vehicle to perform a target action according to the remote control instruction; a sending module, configured to send the video information and the scene information to the mobile terminal, and monitor the current driving state of the vehicle via the mobile terminal; The connection module is used to obtain the identity information and authentication information of the vehicle before receiving the remote control command of the vehicle sent by the mobile terminal; generate an acquisition request based on the identity information and the authentication information, send the acquisition request to the service terminal, and accept the MQTT protocol connection address and subscription message name issued by the service terminal; establish an MQTT connection with the service terminal based on the MQTT protocol connection address, load the CA certificate and user information, and after detecting that the connection is successful, subscribe to the message topic according to the subscription message name.

4. The device according to claim 3, characterized in that The remote control command includes any one of an automatic parking command and a remote summon command.

5. Vehicle terminal, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle remote control method according to any one of claims 1 to 2.

6. A vehicle remote control system, suitable for using the vehicle remote control method according to any one of claims 1 to 2, characterized in that: include: The mobile terminal sends the vehicle's remote control instructions and heartbeat signals to the service terminal; The service terminal forwards the remote control command and the heartbeat signal to the vehicle terminal; The vehicle terminal receives the remote control instructions of the vehicle forwarded by the service terminal, controls the vehicle to perform the target action according to the remote control instructions, and obtains the duration of the heartbeat signal interruption when detecting that the heartbeat signal sent by the mobile terminal is interrupted. When the duration is greater than the preset duration, it is determined that the mobile terminal is in a preset offline state, controls the vehicle to stop performing the target action, and sends the vehicle's location information device to the mobile terminal.

Images