Parking method, terminal and computer readable storage medium

Abstract

A parking method applied to a car terminal, the car terminal comprising a GPS and a millimeter wave module, the method comprising: receiving a call instruction of a car owner, obtaining a first satellite positioning position through the GPS and the position of a satellite; obtaining a second satellite positioning position through the GPS and the position of a base station; obtaining the position of the car terminal and the distance d between the car owner and the car terminal according to the first satellite positioning position and the second satellite positioning position; and planning an optimal route to the car owner according to the millimeter wave module and a camera to avoid obstacles. The application also provides a car terminal and a computer readable storage medium, which can realize unmanned driving and autonomously drive to the front of the car owner without setting a fixed parking space in advance.

Description

Technical Field

[0001] This invention relates to the field of unmanned parking technology, and in particular to a parking method, a terminal, and a computer-readable storage medium. Background Technology

[0002] Current intelligent parking methods for autonomous vehicles on the market primarily rely on the Global Positioning System (GPS) to pre-determine and plan fixed locations, using advanced technologies such as ultrasonic radar and 3D cameras for obstacle avoidance, thus enhancing the autonomous driving experience. However, current autonomous vehicle parking spots are pre-set and fixed. In remote areas, it's impossible to set up fixed parking spots in every location, failing to meet people's need for on-demand, convenient parking; and it's even more inconvenient in inclement weather. Summary of the Invention

[0003] In view of the above, it is necessary to provide a parking method, terminal and computer-readable storage medium that can achieve unmanned driving, autonomously drive to the car owner, without the need to pre-set a fixed parking space, and realize an intelligent unmanned parking solution.

[0004] This invention provides a parking method applied to a vehicle terminal, which includes a GPS and a millimeter wave (mmWave) module. The method includes: receiving a call command from the vehicle owner; obtaining a first satellite positioning location through the GPS and satellite positions; obtaining a second satellite positioning location through the GPS and base station positions; obtaining the location of the vehicle terminal and the distance d between the vehicle owner and the vehicle terminal based on the first and second satellite positioning locations; performing obstacle avoidance based on the millimeter wave module and a camera; and planning the optimal route to the vehicle owner.

[0005] Optionally, the vehicle owner carries a primary SIM card, and the vehicle terminal is equipped with a secondary SIM card. The vehicle owner calls the secondary SIM card of the vehicle terminal through the primary SIM card. Receiving the call instruction from the vehicle owner includes: the vehicle terminal activating the GPS and the millimeter-wave module.

[0006] Optionally, obtaining the first satellite positioning location through the GPS and satellite positions includes: receiving the position information of the first satellite, the second satellite, the third satellite and the fourth satellite; collecting the location information M04, M03 and M02 of the vehicle terminal three times within a preset time period; and taking the center of the line connecting the three positioning points M04, M03 and M02 as the first satellite positioning location M0.

[0007] Optionally, obtaining the second satellite positioning location through the GPS and satellite positions includes: the secondary SIM card positioning coordinates M05, M06, and M07 three times through the first base station, the second base station, the third base station, and the fourth base station; and taking the centroid of the line connecting the three positioning points M05, M06, and M07 as the second satellite positioning location M01.

[0008] Optionally, obtaining the location of the vehicle terminal and the distance d between the vehicle owner and the vehicle terminal based on the first satellite positioning location and the second satellite positioning location includes: taking the midpoint of the line connecting the first satellite positioning location M0 and the second satellite positioning location M01 as the location M of the vehicle terminal; the primary SIM card and the secondary SIM card synchronously share their respective location information, wherein the location of the vehicle owner's primary SIM card is the location O of the vehicle owner; and measuring the distance d from location M to location O using GPS.

[0009] Optionally, the obstacle avoidance based on the millimeter-wave module and camera, and the planning of the optimal route to the vehicle owner, includes: learning the road using the camera and memorizing and comparing the 3D map and scene map of the GPS; correcting the position using the GPS information via a magnetometer, gyroscope, accelerometer, and speed measurement system; memorizing zebra crossings, traffic lights, lane markings, and road surface smoothness information using the camera, and driving safely based on real-time traffic information.

[0010] This invention also provides an automotive terminal, which includes a memory, a processor, and a parking program stored in the memory and executable on the processor. When the parking program is executed by the processor, it implements the steps of the parking method described above.

[0011] This invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the parking method described above.

[0012] Compared to existing technologies, the proposed parking method, vehicle terminal, and computer-readable storage medium, by receiving the owner's call command, obtain a first satellite positioning location through GPS and satellite positioning; obtain a second satellite positioning location through GPS and base station positioning; obtain the location of the vehicle terminal and the distance d between the owner and the vehicle terminal based on the first and second satellite positioning locations; perform obstacle avoidance using the millimeter-wave module and camera, and plan the optimal route to the owner. This enables autonomous driving, allowing the vehicle to autonomously approach the owner without the need for pre-setting fixed parking spaces, making it more convenient and faster. It is more suitable for remote areas and travel in inclement weather, saving the trouble of pre-setting fixed parking points in remote areas, improving the smart living experience, and especially solving the problem of automatically recognizing the owner and providing last-minute autonomous vehicle reception services, proposing a more intelligent autonomous parking solution. Attached Figure Description

[0013] Figure 1 This is a diagram illustrating the operating environment of a vehicle terminal according to a preferred embodiment of the present invention.

[0014] Figure 2 This is a program block diagram of a preferred embodiment of the parking system for an automotive terminal of the present invention.

[0015] Figure 3 This is a flowchart of a parking method according to a preferred embodiment of the present invention.

[0016] Explanation of main component symbols

[0017] Automotive Terminal 1

[0018] Parking System 10

[0019] Memory 20

[0020] Processor 30

[0021] Call Module 101

[0022] Positioning module 102

[0023] Driving Module 103

[0024] Steps S300 to S306

[0025] The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention. Detailed Implementation

[0026] See Figure 1The diagram shown illustrates the operating environment of a preferred embodiment of the vehicle terminal according to the present invention. The vehicle terminal 1 includes a parking system 10. The vehicle terminal 1 also includes a memory 20 and a processor 30, etc. The vehicle terminal includes a global positioning system and a millimeter-wave module.

[0027] The memory 20 includes at least one type of storage medium, such as flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. The processor 30 may be a central processing unit (CPU), controller, microcontroller, microprocessor, or other data processing chip.

[0028] See Figure 2 The diagram shown is a program block diagram of a preferred embodiment of the parking system 10 of the present invention. The parking system 10 includes a call module 101, a positioning module 102, and a driving module 103. The modules are configured to be executed by one or more processors (in this embodiment, one processor 30) to complete the present invention. A module, as referred to in the present invention, is a computer program segment that performs a specific instruction. The memory 20 is used to store program code and other data of the parking system 10. The processor 30 is used to execute the program code stored in the memory 20.

[0029] Call module 101 is used to receive call commands from the vehicle owner.

[0030] Specifically, the vehicle owner carries a primary SIM card, and the vehicle terminal is equipped with a secondary SIM card. The vehicle owner calls the secondary SIM card of the vehicle terminal through the primary SIM card. The call module 101 is also used to activate the GPS and the millimeter-wave module.

[0031] The positioning module 102 is used to obtain a first satellite positioning position through the GPS and satellite positions.

[0032] The positioning module 102 is also used to: receive the position information of the first satellite, the second satellite, the third satellite and the fourth satellite; collect the position information M04, M03 and M02 of the vehicle terminal three times within a preset time (e.g., 1 second); and take the center of the line connecting the three positioning points M04, M03 and M02 as the positioning position M0 of the first satellite.

[0033] The positioning module 102 is also used to: obtain a second satellite positioning location through the location of the GPS and the base station.

[0034] Specifically, the SIM secondary card uses the first base station, the second base station, the third base station, and the fourth base station to locate coordinate positions M05, M06, and M07 three times; the centroid of the line connecting the three points M05, M06, and M07 is taken as the second satellite positioning position M01.

[0035] The positioning module 102 is further configured to: obtain the location of the vehicle terminal and the distance d between the vehicle owner and the vehicle terminal based on the first satellite positioning location and the second satellite positioning location.

[0036] Specifically, the midpoint of the line connecting the first satellite positioning location M0 and the second satellite positioning location M01 is taken as the location M of the vehicle terminal; the primary SIM card and the secondary SIM card synchronously share their respective location information, wherein the location of the vehicle owner's primary SIM card is the vehicle owner's location O; the distance d from location M to location O is measured by the GPS.

[0037] The driving module 103 is used to avoid obstacles based on the millimeter-wave module and camera, and to plan the best route to the vehicle owner.

[0038] In this embodiment, the driving module 103 is also used to learn roads through the camera and memorize and compare the three-dimensional map and scene map of the GPS; to correct the position of GPS information through the magnetometer, gyroscope, accelerometer and speed measurement system; to memorize zebra crossings, traffic lights, driving lanes and road surface smoothness information through the camera, and to drive safely according to real-time traffic information.

[0039] In this embodiment, by receiving a call command from the vehicle owner, a first satellite positioning position is obtained through the GPS and satellite positions; a second satellite positioning position is obtained through the GPS and base station positions; the position of the vehicle terminal and the distance d between the vehicle owner and the vehicle terminal are obtained based on the first and second satellite positioning positions; obstacle avoidance is performed using the millimeter-wave module and camera, and the optimal route to the vehicle owner is planned. This enables autonomous driving, allowing the vehicle to autonomously drive to the vehicle owner without the need for pre-setting fixed parking spaces, making it more convenient and faster, and more suitable for travel in remote areas and in inclement weather. It saves the trouble of pre-setting fixed parking points in remote areas, improves the smart living experience, and especially solves the problem of automatically recognizing the vehicle owner and providing last-mile autonomous vehicle reception services, proposing a more intelligent autonomous driving parking solution.

[0040] See Figure 3 The diagram shown is a flowchart of a parking method according to a preferred embodiment of the present invention. The parking method is applied to the vehicle terminal 1 and can be executed by the processor 30. Figure 2This is achieved through modules 101 to 103 shown. The vehicle terminal 1 includes a GPS and a millimeter-wave module.

[0041] Step S300: Receive the call command from the vehicle owner and obtain the first satellite positioning location through the GPS and satellite positions.

[0042] Specifically, the vehicle owner carries a primary SIM card, and the vehicle terminal is equipped with a secondary SIM card. The vehicle owner calls the secondary SIM card of the vehicle terminal through the primary SIM card. Receiving the call instruction from the vehicle owner includes: the vehicle terminal activating the GPS and the millimeter-wave module.

[0043] The step of obtaining the first satellite positioning location through the GPS and satellite positions includes: receiving the position information of satellites 11, 12, 13 and 14; collecting the position information M04, M03 and M02 of the vehicle terminal three times within a preset time (e.g., 1 second); and taking the center of the line connecting the three positioning points M04, M03 and M02 as the first satellite positioning location M0.

[0044] Step S302: Obtain the second satellite positioning location through the GPS and the location of the base station.

[0045] Specifically, S302 includes: the SIM sub-card is located three times at coordinate positions M05, M06, and M07 via base stations 21, 22, 23, and 24; the centroid of the line connecting the three points M05, M06, and M07 is taken as the second satellite positioning position M01.

[0046] Step S304: Obtain the location of the vehicle terminal and the distance d between the vehicle owner and the vehicle terminal based on the first satellite positioning location and the second satellite positioning location.

[0047] Specifically, the midpoint of the line connecting the first satellite positioning location M0 and the second satellite positioning location M01 is taken as the location M of the vehicle terminal; the primary SIM card and the secondary SIM card synchronously share their respective location information, wherein the location of the vehicle owner's primary SIM card is the vehicle owner's location O; the distance d from location M to location O is measured by the GPS.

[0048] Step S306: Obstacle avoidance is performed based on the millimeter-wave module and camera, and the optimal route to the vehicle owner is planned.

[0049] In this embodiment, the camera performs road learning and memorizes and compares the 3D map and scene map of the GPS; the magnetometer, gyroscope, accelerometer, and speed measurement system are used to correct the GPS information for position; the camera memorizes zebra crossings, traffic lights, lane markings, and road surface smoothness information, and drives safely based on real-time traffic information.

[0050] By applying the above method to the aforementioned vehicle terminal, the system receives the owner's call command and obtains a first satellite positioning location using GPS and satellite positioning; it then obtains a second satellite positioning location using GPS and base station positioning; based on the first and second satellite positioning locations, the system determines the vehicle terminal's location and the distance 'd' between the owner and the vehicle terminal; obstacle avoidance is performed using millimeter-wave modules and cameras, and the optimal route to the owner is planned. This enables autonomous driving, allowing the vehicle to autonomously approach the owner without the need for pre-set fixed parking spaces, making it more convenient and faster. It is particularly suitable for remote areas and travel in inclement weather, saving the time and effort required for pre-setting fixed parking spots in remote areas, thus improving the smart living experience. In particular, it solves the problem of automatically recognizing the owner and providing last-minute autonomous vehicle reception services, proposing a more intelligent autonomous parking solution.

[0051] This embodiment also provides an automotive terminal, which includes a memory, a processor, and a parking program stored in the memory and executable on the processor. When the parking program is executed by the processor, it implements the steps of the parking method described above.

[0052] This embodiment also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the parking method described above.

[0053] It is worth noting that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A parking method applied to a car terminal, characterized in that, The vehicle terminal includes GPS and a millimeter-wave module, and the method includes: Receive the call command from the car owner of the vehicle terminal, and obtain the first satellite positioning location through the GPS and satellite positions; The second satellite positioning location is obtained by comparing the GPS location with the base station location. The location of the vehicle terminal and the distance d between the vehicle owner and the vehicle terminal are obtained based on the first satellite positioning location and the second satellite positioning location; and Obstacle avoidance is performed using the millimeter-wave module and camera, and the optimal route to the vehicle owner is planned. Wherein, the vehicle owner carries a primary SIM card, the vehicle terminal is equipped with a secondary SIM card, the vehicle owner calls the secondary SIM card of the vehicle terminal through the primary SIM card, and the step of obtaining the location of the vehicle terminal and the distance d between the vehicle owner and the vehicle terminal based on the first satellite positioning location and the second satellite positioning location includes: The midpoint of the line connecting the first satellite positioning location and the second satellite positioning location is taken as the location M of the vehicle terminal; The primary SIM card and the secondary SIM card synchronously share their respective location information, wherein the location of the vehicle owner's primary SIM card is the vehicle owner's location O; and The distance d between location M and location O was measured using the GPS.

2. The parking method as described in claim 1, characterized in that, The process of receiving the vehicle owner's call instruction from the vehicle terminal includes: The vehicle terminal activates the GPS and the millimeter-wave module.

3. The parking method as described in claim 1, characterized in that, The step of obtaining the first satellite positioning location through the GPS and satellite positions includes: Receive position information from the first, second, third, and fourth satellites; The location information M04, M03, and M02 of the vehicle terminal are collected three times within a preset time period; and The center of the line connecting points M04, M03, and M02 is taken as the first satellite positioning position M0.

4. The parking method as described in claim 3, characterized in that, The step of obtaining the second satellite positioning location through the GPS and satellite positions includes: The secondary SIM card is located at coordinates M05, M06, and M07 three times via the first, second, third, and fourth base stations; and The centroid of the line connecting points M05, M06, and M07 is taken as the second satellite positioning position M01.

5. The parking method as described in claim 4, characterized in that, The obstacle avoidance based on the millimeter-wave module and camera, and the planning of the optimal route to the vehicle owner, includes: The camera is used to learn the road and to memorize and compare the 3D map and scene map from the GPS. The GPS information is real-time corrected using a magnetometer, gyroscope, accelerometer, and speed measurement system; and The camera memorizes information such as zebra crossings, traffic lights, lane markings, and road surface smoothness, and allows for safe driving based on real-time traffic information.

6. A car terminal, characterized in that, The vehicle terminal includes a memory, a processor, and a parking program stored in the memory and executable on the processor, wherein the parking program, when executed by the processor, implements the steps of the parking method as described in any one of claims 1 to 5.

7. A storage medium, characterized in that, The storage medium stores a computer program that, when executed by a processor, implements the steps of the parking method as described in any one of claims 1 to 5.

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