Intelligent Driving Vehicle Valet Parking and Remote Summoning System and Method

Abstract

The present invention provides an intelligent driving vehicle valet parking and remote summons system and method. The valet parking and remote summons system includes a vehicle-end device, a field-end device, and a client device. The vehicle-end device includes a vision sensor group, a millimeter-wave radar sensor group, an ultrasonic radar group, a positioning module, a central control unit, and a telematics processor. The field-end device includes a field-end driving simulation device and a field-end server. The working modes of the system include a valet parking mode and a remote summons mode. The valet parking mode includes an autonomous cruising and parking sub-mode and a field-end takeover and parking sub-mode. The remote summons mode includes an automatic cruise and docking sub-mode. The system and method solve the problems of long waiting time before entering the parking lot, difficulty in finding a parking space in the parking lot, difficulty in parking in the space, and long waiting time when leaving the parking lot.

Description

Technical Field

[0001] Embodiments of the present invention generally relate to the field of intelligent driving technology, and more specifically, to an intelligent driving vehicle valet parking and remote summons system and an intelligent driving vehicle valet parking and remote summons method. Background Art

[0002] In recent years, with the rapid popularization of automobiles in China, in order to meet the diverse functional requirements of many customers and improve the user experience and competitiveness of products, the automation and intelligence of vehicles have gradually become an important trend in the industry development. As a branch of vehicle automation and intelligence, the automatic parking function and the parking assistance function have the prospect of short-term mass production based on the existing technical reserves in the industry, and it can solve the pain point of users' difficult parking. Therefore, it has become a research hotspot in the industry in recent years.

[0003] Currently, the existing related solutions are mainly divided into three categories:

[0004] I. Parking Assistance System

[0005] Parking prompt / warning, specifically including reverse radar, visual reverse, rear view image, panoramic image, etc. This type of function only provides prompts or warnings to the driver in the vehicle to reduce the difficulty of parking and the risk of scratching;

[0006] Parking assistance system. After the user activates the system in the vehicle, when the vehicle approaches a parking space, the system automatically searches for an empty parking space and automatically controls the steering wheel to assist the driver in parking into the space. In this type of function, the driver still needs to control the throttle in the vehicle;

[0007] II. Automatic Parking System

[0008] Fully automatic intelligent parking system. After the user activates the system in the vehicle, they need to keep pressing the system activation switch.

[0009] When the vehicle approaches a parking space, the system automatically searches for an empty parking space and automatically controls the throttle, brake, gear, and steering to automatically complete parking. In this type of function, the user needs to be in the vehicle and continuously observe the surrounding environment of the vehicle.

[0010] Remote fully automatic parking system. After the user activates the system outside the vehicle, they need to keep pressing the system activation switch.

[0011] When the vehicle approaches a parking space, the system automatically searches for an empty parking space and automatically controls the throttle, brake, gear, and steering to automatically complete parking. In this type of function, the driver needs to continuously observe the surrounding environment of the vehicle outside the vehicle.

[0012] Self-learning parking system. First, the driver completes several parking maneuvers manually. Then, the system learns the manual driving route and completes autonomous parking. In this type of function, the driver is responsible for observing the vehicle's surrounding environment.

[0013] III. Valet parking system

[0014] The valet parking system allows users to achieve one-touch parking and one-touch car calling functions through their mobile phones within a certain operating area. The characteristics of this system are as follows: the system does not require users to continuously observe the vehicle's surrounding environment; the system can achieve parking and autonomous driving within a certain operating area, expanding the scope of use of the system.

[0015] Currently, the existing patents related to the field involved in the present invention can be divided into two categories, namely, automatic parking systems and valet parking systems.

[0016] Patent documents related to automatic parking systems are as follows:

[0017] (1) Chinese Patent Application Publication No. CN 109466546 A. When the invention detects that the vehicle enters a common parking area, it obtains the pre-stored parking trajectory of the vehicle in this common parking area, and automatically parks the vehicle in the common parking space according to the current position of the vehicle in this common parking space and the parking trajectory. This invention uses a pre-stored trajectory. When the environment changes (such as when there are moving obstacles), the parking trajectory cannot change accordingly; moreover, this invention is only applicable to the scenario where the vehicle automatically parks in a common parking space and cannot automatically find an empty parking space.

[0018] (2) Chinese Patent Application Publication No. CN 111376894 A. When the receiving device of this invention receives a parking request, it obtains the current position and the specified parking route from the storage device. When it determines that the current position is within the error range of the starting position, the control device of this invention controls the vehicle to drive along the specified parking route and park at a fixed parking space. This invention uses a pre-stored trajectory. When the environment changes (such as when there are moving obstacles), the parking trajectory cannot change accordingly; moreover, this invention is only applicable to the scenario where the vehicle automatically parks in a common parking space and cannot automatically find an empty parking space.

[0019] (3) Chinese Patent Application Publication No. CN 111731269 A. This invention provides an automatic parking path planning method and system, in which the path planning method uses a combination of segmented constant-curvature curves and straight lines to plan the parking path for a parallel parking space. This invention only focuses on the path planning for parallel parking spaces. The path planning uses a combination of segmented constant-curvature curves and straight lines. When the local space of the parking space is occupied or the available moving space for the vehicle near the parking space is limited, there is a risk of being unable to plan a path; in addition, this invention does not consider the situation of obstacles appearing around the vehicle.

[0020] (4) The publication number of the Chinese patent application is CN 108068800 A. This invention includes multiple probe modules and a parking execution module. Among them, the probe module includes a probe unit and a chip unit. The probe unit is used to emit ultrasonic signals and receive the echo signals corresponding to the ultrasonic signals. The chip unit is used to calculate the distance between the parked vehicle and the obstacle, identify the parking space, calculate the parking trajectory, and generate a parking control signal. The sensing part of this invention only has ultrasonic signals, and the accuracy of obstacle and parking space recognition is not high.

[0021] (5) The publication number of the Chinese patent application is CN 110884486 A. This invention includes a surrounding environment detection unit, a parking obstacle degree determination unit, a selection unit, and a vehicle control unit. According to this invention, the user can choose whether to allow parking in a parking space with small obstacle factors, which expands the parking scenarios. In one embodiment, the sensor group includes a camera, a sonar group, a vehicle speed sensor, etc., without a map and positioning module. This invention is a parking assistance function and cannot automatically find an empty parking space. During parking, it is necessary for humans to choose whether to allow parking in a parking space with small obstacle factors.

[0022] (6) The publication number of the Chinese patent application is CN 110871792 A. This invention discloses an automatic parking control system and method. The system includes an automatic parking controller, a parking space detection and data acquisition module, and an actuator. The automatic parking controller performs path planning based on the data collected by the data acquisition module and controls the actuator to park according to the planned path. In addition, it also includes a voice interaction system. The parking space detection and data acquisition module includes ultrasonic radars and wide-angle cameras. The sensing ability of this invention is limited and it cannot achieve autonomous driving to the parking lot.

[0023] (7) The publication number of the Chinese patent application is CN 111599217 A. This invention includes a visual simultaneous localization and mapping module, a trajectory navigation module, a planning and strategy module, a control module, and a multi-platform framework module. Among them, the visual simultaneous localization and mapping module is used to establish a three-dimensional model of the scene around the target object and simultaneously locate the spatial position of the vehicle body. This invention adopts a visual positioning solution, which is greatly affected by light and weather and is not suitable for outdoor scenarios.

[0024] The patent documents related to the valet parking system are as follows:

[0025] (8) The publication number of the Chinese patent application is CN 111383475 A. This invention provides a system, method, infrastructure, and vehicle for supporting automatic valet parking. The vehicle receives the target position and guiding line from the infrastructure, and the vehicle performs autonomous driving based on the guiding line.

[0026] (9) The publication number of the Chinese patent application is CN 111341136 A. After receiving the parking path request, the server in this invention can sort the priorities of the available parking spaces, determine the path with the lowest cost, and provide it for the vehicle to park, thereby improving the parking efficiency.

[0027] (10) The publication number of the Chinese patent application is CN 111223291 A. This invention includes a mobile device, an environmental information sensing unit, on-vehicle sensors, a parking control unit, and an autonomous driving device. The field end generates a target position and a guiding line, and the transformation of the field end is large. Among them, the environmental information sensing unit is installed in the parking lot to collect the environmental information of the parking lot; the parking control unit is installed in the parking lot, or is a remote / back-end control unit, and communicates with the mobile device and the vehicle wirelessly.

[0028] (11) The publication number of the Chinese patent application is CN 111415523 A. This invention monitors whether the parking spaces in the parking lot are idle through a service unit and a parking lot detection unit, and sends the information of the nearest target parking space to the vehicle in real time, as well as sends the driving trajectory information and the corresponding vehicle actuator instruction information.

[0029] (12) The publication number of the Chinese patent application is CN 111409624 A. This invention includes an information center, a radar sensor, a communication module, and a map navigation system. The map navigation system is used to receive the information sent by the information center, plan the running path of the target vehicle accordingly, transmit the running path to the information center, and send the running path to the control center of the target vehicle through the communication module.

[0030] The above valet parking systems all generate trajectory lines through the field end, which requires the transformation of the field end, with a large investment in the field end and difficulties in application in open-air parking lots.

[0031] In summary, the existing solutions can be divided into two types: non-valet parking solutions and valet parking solutions.

[0032] Non-valet parking solutions, such as parking assistance systems and automatic parking systems, have significant effects in improving the user's parking experience. However, they cannot solve the problems of long waiting before entering the parking lot, difficultly finding a parking space in the parking lot, and long waiting when leaving the parking lot. The currently disclosed patents also have the following two types of problems: (i) The types and quantities of sensors used for perception are limited, and the perception ability is insufficient to cope with complex parking scenarios; (ii) By using pre-stored trajectory lines, when the environment changes (such as when there are moving obstacles), the parking trajectory cannot be changed accordingly.

[0033] The valet parking solution can simultaneously solve the problems of long waiting before entering the parking lot, difficulty in finding a parking space within the parking lot, difficulty in parking the vehicle into the space, and long waiting when leaving the parking lot. However, most of the currently disclosed patents generate trajectory lines through the field end, which requires modification of the field end, resulting in high investment in the field end and difficulty in application in open-air parking lots.

[0034] Therefore, there is a need for a new valet parking and remote summons system and method that can solve the above-mentioned problems of users' parking difficulties. Summary of the Invention

[0035] To solve the above problems in the prior art, in a first aspect, an embodiment of the present invention provides an intelligent driving vehicle valet parking and remote summons system. The valet parking and remote summons system includes a vehicle-end device, a field-end device, and a client device. The vehicle-end device includes a vision sensor group, a millimeter-wave radar sensor group, an ultrasonic radar group, a positioning module, a central control unit, and a telematics processor. Among them, the vision sensor group, the millimeter-wave radar sensor group, and the ultrasonic radar group are used to obtain information on the vehicle's surrounding environment; the positioning module is used to obtain the vehicle's position information; a map is stored in the central control unit, and the map includes a valet parking area, a getting-off area, a getting-on area, an entry route, an exit route, a parking search route, lane markings, and parking space information. The field-end device includes a field-end driving simulation device and a field-end server.

[0036] The working modes of the valet parking and remote summons system include a valet parking mode and a remote summons mode.

[0037] The valet parking mode includes an autonomous cruising parking sub-mode and a field-end takeover parking sub-mode.

[0038] In the autonomous cruising parking sub-mode, the client device is configured to: when detecting that the user selects the "autonomous cruising" option, send an autonomous cruising instruction to the central control unit; the central control unit is configured to: in response to receiving the autonomous cruising instruction, control the vehicle to enter the parking lot and circulate within the parking lot according to the vehicle's surrounding environment information, the vehicle's position information, and the parking search route, lane markings, and parking space information in the map, detect available idle parking spaces, and control the vehicle to park in the available idle parking space when an available idle parking space is detected.

[0039] In the valet parking sub-mode of field takeover, the client device is configured to: when detecting that the user selects the "field takeover" option, send a field takeover instruction to the field server; the field server is configured to: in response to receiving the field takeover instruction, receive the video information acquired by the vision sensor group from the telematics unit, and display the video information to the field staff; generate a remote-controlled parking control instruction according to the operations of the field staff on the field driving simulation device, and send the remote-controlled parking control instruction to the central control unit; the central control unit is configured to: control the vehicle according to the remote-controlled parking control instruction.

[0040] The remote summon mode includes an automatic cruise docking sub-mode. In the automatic cruise docking sub-mode, the client device is configured to: when receiving that the user selects the "automatic cruise docking" option and the docking location set by the user within the boarding area, send a vehicle summon request message to the telematics unit, where the vehicle summon request message includes the docking location; the central control unit is configured to: in response to receiving the vehicle summon request message through the telematics unit, control the vehicle to drive to the docking location according to the vehicle surrounding environment information, the vehicle position information, and the lane markings, exit route, and boarding area included in the map.

[0041] In some embodiments, the working mode of the valet parking and remote summon system further includes an emergency stop mode, and the emergency stop mode includes a user-triggered braking sub-mode. In the user-triggered braking sub-mode, the client device is configured to: display an emergency stop button to the user; and, in response to the user pressing the emergency stop button, send an emergency stop request to the central control unit; the central control unit is configured to: in response to the emergency stop request received from the client device, control the vehicle to make an emergency stop.

[0042] In some embodiments, the emergency stop mode further includes an accident-triggered braking sub-mode. In the accident-triggered braking sub-mode, the central control unit is configured to: acquire the vehicle surrounding environment information through one or more of the vision sensor group, the millimeter wave radar sensor group, and the ultrasonic radar sensor group, acquire the longitudinal and lateral acceleration information of the vehicle through the positioning module, detect whether an accident occurs to the vehicle according to the vehicle surrounding environment information and the longitudinal and lateral acceleration information of the vehicle; and, when detecting that an accident occurs to the vehicle, control the vehicle to make an emergency stop, generate an accident alarm message, and send the accident alarm message to the client device through the telematics unit; the client device is configured to: display the accident alarm message.

[0043] In some embodiments, the working mode of the valet parking and remote summons system further includes a real-time monitoring mode. In the real-time monitoring mode, the central control unit is configured to: transmit the video information acquired by the vision sensor group to the client device via the telematics processor; and the client device is configured to: display the video information and an emergency stop button.

[0044] In some embodiments, the working mode of the valet parking and remote summons system further includes a standby mode. In the standby mode, the central control unit is configured to: determine whether the valet parking function is available according to the vehicle position information obtained from the positioning module and the getting-off area and valet parking area read from the map; when it is determined that the valet parking function is available, send a valet parking function available prompt message to the client device; and the client device is configured to: in response to receiving the valet parking function available prompt message, display a function activation interface, the function activation interface including options for the valet parking mode and the remote summons mode, and in response to receiving a user's selection of one of the valet parking mode and the remote summons mode, send a function activation instruction corresponding to the selection to the central control unit.

[0045] In some embodiments, detecting available empty parking spaces includes: comparing the vehicle position information with the standard parking position information in the parking space closest to the vehicle in the map, and when the vehicle position is within the range covered by a circle centered on the standard parking position in the parking space and with a preset parking space threshold radius as the radius, determining whether the parking space near the vehicle is empty according to the vehicle surrounding environment information.

[0046] In some embodiments, in the autonomous cruising parking sub-mode, the client device is further configured to: display an interface for setting an autonomous cruising end time to the user, receive the autonomous cruising end time set by the user, and send the autonomous cruising end time to the central control unit; and the central control unit is further configured to: when it is detected that the current time does not exceed the autonomous cruising end time and no available empty parking spaces are detected, continue to circulate in the parking lot and detect available empty parking spaces; and when it is detected that the current time exceeds the autonomous cruising end time and no available empty parking spaces are detected, send a message indicating that there are no available empty parking spaces to the client device.

[0047] In some embodiments, in the autonomous cruising parking sub-mode, the client device is further used to: display an interface for setting the number of autonomous cruising weeks to the user, receive the predetermined number of autonomous cruising weeks set by the user, and send the predetermined number of autonomous cruising weeks to the central control unit; the central control unit is further used to: compare the vehicle's driving trajectory with the information on the map to determine the number of weeks the vehicle has traveled around the parking lot; when it is detected that the current number of weeks does not exceed the predetermined number of autonomous cruising weeks and no available vacant parking spaces are detected, continue to circulate in the parking lot and detect available vacant parking spaces; when it is detected that the current number of weeks exceeds the predetermined number of autonomous cruising weeks and no available vacant parking spaces are detected, send information to the client device indicating that there are no available vacant parking spaces.

[0048] In some embodiments, the valet parking mode also includes a valet parking decision process. During the valet parking decision process, the client device is configured to: display a valet parking function activation interface, wherein the valet parking function activation interface includes an autonomous cruising parking sub-mode option and a field-side takeover parking sub-mode option; and in response to a user selecting one of the autonomous cruising parking sub-mode option and the field-side takeover parking sub-mode option, send a function activation instruction corresponding to the selection to the central control unit.

[0049] In some embodiments, the valet parking mode also includes a temporary parking sub-mode, in which the client device is used to: upon receiving a user selection of the "temporary parking" option and a temporary parking location set by the user, send a temporary parking request message to the telematics processor, wherein the temporary parking request message includes the temporary parking location; the central control unit is used to: in response to receiving the temporary parking request message through the telematics processor, control the vehicle to travel to the temporary parking location according to the vehicle surrounding environment information, the vehicle position information, and the lane markings, exit route, and boarding area included in the map, and park at an idle location within a range with the temporary parking location as the center and a preset temporary parking radius as the radius.

[0050] In some embodiments, the remote summons mode further includes a field-end takeover summons sub-mode. In the field-end takeover summons sub-mode, the client device is configured to: when receiving that the user selects the "field-end takeover summons" option and the field-end takeover summons docking location set by the user, send a field-end takeover summons request message to the telematics processor and the field-end device, where the field-end takeover summons request message includes the field-end takeover summons docking location; the central control unit is configured to: in response to receiving the field-end takeover summons request message through the telematics processor, transmit the video information acquired by the vision sensor group to the field-end server; the field-end server is configured to: in response to receiving the field-end takeover summons request message, receive the video information acquired by the vision sensor group from the telematics processor, display the video information and the field-end takeover summons docking location to the field-end staff; generate a remote-controlled parking control instruction according to the operations of the field-end staff on the field-end driving simulation device, and send the remote-controlled parking control instruction to the central control unit.

[0051] In some embodiments, the remote summons mode further includes a remote summons decision-making process. In the remote summons decision-making process, the client device is configured to: display a remote summons function activation interface, where the remote summons function activation interface includes an automatic cruise docking option and a field-end takeover summons option; in response to the user's selection of one of the automatic cruise docking option and the field-end takeover summons option, send a function activation instruction corresponding to the selection to the central control unit.

[0052] In some embodiments, the vision sensor group includes a binocular camera, a surround-view camera, and a multi-functional camera. The binocular camera and the multi-functional camera are fixed on the front windshield of the vehicle. The surround-view camera is fixed on one or more of the following positions: the right rearview mirror housing, the left rearview mirror housing, the right B-pillar of the vehicle, the left B-pillar of the vehicle, the right C-pillar of the vehicle, the left C-pillar of the vehicle, and the rear bumper.

[0053] In some embodiments, the millimeter-wave radar sensor group includes a short-range vehicle-mounted millimeter-wave radar and a long-range vehicle-mounted millimeter-wave radar. The short-range vehicle-mounted millimeter-wave radar is fixed on one or more of the following positions: the left fender, the right fender, the front bumper, below the left C-pillar of the left side panel of the vehicle, and below the right C-pillar of the right side panel of the vehicle. The long-range vehicle-mounted millimeter-wave radar is fixed on the front bumper and / or the radiator grille.

[0054] In some embodiments, the vehicle-end device further includes an in-vehicle prompting device. The central control unit is further configured to: generate a valet parking function available prompting message when detecting that the vehicle enters the getting-off area, and send the valet parking function available prompting message to the in-vehicle prompting device; and confirm that the valet parking function is enabled when receiving the valet parking function enabling signal. The in-vehicle prompting device is configured to: prompt the in-vehicle user that the valet parking function is available when receiving the valet parking function available prompting message; and generate the valet parking function enabling signal and send the valet parking function enabling signal to the central control unit when the user selects to enable the valet parking function.

[0055] In some embodiments, the vehicle-end device further includes an out-vehicle prompting device. The central control unit is further configured to send the current state information of the valet parking and remote summons system to the out-vehicle prompting device. The out-vehicle prompting device is configured to receive and display the current state information of the valet parking and remote summons system from the central control unit. Wherein, the current state information of the valet parking and remote summons system includes one or more of valet parking function enabling information, vehicle driving state information, and vehicle accident information.

[0056] In some embodiments, a valet parking and remote summons program is installed in the central control unit of the vehicle-end device, and the valet parking and remote summons program is upgraded by the telematics processor in the vehicle-end device through over-the-air technology.

[0057] In a second aspect, an embodiment of the present invention provides a valet parking and remote summons method for an intelligent driving vehicle applied to a valet parking and remote summons system of an intelligent driving vehicle. The valet parking and remote summons system includes a vehicle-end device, a field-end device, and a client device. The vehicle-end device includes a vision sensor group, a millimeter-wave radar sensor group, an ultrasonic radar group, a positioning module, a central control unit, and a telematics processor. Among them, the vision sensor group, the millimeter-wave radar sensor group, and the ultrasonic radar group are used to obtain vehicle surrounding environment information; the positioning module is used to obtain vehicle position information; a map is stored in the central control unit, and the map includes a valet parking area, a getting-off area, a getting-on area, an approach route, an exit route, a parking search route, lane markings, and parking space information. The field-end device includes a field-end driving simulation device and a field-end server.

[0058] The valet parking and remote summons method includes a valet parking mode and a remote summons mode, wherein the valet parking mode includes an autonomous cruising parking sub-mode and a field-end takeover parking sub-mode.

[0059] The method includes:

[0060] In the self-navigating and parking vehicle mode,

[0061] When the client device detects that the user selects the "self-navigating" option, it sends a self-navigating instruction to the central control unit;

[0062] In response to receiving the self-navigating instruction, the central control unit controls the vehicle to enter the parking lot and drive in a loop within the parking lot according to the vehicle surrounding environment information, the vehicle position information, and the location-finding route, lane markings, and parking space information in the map, detects available empty parking spaces, and controls the vehicle to park in an available empty parking space when an available empty parking space is detected;

[0063] In the field-end takeover parking vehicle mode,

[0064] When the client device detects that the user selects the "field-end takeover" option, it sends a field-end takeover instruction to the field-end server;

[0065] In response to receiving the field-end takeover instruction, the field-end server receives the video information obtained by the vision sensor group from the telematics unit and displays the video information to the field-end staff; generates a remote-controlled parking control instruction according to the operations of the field-end staff on the field-end driving simulation device, and sends the remote-controlled parking control instruction to the central control unit;

[0066] The central control unit controls the vehicle according to the remote-controlled parking control instruction;

[0067] The remote summon mode includes an automatic cruise and docking sub-mode. In the automatic cruise and docking sub-mode,

[0068] When the client device receives that the user selects the "automatic cruise and docking" option and the docking location set by the user within the boarding area, it sends a vehicle summon request message to the telematics unit, where the vehicle summon request message includes the docking location;

[0069] In response to receiving the vehicle summon request message through the telematics unit, the central control unit controls the vehicle to drive to the docking location according to the vehicle surrounding environment information, the vehicle position information, and the lane markings, exit route, and boarding area included in the map.

[0070] The intelligent valet parking and remote summons system and method proposed by the embodiments of the present invention have the following beneficial effects: The user can get off the vehicle outside the parking lot, and the vehicle can enter the parking lot by itself to find a parking space, solving the problem of long waiting time before entering the parking lot; The vehicle can independently find a parking space and drive into the available parking space, solving the problems of difficult parking space searching and difficult parking in the parking lot; When the vehicle fails to find an available parking space, it can cruise autonomously, be taken over by the field end or taken over by the user according to the user's choice, providing multiple options for the user to make decisions according to the actual scenario; The automatic passenger pick-up function is realized, solving the problem of long waiting time when leaving the parking lot. In addition, it has less dependence on the field end and requires less field transformation. Multiple sensors such as a vision sensor group, a millimeter wave radar sensor group, and an ultrasonic radar group are used for perception, improving the accuracy of perception. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features, and advantages of the embodiments of the present invention will become more readily understood. In the drawings, several embodiments of the present invention are shown by way of example and not limitation, wherein:

[0072] Figure 1 Shows a schematic diagram of the structural organization of an intelligent valet parking and remote summons system according to an embodiment of the present invention;

[0073] Figure 2 Shows a schematic diagram of the structural organization of the vehicle-end device of an intelligent valet parking and remote summons system according to an embodiment of the present invention;

[0074] Figure 3 Shows a schematic diagram of an example of a map of an intelligent valet parking and remote summons system according to an embodiment of the present invention;

[0075] Figures 4A - 4C Shows a schematic diagram of the mode switching state machine of an intelligent valet parking and remote summons system according to an embodiment of the present invention;

[0076] Figure 5 Shows a schematic diagram of the principle of the parking space search algorithm of an intelligent valet parking and remote summons system according to an embodiment of the present invention;

[0077] Figure 6 Shows a schematic diagram of the interface switching relationship of the client device of an intelligent valet parking and remote summons system according to an embodiment of the present invention;

[0078] Figure 7 Shows a schematic diagram of an example sensor layout of an intelligent valet parking and remote summons system according to an embodiment of the present invention.

[0079] In the accompanying drawings, the same or corresponding reference numerals indicate the same or corresponding parts. Detailed Embodiments

[0080] The principles and spirit of the present invention will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are provided only to enable those skilled in the art to better understand and then implement the present invention, and do not limit the scope of the present invention in any way.

[0081] During the daily use of a vehicle, the following high-frequency scenarios are involved: First, the user drives to near a shopping mall, where the traffic is severely congested. The user has to spend a long time queuing and driving to enter the parking lot. Then, after the user drives into the parking lot, among a large number of parked vehicles in the parking lot, it also takes a long time to find an empty parking space. After that, after the user finds an empty parking space, they still have to independently complete parking in a possibly narrow space. And for users with unskilled driving skills, parking is particularly difficult. Finally, when the user leaves the shopping mall, if they encounter traffic congestion, they have to wait for a long time again.

[0082] The above scenarios have the problems of high frequency and poor user experience in daily life. The technical solutions proposed by the embodiments of the present invention can solve the following problems in the above scenarios:

[0083] (1) Long waiting time before entering the parking lot: When the user encounters traffic congestion near the parking lot, they need to queue and wait for a long time.

[0084] (2) Difficulty in finding a parking space in the parking lot: After the user enters the parking lot, it takes time, effort, and is inefficient to find an empty parking space.

[0085] (3) Difficulty in parking: It is difficult for users with unskilled driving skills to park, and it is easy to have scratching accidents.

[0086] (4) Long waiting time when leaving the parking lot: When the user encounters traffic congestion when leaving the parking lot, they need to queue and wait for a long time.

[0087] To solve the above technical problems, in one aspect, the embodiments of the present invention provide an intelligent driving vehicle valet parking and remote summons system. Refer to Figure 1 , which shows a schematic structural organization diagram of an intelligent driving vehicle valet parking and remote summons system according to an embodiment of the present invention. As Figure 1 shown, the valet parking and remote summons system includes a vehicle-end device 1, a site-end device 2, and a client device 3. For example, the vehicle-end device 1, the site-end device 2, and the client device 3 can communicate through a wireless network 4. The wireless network 4 can be a commonly used 4G or 5G wireless network in the communication field.

[0088] Refer to Figure 2, which shows a schematic diagram of the vehicle-side device structure organization of the intelligent driving vehicle valet parking and remote summons system according to an embodiment of the present invention. As Figure 2 shown, the vehicle-side device 1 may include a vision sensor group 11, a millimeter-wave radar sensor group 12, an ultrasonic radar group 13, a positioning module 14, a central control unit (cECU: central Electronic Control Unit) 15, and a telematics box (T-Box) 16. The vision sensor group 11, the millimeter-wave radar sensor group 12, and the ultrasonic radar group 13 are used to obtain information on the vehicle's surrounding environment. The positioning module 14 is used to obtain the vehicle's position information. The vehicle-side device 1 is installed on the vehicle.

[0089] As an embodiment of the present invention, the vision sensor group 11 may be composed of multiple different types of vision sensors. For example, it may include a binocular camera, a surround-view camera, and a multi-functional camera. The binocular camera may include a camera with a horizontal viewing angle of not less than 100 degrees, the surround-view camera may include a camera with a horizontal viewing angle of not less than 180 degrees and a vertical viewing angle of not less than 150 degrees, and the multi-functional camera may include a camera with a horizontal viewing angle of not less than 120 degrees.

[0090] As an embodiment of the present invention, the millimeter-wave radar sensor group 12 may be composed of multiple different millimeter-wave radar sensors. For example, it may include a short-range vehicle-mounted millimeter-wave radar and a long-range vehicle-mounted millimeter-wave radar. The short-range vehicle-mounted millimeter-wave radar may include a millimeter-wave radar with a frequency band of about 24 GHz, and the long-range vehicle-mounted millimeter-wave radar may include a millimeter-wave radar with a frequency band of about 77 GHz.

[0091] The ultrasonic radar group 13 is composed of multiple ultrasonic radars.

[0092] As an embodiment of the present invention, the positioning module 14 in the vehicle-side device 1 may be composed of a Global Positioning System (GPS) + Real-time kinematic (RTK) and an Inertial Measurement Unit (IMU).

[0093] A preset custom map is stored in the central control unit 15. Refer to Figure 3 , which shows a schematic diagram of an example of the map of the intelligent driving vehicle valet parking and remote summons system according to an embodiment of the present invention.

[0094] As Figure 3 shown, the map includes the following information:

[0095] a) Valet parking area: A preset selected area on the map, which defines the geographical scope of application of the valet parking function;

[0096] b) Boarding area: A preset selected area on the map, where the user can specify that the vehicle automatically drives to this area and waits for the user;

[0097] c) Disembarking area: A preset selected area on the map. When the user drives the vehicle into this area, the system prompts that the valet parking function is available;

[0098] d) Approach route: A preset route on the map. After the valet parking function is enabled, when the vehicle enters the parking lot, it automatically drives from the disembarking area to the inside of the parking lot according to the routing information provided by this route;

[0099] e) Departure route: A preset route on the map. After the valet parking function is enabled, when the vehicle leaves the parking lot, it automatically drives from the inside of the parking lot to the boarding area according to the routing information provided by this route;

[0100] f) Parking space search route: A preset route on the map. After the valet parking function is enabled, when the vehicle searches for an empty parking space in the parking lot, it drives in the parking lot according to the routing information provided by this route;

[0101] g) Lane markings: Markings commonly used in the field of intelligent driving maps to distinguish different lanes;

[0102] h) Parking space information: The parking space information includes parking space markings, standard parking positions within the parking space, and standard parking directions within the parking space.

[0103] Optionally, the valet parking and remote summon algorithms are loaded in the central control unit 15 of the vehicle terminal device 1, and the loaded valet parking and remote summon algorithms can be upgraded via OTA (Over The Air) by the telematics processor 16 in the vehicle terminal device 1.

[0104] Optionally, the vehicle terminal device 1 may further include an external prompt device 17, an in-vehicle prompt device 18, and an in-vehicle confirmation device 19.

[0105] As an example, the external prompt device 17 in the vehicle terminal device 1 is a display screen. This external prompt device 17 is used to display the current status information of the valet parking and remote summon system. The current status of the valet parking and remote summon system includes, according to the actual operation of the vehicle: 1) The valet parking function is enabled and the vehicle is in autonomous driving; 2) The remote summon function is enabled and the vehicle is in autonomous driving; 3) The vehicle has an accident and is waiting for the owner to handle.

[0106] The in-vehicle prompt device 18 in the vehicle terminal device 1 may include the instrument panel or the central control screen device in the vehicle.

[0107] The in-vehicle confirmation device 19 in the vehicle-end device 1 can be a preset push-button. Users can operate the in-vehicle confirmation device to confirm whether to enable the valet parking function inside the vehicle.

[0108] The following is for reference Figure 2 to give an example description of the internal connection relationship of the vehicle-end device 1.

[0109] Each vision sensor in the vision sensor group 11 and the central control unit 15 can be connected by LVDS (Low Voltage Differential Signaling).

[0110] The millimeter-wave radar in the millimeter-wave radar sensor group 12 and the central control unit 15 are respectively connected by CAN (Controller Area Network) or in-vehicle Ethernet according to the size of the transmitted data volume. A specific example can be: when the millimeter-wave radar transmits a target list to the central control unit 15, since the data volume is small, at this time, the preferred solution is that the millimeter-wave radar and the central control unit 15 are connected by CAN; when the millimeter-wave radar transmits the original sensor data to the central control unit 15, since the data volume is large, at this time, the preferred solution is that the millimeter-wave radar and the central control unit 15 are connected by in-vehicle Ethernet.

[0111] The ultrasonic radar in the ultrasonic radar group 13 and the central control unit 15 can be connected by CAN.

[0112] The positioning module 14, the telematics processor 16, the out-of-vehicle prompt device 17 and the in-vehicle prompt device 18 can be respectively connected to the central control unit 15 by CAN.

[0113] The in-vehicle confirmation device 19 is connected to the central control unit 15 through a wire.

[0114] The field-end device 2 can include a field-end driving simulation device and a field-end server. Optionally, the field-end device can also include some minor physical modifications to the field-end, such as adding stickers for auxiliary positioning commonly used in the field of intelligent driving.

[0115] As an example, the field-end driving simulation device can be equipped with simulators for the steering wheel, accelerator, brake pedal, and gear shifter. The field-end driving simulation device can be connected to the CAN-USB (Universal Serial Bus) conversion interface of the field-end server through a CAN line to transmit the steering wheel, accelerator, brake pedal, and gear information of the field-end staff on the field-end simulation device to the field-end server.

[0116] As an example, the field-side server can be a desktop computer or a workstation. The field-side server can be equipped with, for example, a display, a wireless port, and a CAN-USB conversion interface. The field-side server can install a valet parking field-side application, and the valet parking field-side application has the following functions, for example: 1) Communicate with the client device 3, receive, confirm, and feedback the field-side parking request sent by the client device 3; 4) Through the field-side driving simulation device and the video information of the received vision sensor group 11, realize the remote takeover of the vehicle by the field side.

[0117] The client device 3 can be, for example, a smart phone, and the client device 3 installs a valet parking and remote summon client application. The main functions of the valet parking client application are as follows: 1) Video monitor the valet parking and remote summon process; 2) Real-time notify the parking process information, including parking in position notification, parking failure notification, temporary stop notification, arrival at the designated location notification, etc.; 3) Issue commands such as autonomous cruising parking, temporary stop, field-side takeover parking, automatic cruise docking, and field-side takeover to pick up passengers.

[0118] The working modes of the valet parking and remote summon system proposed by the embodiments of the present invention can include a valet parking mode and a remote summon mode.

[0119] The valet parking mode includes an autonomous cruising parking sub-mode and a field-side takeover parking sub-mode.

[0120] In the autonomous cruising parking sub-mode, the client device is used to: when detecting that the user selects the "autonomous cruising" option, send an autonomous cruising command to the central control unit. The central control unit is used to: in response to receiving the autonomous cruising command, control the vehicle to enter the parking lot and circulate in the parking lot according to the vehicle surrounding environment information, vehicle position information, and the parking search route, lane markings, and parking space information in the map, detect available empty parking spaces, and control the vehicle to park in the available empty parking space when detecting an available empty parking space.

[0121] In the field-side takeover parking sub-mode, the client device is used to: when detecting that the user selects the "field-side takeover" option, send a field-side takeover command to the field-side server. The field-side server is used to: in response to receiving the field-side takeover command, receive the video information obtained by the vision sensor group from the telematics unit, and display the video information to the field-side staff; generate a remote control parking control command according to the operation of the field-side staff on the field-side driving simulation device, and send the remote control parking control command to the central control unit. The central control unit is used to: control the vehicle according to the remote control parking control command.

[0122] The remote summon mode includes an automatic cruise docking sub-mode.

[0123] In the automatic cruise docking sub - mode, the client device is used to: when receiving that the user has selected the "automatic cruise docking" option and the docking location set by the user within the boarding area, send a vehicle summons request message to the telematics unit, where the vehicle summons request message includes the docking location. The central control unit is used to: in response to receiving the vehicle summons request message through the telematics unit, control the vehicle to drive to the docking location according to the vehicle surrounding environment information, vehicle position information, and lane markings, exit routes, and boarding area included in the map.

[0124] The working modes of the valet parking and remote summons system will be described below with specific examples. It should be noted that for the purpose of clarity and easy understanding, the following description includes scenarios, applications or processes, interface displays and jumps, etc. that may be involved in specific applications. These are only examples and do not limit the protection scope of the present invention.

[0125] In the valet parking mode, optionally, the central control unit 15 can be used to generate the current state information of the valet parking and remote summons system, and send the current state information to the out - of - vehicle prompt device 17 and in - vehicle prompt device 18 to respectively remind traffic participants of the current state of the vehicle.

[0126] The valet parking mode can include an autonomous cruising parking sub - mode and a field - end takeover parking sub - mode. Optionally, it can also include a temporary docking sub - mode and a valet parking decision - making process. The autonomous cruising parking sub - mode can include a cruising for a parking space process and an automatic parking process.

[0127] In the valet parking decision - making sub - mode, the client device can be used to provide a valet parking function activation interface for the user. The valet parking function activation interface includes three parts: interface name, client device prompt information, and operation buttons; and after the user clicks one of the operation buttons of "autonomous cruising parking", "temporary docking", "field - end takeover", and "return", send a function activation instruction to the central control unit.

[0128] In the autonomous cruising parking sub - mode, the client device is used to provide an autonomous cruising parking information interface for the user. The autonomous cruising parking information interface includes four parts: interface name, client device prompt information, cruising exit condition setting, and operation buttons; the cruising exit condition setting is used to provide the user with the option to input the maximum time for the vehicle to exit cruising or the maximum number of laps around the field for cruising; the operation buttons are "confirm" and "return"; and after the user clicks the "confirm" and "return" operation buttons, send a function activation instruction to the central control unit.

[0129] The central control unit is configured to, in response to the valet parking function of the vehicle being enabled and the vehicle being in the valet parking area, control the vehicle to enter the parking lot, cruise along the parking search route, detect available empty parking spaces, and control the vehicle to park in the available empty parking space according to the vehicle surrounding environment information, vehicle position information, and the approach route, parking search route, lane markings, and parking space information in the map; the central control unit 15 is further configured to generate parking status notification information, and the information is sent to the client device 3 through the telematics unit 16 and the wireless network 4.

[0130] In the temporary parking sub-mode, the client device is configured to provide a user with a temporary parking information interface. The temporary parking information interface includes four parts: interface name, client device prompt information, map schematic and interaction area, and operation buttons; the map schematic and interaction area includes a custom map and a schematic diagram of the current position of the vehicle, and the user can click on the map to specify the desired vehicle parking position; the operation buttons are "Confirm" and "Return"; and after the user clicks the "Confirm" and "Return" operation buttons, a function activation instruction is sent to the central control unit.

[0131] The central control unit 15 is configured to, using intelligent driving algorithms, according to the vehicle surrounding environment information, vehicle position information, and map information of the vehicle itself, refer to the preset parking search route in the map, avoid static and dynamic obstacles in real time, generate a correct driving trajectory, and control the vehicle to drive in the parking lot to the location selected by the user in the temporary parking information interface, and park in an empty position within a certain range of a preset radius value Rstop near the location. The central control unit 15 is further configured to generate information for pulling over and parking, and send it to the client device 3 through the telematics unit 16 and the wireless network 4; a specific embodiment of the information for pulling over and parking is "Your vehicle has successfully parked at the designated location".

[0132] In the on-site takeover valet parking sub-mode, the client device is used to provide an on-site takeover information interface for the user. The on-site takeover information interface includes four parts: the interface name, the client device prompt information, and operation buttons; the operation buttons are "Confirm" and "Return"; and after the user clicks the "Confirm" and "Return" operation buttons, a function activation instruction is sent to the central control unit. The on-site device 2 is used to confirm whether to take over on the application program of the on-site device after receiving the on-site takeover request sent by the client device; the on-site device 2 sends the confirmation information of whether the on-site takeover is successful to the client device 3 through the wireless network 4. The on-site device 2 is also used to send the on-site takeover request to the central control unit 15 through the wireless network 4 and the telematics unit 16. The on-site device 2 reads the video information of the vision sensor group 11 through the wireless network 4, the telematics unit 16, and the central control unit 15. The on-site staff performs remote controlled parking on the on-site driving simulation device according to the read video information of the vision sensor group 11 on the display of the on-site server, and generates a remote controlled parking control instruction; the remote controlled parking control instruction includes steering wheel, throttle, and brake instructions; the remote controlled parking control instruction is sent to the central control unit 15 through the wireless network 4 and the telematics unit 16 to control the vehicle to park. The central control unit 15 is used to generate a parking-in-position success prompt message and send it to the client device 3 through the telematics unit 16 and the wireless network 4;

[0133] In the remote summon mode, the central control unit 15 is used to generate the current state information of the valet parking and remote summon system, and at the same time send the current state information of the valet parking and remote summon system to the out-of-vehicle prompt device 17 and the in-vehicle prompt device 18 to respectively remind traffic participants of the current state of the vehicle.

[0134] The remote summon mode may include an automatic cruise docking sub-mode, and optionally, may also include an on-site takeover summon sub-mode and a remote summon decision-making process.

[0135] In the remote summon decision-making process, the client device is used to provide a remote summon function activation interface for the user. The remote summon function activation interface includes three parts: the interface name, the client device prompt information, and operation buttons; the operation buttons are "Automatic Cruise Docking", "On-site Takeover", and "Return"; and after the user clicks the operation button, a function activation instruction is sent to the central control unit.

[0136] In the automatic cruise docking sub - mode, the client device is used to provide the user with an automatic cruise docking information interface. The automatic cruise docking information includes four parts: interface name, client device prompt information, map schematic and interaction area, and operation buttons; the map schematic and interaction area includes a custom map and a schematic diagram of the current vehicle position. The user can click on the map to specify the desired vehicle docking position; the operation buttons are "Confirm" and "Return"; and after the user clicks the operation button, a vehicle summons request message is sent to the central control unit. The client device 3 is also used to provide a vehicle arrival confirmation button after the user finds that the vehicle has reached the specified position to confirm whether the vehicle has arrived.

[0137] The central control unit is used to respond to the vehicle summons request message received through the telematics unit, and control the vehicle to drive to the location specified by the user according to the vehicle surrounding environment information, vehicle position information, and lane markings, exit routes, and boarding areas included in the map. As an example, the central control unit 15 can be used to obtain the surrounding environment information of the vehicle through the vision sensor group 11, millimeter - wave radar sensor group 12, and ultrasonic radar sensor group 13 after receiving the vehicle summons request message from the client device; the central control unit 15 obtains the vehicle position information through the positioning module 14; the central control unit 15 reads the pre - stored map information; the central control unit 15 uses an intelligent driving algorithm, according to the vehicle surrounding environment information, vehicle position information, and map information, referring to the preset vehicle - seeking route and exit route in the map, to avoid static and dynamic obstacles in real time, generate a correct driving trajectory, and control the vehicle to drive to the location selected by the user and park at an available idle location within a certain range of a preset radius value RstopPick near that location.

[0138] Optionally, the central control unit 15 can also be used to generate parking information after the vehicle parks at the specified location and send it to the client device 3 through the remote control unit 16 and the wireless network 4.

[0139] Optionally, the central control unit 15 can also be used to control the vehicle to turn off the engine and wait for parking after the user confirms the arrival of the vehicle.

[0140] In the on - site takeover summons mode, the client device can be used to provide the user with an on - site takeover information interface. The on - site takeover information interface includes four parts: interface name, client device prompt information, map schematic and interaction area, and operation buttons; the map schematic and interaction area is a custom map. The user can click on the map to specify the desired vehicle docking position; or can select their current position as the desired vehicle docking position; the operation buttons are "Confirm" and "Return"; and after the user clicks the operation button, a function activation instruction is sent to the central control unit.

[0141] Optionally, the client device 3 can also be used to provide a vehicle arrival confirmation button after the user discovers that the vehicle has reached the designated location to confirm whether the vehicle has arrived.

[0142] The field device 2 can be used to confirm whether to take over on the application program of the field device after receiving the field takeover request sent by the client device; the field device 2 sends the confirmation information of whether the field has taken over to the client device 3 through the wireless network 4.

[0143] The field device 2 can also be used to send the field takeover request to the central control unit 15 through the wireless network 4 and the telematics processor 16.

[0144] The field device 2 can read the video information of the vision sensor group 11 through the wireless network 4, the telematics processor 16 and the central control unit 15.

[0145] The field staff performs remote controlled parking on the field driving simulation device according to the read video information of the vision sensor group 11 on the display of the field server, generating a remote controlled parking control instruction; the remote controlled parking control instruction includes steering wheel, throttle, and brake instructions; the remote controlled parking control instruction is sent to the central control unit 15 through the wireless network 4 and the telematics processor 16 to control the vehicle driving and parking.

[0146] Optionally, the central control unit 15 can also be used to generate parking information after the vehicle stops at the designated location and send it to the client device 3 through the remote control unit 16 and the wireless network 4.

[0147] Optionally, the central control unit 15 can also be used to control the vehicle to turn off the engine and wait for parking after the user confirms the arrival of the vehicle.

[0148] As an embodiment of the present invention, the working mode of the system can also include an emergency stop mode.

[0149] In the emergency stop mode, the client device can be used to provide an emergency stop prompt interface for the user. The emergency stop prompt interface includes four parts: interface name, client device prompt information, video screen operation buttons; in a specific embodiment, the interface name is "Emergency Stop Prompt"; the video screen is the video screen around the vehicle read by the camera module; the operation buttons are "Return to the state before emergency stop" and "Return to function activation"; and after the user clicks the operation button, a function activation instruction is sent to the central control unit.

[0150] The client device can also be used to provide an accident alarm interface for the user. The accident alarm interface includes four parts: interface name, client device prompt information, video screen, and operation buttons; the video screen is the video screen of the vehicle's surroundings read by the camera module; the operation buttons can be displayed as "Navigation" for example.

[0151] The client device can also be used to provide an accident location navigation interface for the user when the user clicks the navigation button in the accident alarm interface. The accident location navigation interface includes four parts: interface name, client device prompt information, map schematic, and operation buttons; the map schematic shows the current positions of the user and the vehicle in real time and the recommended route between the user's current position and the vehicle's current position; one embodiment of the operation buttons is "Real-time Video" and "Exit". After the user clicks the real-time video button, it jumps to the accident alarm interface. When the user clicks the "Exit" button, the client application is exited.

[0152] The central control unit 15 is used to control the emergency stop of the vehicle.

[0153] The central control unit 15 can also be used to obtain the vehicle surrounding environment information through the vision sensor group, obtain the longitudinal and lateral acceleration information of the vehicle through the IMU (Inertial Measurement Unit), and use the collision detection algorithm to detect whether the vehicle has an accident. A specific example of the collision detection algorithm is that the central control unit 15 detects whether the vehicle surrounding environment (including vehicles, pedestrians, buildings, etc.) is in close contact with or interferes with the vehicle according to the video information obtained by the vision sensor group 11, and detects whether the longitudinal or lateral acceleration of the vehicle is greater than the preset threshold value aCollion through the IMU. If the vehicle surrounding environment (including vehicles, pedestrians, buildings, etc.) is in close contact with or interferes with the vehicle or the longitudinal / lateral acceleration of the vehicle is greater than the preset threshold value aCollion, it is determined that the vehicle has an accident; otherwise, it is determined that the vehicle has not had an accident.

[0154] The central control unit 15 can also be used to generate accident alarm information and send it to the client device 3 through the wireless network 4 and the remote control unit 16.

[0155] As an implementation mode of the present invention, the working mode of the system can also include a standby mode.

[0156] In the standby mode, the central control unit is used to judge whether the valet parking function is available according to the vehicle position information obtained from the positioning module and the getting-off area and valet parking area read from the map; when the valet parking function is available, generate a valet parking function available prompt information and send it to the in-vehicle prompt device to prompt the user in the vehicle that the current valet parking function is available.

[0157] The client device is used to provide a function activation interface for the user. The function activation interface includes an interface name, client device prompt information, and operation buttons; according to the selection of one of the valet parking mode, remote summon mode, and exit, a function activation instruction is sent to the central control unit.

[0158] As an embodiment of the present invention, the working mode of the system may further include a real-time monitoring mode.

[0159] In the real-time monitoring mode, the central control unit is used to obtain video data around the vehicle from the visual sensor group, and then send it to the client device through the telematics unit and the wireless network.

[0160] The client device is used to provide a real-time monitoring interface for the user. The real-time monitoring interface includes four parts: an interface name, client device prompt information, a video screen, and operation buttons; the video screen is the video screen around the vehicle read by the camera module; the operation buttons are an "emergency stop button", a "turn off real-time monitoring" button, and an "exit" button; among them, the emergency stop button is used for the user to directly control the vehicle to stop urgently; the turn off real-time monitoring button is used to turn off the monitoring video screen, and the exit button is used to exit the client application. When the user turns off the monitoring video screen, the interface jumps to a brief information prompt interface.

[0161] As an embodiment of the present invention, when the vehicle-end device includes an external prompt device, the central control unit is further used to send the current state information of the valet parking and remote summon system to the external prompt device. The external prompt device is used to receive and display the current state information of the valet parking and remote summon system from the central control unit. Among them, the current state information of the valet parking and remote summon system includes one or more of valet parking function enabling information, vehicle driving state information, and vehicle accident information.

[0162] An embodiment of the present invention also proposes an intelligent driving vehicle valet parking and remote summon method applied to the above intelligent driving vehicle valet parking and remote summon system.

[0163] The valet parking and remote summon system includes a vehicle-end device, a field-end device, and a client device. The vehicle-end device includes a visual sensor group, a millimeter-wave radar sensor group, an ultrasonic radar group, a positioning module, a central control unit, and a telematics unit. Among them, the visual sensor group, the millimeter-wave radar sensor group, and the ultrasonic radar group are used to obtain the surrounding environment information of the vehicle; the positioning module is used to obtain the vehicle position information; the central control unit stores a map, and the map includes a valet parking area, a getting-off area, a getting-on area, an approach route, an exit route, a parking search route, lane markings, and parking space information. The field-end device includes a field-end driving simulation device and a field-end server.

[0164] The valet parking and remote summon method includes a valet parking mode and a remote summon mode, where the valet parking mode includes an autonomous cruising parking sub-mode and a field-end takeover parking sub-mode.

[0165] In the autonomous cruising parking sub-mode,

[0166] When the client device detects that the user selects the "autonomous cruising" option, it sends an autonomous cruising instruction to the central control unit;

[0167] In response to receiving the autonomous cruising instruction, the central control unit controls the vehicle to enter the parking lot and drive in a loop within the parking lot according to the vehicle's surrounding environment information, vehicle position information, and the parking search route, lane markings, and parking space information in the map, detects available empty parking spaces, and controls the vehicle to park in the available empty parking space when an available empty parking space is detected.

[0168] In the field-end takeover parking sub-mode,

[0169] When the client device detects that the user selects the "field-end takeover" option, it sends a field-end takeover instruction to the field-end server;

[0170] In response to receiving the field-end takeover instruction, the field-end server receives the video information obtained by the vision sensor group from the telematics unit and displays the video information to the field-end staff; generates a remote control parking control instruction according to the operation of the field-end staff on the field-end driving simulation device, and sends the remote control parking control instruction to the central control unit;

[0171] The central control unit controls the vehicle according to the remote control parking control instruction.

[0172] The remote summon mode includes an automatic cruise docking sub-mode. In the automatic cruise docking sub-mode,

[0173] When the client device receives that the user selects the "automatic cruise docking" option and the docking location set by the user within the boarding area, it sends a vehicle summon request message to the telematics unit, where the vehicle summon request message includes the docking location;

[0174] In response to receiving the vehicle summon request message through the telematics unit, the central control unit controls the vehicle to drive to the docking location according to the vehicle's surrounding environment information, vehicle position information, and the lane markings, exit route, and boarding area included in the map.

[0175] The following combines Figures 4A - 4C , and describes a specific example of the intelligent driving vehicle valet parking and remote summon system and method proposed by the embodiments of the present invention. Figures 4A - 4CThe figure shows a schematic diagram of the mode switching state machine of the intelligent driving vehicle valet parking and remote summons system according to an embodiment of the present invention. Among them, Figure 4A It shows the top-level mode state machine diagram; Figure 4B It shows the valet parking mode state machine diagram; Figure 4C It shows the remote summons state machine diagram.

[0176] Refer to Figure 4A As shown, the state machine of the intelligent driving vehicle valet parking and remote summons method proposed by the embodiment of the present invention consists of four states and the jump relationships between them. The four states include: standby, valet parking, remote summons, and emergency stop.

[0177] 1. Standby

[0178] In the standby state, it is mainly used to detect whether the intelligent driving vehicle valet parking and remote summons system proposed by the embodiment of the present invention has entered the valet parking area. The central control unit 15 determines whether the function is available according to the vehicle position information obtained from the positioning module 14 and the alighting area and the entire valet parking area read from the map pre-stored in the central control unit 15.

[0179] When the vehicle position is inside the alighting area, it is determined that the valet parking function is available; when it is detected that the vehicle position is not inside the alighting area, continue to detect whether the vehicle enters the alighting area.

[0180] When the vehicle position is in the valet parking area, it is determined that the automatic passenger pick-up function is available; when it is detected that the vehicle position is not in the valet parking area, continue to detect whether the vehicle enters the valet parking area.

[0181] When the valet parking function is available, the central control unit 15 generates a valet parking function available prompt message and sends it to the in-vehicle prompt device 18 to prompt the user in the vehicle that the current valet parking function is available. A specific embodiment of the valet parking function available prompt message is a prompt sound, text display, or a preset icon; a specific embodiment of the text display can be "You have entered the valet parking available area. Please click the in-vehicle function activation button to activate this function and confirm to turn on the valet parking function on the mobile application."

[0182] Refer to Figure 6 , which shows a schematic diagram of the interface switching relationship of the client device of the intelligent driving vehicle valet parking and remote summons system according to an embodiment of the present invention. When the valet parking function or the automatic passenger pick-up function is available and the function is activated by clicking the in-vehicle confirmation device 19 in the vehicle, when the user opens the valet parking and remote summons application on the client device 3, refer to Figure 6, the client interface enters the function activation interface A). The function activation interface contains three parts: interface name, client device prompt information, and operation buttons; for example, the interface name can be "Function Activation"; the client device prompt information can be, for example, "In the current area, the following functions are available. Please select the vehicle actions you expect as needed:"; the operation buttons are "Valet Parking", "Remote Summon", and "Exit"; the buttons "Valet Parking" and "Remote Summon" are only clickable when the corresponding functions are available.

[0183] Refer to Figure 4A , the conditions for jumping to the standby mode are:

[0184] [Condition_01]: Default jump, jump when the vehicle starts.

[0185] [Condition_03]: The vehicle has completed valet parking.

[0186] [Condition_05]: The vehicle has completed remote summon.

[0187] [Condition_09]: After the user controls the vehicle to make an emergency stop and clicks "Return to Function Activation" on the emergency stop prompt interface.

[0188] 2. Valet Parking

[0189] The valet parking state is mainly used to control the vehicle to automatically complete the valet parking task. Refer to Figure 4B , the state machine of valet parking consists of five states and the jump relationships between them. The five states are: valet parking decision, cruising for a parking space, temporary stop, automatic parking, and field-end takeover parking.

[0190] Refer to Figure 4A , the conditions for jumping to the valet parking mode are:

[0191] [Condition_02]: When the "Valet Parking" button is clicked in the function activation interface during standby in 1.

[0192] [Condition_08]: After the user controls the vehicle to make an emergency stop and selects to return to the state before the emergency stop, and the state before the emergency stop is valet parking.

[0193] When the vehicle is in the "Valet Parking" mode, the central control unit 15 generates the current state information of the valet parking and remote summon system and sends this current state information to the external prompt device 17 and the in-vehicle prompt device 18 to respectively remind traffic participants of the current state of this vehicle, such as displaying "This vehicle is currently in the valet parking state".

[0194] 2.1 Valet Parking Decision

[0195] The valet parking decision module is mainly used for the user to select the vehicle actions they expect.

[0196] Refer to Figure 6 , when clicking the "Valet Parking" button in the function activation interface A) shown in Figure 6 and the vehicle fails to find a parking space in the cruising search mode or the automatic parking fails, the interface jumps to Figure 6 the valet parking function activation interface B) in

[0197] Refer to Figure 4B , the conditions for jumping to the valet parking decision mode are as follows:

[0198] [Condition_13]: After entering the valet parking mode, it defaults to jump to this module;

[0199] [Condition_20]: No available parking space is found in the cruising search mode;

[0200] [Condition_21]: The automatic parking fails to park correctly into the parking space.

[0201] 2.2 Cruising Search

[0202] The cruising search state is mainly used to control the vehicle to cruise in the parking lot to find an idle parking space.

[0203] Refer to Figure 6 , when clicking the "Autonomous Cruising Parking" button in the valet parking function activation interface B) shown in Figure 6 the interface jumps to the autonomous cruising parking information interface. The autonomous cruising parking information interface D) may include: interface name, client device prompt information, cruising exit condition setting, and operation buttons; the interface name may be, for example, "Autonomous Cruising Parking"; the client device prompt information may be, for example, "You have selected to let the vehicle park autonomously in the parking lot. Please select the vehicle cruising exit condition:"; the cruising exit condition setting is used to provide the user with the option to input the maximum time for the expected vehicle to exit the cruise or the maximum number of laps for cruising around the field. In this embodiment, it is to set the cruising cut-off time; the operation buttons may include, for example, "Confirm" and "Return"; when the user clicks the confirm button, the interface switches to the real-time monitoring interface; when the user clicks the return button, the interface switches to the valet parking function activation interface.

[0204] Refer to Figure 4B, the conditions for jumping to the cruising and positioning mode are as follows:

[0205] [Condition_18]: When the "Autonomous Cruising Parking" button is clicked in the valet parking function activation interface in 2. Valet Parking;

[0206] [Condition_19]: After the user controls the vehicle to make an emergency stop, select to return to the state before the emergency stop in the emergency stop prompt interface, and the state before the emergency stop is cruising and positioning;

[0207] Cruising and positioning can include: entry cruise, cruising, and parking space detection.

[0208] 2.2.1 Entry Cruise

[0209] The central control unit 15 obtains the environmental information around the vehicle through the vision sensor group 11, millimeter wave radar sensor group 12, and ultrasonic radar sensor group 13; the central control unit 15 obtains the vehicle position information through the positioning module 14; the central control unit 15 reads the pre-stored map information; the central control unit 15 adopts an intelligent driving algorithm, and according to the environmental information around the vehicle, the vehicle position information, and the map information, refers to the preset entry route in the map, avoids static and dynamic obstacles in real time, generates a correct driving trajectory, and controls the vehicle to enter the parking lot. The intelligent driving algorithm is a commonly used algorithm in the field of intelligent driving, and specifically includes algorithm modules such as perception, prediction, planning and decision-making, and control.

[0210] 2.2.2 Cruising

[0211] After the vehicle enters the parking lot, the central control unit 15 adopts an intelligent driving algorithm, and according to the environmental information around the vehicle, the vehicle position information, and the map information, refers to the preset positioning route in the map, avoids static and dynamic obstacles in real time, generates a correct driving trajectory, and controls the vehicle to drive in a loop in the parking lot.

[0212] 2.2.3 Parking Space Detection

[0213] When the vehicle is driving in the parking lot according to the preset positioning route in the map, the central control unit 15 adopts a positioning algorithm to detect in real time whether there are any available parking spaces around the vehicle.

[0214] Reference Figure 5 , which shows a schematic diagram of the positioning algorithm principle of the intelligent driving vehicle valet parking and remote summons system according to the embodiment of the present invention. The positioning algorithm is divided into the following steps:

[0215] a) Available Parking Space Detection

[0216] The central control unit 15 obtains the vehicle's position information through the positioning module 14; the central control unit 15 reads the map information. Then, the central control unit 15 compares the vehicle's position information with the standard parking position information in the nearest parking space in the map. When the vehicle's position is within the range covered by a circle centered on the standard parking position in the parking space and with a preset threshold value RParkSpace as the radius, the central control unit 15 obtains the environmental information around the vehicle through the vision sensor group 11, the millimeter-wave radar sensor group 12, and the ultrasonic radar sensor group 13, and determines whether the parking space near the vehicle is available according to the environmental information.

[0217] If the parking space is not available, continue with a) detecting available parking spaces; at the same time, detect the cruising state of the vehicle. The cruising state detection respectively detects the cruising weeks and the cruising duration of the vehicle.

[0218] Cruising weeks

[0219] The central control unit 15 obtains the vehicle's position information through the positioning module 14. The central control unit 15 reads the pre-stored map information. Then, the central control unit 15 compares the vehicle's driving trajectory with the map information to determine the number of weeks the vehicle has driven around the parking lot.

[0220] If the number of weeks the vehicle has driven around the parking lot is greater than the predetermined number of weeks input by the user in the autonomous cruising parking information interface in 2.1 valet parking decision-making, it is determined that the predetermined number of weeks has been exceeded; if the number of weeks the vehicle has driven around the parking lot is not greater than the predetermined number of weeks, it is determined that the predetermined number of weeks has not been exceeded.

[0221] Cruising duration

[0222] The central control unit 15 checks whether the current time exceeds the autonomous cruising cut-off time input by the user in the autonomous cruising parking information interface in 2.1 valet parking decision-making. If the current time exceeds the autonomous cruising cut-off time, the cruising is timed out; if the current time does not exceed the autonomous cruising cut-off time, the cruising is not timed out.

[0223] If the central control unit 15 detects that the vehicle has cruised for more than the predetermined number of weeks or the cruising is timed out and no available parking space has been found yet, the central control unit 15 generates a no available parking space prompt message and sends it to the client device 3 through the telematics processor 16 and the wireless network 4; after receiving the no available parking space prompt message, the client device jumps to the 2.1 valet parking decision-making state;

[0224] If the parking space is available, jump to the following step b.

[0225] b) Detect the drivable area

[0226] The central control unit 15 obtains the environmental information around the vehicle through the vision sensor group 11, the millimeter-wave radar sensor group 12, and the ultrasonic radar sensor group 13, and determines the drivable area of the vehicle under the current conditions according to the environmental information.

[0227] c) Calculate the parking-in trajectory

[0228] The central control unit 15 takes the position in the vehicle position information as the starting position and the current orientation of the vehicle as the starting orientation; takes the standard parking position in the identified vacant parking space in step a as the end point and the standard parking direction in the parking space as the end orientation, and calculates the parking-in trajectory from the starting point to the end point using the parking trajectory algorithm. A specific example of the parking trajectory algorithm can be a trajectory formed by a combination of a constant-curvature curve and a straight line.

[0229] d) Calculate the space required for parking in

[0230] The central control unit 15 takes the center position of the vehicle coordinates as the moving center and draws a rectangle with the preset vehicle size information (L, W). This rectangle is the vehicle outline. Move the vehicle outline along the parking-in trajectory obtained in step c above to obtain the envelope of the space required for parking in, which is the space required for parking in.

[0231] e) Search position determination

[0232] The central control unit 15 compares the drivable area calculated in step b above and the space required for parking in calculated in step d above. When the space required for parking in is completely within the drivable area, it is determined that the vehicle has found an available parking space; if the space required for parking in exceeds the range of the drivable area, it is determined that the vehicle has not found an available parking space.

[0233] If no available parking space is found, jump to a;

[0234] If an available parking space is found, jump to 2.3 Automatic Parking.

[0235] 2.3 Automatic Parking

[0236] The automatic parking state is mainly used to control the vehicle to park in the available parking space after the vehicle has found an available parking space.

[0237] Refer to Figure 4B , the condition for jumping to the automatic parking state is:

[0238] [Condition_22]: A vacant parking space has been found during the cruising search for a parking space.

[0239] Automatic parking can include: parking in, parking state detection, and parking state notification process.

[0240] 2.3.1 Parking in

[0241] The central control unit 15 controls the vehicle to park in the parking space according to the calculated parking trajectory in 2.2.3 by using intelligent driving algorithms.

[0242] 2.3.2. Parking state detection

[0243] The central control unit 15 compares the positioning information (including position and orientation) output by the positioning module 14 with the standard parking position and the standard parking direction within the parking space in the parking space information in the map. When the distance between the position in the positioning information and the standard parking position within the parking space is not greater than the preset threshold value ParamDistStop and the angular difference between the orientation in the positioning information and the standard parking direction within the parking space is not greater than the preset threshold value ParamAngStop, it is determined that the vehicle has successfully parked in the parking space; when the distance between the position in the positioning information and the standard parking position within the parking space is greater than the preset threshold value ParamDistStop or the angular difference between the orientation in the positioning information and the standard parking direction within the parking space is greater than the preset threshold value ParamAngStop, it is determined that the vehicle's parking in the parking space fails.

[0244] 2.3.3. Parking state notification

[0245] The central control unit 15 generates parking state notification information, and the information is sent to the client device 3 through the telematics unit 16 and the wireless network 4; the parking state notification information can be displayed as, for example, "The vehicle has been parked in the parking space" or "The vehicle's automatic parking has failed".

[0246] 2.4 Temporary stop

[0247] The temporary stop state is mainly used to control the vehicle to stop at a user-specified location.

[0248] Refer to Figure 6 , when the "Temporary Stop" button is clicked in the valet parking function activation interface B) shown in Figure 6 , the interface jumps to the temporary stop information interface. The temporary stop information interface may include: interface name, client device prompt information, map schematic and interaction area, and operation buttons. The interface name can be, for example, "Temporary Stop"; the client device prompt information can be, for example, "You have selected temporary stop. Please select a roadside parking location on the following map, and the vehicle will automatically drive to the vicinity of the location you specified: "; the map schematic and interaction area includes a custom map and a schematic diagram of the vehicle's current position. The user can click on the map to specify the desired vehicle parking position; the operation buttons can include "Confirm" and "Return". When the user clicks the Confirm button, the interface switches to the real-time monitoring interface; when the user clicks the Return button, the interface switches to the valet parking function activation interface.

[0249] The conditions for jumping to the temporary stop mode are:

[0250] [Condition_14]: When the "Temporary Stop" button is clicked in the valet parking decision information interface in 2. Valet Parking;

[0251] [Condition_15]: After the user controls the vehicle to make an emergency stop and selects to return to the state before the emergency stop in the emergency stop prompt interface, and the state before the emergency stop is temporary stop.

[0252] Temporary stop can include pulling over and notifying the user of pulling over.

[0253] 2.4.1 Pulling Over

[0254] The central control unit 15 uses intelligent driving algorithms. According to the vehicle's surrounding environment information, the vehicle's position information, and the map information, referring to the preset positioning route in the map, it avoids static and dynamic obstacles in real time, generates the correct driving trajectory, and controls the vehicle to drive in the parking lot to the location selected by the user in the temporary stop information interface in 2.4 Temporary Stop, and parks at an idle position within a certain range of a preset radius value Rstop near that location.

[0255] 2.4.2 Notifying the User of Pulling Over

[0256] After the vehicle stops, the central control unit 15 generates pulling-over information and sends it to the client device 3 through the telematics processor 16 and the wireless network 4. The pulling-over information can be displayed, for example, as "Your vehicle has been successfully parked at the designated location".

[0257] 2.5 Field-End Takeover of Parking

[0258] The field-end takeover state is mainly used for field-end staff to control the vehicle to search for a parking space and park in the parking lot on the field-end device 2.

[0259] Refer to Figure 6 , when the "Field-End Takeover" button is clicked in the valet parking function activation interface B) shown in Figure 6 , the interface jumps to the field-end takeover information interface. The field-end takeover information interface can include: interface name, client device prompt information, and operation buttons. The interface name can be, for example, "Field-End Takeover"; the client device prompt information can be, for example, "Your field-end takeover request has been accepted by the parking lot. Please select whether to perform a field-end takeover;" or "Your field-end takeover request has been rejected by the parking lot. The interface will jump to the valet parking decision information interface". The operation buttons can include "Confirm" and "Return". When the user clicks the confirm button, the interface switches to the brief information prompt interface; when the user clicks the return button, the interface switches to the valet parking function activation interface.

[0260] The brief information prompt interface may include: an interface name, client device prompt information, and operation buttons. The interface name may be, for example, "Brief Information Prompt". The client device prompt information may be, for example, "The vehicle with license plate number XXXXX is being taken over for parking by the field end". The operation buttons may include, for example, "Return to Real-time Monitoring" and "Exit". When the user clicks the "Return to Real-time Monitoring" button, it jumps to the real-time monitoring interface. When the user clicks the "Exit" button, the client application is exited.

[0261] The conditions for jumping to the field-end takeover mode are as follows:

[0262] [Condition_16]: When the "Field-end Takeover" button is clicked in the valet parking decision information interface in 2. Valet Parking.

[0263] Field-end takeover may include: field-end takeover confirmation, field-end takeover parking, and parking-in-position notification.

[0264] 2.5.1. Field-end takeover confirmation

[0265] After the user clicks the "Confirm" button in the field-end takeover information interface of the valet parking and remote summon application on the client device, the client sends a takeover request to the field-end device 2 through the wireless network 4.

[0266] After the field-end device 2 receives the field-end takeover request, the field-end staff confirms whether to take over on the application of the field-end device; the field-end device 2 sends the confirmation information of whether the field end takes over to the client device 3 through the wireless network 4.

[0267] 2.5.2 Field-end takeover parking

[0268] The field-end device 2 sends the field-end takeover request to the central control unit 15 through the wireless network 4 and the telematics processor 16.

[0269] The field-end device 2 reads the video information of the vision sensor group 11 through the wireless network 4, the telematics processor 16, and the central control unit 15.

[0270] The field-end staff remotely controls the parking on the field-end driving simulation device according to the read video information of the vision sensor group 11 on the monitor of the field-end server, generating a remote control parking control instruction; the remote control parking control instruction includes steering wheel, throttle, and brake instructions; the remote control parking control instruction is sent to the central control unit 15 through the wireless network 4 and the telematics processor 16 to control the vehicle to park.

[0271] 2.5.3. Parking-in-position notification

[0272] The central control unit 15 generates a successful parking-in-place prompt message and sends it to the client device 3 through the telematics unit 16 and the wireless network 4; the successful parking-in-place prompt message can be displayed as, for example, "The current vehicle has completed parking in place."

[0273] 3. Remote Summon

[0274] The remote summon mode is mainly used to control the vehicle to drive to the position specified by the user. Refer to Figure 4C , the state machine of the remote summon consists of three states and the jump relationships between them. The three states are: remote summon decision, automatic cruise docking, and field-end takeover summon.

[0275] Refer to Figure 4A , the conditions for jumping to the remote summon mode are:

[0276] [Condition_04]: When the "Remote Summon" button is clicked in the function activation interface in 1. Standby;

[0277] [Condition_12]: After the user controls the vehicle to make an emergency stop and selects to return to the state before the emergency stop in the emergency stop prompt interface, and the state before the emergency stop is remote summon.

[0278] When the user presses the "Remote Summon" button, the central control unit 15 generates the current state information of the valet parking and remote summon system and simultaneously sends the current state information of the valet parking and remote summon system to the out-of-vehicle prompt device 17 and the in-vehicle prompt device 18 to respectively remind traffic participants of the current state of this vehicle.

[0279] 3.1 Remote Summon Decision

[0280] The remote summon decision module is mainly used for the user to select the vehicle actions they expect.

[0281] Refer to Figure 6 , when the "Remote Summon" button in the function activation interface A) shown in Figure 6 is clicked, the interface jumps to the remote summon function activation interface. The remote summon function activation interface can include: interface name, client device prompt information, and operation buttons. The interface name can be, for example, "Remote Summon Function Activation". The client device prompt information can be, for example, "The remote summon function has been activated. Please select the vehicle actions you expect:". The operation buttons can include, for example, "Automatic Cruise Docking", "Field-End Takeover", and "Return".

[0282] Refer to Figure 4C , the conditions for jumping to the remote summon decision mode are:

[0283] [Condition_23]: After entering the remote summon mode, it defaults to jumping to this module;

[0284] [Condition_26]: Automatic cruise docking fails.

[0285] 3.2 Automatic cruise docking

[0286] The automatic cruise docking status is mainly used to control the vehicle to dock at a location specified by the user to complete the passenger pick-up task.

[0287] Refer to Figure 6 , when clicking the "Automatic Cruise Docking" button in the remote summon function activation interface C) shown in Figure 6 , the interface jumps to the automatic cruise docking information interface. The automatic cruise docking information can include: interface name, client device prompt information, map schematic and interaction area, and operation buttons. The interface name can be, for example, "Automatic Cruise Docking". The client device prompt information can be, for example, "Please select the automatic passenger pick-up location on the following map;". The map schematic and interaction area includes a custom map and a schematic diagram of the current position of the vehicle. The user can click on the map to specify the desired vehicle docking position. The operation buttons can include "Confirm" and "Return". When the user clicks the Confirm button, the interface switches to the real-time monitoring interface. When the user clicks the Return button, the interface switches to the remote summon function activation interface.

[0288] The conditions for jumping to the automatic cruise docking mode can include:

[0289] [Condition_24]: When clicking the "Automatic Cruise Docking" button in the remote summon function activation interface during automatic passenger pick-up;

[0290] [Condition_25]: After the user controls the vehicle to make an emergency stop and selects to return to the state before the emergency stop on the emergency stop prompt interface, and the state before the emergency stop is automatic cruise docking.

[0291] Automatic cruise docking can include the following steps:

[0292] a) Cruise docking

[0293] After the user sets the pick-up location at the boarding area in the map display and interaction area of the valet parking and remote summon application on the client device 3 and clicks the "Confirm" button, the client device 3 sends the vehicle summon request information to the central control unit 15 through the wireless network 4 and the remote control unit 16; the central control unit 15 obtains the environmental information around the vehicle through the vision sensor group 11, the millimeter wave radar sensor group 12, and the ultrasonic radar sensor group 13; the central control unit 15 obtains the vehicle position information through the positioning module 14; the central control unit 15 reads the pre-stored map information; the central control unit 15 uses intelligent driving algorithms, according to the environmental information around the vehicle, the vehicle position information, and the map information, referring to the preset vehicle search route and exit route in the map, to avoid static and dynamic obstacles in real time, generate the correct driving trajectory, and control the vehicle to drive to the location selected by the user in 3.1 and park at an available idle location within a certain range of a preset radius value RstopPick near the location. The intelligent driving algorithms are common algorithms in the field of intelligent driving, and specifically include algorithm modules such as perception, prediction, planning and decision-making, and control.

[0294] b) Arrival notification

[0295] After the vehicle stops, the central control unit 15 generates parking information and sends it to the client device 3 through the remote control unit 16 and the wireless network 4; the parking information includes a prompt message that the vehicle has arrived at the specified location and map information with the vehicle position information; a specific example of the prompt message that the vehicle has arrived at the specified location is "Your vehicle with license plate number XXXXX has arrived at the location shown in the following map. Please go to this location and take over the vehicle."

[0296] c) Arrival confirmation

[0297] After the customer views the vehicle position on the client device 3 and arrives near the vehicle according to the map guidance. Then, the user clicks the preset vehicle arrival confirmation button on the client device 3 to confirm whether the vehicle has arrived.

[0298] d) Parking and waiting

[0299] The central control unit 15 controls the vehicle to turn off the engine and park and wait.

[0300] 3.3 Field takeover and summon

[0301] The field takeover and summon status is mainly used for field staff to control the vehicle to drive to the user-specified location and park on the field device 2.

[0302] Refer to Figure 6 when in Figure 6When the "Field End Takeover" button is clicked in the remote summon function activation interface C) shown, the interface jumps to the field end takeover information interface. The field end takeover information interface may include: interface name, client device prompt information, map schematic and interaction area, and operation buttons. The interface name may be, for example, "Field End Takeover Summon". The client device prompt information may be, for example, "Your field end takeover request has been accepted by the parking lot. Please select the passenger pick-up location on the following map;". Another example of the client device prompt information may be "Your field end takeover request has been rejected by the parking lot. It will jump to the remote summon function activation interface". The map schematic and interaction area is a custom map where the user can click on the map to specify the desired vehicle parking location; or can select their current location as the desired vehicle parking location. The operation buttons may include "Confirm" and "Return". When the user clicks the confirm button, the interface switches to the brief information interface; when the user clicks the return button, the interface switches to the remote summon function activation interface.

[0303] The conditions for jumping to the field end takeover passenger pick-up mode are:

[0304] [Condition_27]: When the "Field End Takeover" button is clicked in the remote summon function activation interface in 3. Automatic Passenger Pick-up.

[0305] Field end takeover may include: field end takeover confirmation and field end takeover parking.

[0306] 3.3.1. Field End Takeover Confirmation

[0307] After the field end device 2 receives the field end takeover request sent in 3.1, the field end staff confirms whether to take over on the application of the field end device 2. The field end device 2 sends the confirmation information of whether the field end takes over to the client 3 device through the wireless network 4.

[0308] When the vehicle end takeover request is responded to, jump to step 3.2.2;

[0309] When the field end takeover fails, jump to step 3.1.

[0310] 3.3.2 Field End Takeover Parking

[0311] The field end device 2 sends the field end takeover request to the central control unit 15 through the wireless network 4 and the telematics unit 16.

[0312] The field end device 2 reads the video information of the vision sensor group 11 through the wireless network 4, the telematics unit 16, and the central control unit 15.

[0313] Field staff perform remote controlled parking on the field-end driving simulation device based on the video information read by the visual sensor group 11 on the monitor of the field-end server, and generate remote controlled parking control instructions; the remote controlled parking control instructions include steering wheel, throttle, and brake instructions; the remote controlled parking control instructions are sent to the central control unit 15 through the wireless network 4 and the telematics processor 16 to control the vehicle driving and parking.

[0314] 3.3.3. Parking in Place Notification

[0315] The central control unit 15 generates a successful parking in place prompt message and sends it to the client device 3 through the telematics processor 16 and the wireless network 4. The successful parking in place prompt message can be displayed as, for example, "The current vehicle has completed parking in place".

[0316] The central control unit 15 generates a parking status notification message, and the message is sent to the client device 3 through the telematics processor 16 and the wireless network 4.

[0317] a) Vehicle Arrival Confirmation

[0318] After the customer views the vehicle position on the client device 3 and arrives near the vehicle according to the map guidance. Then, the user clicks the preset vehicle arrival confirmation button on the client device 3 to confirm whether the vehicle has arrived.

[0319] b) Parking and Waiting

[0320] The central control unit 15 controls the vehicle to turn off the engine and park and wait.

[0321] 4 Emergency Stop

[0322] Emergency stop is mainly used to control the vehicle to stop urgently, and can include two situations: user-triggered braking and accident-triggered braking.

[0323] Refer to Figure 4A , and the conditions for jumping to the emergency stop mode are:

[0324] [Condition_06]: When the emergency stop button in the real-time monitoring interface is pressed in the valet parking mode;

[0325] [Condition_10]: When the emergency stop button in the real-time monitoring interface is pressed in the remote summon mode;

[0326] [Condition_07]: When the central control unit 15 detects that the vehicle has an accident in the valet parking mode;

[0327] [Condition_11]: When the central control unit 15 detects that the vehicle has an accident in the remote summon mode.

[0328] 4.1 User-Triggered Braking

[0329] When the user discovers a collision risk of the vehicle in the real-time monitoring screen of the client device, the user can control the vehicle to stop urgently by clicking the emergency stop button in the real-time monitoring interface. When the user clicks the emergency stop button, the interface will simultaneously jump to the emergency stop prompt interface.

[0330] Figure 6 The emergency stop prompt interface J) in can include: interface name, client device prompt information, video screen operation buttons. The interface name can be, for example, "Emergency Stop Prompt". The client device prompt information can be, for example, "Your vehicle with license plate number XXXXX has stopped urgently. The following is the real-time video of the on-vehicle camera". The video screen can include the video of the surrounding of the vehicle read by the camera module. The operation buttons can include, for example, "Return to the state before emergency stop" and "Return to function activation". Among them, when the user clicks the button to return to the state before emergency stop, the interface will jump to the real-time monitoring interface, and at the same time, the vehicle will return to the control state before emergency stop. For example, if the vehicle was in autonomous cruising and parking before emergency stop, when clicking the button to return to the state before emergency stop, the vehicle will continue autonomous cruising and parking; when the user clicks to return to function activation, the interface will jump to the function activation interface.

[0331] When the user clicks the emergency stop button, the client device sends an emergency stop request to the central control unit through the wireless network and the telematics processor, and the central control unit controls the vehicle to stop urgently.

[0332] 4.2 Accident-triggered Braking

[0333] Accident-triggered braking is mainly used to monitor in real time whether an accident occurs to the vehicle during valet parking or automatic passenger pick-up, and to notify the user in time after an accident.

[0334] During the entire process when the valet parking or automatic passenger pick-up function is activated, the central control unit 15 obtains the surrounding environment information of the vehicle through the vision sensor group, obtains the longitudinal and lateral acceleration information of the vehicle through the IMU, and uses the collision detection algorithm to detect whether an accident occurs to the vehicle. A specific example of the collision detection algorithm is that the central control unit 15 detects whether the surrounding environment of the vehicle (including vehicles, pedestrians, buildings, etc.) is in close contact with or interferes with the vehicle based on the video information obtained by the vision sensor group 11, and detects whether the longitudinal or lateral acceleration of the vehicle is greater than the preset threshold value aCollion through the IMU. If the surrounding environment of the vehicle (including vehicles, pedestrians, buildings, etc.) is in close contact with or interferes with the vehicle or the longitudinal / lateral acceleration of the vehicle is greater than the preset threshold value aCollion, it is determined that an accident has occurred to the vehicle; otherwise, it is determined that no accident has occurred to the vehicle.

[0335] If it is determined that an accident has occurred to the vehicle, jump to step 4.1.

[0336] 4.2.1 Emergency Stop

[0337] The central control unit 15 uses an intelligent driving algorithm to control the vehicle to stop immediately.

[0338] 4.2.2 Accident Alarm

[0339] The central control unit 15 generates accident alarm information and sends it to the client device 3 through the wireless network 4 and the remote control unit 16.

[0340] After detecting that an accident has occurred to the vehicle, the interface jumps to the accident alarm interface.

[0341] The accident alarm interface may include: interface name, client device prompt information, video picture, and operation buttons. The interface name may be, for example, "Accident Alarm". The client device prompt information may be displayed as, for example, "An accident has occurred to your vehicle with license plate number XXXXX. The following is the real-time monitoring picture:". The video picture may be, for example, the video picture around the vehicle read by the camera module. The operation buttons may include, for example, "Navigation".

[0342] When the user clicks the navigation button in the accident alarm interface, it jumps to the accident location navigation interface. The accident location navigation interface may include: interface name, client device prompt information, map schematic, and operation buttons. The interface name may be, for example, "Accident Location Navigation Interface". The client device prompt information may be, for example, "An accident has occurred at the following location of your vehicle with license plate number XXXXX". The map schematic shows the current positions of the user and the vehicle in real time and the suggested route between the user's current position and the vehicle's current position. The operation buttons may include, for example, "Real-time Video" and "Exit". When the user clicks the real-time video button, it jumps to the accident alarm interface. When the user clicks the "Exit" button, the client application is exited.

[0343] The accident alarm process can detect whether an accident has occurred to the vehicle itself. After detecting that an accident has occurred to the vehicle itself, it pulls over and notifies the user, improving the efficiency of accident handling.

[0344] 5. Real-time Monitoring

[0345] After the user clicks the "Confirm" button in the autonomous cruising parking information interface, temporary parking information interface, or automatic cruise docking interface, it jumps to the real-time monitoring interface.

[0346] In the real-time monitoring interface, the central control unit 15 obtains the video data around the vehicle from the vision sensor group 11, and then sends it to the client device 3 through the telematics unit 16 and the wireless network 4.

[0347] Refer to Figure 6, the real-time monitoring interface I) may include: an interface name, client device prompt information, a video screen, and operation buttons. The interface name may be, for example, "Real-time Monitoring". The client device prompt information may be displayed, for example, as "Your vehicle with license plate number XXXXX is parking. The following is the real-time video of the in-vehicle camera". The video screen may be a video of the surrounding of the vehicle read by the camera module. The operation buttons may include an "Emergency Stop Button", a "Close Real-time Monitoring", and an "Exit". Among them, the emergency stop button is used for the user to directly control the vehicle to stop urgently; the close real-time monitoring button is used to close the monitoring video screen, and the exit button is used to exit the client application.

[0348] When the user closes the monitoring video screen, the interface jumps to Figure 6 the brief information prompt interface K) shown.

[0349] The intelligent driving vehicle valet parking and remote summoning system proposed by the embodiments of the present invention can use the client device to monitor the parking process in real time. The user can control the vehicle to stop urgently on the client side, improving safety.

[0350] Referring to Figure 7 , which shows an example sensor layout diagram of the intelligent driving vehicle valet parking and remote summoning system according to the embodiments of the present invention. The following describes the example installation positions and fixing methods of the components of the valet parking and remote summoning system in conjunction with Figure 7 the example installation positions and fixing methods of the components of the valet parking and remote summoning system.

[0351] The fixed positions of the binocular camera and the multi-functional camera in the vision sensor group 11 include, but are not limited to, the front windshield 503. The fixed positions of the surround-view camera in the vision sensor group 11 may be one or more of the following positions: the right rearview mirror housing 504, the left rearview mirror housing 505, the vehicle's right B-pillar 507, the vehicle's left B-pillar 508, the vehicle's right C-pillar 509, the vehicle's left C-pillar 510, and the rear bumper 511. The fixing method may be snap connection, bonding, screw connection, or welding.

[0352] The fixed positions of the short-range in-vehicle millimeter-wave radar in the millimeter-wave radar sensor group 12 may be one or more of the following: the left fender 513, the right fender 512, the front bumper 501, below the left side of the vehicle's left C-pillar 510, and below the right side of the vehicle's right C-pillar 509. The fixed position of the long-range in-vehicle millimeter-wave radar in the millimeter-wave radar sensor 12 may be the front bumper 501 and / or the radiator grille 502. The fixing method may be snap connection, bonding, screw connection, or welding.

[0353] The fixed positions of the ultrasonic radar in the ultrasonic radar sensor group 13 may be the front bumper 501 and / or the rear bumper 511. The fixing method may be snap connection, bonding, or welding.

[0354] In Figure 7 the example of, the vision sensor group 11 includes: a binocular camera 1101, a first surround camera 1102, a second surround camera 1103, a third surround camera 1104, a fourth surround camera 1105, and a multi-functional camera 1106. The millimeter-wave radar sensor group 12 includes: a first short-range vehicle-mounted millimeter-wave radar 1201, a second short-range vehicle-mounted millimeter-wave radar 1202, a third short-range vehicle-mounted millimeter-wave radar 1203, a fourth short-range vehicle-mounted millimeter-wave radar 1204, and a long-range vehicle-mounted millimeter-wave radar 1205. The ultrasonic radar group 13 includes: a first ultrasonic radar 1301, a second ultrasonic radar 1302, a third ultrasonic radar 1303, a fourth ultrasonic radar 1304, a fifth ultrasonic radar 1305, a sixth ultrasonic radar 1306, a seventh ultrasonic radar 1307, an eighth ultrasonic radar 1308, a ninth ultrasonic radar 1309, a tenth ultrasonic radar 1310, an eleventh ultrasonic radar 1311, and a twelfth ultrasonic radar 1312.

[0355] The binocular camera 1101 and the multi-functional camera 1106 are fixed on the front windshield 503. The first surround camera 1102 and the second surround camera 1103 are respectively fixed on the right rearview mirror housing 504 and the left rearview mirror housing 505. The third surround camera 1104 and the fourth surround camera 1105 are respectively fixed on the vehicle's right B-pillar 507 and the vehicle's left B-pillar 508. The first short-range vehicle-mounted millimeter-wave radar 1201 and the second short-range vehicle-mounted millimeter-wave radar 1202 are respectively fixed on the right fender 512 and the left fender 513. The third short-range vehicle-mounted millimeter-wave radar 1203 and the fourth short-range vehicle-mounted millimeter-wave radar 1204 are respectively fixed below the vehicle's right C-pillar 509 and the vehicle's left C-pillar on the side body. The long-range vehicle-mounted millimeter-wave radar 1205 is fixed on the radiator grille 502. The first ultrasonic radar 1301, the second ultrasonic radar 1302, the third ultrasonic radar 1303, the fourth ultrasonic radar 1304, the fifth ultrasonic radar 1305, the sixth ultrasonic radar 1306, the seventh ultrasonic radar 1307, the eighth ultrasonic radar 1308, the ninth ultrasonic radar 1309, the tenth ultrasonic radar 1310, the eleventh ultrasonic radar 1311, and the twelfth ultrasonic radar 1312 are respectively fixed on the front bumper 501 and the rear bumper 511. The fixing method can be snap connection, welding, bonding, or screw connection.

[0356] The central control unit 15 can be fixed under the vehicle's center console or in the trunk. The fixing method can be snap connection, bonding, screw connection, bolt connection, or welding.

[0357] The external warning device 17 can be fixed outside the vehicle roof. The fixing method can be bonding, bolt connection, or welding.

[0358] The fixed position of the in-vehicle confirmation device 19 can be one or more of the following: the multi-functional button area of the steering wheel, the in-vehicle central control area, and the area around the in-vehicle gear shifter. The fixing method can be snap connection, bonding, screw connection or welding.

[0359] The intelligent driving vehicle valet parking and remote summons system and method proposed by the embodiments of the present invention have the following beneficial effects: The user can get off the vehicle outside the parking lot, and the vehicle can enter the parking lot by itself to find a parking space, solving the problem of long waiting before entering the parking lot; The vehicle can independently find a parking space and drive into the available parking space, solving the problems of difficult parking space searching and difficult parking in the parking lot; When the vehicle fails to find an available parking space, it can cruise autonomously, be taken over by the field end or taken over by the user according to the user's choice, providing multiple options for the user to make decisions according to the actual situation; The automatic passenger pick-up function is realized, solving the problem of long waiting when leaving the parking lot. In addition, it has less dependence on the field end and requires less modification of the field end. Multiple sensors such as a vision sensor group, a millimeter wave radar sensor group, and an ultrasonic radar group are used for perception, improving the accuracy of perception.

[0360] For illustrative purposes, the foregoing description of the embodiments of the present invention has been given, which is not exhaustive and is not intended to limit the present invention to the exact form disclosed. Those skilled in the art can understand that various changes can be made without departing from the scope of the present invention, and the elements therein can be replaced with equivalents. In addition, many modifications can be made to adapt a particular situation or material to the teachings of the present invention without departing from the basic scope of the present invention. Therefore, the present invention is not intended to be limited to the particular embodiments disclosed as the best mode contemplated for carrying out the present invention, and the present invention will include all embodiments falling within the scope of the appended claims.

Claims

1. An intelligent driving vehicle valet parking and remote summons system, characterized in that, The valet parking and remote summons system includes a vehicle-side device, a site-side device, and a client device. The vehicle-side device includes a vision sensor group, a millimeter-wave radar sensor group, an ultrasonic radar group, a positioning module, a central control unit, and a telematics processor. Among them, the vision sensor group, the millimeter-wave radar sensor group, and the ultrasonic radar group are used to obtain information on the vehicle's surrounding environment; the positioning module is used to obtain the vehicle's position information; a map is stored in the central control unit, and the map includes a valet parking area, a getting-off area, a getting-on area, an approach route, a departure route, a parking search route, lane markings, and parking space information. The site-side device includes a site-side driving simulation device and a site-side server. The working modes of the valet parking and remote summons system include a valet parking mode and a remote summons mode. The valet parking mode includes an autonomous cruising parking sub-mode and a site-side takeover parking sub-mode. In the autonomous cruising parking sub-mode, The client device is used to: when detecting that the user selects the "autonomous cruising" option, send an autonomous cruising instruction to the central control unit. The central control unit is used to: in response to receiving the autonomous cruising instruction, control the vehicle to enter the parking lot and drive in a loop within the parking lot according to the vehicle's surrounding environment information, the vehicle's position information, and the parking search route, lane markings, and parking space information in the map, detect available idle parking spaces, and control the vehicle to park in the available idle parking space when an available idle parking space is detected. In the site-side takeover parking sub-mode, The client device is used to: when detecting that the user selects the "site-side takeover" option, send a site-side takeover instruction to the site-side server. The site-side server is used to: in response to receiving the site-side takeover instruction, receive the video information obtained by the vision sensor group from the telematics processor, and display the video information to the site-side staff; generate a remote control parking control instruction according to the operations of the site-side staff on the site-side driving simulation device, and send the remote control parking control instruction to the central control unit. The central control unit is used to: control the vehicle according to the remote control parking control instruction. The remote summons mode includes an automatic cruise docking sub-mode. In the automatic cruise docking sub-mode, The client device is used to: when receiving that the user selects the "automatic cruise docking" option and the docking location set by the user within the getting-on area, send a vehicle summons request information to the telematics processor, where the vehicle summons request information includes the docking location. The central control unit is used to: in response to receiving the vehicle summons request information through the telematics processor, control the vehicle to drive to the docking location according to the vehicle's surrounding environment information, the vehicle's position information, and the lane markings, departure route, and getting-on area included in the map.

2. The intelligent driving vehicle valet parking and remote summons system according to claim 1, characterized in that The working modes of the valet parking and remote summons system further include an emergency stop mode. The emergency stop mode includes a user-triggered braking sub-mode. In the user-triggered braking sub-mode, The client device is configured to: display an emergency stop button to the user; and, in response to the user pressing the emergency stop button, send an emergency stop request to the central control unit; The central control unit is configured to: in response to the emergency stop request received from the client device, control the vehicle to stop urgently.

3. The intelligent driving vehicle valet parking and remote summoning system according to claim 2, wherein, The emergency stop mode further includes an accident-triggered braking sub-mode, in which The central control unit is configured to: obtain vehicle surrounding environment information through one or more of the vision sensor group, the millimeter wave radar sensor group, and the ultrasonic radar group, obtain vehicle longitudinal and lateral acceleration information through the positioning module, and detect whether an accident has occurred to the vehicle based on the vehicle surrounding environment information and the vehicle longitudinal and lateral acceleration information; and, when it is detected that an accident has occurred to the vehicle, control the vehicle to stop urgently, generate accident alarm information, and send the accident alarm information to the client device through the telematics processor; The client device is configured to: display the accident alarm information.

4. The intelligent driving vehicle valet parking and remote summons system according to claim 1, characterized in that, The working mode of the valet parking and remote summon system further includes a real-time monitoring mode, in which The central control unit is configured to: transmit the video information obtained by the vision sensor group to the client device through the telematics processor; The client device is configured to: display the video information and the emergency stop button.

5. The intelligent driving vehicle valet parking and remote summons system according to claim 1, characterized in that, The working mode of the valet parking and remote summon system further includes a standby mode, in which The central control unit is configured to: based on the vehicle position information obtained from the positioning module and the getting-off area and valet parking area read from the map, determine whether the valet parking function is available; when it is determined that the valet parking function is available, send a valet parking function available prompt message to the client device; The client device is configured to: in response to receiving the valet parking function available prompt message, display a function activation interface, the function activation interface includes options for the valet parking mode and the remote summon mode, and in response to receiving the user's selection of one of the valet parking mode and the remote summon mode, send a function activation instruction corresponding to the selection to the central control unit.

6. The intelligent driving vehicle valet parking and remote summons system according to claim 1, wherein Detecting available idle parking spaces includes: Comparing the vehicle position information with the standard parking position information in the nearest parking space to the vehicle in the map, and when the vehicle position is within the range covered by a circle centered on the standard parking position in the parking space and with a preset parking space threshold as the radius, determine whether the parking space near the vehicle is idle according to the vehicle surrounding environment information.

7. The intelligent driving vehicle valet parking and remote summons system according to claim 1, wherein, In the autonomous cruising and parking sub-mode, The client device is further configured to: display an interface for setting the autonomous cruising cut-off time to the user, receive the autonomous cruising cut-off time set by the user, and send the autonomous cruising cut-off time to the central control unit; The central control unit is further configured to: when detecting that the current time has not exceeded the autonomous cruising deadline and no available parking space is detected, continue to circulate in the parking lot and detect available parking spaces; and when detecting that the current time has exceeded the autonomous cruising deadline and no available parking space is detected, send information indicating that no available parking spaces are available to the client device.

8. The intelligent driving vehicle valet parking and remote summons system according to claim 1, wherein In the autonomous cruising parking sub-mode, The client device is further configured to: display an interface for setting the number of autonomous cruising weeks to the user, receive the number of autonomous cruising weeks set by the user, and send the number of autonomous cruising weeks to the central control unit; The central control unit is further configured to: compare the vehicle's driving trajectory with the information on the map to determine the number of times the vehicle has circled the parking lot; upon detecting that the current number of circles has not exceeded the predetermined number of circles for autonomous cruising and no available parking spaces have been detected, continue to circle the parking lot and detect available parking spaces; and upon detecting that the current number of circles exceeds the predetermined number of circles for autonomous cruising and no available parking spaces have been detected, send information to the client device indicating that no available parking spaces are available.

9. The intelligent driving vehicle valet parking and remote summons system according to claim 1, wherein The valet parking mode also includes a valet parking decision process, in which: The client device is used to: display a valet parking function activation interface, which includes an autonomous cruising parking sub-mode option and a field-side takeover parking sub-mode option; in response to a user selecting one of the autonomous cruising parking sub-mode option and the field-side takeover parking sub-mode option, send a function activation instruction corresponding to the selection to the central control unit.

10. The intelligent driving vehicle valet parking and remote summoning system according to claim 1, characterized in that The valet parking mode also includes a temporary parking sub-mode. In the temporary parking sub-mode, The client device is configured to: upon receiving a user selection of a "temporary stop" option and a temporary stop location set by the user, send temporary stop request information to the telematics processor, wherein the temporary stop request information includes the temporary stop location; The central control unit is used to: in response to receiving the temporary parking request information through the telematics processor, control the vehicle to travel to the temporary parking location based on the vehicle surrounding environment information, the vehicle position information, and the lane markings, exit route and boarding area included in the map, and park at an empty location within a range with the temporary parking location as the center and a temporary parking preset radius as the radius.

11. The intelligent driving vehicle valet parking and remote summons system according to claim 1, characterized in that The remote summoning mode also includes a field-side takeover summoning sub-mode. In the field-side takeover summoning sub-mode, The client device is configured to: upon receiving a user selection of the "field takeover call" option and a field takeover call stop location set by the user, send a field takeover call request message to the telematics processor and the field device, wherein the field takeover call request message includes the field takeover call stop location; The central control unit is configured to: transmit the video information acquired by the visual sensor group to the field-side server in response to receiving the field-side takeover call request information through the telematics processor; The field-end server is configured to: in response to receiving the field-end takeover summon request information, receive the video information acquired by the vision sensor group from the remote information processor, display the video information and the field-end takeover summon docking location to the field-end staff; generate a remote teleparking control instruction according to the operations of the field-end staff on the field-end driving simulation device, and send the remote teleparking control instruction to the central control unit.

12. The intelligent driving vehicle valet parking and remote summons system according to claim 11, wherein The remote summon mode further includes a remote summon decision-making process, in which The client device is configured to: display a remote summon function activation interface, which includes an automatic cruise docking option and a field-end takeover summon option; in response to the user's selection of one of the automatic cruise docking option and the field-end takeover summon option, send a function activation instruction corresponding to the selection to the central control unit.

13. The intelligent driving vehicle valet parking and remote summons system according to claim 1, wherein The vision sensor group includes a binocular camera, a surround-view camera, and a multi-functional camera. The binocular camera and the multi-functional camera are fixed on the front windshield of the vehicle. The surround-view camera is fixed on one or more of the following positions: the right rearview mirror housing, the left rearview mirror housing, the right B-pillar of the vehicle, the left B-pillar of the vehicle, the right C-pillar of the vehicle, the left C-pillar of the vehicle, and the rear bumper.

14. The intelligent driving vehicle valet parking and remote summons system according to claim 1, characterized in that, The millimeter-wave radar sensor group includes a short-range vehicle-mounted millimeter-wave radar and a long-range vehicle-mounted millimeter-wave radar. The short-range vehicle-mounted millimeter-wave radar is fixed on one or more of the following positions: the left fender, the right fender, the front bumper, below the left C-pillar of the left side body of the vehicle, and below the right C-pillar of the right side body of the vehicle. The long-range vehicle-mounted millimeter-wave radar is fixed on the front bumper and / or the radiator grille.

15. The intelligent driving vehicle valet parking and remote summons system according to claim 1, characterized in that, The vehicle-end device further includes an in-vehicle prompting device. The central control unit is further configured to: when detecting that the vehicle enters the getting-off area, generate a valet parking function available prompting information, and send the valet parking function available prompting information to the in-vehicle prompting device. And, when receiving the valet parking function activation signal, confirm that the valet parking function has been activated. The in-vehicle prompting device is configured to: when receiving the valet parking function available prompting information, prompt the in-vehicle user that the valet parking function is available; and when the user selects to activate the valet parking function, generate the valet parking function activation signal, and send the valet parking function activation signal to the central control unit.

16. The intelligent driving vehicle valet parking and remote summons system according to claim 1, wherein The vehicle-end device further includes an out-vehicle prompting device. The central control unit is further configured to send the current status information of the valet parking and remote summon system to the out-vehicle prompting device. The out-vehicle prompting device is configured to receive and display the current status information of the valet parking and remote summon system from the central control unit. Wherein, the current status information of the valet parking and remote summon system includes one or more of valet parking function enabled information, vehicle driving status information, and vehicle accident information.

17. The intelligent driving vehicle valet parking and remote summons system according to claim 1, characterized in that, The central control unit of the vehicle end device is loaded with a valet parking and remote summons program, and the valet parking and remote summons program is upgraded by the telematics unit in the vehicle end device through over-the-air technology.

18. A method for valet parking and remote summoning of an intelligent driving vehicle applied to an intelligent driving vehicle valet parking and remote summoning system, characterized in that, The valet parking and remote summons system includes a vehicle end device, a field end device, and a client device. The vehicle end device includes a vision sensor group, a millimeter-wave radar sensor group, an ultrasonic radar group, a positioning module, a central control unit, and a telematics unit. Among them, the vision sensor group, the millimeter-wave radar sensor group, and the ultrasonic radar group are used to obtain vehicle surrounding environment information; the positioning module is used to obtain vehicle position information; the central control unit stores a map, and the map includes a valet parking area, a getting-off area, a getting-on area, an entry route, an exit route, a parking search route, lane markings, and parking space information. The field end device includes a field end driving simulation device and a field end server. The valet parking and remote summons method includes a valet parking mode and a remote summons mode. Among them, the valet parking mode includes an autonomous cruising parking sub-mode and a field end takeover parking sub-mode. The method includes: In the autonomous cruising parking sub-mode, When the client device detects that the user selects the "autonomous cruising" option, it sends an autonomous cruising instruction to the central control unit. In response to receiving the autonomous cruising instruction, the central control unit controls the vehicle to enter the parking lot and circulate in the parking lot according to the vehicle surrounding environment information, the vehicle position information, and the parking search route, lane markings, and parking space information in the map, detects available idle parking spaces, and controls the vehicle to park in the available idle parking spaces when an available idle parking space is detected. In the field end takeover parking sub-mode, When the client device detects that the user selects the "field end takeover" option, it sends a field end takeover instruction to the field end server. In response to receiving the field end takeover instruction, the field end server receives the video information obtained by the vision sensor group from the telematics unit and displays the video information to the field end staff; generates a remote control parking control instruction according to the operations of the field end staff on the field end driving simulation device, and sends the remote control parking control instruction to the central control unit. The central control unit controls the vehicle according to the remote control parking control instruction. The remote summons mode includes an automatic cruise docking sub-mode. In the automatic cruise docking sub-mode, When the client device receives that the user selects the "automatic cruise docking" option and the docking location set by the user within the getting-on area, it sends a vehicle summons request information to the telematics unit, where the vehicle summons request information includes the docking location. In response to receiving the vehicle summons request information through the telematics unit, the central control unit controls the vehicle to drive to the docking location according to the vehicle surrounding environment information, the vehicle position information, and the lane markings, exit route, and getting-on area included in the map.

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