Autonomous learning parking mobile terminal control method, mobile terminal, electronic device, and storage medium

Abstract

The application discloses an autonomous learning parking mobile terminal control method, a mobile terminal, an electronic device and a storage medium. The method comprises the following steps: in response to the automatic parking function being turned on, acquiring a first mobile terminal identifier of the mobile terminal, and sending an automatic parking request to a vehicle; acquiring a self-parking state returned by the vehicle and / or a second mobile terminal identifier saved by the vehicle; and determining whether to send a parking control instruction to the vehicle or to exit the automatic parking according to the self-parking state returned by the vehicle, the acquired first mobile terminal identifier and / or the second mobile terminal identifier saved by the vehicle, wherein the parking control instruction is used for controlling the vehicle to perform the automatic parking along an autonomous learning parking track, and the autonomous learning parking track is obtained by the vehicle autonomously learning the manual parking of a driver. The application solves the problem that the vehicle cannot know which mobile phone control instruction is responded to when multiple mobile phones initiate the parking control instruction in succession, and avoids safety problems such as vehicle control turbulence causing accidents.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automobile-related technology, in particular to a self-learning parking mobile terminal control method, a mobile terminal, an electronic device and a storage medium. BACKGROUND

[0002] At present, low-speed parking is divided into automatic parking and valet parking, and valet parking is divided into two stages, namely self-learning parking and self-learning valet parking. Valet parking, also known as the last mile, can start automatic driving and then park into position at the entrance of a preset parking lot, but valet parking is still in the pre-research stage due to regulations, complex implementation schemes, etc. Self-learning parking can be mass-produced and landed based on current automatic driving technology. The approximate function of self-learning parking is that the driver sets the starting point, drives into the target parking space, and then sets the parking space as the learning endpoint. The vehicle analyzes and learns the data collected by the sensors arranged on the vehicle body to automatically form a semantic map, i.e., a learned trajectory. The next time the user drives to the starting point, the vehicle can start using the self-learning parking function without human intervention. The function can be used by clicking the function switch on the center control screen or by using a mobile phone to control it.

[0003] The definition of the current Internet of Vehicles product is becoming more and more humanized. The vehicle is an entity product, and the vehicle is controlled through a mobile phone APP. Everyone can download the mobile phone APP, and whether or not they own a vehicle, they can register an account (divided into visitors, vehicle owners, authorized persons, etc.). With the concept and development of the Internet of Vehicles, such as the vehicle owner's mobile phone APP account remotely controlling the air conditioner and unlocking the vehicle, these functions can be authorized to other APP account persons, and after authorization, other persons can enjoy the right to control part of the vehicle functions. Generally, a mobile phone account will limit the number of vehicles bound, and a car will also limit the number of vehicle owners and authorized persons.

[0004] Self-learning parking is also a function attached to the vehicle, and the vehicle owner can control the vehicle through the mobile phone. After receiving the automatic parking operation instruction from the mobile phone, the vehicle automatically drives from the starting point to the ending point.

[0005] However, the vehicle owner can choose to authorize other accounts to control the vehicle for self-learning parking. When ≥2 people simultaneously control a vehicle for self-learning parking, the vehicle cannot determine which mobile phone control instruction to respond to, and it will also cause the user of the mobile phone sending the parking request instruction to have problems such as APP not displaying or operation and display being inconsistent in human-computer interaction. This may cause vehicle control disorder and cause accidents and other safety problems. SUMMARY

[0006] Therefore, in view of the technical problem that the prior art autonomous learning parking cannot adapt to the control of multiple people at the same time, a mobile terminal control method for autonomous learning parking, a mobile terminal, an electronic device, and a storage medium are provided.

[0007] The present application provides a mobile terminal control method for autonomous learning parking, comprising:

[0008] In response to the automatic parking function being turned on, a first mobile terminal identifier of the mobile terminal is acquired, and an automatic parking request is sent to the vehicle;

[0009] The vehicle returns the parking state of the vehicle and / or the second mobile terminal identifier saved by the vehicle, and the second mobile terminal identifier is the mobile terminal identifier of the mobile terminal that is currently controlling the vehicle to perform automatic parking;

[0010] According to the parking state of the vehicle returned by the vehicle, the acquired first mobile terminal identifier, and / or the second mobile terminal identifier saved by the vehicle, it is determined to send a parking control instruction to the vehicle or to exit the automatic parking, and the parking control instruction is used to control the vehicle to perform automatic parking along the autonomous learning parking trajectory, and the autonomous learning parking trajectory is obtained by the vehicle autonomously learning the manual parking of the driver.

[0011] The present application solves the problem that the vehicle cannot know which mobile phone control instruction to respond to when multiple mobile phones initiate parking control instructions in succession, and also solves the problem of inconsistent human-computer interaction, such as the APP not being displayed or operated, caused by the user of the mobile phone that sends the parking request instruction later not implementing the mutual exclusion strategy, and avoids the safety problem of vehicle control turbulence causing accidents.

[0012] Further,

[0013] In response to the automatic parking function being turned on, the first mobile terminal identifier of the mobile terminal is acquired, and an automatic parking request including the first mobile terminal identifier is sent to the vehicle.

[0014] The parking control instruction is sent to the vehicle, and at the same time, the first mobile terminal identifier is continuously sent to the vehicle, and the first mobile terminal identifier is used to save and update the second mobile terminal identifier.

[0015] The first mobile terminal identifier is continuously provided to the vehicle to update the second mobile terminal identifier.

[0016] Further, the method further comprises: determining, according to the vehicle returning self-parking state, the acquired first mobile terminal identifier, and / or the second mobile terminal identifier stored by the vehicle, whether to send a parking control instruction to the vehicle or to exit the automatic parking.

[0017] If the vehicle returning self-parking state is not in the automatic parking, the parking control instruction is sent to the vehicle.

[0018] If the vehicle returning self-parking state is in the automatic parking and the second mobile terminal identifier stored by the vehicle is consistent with the first mobile terminal identifier, the parking control instruction is sent to the vehicle.

[0019] If the vehicle returning self-parking state is in the automatic parking and the second mobile terminal identifier stored by the vehicle is inconsistent with the first mobile terminal identifier, a prompt that another person is parking is displayed and the automatic parking is exited.

[0020] The embodiment controls the mobile terminal to send the parking control instruction to the vehicle or to exit the automatic parking according to the vehicle returning self-parking state and / or the second mobile terminal identifier stored by the vehicle.

[0021] Further, the method further comprises:

[0022] If the vehicle returning self-parking state is not in the automatic parking, the parking control instruction is sent to the vehicle.

[0023] If the vehicle returning self-parking state is in the automatic parking and the second mobile terminal identifier stored by the vehicle is consistent with the first mobile terminal identifier, the parking control instruction is sent to the vehicle.

[0024] The embodiment realizes the distinction between the continued automatic parking and the started automatic parking.

[0025] The application provides a mobile terminal, comprising:

[0026] at least one processor; and

[0027] a memory connected with the at least one processor in communication; wherein

[0028] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the autonomous learning parking mobile terminal control method as described above.

[0029] The application solves the problem that the vehicle cannot know which mobile phone controls the instruction when multiple mobile phones successively initiate the parking control instruction, and also solves the problem of human-computer interaction such as APP display or operation and display inconsistency caused by the user of the mobile phone sending the parking request instruction later not realizing the mutual exclusion strategy, and avoids the safety problem of vehicle control turbulence causing accidents.

[0030] The application provides an autonomous learning parking method controlled by a mobile terminal, comprising:

[0031] In response to an automatic parking request of the mobile terminal, a first mobile terminal identifier of the mobile terminal is acquired, and a second mobile terminal identifier saved in the vehicle is acquired, the second mobile terminal identifier being a mobile terminal identifier of the mobile terminal that is currently controlling the vehicle to perform automatic parking;

[0032] According to the parking state of the vehicle, the acquired first mobile terminal identifier and / or the second mobile terminal identifier saved in the vehicle, it is judged whether to allow automatic parking, if the automatic parking is allowed, the vehicle is controlled to perform automatic parking along an autonomous learning parking track according to the parking control instruction sent by the mobile terminal, if the automatic parking is refused, the automatic parking request is ignored, and the autonomous learning parking track is obtained by the vehicle learning from manual parking of the driver.

[0033] The application solves the problem that the vehicle cannot know which mobile phone controls the instruction when multiple mobile phones successively initiate the parking control instruction, and also solves the problem of human-computer interaction such as APP display or operation and display inconsistency caused by the user of the mobile phone sending the parking request instruction later not realizing the mutual exclusion strategy, and avoids the safety problem of vehicle control turbulence causing accidents.

[0034] Further, the judgment of whether to allow automatic parking according to the parking state of the vehicle, the acquired first mobile terminal identifier and / or the second mobile terminal identifier saved in the vehicle specifically comprises:

[0035] If the parking state of the vehicle is currently performing automatic parking, and the acquired first mobile terminal identifier is consistent with the second mobile terminal identifier saved in the vehicle, it is judged that the automatic parking is allowed;

[0036] If the parking state of the vehicle is currently performing automatic parking, and the acquired first mobile terminal identifier is inconsistent with the second mobile terminal identifier saved in the vehicle, it is judged that the automatic parking is refused;

[0037] If the vehicle parking state is not performing automatic parking, it is determined whether to allow automatic parking.

[0038] The embodiment is directed to a vehicle performing automatic parking, and according to whether the acquired first mobile terminal identifier is consistent with the second mobile terminal identifier saved by the vehicle, it is determined whether to allow automatic parking, so that when the mobile terminal controlling parking appears, the terminal can continue to recover parking, and for other mobile terminals, it can refuse operation to avoid conflicts caused by multiple mobile terminals controlling the vehicle at the same time. For a vehicle not performing automatic parking, upon receiving the automatic parking request of the mobile terminal, it is allowed to perform without determining the first mobile terminal identifier.

[0039] Further, the automatic parking along the self-learning parking trajectory is controlled according to the parking control instruction sent by the mobile terminal, and specifically includes:

[0040] In the process of controlling the vehicle to perform automatic parking along the self-learning parking trajectory according to the parking control instruction sent by the mobile terminal, the first mobile terminal identifier uploaded by the mobile terminal is continuously acquired and saved as the second mobile terminal identifier.

[0041] The embodiment continuously acquires the first mobile terminal identifier and updates it as the second mobile terminal identifier to ensure that when the automatic parking request is received again, the saved second mobile terminal identifier can be compared with the acquired first mobile terminal identifier to continue parking.

[0042] Further, it further includes:

[0043] After the automatic parking is completed, the saved second mobile terminal identifier is cleared.

[0044] The embodiment clears the saved second mobile terminal identifier after the automatic parking is completed, avoiding conflicts with new mobile terminal identifiers when automatic parking is started again.

[0045] Further, it further includes:

[0046] In response to the automatic parking request of the mobile terminal, the second mobile terminal identifier saved in the vehicle and the vehicle parking state are acquired;

[0047] If the vehicle saves the second mobile terminal identifier, the second mobile terminal identifier and the vehicle parking state are sent to the mobile terminal, and the mobile terminal compares the second mobile terminal identifier with the first mobile terminal identifier of the mobile terminal itself according to the vehicle parking state to determine whether to perform the automatic parking function;

[0048] If the vehicle does not save the first mobile terminal identifier, the vehicle parking state is sent to the mobile terminal, and the mobile terminal determines whether to perform the automatic parking function according to the vehicle parking state.

[0049] The embodiment sends the second mobile terminal identifier stored by the vehicle to the mobile terminal, so that the mobile terminal can determine the first mobile terminal identifier according to the second mobile terminal identifier.

[0050] The present application provides an electronic device, comprising:

[0051] at least one processor; and,

[0052] a memory in communication with the at least one processor; wherein,

[0053] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the autonomous learning parking method controlled by the mobile terminal as described above.

[0054] The present application solves the problem that the vehicle cannot know which mobile phone controls the instruction when multiple mobile phones initiate parking control instructions in succession, and also solves the problem of inconsistent human-computer interaction such as APP display or operation and display inconsistency caused by the user of the mobile phone sending the parking request instruction later not implementing the mutual exclusion strategy, and avoids the safety problem of vehicle control turbulence causing accidents.

[0055] The present application provides a storage medium storing computer instructions, when the computer executes the computer instructions, all steps of the autonomous learning parking mobile terminal control method as described above are executed.

[0056] The present application provides a storage medium storing computer instructions, when the computer executes the computer instructions, all steps of the autonomous learning parking method controlled by the mobile terminal as described above are executed.

[0057] The present application solves the problem that the vehicle cannot know which mobile phone controls the instruction when multiple mobile phones initiate parking control instructions in succession, and also solves the problem of inconsistent human-computer interaction such as APP display or operation and display inconsistency caused by the user of the mobile phone sending the parking request instruction later not implementing the mutual exclusion strategy, and avoids the safety problem of vehicle control turbulence causing accidents. BRIEF DESCRIPTION OF DRAWINGS

[0058] Figure 1 The present application provides an autonomous learning parking mobile terminal control method workflow diagram;

[0059] Figure 2 The present application provides an autonomous learning parking method controlled by the mobile terminal workflow diagram;

[0060] Figure 3 The present application provides a system principle diagram of the best embodiment;

[0061] Figure 4 Figure 1 is a schematic diagram of the installation position of the sensor of the best embodiment of the present application;

[0062] Figure 5 Figure 2 is a schematic diagram of the control vehicle link;

[0063] Figure 6 Figure 3 is a workflow diagram of the autonomous learning parking mobile terminal control method of the best embodiment of the present application;

[0064] Figure 7 Figure 4 is a schematic diagram of the hardware structure of a mobile terminal of the present application;

[0065] Figure 8 Figure 5 is a schematic diagram of the hardware structure of an electronic device of the present application. DETAILED DESCRIPTION

[0066] The specific embodiments of the present application will be further described below in conjunction with the accompanying drawings. The same parts are denoted by the same reference numerals in the description below. It should be noted that the words "front", "back", "left", "right", "up" and "down" used in the following description refer to the directions in the drawings, and the words "inner" and "outer" refer to the directions towards or away from the geometric center of a particular part.

[0067] Embodiment One

[0068] As Figure 1 shown is a workflow diagram of the autonomous learning parking mobile terminal control method of the present application, comprising:

[0069] Step S101, in response to the automatic parking function being turned on, obtaining a first mobile terminal identifier of the mobile terminal, and sending an automatic parking request to the vehicle;

[0070] Step S102, obtaining the vehicle's returned self-vehicle parking state and / or the vehicle's saved second mobile terminal identifier, the second mobile terminal identifier being the mobile terminal identifier of the mobile terminal that is currently controlling the vehicle to perform automatic parking;

[0071] Step S103, determining to send a parking control instruction to the vehicle or to exit the automatic parking according to the vehicle's returned self-vehicle parking state, the obtained first mobile terminal identifier, and / or the vehicle's saved second mobile terminal identifier, the parking control instruction being used to control the vehicle to perform automatic parking along an autonomous learning parking trajectory, the autonomous learning parking trajectory being obtained by the vehicle autonomously learning the driver's manual parking.

[0072] Specifically, when a user opens an automatic parking function through a mobile terminal, such as a smart phone, a step S101 is triggered, and a first mobile terminal identifier of the mobile terminal is acquired. The mobile terminal identifier, such as an International Mobile Equipment Identity (IMEI) of the mobile terminal. Specifically, the IEMI permission of the mobile terminal can be applied for by the application. If the application is successful, an automatic parking request including the first mobile terminal identifier is sent to the vehicle. If the application fails, a "parking unavailable" prompt information is displayed and the process is exited. For example, the user presses a start automatic parking button in an automatic parking interface. After the vehicle receives the automatic parking request, the parking state of the vehicle is returned and / or a second mobile terminal identifier saved in the vehicle is returned, triggering a step S102. The second mobile terminal identifier is a mobile terminal identifier saved by the vehicle, and the second mobile terminal identifier is a mobile terminal identifier of a mobile terminal that is currently controlling the vehicle to perform automatic parking.

[0073] Then, a step S103 is performed, in which it is determined whether to allow automatic parking according to the parking state of the vehicle returned by the vehicle, the first mobile terminal identifier acquired, and / or the second mobile terminal identifier saved by the vehicle. If it is determined to allow automatic parking, a parking control instruction is sent to the vehicle. If it is determined to refuse automatic parking, the automatic parking is exited, and the mobile terminal can display a prompt that someone is parking. For example, a prompt information "someone is parking, please try later" is displayed on the screen. Exiting the automatic parking means that the mobile terminal exits the automatic parking control interface, such as exiting from the automatic parking control interface to the application home page.

[0074] The application solves the problem that the vehicle cannot know which mobile phone to respond to when multiple mobile phones initiate parking control instructions in succession, and also solves the problem that the user of the mobile phone that sends the parking request instruction later cannot realize the mutual exclusion strategy, resulting in inconsistent man-machine interaction, such as APP display or operation, and safety problems such as vehicle control turbulence causing accidents.

[0075] In one of the embodiments:

[0076] The first mobile terminal identifier of the mobile terminal is acquired in response to the automatic parking function being opened, and an automatic parking request including the first mobile terminal identifier is sent to the vehicle.

[0077] The parking control instruction is sent to the vehicle, and the first mobile terminal identifier is continuously sent to the vehicle at the same time when the parking control instruction is sent, and the first mobile terminal identifier is used for the vehicle to save and update to a second mobile terminal identifier.

[0078] Specifically, when the mobile terminal sends the parking control instruction to the vehicle, the mobile terminal will control the vehicle, so the second mobile terminal identification saved by the vehicle is updated to the acquired first mobile terminal identification, and the first mobile terminal identification is continuously sent.

[0079] The embodiment continuously provides the first mobile terminal identification to the vehicle to update the second mobile terminal identification.

[0080] In one of the embodiments, the determining to send the parking control instruction to the vehicle or to exit the automatic parking according to the self-parking state returned by the vehicle, the acquired first mobile terminal identification, and / or the second mobile terminal identification saved by the vehicle specifically comprises:

[0081] If the self-parking state returned by the vehicle is not performing the automatic parking, the parking control instruction is sent to the vehicle.

[0082] If the self-parking state returned by the vehicle is performing the automatic parking, and the second mobile terminal identification saved by the vehicle is consistent with the first mobile terminal identification, the parking control instruction is sent to the vehicle.

[0083] If the self-parking state returned by the vehicle is performing the automatic parking, and the second mobile terminal identification saved by the vehicle is inconsistent with the first mobile terminal identification, a prompt that others are parking is displayed, and the automatic parking is exited.

[0084] Specifically, if the self-parking state of the vehicle is not performing the automatic parking, the vehicle allows the new mobile terminal to be controlled, so the parking control instruction can be sent to the vehicle to control the vehicle to perform the automatic parking.

[0085] If the self-parking state returned by the vehicle is performing the automatic parking, it indicates that the vehicle is performing the automatic parking, so only the mobile terminal whose mobile terminal identification is consistent with the second mobile terminal identification saved by the vehicle is allowed to be controlled. For other mobile terminals, the automatic parking is exited.

[0086] In one of the embodiments:

[0087] The sending of the parking control instruction to the vehicle if the self-parking state returned by the vehicle is not performing the automatic parking specifically comprises: if the self-parking state returned by the vehicle is not performing the automatic parking, the automatic parking function is started, and the parking control instruction is sent to the vehicle.

[0088] If the vehicle returns the self-parking state as being in execution of automatic parking and the second mobile terminal identifier saved by the vehicle is consistent with the first mobile terminal identifier, the parking control instruction is sent to the vehicle, specifically including: if the vehicle returns the self-parking state as being in execution of automatic parking and the second mobile terminal identifier saved by the vehicle is consistent with the first mobile terminal identifier, the function of continuing automatic parking is executed, and the parking control instruction is sent to the vehicle.

[0089] Specifically, if the vehicle returns the self-parking state as not being in execution of automatic parking, it indicates that the vehicle does not start automatic parking. After receiving the information of starting automatic parking, the user can operate to start parking. The mobile terminal can prompt to start automatic parking or display the interface of starting automatic parking.

[0090] If the vehicle returns the self-parking state as being in execution of automatic parking and the second mobile terminal identifier saved by the vehicle is consistent with the first mobile terminal identifier, it indicates that the vehicle is in automatic parking. The mobile terminal is the terminal that controls automatic parking before, and the user can operate to continue parking. The mobile terminal can prompt to continue automatic parking or display the interface of continuing automatic parking.

[0091] The embodiment realizes the distinction between continuing automatic parking and starting automatic parking.

[0092] Embodiment two

[0093] As Figure 2 The working flow chart of the autonomous learning parking method controlled by the mobile terminal is shown in the figure, including:

[0094] In step S201, the first mobile terminal identifier of the mobile terminal and the second mobile terminal identifier saved in the vehicle are acquired in response to the automatic parking request of the mobile terminal.

[0095] In step S202, according to the self-parking state of the vehicle, the acquired first mobile terminal identifier and / or the second mobile terminal identifier saved in the vehicle, it is judged whether to allow automatic parking. If the automatic parking is allowed, the vehicle is controlled to execute automatic parking along the autonomous learning parking track according to the parking control instruction sent by the mobile terminal, and if the automatic parking is refused, the automatic parking request is ignored, and the autonomous learning parking track is obtained by the vehicle from the manual parking of the driver.

[0096] Specifically, the application can be applied to the electronic controller unit (ECU) of the vehicle. For example, it is applied to the valet parking host (AVP module for short).

[0097] When the user sends an automatic parking request through the mobile terminal, step S201 is triggered, the first mobile terminal identifier of the mobile terminal is acquired, and the second mobile terminal identifier saved in the vehicle is acquired. The first mobile terminal identifier is uploaded by the mobile terminal. The second mobile terminal identifier is saved in the vehicle, and the second mobile terminal identifier is the mobile terminal identifier of the mobile terminal that is currently controlling the vehicle to perform automatic parking. If the vehicle does not perform automatic parking, the second mobile terminal identifier can not be acquired. The mobile terminal identifier can be an IEMI code. The IEMI code, i.e., the International Mobile Equipment Identity (IMEI), is commonly referred to as the mobile phone serial number, mobile phone "serial number", and is used to identify each independent mobile phone and other mobile communication devices in a mobile phone network, which is equivalent to the identity card of the mobile terminal.

[0098] Then, after the first mobile terminal identifier is acquired, step S202 is performed, and whether to allow automatic parking is determined according to the parking state of the vehicle, the acquired first mobile terminal identifier, and / or the second mobile terminal identifier saved in the vehicle. If automatic parking is allowed, the vehicle is controlled to perform automatic parking along the autonomously learned parking trajectory according to the parking control instruction sent by the mobile terminal. If automatic parking is not allowed, the automatic parking request is ignored.

[0099] The vehicle autonomously learns the manual parking of the driver in advance. The driver sets a starting point of learning, and then parks the vehicle into a target parking space. The vehicle sets the parking space as an end point of learning. The vehicle analyzes and learns data collected by sensors arranged on the vehicle body, and automatically forms a semantic map, i.e., learns a parking-in trajectory to obtain a parking trajectory. The parking trajectory can also be a parking-out trajectory. The driver sets the current parking space as a starting point of learning, and then drives the vehicle to a position near an exit of the parking lot. The driver sets the parking position as an end point of learning. The vehicle analyzes and learns data collected by sensors arranged on the vehicle body, and automatically forms a semantic map, i.e., learns a parking-out trajectory to obtain a parking trajectory. The next time the user drives to the starting point position, the autonomous learning parking function can be used. The vehicle does not need human intervention, and automatically drives from the starting point position to the end point position. When the automatic parking process is started, the user needs to select a route. Therefore, the parking control instruction of the mobile terminal only instructs the vehicle to perform or stop performing automatic parking, and does not actually control the vehicle. After receiving the parking control instruction, the vehicle controls the direction and speed of the vehicle by itself, and performs automatic parking along the autonomously learned parking trajectory.

[0100] The application solves the problem that the vehicle cannot know which mobile phone control instruction is responded to when multiple mobile phones successively initiate parking control instructions, and also solves the problem of man-machine interaction such as APP display or operation inconsistency caused by the user of the mobile phone sending the parking request instruction later not realizing the mutual exclusion strategy, and avoids the safety problem of vehicle control turbulence causing accidents.

[0101] In one of the embodiments, the judging whether to allow automatic parking according to the parking state of the vehicle, the acquired first mobile terminal identifier and / or the second mobile terminal identifier saved in the vehicle specifically includes:

[0102] If the parking state of the vehicle is executing automatic parking, and the acquired first mobile terminal identifier is consistent with the second mobile terminal identifier saved in the vehicle, it is judged that the automatic parking is allowed;

[0103] If the parking state of the vehicle is executing automatic parking, and the acquired first mobile terminal identifier is inconsistent with the second mobile terminal identifier saved in the vehicle, it is judged that the automatic parking is refused;

[0104] If the parking state of the vehicle is not executing automatic parking, it is judged that the automatic parking is allowed.

[0105] Specifically, if the vehicle is executing automatic parking, and receives the automatic parking request of the mobile terminal, it is judged whether the acquired first mobile terminal identifier is consistent with the second mobile terminal identifier saved in the vehicle. If consistent, it indicates that the mobile terminal currently controlling the automatic parking of the vehicle is interrupted, and thus the running continues the automatic parking. If inconsistent, it indicates that another mobile terminal requests to control the vehicle, and thus the request of the new mobile terminal is refused.

[0106] If the vehicle is not executing automatic parking, the new mobile terminal is allowed to control it at this time, and thus if the parking state of the vehicle is not executing automatic parking, it is judged that the automatic parking is allowed.

[0107] The embodiment is aimed at the vehicle executing automatic parking, and judges whether to allow automatic parking according to whether the acquired first mobile terminal identifier is consistent with the second mobile terminal identifier saved in the vehicle, so that when the mobile terminal controlling the parking is interrupted, the parking can be continued to recover, and for other mobile terminals, the operation can be refused to avoid the conflict caused by multiple mobile terminals controlling the vehicle at the same time. For the vehicle not executing automatic parking, the automatic parking is allowed to be executed after receiving the automatic parking request of the mobile terminal, and the first mobile terminal identifier does not need to be judged.

[0108] In one of the embodiments, the controlling the vehicle to execute automatic parking along the self-learning parking track according to the parking control instruction sent by the mobile terminal specifically includes:

[0109] In the process of controlling the vehicle to perform automatic parking along the autonomous learning parking trajectory according to the parking control instruction sent by the mobile terminal, the first mobile terminal identifier uploaded by the mobile terminal is continuously acquired and saved as the second mobile terminal identifier.

[0110] Specifically, the mobile terminal continuously uploads the first mobile terminal identifier while sending the parking control instruction, and the vehicle acquires and saves the first mobile terminal identifier uploaded by the mobile terminal as the second mobile terminal identifier for comparison when receiving the automatic parking request.

[0111] The embodiment continuously acquires the first mobile terminal identifier and updates it as the second mobile terminal identifier, so as to ensure that when the automatic parking request is received again, the saved second mobile terminal identifier can be compared with the acquired first mobile terminal identifier to realize continuous parking.

[0112] In one of the embodiments, the method further comprises:

[0113] After the automatic parking is completed, the saved second mobile terminal identifier is cleared.

[0114] The embodiment clears the saved second mobile terminal identifier after the automatic parking is completed, so as to avoid conflict with a new mobile terminal identifier when the automatic parking is started again.

[0115] In one of the embodiments, the method further comprises:

[0116] In response to the automatic parking request of the mobile terminal, the second mobile terminal identifier saved in the vehicle and the parking state of the vehicle are acquired;

[0117] If the vehicle saves the second mobile terminal identifier, the second mobile terminal identifier and the parking state of the vehicle are sent to the mobile terminal, and the mobile terminal compares the second mobile terminal identifier with the first mobile terminal identifier of the mobile terminal itself according to the parking state of the vehicle to determine whether to execute the automatic parking function;

[0118] If the vehicle does not save the first mobile terminal identifier, the parking state of the vehicle is sent to the mobile terminal, and the mobile terminal determines whether to execute the automatic parking function according to the parking state of the vehicle.

[0119] The embodiment sends the second mobile terminal identifier saved in the vehicle to the mobile terminal, so that the mobile terminal can judge according to the second mobile terminal identifier and the first mobile terminal identifier.

[0120] As Figure 3The system principle diagram of the best embodiment of the application includes 12 ultrasonic probes, 4 look-around cameras, 1 front camera, a valet parking host, an electric power steering system, a vehicle body stability system, an electronic parking, a vehicle controller, a central control screen, a combination switch, a corner sensor and other systems. The sensor unit (ultrasonic probe) communicates with the valet parking host through private communication, and other related systems communicate with the valet parking host through the controller area network (CAN). The main related system is briefly described in the working implementation mode.

[0121] As shown in the formula: Figure 4 The installation position diagram of the sensor is shown, which includes:

[0122] The ultrasonic long-distance probe S1, S6, S7 and S12 has a detection distance of 4.5 m and is installed on the front and rear protection left and right sides with an installation height of 500 mm.

[0123] The ultrasonic probe S2, S3, S4, S5, S8, S9, S10 and S11 has a detection distance of 2.2 m and is installed on the front and rear protection according to the installation requirements of the reversing radar system.

[0124] The look-around camera C1, C2, C3 and C4 has a 130 million pixel, 190 fish-eye camera, an effective output of 720P and a detection distance of at least 8 m.

[0125] The front camera C5 has a 130 million pixel, 100° wide-angle camera, an effective output of 720P and a detection distance of about 70 m.

[0126] The valet parking host 6 calculates the obstacle distance detected by the ultrasonic sensor, searches for a parking space, plans a trajectory, controls steering, controls vehicle speed, controls braking and the like to realize the foregoing unmanned autonomous learning parking control method.

[0127] The system realizes the following functions: autonomous learning parking, supporting horizontal parking space entry, vertical parking space entry, vertical parking space exit and horizontal parking space exit. More specifically:

[0128] The combination switch is a parking function opening switch 1. The parking opening switch 1 is a hard switch or a soft switch set in the HU and is used to open the automatic parking function.

[0129] The ultrasonic probe 2 and the ultrasonic long-distance probe 3 generate a square wave signal, drive the ultrasonic probe to send an ultrasonic pulse signal through an amplification circuit, measure and receive the ultrasonic wave after the ultrasonic wave is emitted by the obstacle, and calculate the obstacle distance through the formula d = 1 / 2Ct (C = 343 m / s (20℃)) according to the current temperature for temperature compensation after the MCU detects the echo.

[0130] The surround view camera 4 is a 190° fisheye camera, which can capture parking space information and surrounding environment information in real time by using image algorithm operation. It can detect and identify near obstacles (such as small objects, moving objects, etc.) that cannot be detected by ultrasonic waves, and accurately identify the length, depth, lane line, and obstacle type around the parking space.

[0131] The front camera 5 is a wide-angle 100° camera, which can capture parking space information and surrounding environment information in real time by using image algorithm operation. It can detect and identify distant obstacles (such as small objects, moving objects, etc.) that cannot be detected by ultrasonic waves and fisheye cameras, and realize functions such as mapping and vehicle positioning.

[0132] The valet parking host 6 (referred to as AVP module) builds a map of the route, locates the vehicle, detects empty parking spaces, identifies parking spaces, etc. by obtaining data from the perception module (including ultrasonic waves, fisheye cameras, wide-angle cameras, and IMU integrated therein), and then calculates the location of the parking space based on the current position of the vehicle. After trajectory planning of the entry or exit route is calculated by the vehicle control model, automatic driving to the target position is performed through vehicle lateral and longitudinal control. After the trajectory planning calculation of the valet parking host module is completed, the steering angle, parking distance, and driver prompt information are sent to the related system to execute the corresponding steps of the autonomous learning parking method controlled by the mobile terminal.

[0133] The vehicle body stability system 7 (referred to as ESC) is used to receive brake instructions sent by the valet parking host, including deceleration and parking control, and simultaneously feedback vehicle body data such as deceleration, yaw angle, vehicle speed, and wheel speed for AVP vehicle longitudinal control calculation.

[0134] The electric power steering system 8 (referred to as EPS) is used to execute the steering angle and steering angle acceleration request sent by the valet parking host, control the steering wheel to turn to the angle instructed by the valet parking host, and feedback the exit control reason to the AVP if the EPS fails or the driver intervenes in parking.

[0135] The vehicle control unit 9 (referred to as VCU) is used to receive torque and gear shifting requests from the valet parking, execute acceleration control and gear shifting control, and feedback the gear position and response torque of the vehicle in real time.

[0136] The central control screen 10 is used to display text prompts, user operation interfaces, and animations during parking, and buzzer alarm sounds, etc.

[0137] The electronic parking brake 11 is used to execute the release request sent by the AVP when parking is completed or the parking system exits.

[0138] Remote monitoring module 12 for mobile phone application (APP) and vehicle communication module.

[0139] Mobile phone 13, wherein the application (APP) is used for the user to connect with the vehicle through the mobile phone outside the vehicle by Bluetooth or 4G network, open the autonomous parking function, and control the text interaction and interface display during parking. The application of the mobile phone 13 realizes the autonomous learning parking mobile terminal control method.

[0140] Internet of vehicles platform 14 (referred to as TSP cloud) for APP virtual account login, and the access of the APP to the vehicle through the 4G network.

[0141] Body control module 15 (referred to as BCM) for vehicle power-on and power-off control and vehicle unlocking and locking control.

[0142] Gateway 16 (referred to as IGW) for communication link between different control domains in the vehicle.

[0143] Specifically, the authorized users of a vehicle are limited, but when the user authorizes other accounts, when a mobile phone controls the vehicle, another mobile phone will control the vehicle, and the modules on the link are required to avoid two mobile phones controlling the vehicle at the same time. From the perspective of user experience, the function is defined, and when the second mobile phone opens the parking function, a corresponding reminder "others are parking, please try again later" is given. The present application proposes the following control strategy to give corresponding reminders from the vehicle end and the cloud end, etc. to avoid the problems that the second mobile phone may not react at all or directly enter the parking interface but the operation and interface display are not the same. The APP control vehicle control link is shown in Figure 5 There are two. One is the Bluetooth channel 51, and the application of the mobile phone 13 is sent to the microcontroller unit (MCU) 17 of the vehicle terminal (TBOX) through the Bluetooth channel 51, and then sent to the gateway 16 through the CAN network, and sent to the valet parking host 6 by the gateway 16 through the CAN with flexible data rate (CANFD). The other is the mobile communication network channel 52. The application of the mobile phone 13 is sent to the microprocessor (MPU) 18 of the TBOX through the mobile communication network channel 52, and then sent to the MCU 17 of the TBOX through the serial peripheral interface (SPI), and then sent to the gateway 16 through the CAN network, and sent to the valet parking host 6 by the gateway 16 through the CANFD. The mobile communication network includes but is not limited to the fourth generation (4G) mobile communication network or the fifth generation (5G) mobile communication network.

[0144] Because the Bluetooth module of the vehicle can only be connected point-to-point, that is, only one mobile phone can be connected to one vehicle, when the first mobile phone controls parking through Bluetooth, the second mobile phone cannot be connected to Bluetooth, so the above problem does not exist, and the mobile communication network channel can be connected to the vehicle by multiple mobile phones at the same time. Therefore, the present application aims at how to ensure that only one mobile phone can send a parking instruction to the vehicle through the mobile communication network channel, and when one mobile phone is in control, how to correctly prompt that the parking function cannot be used when other mobile phones click the parking function, and how to judge whether the mobile phone must continue to use the parking function to ensure that the parking can be normally completed after the mobile phone fails to exit during the parking process.

[0145] As Figure 6 The working flow chart of the autonomous learning parking mobile terminal control method of the best embodiment of the present application is shown, which comprises:

[0146] Step S601, the user opens the APP application of the vehicle factory;

[0147] Step S602, the user clicks "intelligent parking";

[0148] Step S603, the application applies for obtaining the IEMI permission of the mobile phone, if the user disagrees, the parking cannot be used, and the process is exited, if the user agrees, the step S604 is executed;

[0149] Step S604, the user APP requests to obtain the parking information of the vehicle, and uploads the local IEMI at the same time, judges whether the vehicle is parking, if yes, the step S605 is executed, otherwise, the step S607 is executed;

[0150] Step S605, if the APP obtains the IEMI from the TBOX, which is consistent with the local one, the step S606 is executed, otherwise, it is displayed that others are parking, please try later;

[0151] Step S606, the user APP judges that the current mobile phone is parking, an interruption occurs, the user operation continues to park, the local IEMI is continuously uploaded, and the step S609 is executed;

[0152] Step S607, the user APP enters the start parking interface, and the TBOX saves the IEMI of the mobile phone that is parking;

[0153] Step S608, the user operation starts parking, and the local IEMI is continuously uploaded;

[0154] Step S609, the local IEMI is continuously uploaded during the parking process;

[0155] Step S610, the parking is completed, and the IEMI is uploaded.

[0156] Specifically as follows:

[0157] 1) User opens the mobile phone APP and clicks the intelligent parking function, and needs to apply for the IEMI permission of the mobile phone (IEMI, International Mobile Equipment Identity, IMEI, commonly known as mobile phone serial number, mobile phone "serial number", used to identify each independent mobile communication device in the mobile phone network, equivalent to the identity card of the mobile phone.)

[0158] 2) If the user chooses not to agree, the parking function cannot be used, because it cannot be guaranteed that only one mobile phone controls the vehicle during parking; if the user chooses to agree, the APP obtains the IEMI number of the local machine.

[0159] 3) After the APP obtains the IEMI of the local machine, it uploads the IEMI number when requesting parking data from the cloud or TBOX MCU, and judges whether the current controlled vehicle is parking through TBOX information. If it is judged that it is parking, the APP compares the IEMI of the local machine and the IEMI data of the vehicle being controlled, if they are consistent, it is judged that the control mobile phone is one mobile phone, then the continue parking confirmation interface is entered, the user clicks confirm, then the parking continues; if the IEMI is not consistent, it is judged that there is another APP being parked, then it is prompted that "others are parking, please try later".

[0160] 4) If the vehicle the user APP requests to obtain is not parking, the user APP starts parking operation and uploads the IEMI number in real time according to a certain period to ensure that the signals from the TBOX end to the AVP module in the vehicle are from the same mobile phone, until the parking is completed, the APP stops uploading the IEMI number, and the TBOX also clears the IEMI number.

[0161] During the parking process of the user using the first mobile phone APP, the TBOX will detect the IEMI number of the first mobile phone in real time, if at this time another second mobile phone APP requests to query the parking state, the second mobile phone APP will detect that the IEMI feedback by the TBOX is inconsistent with the IEMI of the second mobile phone, then it is prompted in the second mobile phone interface that "others are parking, please try later".

[0162] Through the optimization of the strategy, the problem that the vehicle cannot know which mobile phone controls the instruction when multiple mobile phones initiate parking control instructions in sequence is solved, and the problem that the user of the mobile phone sending the parking request instruction later does not realize the mutual exclusion strategy, resulting in inconsistent APP display and operation and other human-computer interaction problems is solved, and the safety problem that the mobile phone sending the instruction later enters the parking interface, the user operates, and two mobile phones send instructions at the same time, which may cause vehicle control disorder and cause accidents is avoided.

[0163] Embodiment Three

[0164] As Figure 7 Fig. 1 shows a schematic diagram of a hardware structure of a mobile terminal according to the present application, which comprises:

[0165] at least one processor 701; and

[0166] a memory 702 connected with the at least one processor 701; wherein

[0167] the memory 702 stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the autonomous learning parking mobile terminal control method as described above.

[0168] Figure 7 The processor 701 is taken as an example.

[0169] The mobile terminal can be a smartphone. The mobile terminal can further comprise an input device 703 and a display device 704.

[0170] The processor 701, the memory 702, the input device 703 and the display device 704 can be connected through a bus or other means, and the connection through the bus is taken as an example in the figure.

[0171] The memory 702 is a non-volatile computer readable storage medium, which can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as the program instructions / modules corresponding to the autonomous learning parking mobile terminal control method in the embodiments of the present application, for example, Figure 1 The method flow shown in Fig. 1. The processor 701 performs various functional applications and data processing by running the non-volatile software programs, instructions and modules stored in the memory 702, that is, implements the autonomous learning parking mobile terminal control method in the above embodiments.

[0172] The memory 702 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and application programs required by at least one function; the data storage area can store data created according to the use of the autonomous learning parking mobile terminal control method, etc. In addition, the memory 702 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state memory device. In some embodiments, the memory 702 can optionally include a memory remotely arranged with respect to the processor 701, and these remote memories can be connected to the device performing the autonomous learning parking mobile terminal control method through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0173] The input device 703 can receive an input user click, and generate a signal input related to user settings and function control of the autonomous learning parking mobile terminal control method. The display device 704 can include a display device such as a display screen.

[0174] When the one or more modules are stored in the memory 702, when executed by the one or more processors 701, the autonomous learning parking mobile terminal control method in any of the above method embodiments is executed.

[0175] The application solves the problem that the vehicle cannot know which mobile phone control instruction to respond to when multiple mobile phones successively initiate parking control instructions, and also solves the problem of inconsistent human-computer interaction such as APP display or operation and display inconsistency caused by the user of the mobile phone sending the parking request instruction later not realizing the mutual exclusion strategy, avoiding safety problems such as vehicle control turbulence causing accidents.

[0176] An embodiment of the application provides a storage medium, the storage medium stores computer instructions, when the computer executes the computer instructions, all steps of the autonomous learning parking mobile terminal control method as described above are executed.

[0177] Embodiment four

[0178] As Figure 8 The hardware structure of the electronic device is shown in the figure, which includes:

[0179] At least one processor 801; and,

[0180] The memory 802 is in communication connection with at least one processor 801; wherein,

[0181] The memory 802 stores instructions executable by at least one processor, and the instructions are executed by at least one processor to enable at least one processor to execute the autonomous learning parking method controlled by the mobile terminal as described above.

[0182] Figure 8 The processor 801 is taken as an example in the figure.

[0183] The electronic device can be an electronic controller unit (ECU) of a vehicle. For example, a valet parking host (AVP module for short). The electronic device can also include an input device 803 and a display device 804.

[0184] The processor 801, the memory 802, the input device 803 and the display device 804 can be connected through a bus or other means, and the figure is taken as an example of connection through a bus.

[0185] The memory 802, as a non-volatile computer readable storage medium, can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the autonomous learning parking method controlled by the mobile terminal in the embodiments of the present application, for example, Figure 2 The processor 801 executes various function applications and data processing by running the non-volatile software programs, instructions and modules stored in the memory 802, that is, implements the autonomous learning parking method controlled by the mobile terminal in the above-mentioned embodiments.

[0186] The memory 802 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and application programs required by at least one function; the data storage area can store data created according to the use of the autonomous learning parking method controlled by the mobile terminal, etc. In addition, the memory 802 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state memory device. In some embodiments, the memory 802 can optionally include a memory remotely arranged with respect to the processor 801, which can be connected to the device executing the autonomous learning parking method controlled by the mobile terminal through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0187] The input device 803 can receive input user clicks and generate signal inputs related to user settings and function control of the autonomous learning parking method controlled by the mobile terminal. The display device 804 can include a display screen and other display equipment.

[0188] When the one or more modules are stored in the memory 802 and are run by the one or more processors 801, the autonomous learning parking method controlled by the mobile terminal in any of the above-mentioned method embodiments is executed.

[0189] The present application solves the problem that the vehicle cannot know which mobile phone control instruction to respond to when multiple mobile phones successively initiate parking control instructions, and also solves the problem of inconsistent man-machine interaction, such as APP not displaying or operating and displaying, caused by the user of the mobile phone sending the parking request instruction later not implementing the mutual exclusion strategy, and avoids the safety problem of vehicle control turbulence causing accidents.

[0190] An embodiment of the present application provides a storage medium, which stores computer instructions for executing all steps of the autonomous learning parking method controlled by the mobile terminal as described above when the computer executes the computer instructions.

[0191] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, several modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A self-learning parking mobile terminal control method, characterized by, The method comprises the following steps: In response to the automatic parking function being turned on, a first mobile terminal identifier of the mobile terminal is acquired, and an automatic parking request is sent to the vehicle; The parking state of the vehicle returned by the vehicle and the second mobile terminal identifier saved by the vehicle are acquired, the second mobile terminal identifier being the mobile terminal identifier of the mobile terminal that is currently controlling the vehicle to perform automatic parking; According to the parking state of the vehicle returned by the vehicle, the acquired first mobile terminal identifier, and / or the second mobile terminal identifier saved by the vehicle, it is determined whether to send a parking control instruction to the vehicle or to exit the automatic parking, the parking control instruction being used to control the vehicle to perform automatic parking along the self-learned parking track obtained by the vehicle through self-learning of the manual parking of the driver; The step of sending the parking control instruction to the vehicle specifically comprises the following steps: the parking control instruction is sent to the vehicle, and at the same time that the parking control instruction is sent, the first mobile terminal identifier is continuously sent to the vehicle, the first mobile terminal identifier being used to be saved and updated as the second mobile terminal identifier by the vehicle; The step of determining whether to send the parking control instruction to the vehicle or to exit the automatic parking according to the parking state of the vehicle returned by the vehicle, the acquired first mobile terminal identifier, and the second mobile terminal identifier saved by the vehicle specifically comprises the following steps: If the parking state of the vehicle returned by the vehicle is that the automatic parking is not being performed, the parking control instruction is sent to the vehicle; If the parking state of the vehicle returned by the vehicle is that the automatic parking is being performed, and the second mobile terminal identifier saved by the vehicle is consistent with the first mobile terminal identifier, the parking control instruction is sent to the vehicle; If the parking state of the vehicle returned by the vehicle is that the automatic parking is being performed, and the second mobile terminal identifier saved by the vehicle is inconsistent with the first mobile terminal identifier, a prompt that another person is parking is displayed, and the automatic parking is exited.

2. The self-learned parking mobile terminal control method according to claim 1, wherein: The step of acquiring the first mobile terminal identifier of the mobile terminal in response to the automatic parking function being turned on and sending the automatic parking request to the vehicle specifically comprises the following step: the first mobile terminal identifier of the mobile terminal is acquired in response to the automatic parking function being turned on, and the automatic parking request including the first mobile terminal identifier is sent to the vehicle.

3. The self-learned parking mobile terminal control method according to claim 1, wherein: The step of sending the parking control instruction to the vehicle if the parking state of the vehicle returned by the vehicle is that the automatic parking is not being performed specifically comprises the following step: if the parking state of the vehicle returned by the vehicle is that the automatic parking is not being performed, the automatic parking function is started, and the parking control instruction is sent to the vehicle; The step of sending the parking control instruction to the vehicle if the parking state of the vehicle returned by the vehicle is that the automatic parking is being performed and the second mobile terminal identifier saved by the vehicle is consistent with the first mobile terminal identifier specifically comprises the following step: if the parking state of the vehicle returned by the vehicle is that the automatic parking is being performed and the second mobile terminal identifier saved by the vehicle is consistent with the first mobile terminal identifier, the automatic parking function is continued, and the parking control instruction is sent to the vehicle.

4. A mobile terminal, characterized by The method comprises the following steps: At least one processor; And The memory is connected in communication with the at least one processor; wherein The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the autonomous learning parking mobile terminal control method according to any one of claims 1 to 3.

5. An autonomous learning parking method using a mobile terminal control, characterized by, Comprise: In response to the automatic parking request of the mobile terminal, the first mobile terminal identifier of the mobile terminal is acquired, and the second mobile terminal identifier saved in the vehicle is acquired, the second mobile terminal identifier being the mobile terminal identifier of the mobile terminal that is currently controlling the vehicle to perform automatic parking; According to the parking state of the vehicle, the acquired first mobile terminal identifier and the saved second mobile terminal identifier in the vehicle, it is judged whether to allow automatic parking, if the automatic parking is allowed, according to the parking control instruction sent by the mobile terminal, the vehicle is controlled to perform automatic parking along the autonomous learning parking track, if the automatic parking is refused, the automatic parking request is ignored, and the autonomous learning parking track is obtained by the vehicle from the autonomous learning of the manual parking of the driver; The judgment of whether to allow automatic parking according to the parking state of the vehicle, the acquired first mobile terminal identifier and the saved second mobile terminal identifier in the vehicle, specifically comprises: If the parking state of the vehicle is currently performing automatic parking, and the acquired first mobile terminal identifier is consistent with the saved second mobile terminal identifier in the vehicle, it is judged that the automatic parking is allowed; If the parking state of the vehicle is currently performing automatic parking, and the acquired first mobile terminal identifier is inconsistent with the saved second mobile terminal identifier in the vehicle, it is judged that the automatic parking is refused; If the parking state of the vehicle is not currently performing automatic parking, it is judged that the automatic parking is allowed; The control of the vehicle to perform automatic parking along the autonomous learning parking track according to the parking control instruction sent by the mobile terminal, specifically comprises: During the process of controlling the vehicle to perform automatic parking along the autonomous learning parking track according to the parking control instruction sent by the mobile terminal, the first mobile terminal identifier uploaded by the mobile terminal is continuously acquired and saved as the second mobile terminal identifier. 6.The autonomous learning parking method using mobile terminal control according to claim 5, wherein, Further comprise: After the automatic parking is completed, the saved second mobile terminal identifier is cleared.

7. The autonomous parking method using mobile terminal control according to any one of claims 5 to 6, characterized in that, Further comprise: In response to the automatic parking request of the mobile terminal, the second mobile terminal identifier saved in the vehicle and the parking state of the vehicle are acquired; If the second mobile terminal identifier is saved in the vehicle, the second mobile terminal identifier and the parking state of the vehicle are sent to the mobile terminal, and the mobile terminal compares the second mobile terminal identifier with the first mobile terminal identifier of the mobile terminal itself according to the parking state of the vehicle, to determine whether to perform the automatic parking function; If the first mobile terminal identifier is not saved in the vehicle, the parking state of the vehicle is sent to the mobile terminal, and the mobile terminal determines whether to perform the automatic parking function according to the parking state of the vehicle.

8. An electronic device, comprising: Comprise: At least one processor; And, The memory is in communication connection with the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the autonomous learning parking method controlled by the mobile terminal as claimed in any one of claims 5 to 7.

9. A storage medium, characterized by The storage medium stores computer instructions, and when a computer executes the computer instructions, all steps of the autonomous learning parking mobile terminal control method as claimed in any one of claims 1 to 3 are executed.

10. A storage medium, characterized by The storage medium stores computer instructions, and when a computer executes the computer instructions, all steps of the autonomous learning parking method controlled by the mobile terminal as claimed in any one of claims 5 to 7 are executed.

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