Remote control parking control method and system

Abstract

The invention discloses a remote control parking control method and system, and relates to the technical field of remote control parking, and the remote control parking control method comprises the steps that when it is detected that a remote control parking function is started, a first frame message of a first message queue is sent to a vehicle end, receiving first frame message feedback information fed back by the vehicle end based on the first frame message; selecting a preset sending strategy according to the first frame message sending time, the first frame message feedback information and a first preset period; and selecting a second frame message in a second message queue according to the first frame message and the preset sending strategy, and sending the second frame message to the vehicle end, so that the vehicle end detects a Bluetooth connection condition based on the second frame message, and controls remote parking according to the second frame message and the Bluetooth connection condition. By optimizing the message queue and selecting the sending strategy, the remote control instruction is accurately executed in the remote control parking process, and the reliability and safety of the remote control parking system are improved.

Description

Technical Field

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

[0002] Due to the rapid growth of domestic car ownership and the lagging construction of parking spaces, the problem of parking difficulties has become increasingly prominent. The shortage of parking spaces has directly led to the complexity of the parking environment. Some users cannot get off the car after parking in some small parking spaces, or the car is parked in the parking space and the user cannot get in and park the car out, which has brought great trouble to our daily travel. The remote control parking system refers to a system in which the user uses a remote control device within a certain visual range outside the car, that is, a mobile phone APP can control the vehicle to park in, park out, park parallel to the left and right, go straight in, go straight back, etc. When the parking space is narrow and the main driving door cannot be opened after the vehicle is parked in the parking space, making it inconvenient for the user to get out of the vehicle, the user can use the remote parking system. The user establishes a Bluetooth connection with the vehicle through the mobile phone APP and remotely parks the vehicle into the target parking space. After the vehicle is successfully parked, it will automatically complete operations such as shutting down the engine, shutting down the power, locking the vehicle, raising the windows, and turning off the lights. Or when the vehicle is parked in the parking space and the space on both sides of the vehicle is narrow and the door cannot be opened, making it inconvenient for the user to get in the vehicle, the user can establish a Bluetooth connection with the vehicle through the mobile phone APP and remotely park the vehicle out of the parking space, park parallel to the left or right, or go straight in or back out. Therefore, the remote parking system can provide great convenience for users to park or pick up the vehicle.

[0003] However, since the remote parking system involves many related systems and the data transmission link is relatively complex, the Bluetooth message transmission channel is congested due to the poor quality of the Bluetooth signal during wireless transmission, and the exit / pause command cannot be issued in time, causing the vehicle to lose control and be unable to brake in time, posing a huge safety hazard.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present application is to provide a remote control parking control method and system, aiming to solve the technical problem that during the remote control parking process, unstable communication may cause remote control command transmission delay or failure, thereby affecting the real-time and safety of the parking operation.

[0006] To achieve the above object, the present application proposes a remote control parking control method, which is applied to a mobile terminal and includes:

[0007] When detecting that the remote parking function is turned on, sending a first frame message of a first message queue to the vehicle end, and receiving first frame message feedback information based on the first frame message feedback from the vehicle end;

[0008] Selecting a preset sending strategy according to the first frame message sending time, the first frame message feedback information and the first preset period;

[0009] A second frame message is selected from the second message queue according to the first frame message and the preset sending strategy, and the second frame message is sent to the vehicle end, so that the vehicle end detects the Bluetooth connection status based on the second frame message, and controls the remote parking according to the second frame message and the Bluetooth connection status.

[0010] In one embodiment, when detecting that the remote parking function is turned on, the step of sending a first frame message of a first message queue to the vehicle end, and receiving first frame message feedback information based on the first frame message feedback by the vehicle end includes:

[0011] When it is detected that the remote parking function is turned on, a first frame message of the first message queue is sent to the vehicle end;

[0012] When the time difference between the time information of the first frame message and the current time information is less than a preset time difference, receiving first frame message feedback information generated by the vehicle end based on the time information of the first frame message and a message sending success flag;

[0013] When the time difference between the time information of the first frame message and the current time information is greater than or equal to the preset time difference, a discard instruction is sent to the vehicle end, so that the vehicle end discards the first frame message based on the discard instruction.

[0014] In one embodiment, the step of selecting a preset sending strategy according to the first frame message sending time, the first frame message feedback information and the first preset period includes:

[0015] Obtaining a second message queue according to the first frame message and the first message queue;

[0016] When the sending time of the first frame message does not exceed the first preset period and the feedback information of the first frame message is received, obtaining a third frame message;

[0017] When there is no third frame message in the second message queue, selecting the first sending strategy as the preset sending strategy;

[0018] When the third frame message exists in the second message queue, the second sending strategy is selected as the preset sending strategy.

[0019] In one embodiment, the step of selecting a preset sending strategy according to the first frame message sending time, the first frame message feedback information and the first preset period includes:

[0020] When the first frame message sending time exceeds the first preset period and the first frame message feedback information is not received, determining whether the first frame message is security information;

[0021] When the first frame message does not belong to the security information, the first frame message is discarded, and the first sending strategy or the second sending strategy is selected as the preset sending strategy according to the second message queue and the first frame message.

[0022] In one embodiment, the step of selecting a second frame message from a second message queue according to the first frame message and the preset sending strategy, and sending the second frame message to the vehicle end includes:

[0023] When the preset sending strategy is the first sending strategy, obtaining the order of the second message queue;

[0024] A second frame message is selected from the second message queue according to the sorting and the first frame message, and the second frame message is sent to the vehicle end.

[0025] In one embodiment, the step of selecting a second frame message from the second message queue according to the first frame message and the preset sending strategy, and sending the second frame message to the vehicle end further includes:

[0026] When the preset sending strategy is the second sending strategy, obtaining the order and message information of the second message queue;

[0027] Determining, according to the sorting, whether the first frame message and the message information are the same;

[0028] When the first frame message and the message information are different, the message corresponding to the message information is used as the second frame message, and the second frame message is sent to the vehicle end.

[0029] In addition, to achieve the above purpose, the present application also proposes a remote control parking control method, which is applied to the vehicle side and includes:

[0030] Receiving a first frame message of a first message queue sent by a mobile terminal;

[0031] Generate first frame message feedback information to the mobile terminal according to the first frame message, so that the mobile terminal determines a preset sending strategy based on the first frame message feedback information, and selects a second frame message from a second message queue based on the first frame message and the preset sending strategy and feeds back the second frame message;

[0032] The second frame message fed back by the mobile terminal is received, a Bluetooth connection status is detected according to the second frame message, and remote parking is controlled according to the second frame message and the Bluetooth connection status.

[0033] In one embodiment, the steps of receiving the second frame message fed back by the mobile terminal, detecting the Bluetooth connection status according to the second frame message, and controlling the remote parking according to the second frame message and the Bluetooth connection status include:

[0034] receiving the second frame message fed back by the mobile terminal, and detecting the Bluetooth connection status based on the second frame message and a second preset period;

[0035] When the Bluetooth connection status is disconnected, determining whether the second frame message is a continue parking instruction;

[0036] When the second frame message is the continue parking instruction, modifying the second frame message into a pause parking instruction, and controlling remote parking based on the pause parking instruction;

[0037] When the Bluetooth connection status is a normal connection or the second frame message is not the continue parking instruction, remote parking is controlled based on the second frame message.

[0038] In addition, to achieve the above-mentioned purpose, the present application also proposes a remote control parking control system, which includes the mobile terminal mentioned above and the vehicle end mentioned above.

[0039] In addition, to achieve the above-mentioned purpose, the present application also proposes a remote control parking control device, which is applied to a mobile terminal. The remote control parking control device includes:

[0040] A sending module, configured to send a first frame message of a first message queue to a vehicle end when detecting that the remote parking function is turned on, and receive first frame message feedback information from the vehicle end based on the first frame message feedback;

[0041] A selection module, configured to select a preset sending strategy according to a first frame message sending time, feedback information of the first frame message and a first preset period;

[0042] A control module is used to select a second frame message from a second message queue according to the first frame message and the preset sending strategy, and send the second frame message to the vehicle end, so that the vehicle end detects the Bluetooth connection status based on the second frame message, and controls the remote parking according to the second frame message and the Bluetooth connection status.

[0043] In addition, to achieve the above purpose, the present application also proposes a remote control parking control device, which is applied to a vehicle end, and the remote control parking control device includes:

[0044] A receiving module, used for receiving a first frame message of a first message queue sent by a mobile terminal;

[0045] a determination module, configured to generate first frame message feedback information to the mobile terminal according to the first frame message, so that the mobile terminal determines a preset sending strategy based on the first frame message feedback information, and selects a second frame message from a second message queue and feeds back the second frame message based on the first frame message and the preset sending strategy;

[0046] The detection module is used to receive the second frame message fed back by the mobile terminal, detect the Bluetooth connection status according to the second frame message, and control the remote parking according to the second frame message and the Bluetooth connection status.

[0047] In addition, to achieve the above objectives, the present application also proposes a remote control parking control device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the remote control parking control method as described above.

[0048] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and stores a computer program on the storage medium. When the computer program is executed by a processor, the steps of the remote parking control method described above are implemented.

[0049] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the remote control parking control method as described above are implemented.

[0050] One or more technical solutions proposed in this application have at least the following technical effects:

[0051] When it is detected that the remote parking function is turned on, the mobile terminal sends a preset message to the vehicle side and receives feedback information from the vehicle side. The sending strategy is dynamically selected based on the first frame message and the feedback information. According to the selected strategy, the mobile terminal selects and sends the second frame message to the vehicle side in the second message queue. The vehicle side detects the Bluetooth connection status based on the received second frame message, and controls the remote parking operation accordingly. This solves the problem of delay or instability that may exist in Bluetooth communication in the prior art, which may cause the vehicle to fail to accurately execute instructions during remote parking, increasing safety risks. Compared with the prior art, this solution can more effectively manage the message queue by dynamically selecting the sending strategy, reduce parking failures or delays caused by communication problems, and improve the response speed and safety of remote parking. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0053] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0054] Figure 1 A flowchart of a first embodiment of a remote parking control method for a mobile terminal according to the present application;

[0055] Figure 2 A schematic diagram of a non-remote control parking situation provided in Embodiment 1 of the remote control parking control method applied to a mobile terminal of the present application;

[0056] Figure 3 A schematic diagram of a remote control parking situation provided in Embodiment 1 of the remote control parking control method applied to a mobile terminal of the present application;

[0057] Figure 4 A schematic diagram of a mobile terminal instruction sending process provided in Embodiment 1 of the remote control parking control method applied to a mobile terminal of the present application;

[0058] Figure 5 A schematic diagram of a mobile terminal instruction transmission process provided in Embodiment 1 of the remote control parking control method applied to a mobile terminal of the present application;

[0059] Figure 6 A flowchart of a first embodiment of a remote parking control method for a vehicle provided by the present application;

[0060] Figure 7 A schematic diagram of a vehicle-side command sending process provided in Embodiment 1 of the remote parking control method applied to a vehicle-side of the present application;

[0061] Figure 8 A schematic diagram of the system architecture provided for the remote parking control system of this application;

[0062] Fig. 9 A schematic diagram of a message transmission link provided for the remote parking control system of this application;

[0063] Fig.10 This is a schematic diagram of the module structure of a remote parking control device applied to a mobile terminal according to an embodiment of the present application;

[0064] Fig.11 This is a schematic diagram of the module structure of a remote parking control device applied to a vehicle side according to an embodiment of the present application;

[0065] Fig.12 Schematic diagram of the device structure of the hardware operating environment involved in the remote parking control method in the embodiment of the present application.

[0066] Description of Figure Numbers:

[0067] Mobile phone end 1; vehicle end 2; vehicle end TBOX201; gateway 202; remote parking controller 203; surround view camera 204; ultrasonic radar 205; IVI controller 206; central control screen 207; EPS208; IBC209; PDCU210.

[0068] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0069] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0070] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0071] The main solution of the embodiment of the present application is: when it is detected that the remote parking function is turned on, a first frame message of a first message queue is sent to the vehicle end, and first frame message feedback information based on the first frame message feedback from the vehicle end is received;

[0072] Selecting a preset sending strategy according to the first frame message sending time, the first frame message feedback information and the first preset period;

[0073] A second frame message is selected from the second message queue according to the first frame message and the preset sending strategy, and the second frame message is sent to the vehicle end, so that the vehicle end detects the Bluetooth connection status based on the second frame message, and controls the remote parking according to the second frame message and the Bluetooth connection status.

[0074] In this embodiment, for the convenience of description, the following description is made by taking identification of a mobile terminal as the execution subject.

[0075] In the process of remote control parking in the prior art, unstable communication may cause delay or failure in the transmission of remote control commands, thereby affecting the real-time performance and safety of the parking operation.

[0076] The present application provides a solution. When it is detected that the remote parking function is turned on, the mobile terminal sends a preset message to the vehicle side and receives feedback information from the vehicle side. The sending strategy is dynamically selected based on the first frame message and the feedback information. According to the selected strategy, the mobile terminal selects and sends the second frame message to the vehicle side in the second message queue. The vehicle side detects the Bluetooth connection status based on the received second frame message, and controls the remote parking operation accordingly. The delay or instability problem that may exist in Bluetooth communication in the prior art is solved, which may cause the vehicle to fail to accurately execute instructions during remote parking, increasing safety risks. Compared with the prior art, this solution can more effectively manage the message queue by dynamically selecting the sending strategy, reduce parking failures or delays caused by communication problems, and improve the response speed and safety of remote parking.

[0077] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a mobile terminal, etc. The following takes a mobile terminal as an example to illustrate this embodiment and the following embodiments.

[0078] Based on this, the embodiment of the present application provides a remote control parking control method, the remote control parking control method is applied to a mobile terminal, referring to Figure 1 , Figure 1 1 is a flow chart of a first embodiment of a remote parking control method for a mobile terminal according to the present invention.

[0079] In this embodiment, the remote parking control method includes steps S10 to S30:

[0080] Step S10, when it is detected that the remote parking function is turned on, sending a first frame message of a first message queue to the vehicle end, and receiving first frame message feedback information of the vehicle end based on the first frame message feedback;

[0081] It should be noted that the remote parking function refers to the function in which the user uses a remote control device, such as a mobile phone APP, within a certain visible range outside the vehicle to control the vehicle to park in, park out (left or right parallel parking, straight in, straight out) and other actions.

[0082] When the parking space is narrow and the main driving door cannot be opened after the vehicle is parked, making it inconvenient for the user to get out of the vehicle, the user can use the remote parking system.

[0083] Reference Figure 2 , Figure 2 FIG. 1 is a schematic diagram of a non-remote control parking situation of the first embodiment of the remote control parking control method for a mobile terminal of the present application, such as Figure 2As shown, a car is remotely parked into a narrow parking space, resulting in the driver being unable to get out of the car normally from the main driving door after parking is completed.

[0084] Reference Figure 3 , Figure 3 FIG. 1 is a schematic diagram of a remote control parking situation of a first embodiment of a remote control parking control method for a mobile terminal according to the present application. Figure 3 As shown, the space is narrow and the driver cannot get in and park the vehicle.

[0085] In such situations, you can establish a Bluetooth connection with the vehicle through the mobile phone APP and remotely control the vehicle to park in the target parking space. After the vehicle is parked successfully, it will automatically complete operations such as shutting down the engine, shutting down the power, locking the vehicle, raising the windows, and turning off the lights. Or if the vehicle is parked in the parking space and the space on both sides of the vehicle is narrow and the door cannot be opened, making it inconvenient for the user to get in, you can establish a Bluetooth connection with the vehicle through the mobile phone APP and remotely control the vehicle to park out of the parking space, such as parallel parking to the left or right, or straight in or straight out, etc.

[0086] In addition, it should be noted that a message queue is a data structure for storing and processing messages. Here, the first message queue is a queue on the mobile terminal for storing parking instructions to be sent to the vehicle end.

[0087] It should be noted that in communication, messages are usually divided into frames. The first frame message is the first message unit in the message queue, which contains the initial instruction or information required to start the remote parking.

[0088] It can be understood that sending the first frame message to the vehicle side means that the first frame message is transmitted to the vehicle side by the mobile terminal through wireless communication, such as Bluetooth.

[0089] In addition, it is understood that the feedback from the receiving vehicle based on the first frame message indicates that after receiving the first frame message, the vehicle will process the instructions and give feedback. This feedback is the vehicle's response to the first frame message, confirming that the message has been received and understood, or providing some status information, such as the vehicle's readiness status or whether it is ready to receive further instructions.

[0090] It should be noted that the first frame message feedback information is feedback information returned by the vehicle end to the mobile terminal, which provides detailed information about the processing result of the first frame message.

[0091] In a feasible implementation, step S10 may include steps S11 to S13:

[0092] Step S11, when it is detected that the remote parking function is turned on, sending a first frame message of the first message queue to the vehicle end;

[0093] Step S12, when the time difference between the time information of the first frame message and the current time information is less than a preset time difference, receiving the first frame message feedback information generated by the vehicle end based on the time information of the first frame message and a message sending success flag;

[0094] It can be understood that after the first frame message is sent in step S11, the time difference between the sending time of the first frame message and the current time information is calculated.

[0095] It should be noted that the preset time difference is a threshold set by the system to determine whether the message is received within a reasonable time. If the actual time difference is less than this preset value, the message transmission will be considered timely. In this embodiment, the preset time difference is 800ms.

[0096] When the calculated time difference is less than the preset time difference, the vehicle terminal generates and sends a feedback message to the mobile terminal, indicating that the first frame message has been successfully received.

[0097] In addition, it should be noted that the message sending success flag is a flag used by the vehicle end when generating the first frame message feedback information, which is used to indicate the reception status of the first frame message. If the message is sent successfully, this flag will be set to successfully sent.

[0098] Step S13, when the time difference between the time information of the first frame message and the current time information is greater than or equal to the preset time difference, sending a discard instruction to the vehicle end, so that the vehicle end discards the first frame message based on the discard instruction.

[0099] It should be noted that the discard instruction means that the mobile terminal will send an instruction to the vehicle end, and this instruction instructs the vehicle end to no longer process the first frame message.

[0100] It can be understood that sending a discard instruction to the vehicle end so that the vehicle end discards the first frame message based on the discard instruction means that after receiving the discard instruction, the vehicle end will abandon processing the first frame message according to the instruction, ensuring that the system will not generate errors or confusion due to outdated messages.

[0101] During the implementation process, after the vehicle receives the operation instruction sent by the mobile terminal, it compares the timestamp information attached to the instruction with the timestamp of the currently received instruction. If the time difference is <800ms, the Bluetooth message of successful reception is immediately fed back to the Bluetooth transmission module on the mobile phone; if the time difference is ≥800ms, the message is directly discarded and waits for the next message to be received.

[0102] Step S20, selecting a preset sending strategy according to the first frame message sending time, the first frame message feedback information and the first preset period;

[0103] It should be noted that the first frame message sending time refers to the specific time point when the mobile terminal sends the first frame message to the vehicle terminal. This time point can be used for subsequent time synchronization and message confirmation processes.

[0104] In addition, it should be noted that the first preset period is a pre-set time period for determining when and how to select a sending strategy based on the sending and feedback of the first frame message. This period is related to the communication timeout or message retransmission mechanism. In this embodiment, the first preset period is 1000ms.

[0105] It should be noted that the preset sending strategy refers to the sending strategy selected based on the sending and feedback of the first frame message and the preset time period. This strategy determines the subsequent communication behavior, such as whether to resend the message and whether to send a new message.

[0106] In a feasible implementation, step S20 may include steps A21 to A23:

[0107] Step A21, obtaining a second message queue according to the first frame message and the first message queue;

[0108] Step A22, when the sending time of the first frame message does not exceed the first preset period and the feedback information of the first frame message is received, obtaining the third frame message;

[0109] It should be noted that the third frame message is the next message that needs to be sent after the first frame message and is obtained according to the second message queue.

[0110] It can be understood that, in step A21, by removing the sent first frame message from the first message queue, a second message queue can be obtained, and the third frame message can be obtained according to the new second message queue.

[0111] In this embodiment, the third frame message is to compare the message of the previous frame that was successfully sent, that is, the first frame message, with the messages in the message queue one by one starting from the front, and detect whether there is an operation instruction in the message queue that is different from the successful sending of the first frame message. This operation instruction that is different from the successful sending of the first frame message is the third frame message.

[0112] Step A23, when there is no third frame message in the second message queue, selecting the first sending strategy as the preset sending strategy;

[0113] It should be noted that the sending strategy is a strategy for confirming the sending of subsequent messages, and the first sending strategy is one of the preset sending strategies, which is used to improve the message sending efficiency when there is no third frame message in the second message queue.

[0114] Step A24: When the third frame message exists in the second message queue, select the second sending strategy as the preset sending strategy.

[0115] It should be noted that the first sending strategy is one of the preset sending strategies, which is used to improve message sending efficiency when the third frame message exists in the second message queue.

[0116] It can be understood that step A23 and step A24 indicate that when the third frame message does not exist in the second message queue, the first sending strategy will be used to send the message. When the third frame message exists in the second message queue, the second sending strategy will be used to send the message.

[0117] In a feasible implementation, step S20 may include steps B21 to B22:

[0118] Step B21, when the first frame message sending time exceeds the first preset period and the first frame message feedback information is not received, determining whether the first frame message is security information;

[0119] It should be noted that safety information refers to instructions or data that are critical to safety. Safety information may involve emergency braking, parking pause, etc., which require an immediate response from the vehicle to avoid potential safety risks. In this embodiment, safety information is parking pause and exit parking, etc.

[0120] It is understandable that if the first frame message feedback information is not received within the first preset period, further judgment and processing will be performed.

[0121] In this embodiment, if the Bluetooth transmission module on the mobile phone fails to receive the message reception success feedback instruction from the Bluetooth transmission module on the vehicle side within the first preset period of reception timeout due to message congestion in the Bluetooth transmission channel or poor Bluetooth signal quality, the Bluetooth transmission module on the mobile phone side considers that the frame message has failed to be sent, and the operation instruction scheduling module further determines the instruction type for which no feedback on successful reception has been received within the first preset period.

[0122] During the implementation process, the mobile terminal transmission module sends a frame of pause parking signal. If no message reception success feedback instruction is received from the vehicle within the receiving timeout period of 1000ms, the operation instruction scheduling module will re-send the pause parking instruction to the mobile phone Bluetooth transmission module for sending, and retain all instructions in the message queue.

[0123] Step B22: when the first frame message does not belong to the security information, discard the first frame message, and select the first sending strategy or the second sending strategy as the preset sending strategy according to the second message queue and the first frame message.

[0124] It can be understood that when the first frame message does not belong to the security information, discarding the first frame message means that when it is determined that the first frame message does not belong to the security information and no feedback is received within the predetermined time, the message will be abandoned and its feedback or instructions will no longer be waited for.

[0125] If the instruction that failed to be sent belongs to safety information, such as a pause parking or exit parking instruction, the operation instruction scheduling module will send the instruction that failed to be sent last time to the mobile phone Bluetooth transmission module again for sending.

[0126] During the implementation process, the mobile terminal transmission module sends a frame of continuous parking signal. If no message reception success feedback instruction is received from the vehicle within the receiving timeout period of 1000ms, the operation instruction scheduling module directly discards the operation instruction, and compares the continuous parking instruction that failed to be sent with the instructions in the message queue one by one from the front. If a pause parking instruction appears in the message queue, the pause parking instruction will be immediately sent to the mobile terminal for sending, and the continuous parking instruction in front will be cleared, and the pause parking instruction at the back will be retained.

[0127] In addition, it can be understood that selecting the first sending strategy or the second sending strategy as the preset sending strategy according to the second message queue and the first frame message means that after discarding the first frame message, a sending strategy will be selected between the first sending strategy and the second sending strategy to send subsequent messages.

[0128] Step S30, selecting a second frame message from the second message queue according to the first frame message and the preset sending strategy, and sending the second frame message to the vehicle end, so that the vehicle end detects the Bluetooth connection status based on the second frame message, and controls the remote parking according to the second frame message and the Bluetooth connection status.

[0129] It should be noted that the second message queue is a message queue on the mobile terminal for storing subsequent parking instructions to be sent to the vehicle. After the first message queue sends the first frame of the message, a second message queue can be obtained, and the next message to be sent is selected in the second message queue according to the preset sending strategy.

[0130] In addition, it should be noted that the second frame message is a message unit selected from the second message queue according to a preset sending strategy, and it may be an instruction to continue parking, an instruction to pause parking, or other instructions related to remote parking.

[0131] It can be understood that sending the second frame message to the vehicle side means that the mobile terminal transmits the second frame message to the vehicle side via wireless communication, such as Bluetooth, which is a subsequent communication step after the first frame message.

[0132] In addition, it can be understood that detecting the Bluetooth connection status means that after the vehicle receives the second frame message, it will detect the current Bluetooth connection status according to the message content to ensure the stability and reliability of communication.

[0133] Controlling remote parking according to the second frame message and the Bluetooth connection status means that the vehicle performs corresponding remote parking operations according to the content of the second frame message and the actual situation of the Bluetooth connection, such as continuing to park in the parking space, pausing parking or exiting parking.

[0134] In a feasible implementation, step S30 may include steps A31 to A32:

[0135] Step A31, when the preset sending strategy is the first sending strategy, obtaining the order of the second message queue;

[0136] It should be noted that in order to ensure the timeliness and reliability of the transmission of Bluetooth parking operation instructions on the mobile phone, all operation instructions are queued in the message queue according to a certain period. Under normal circumstances, the operation instructions are sent in sequence according to the first-in-first-out working mode.

[0137] In addition, it should be noted that the order of the second message queue indicates the order in which the messages in the second message queue are sent. The order may be based on the time when the instruction enters the message queue. Under normal circumstances, the operation instructions are sent in sequence according to the first-in-first-out working mode.

[0138] It can be understood that if the instructions in the message queue are all the same as the instructions successfully sent in the previous frame, the preset sending strategy is the first sending strategy.

[0139] Step A32, selecting a second frame message from the second message queue according to the sorting and the first frame message, and sending the second frame message to the vehicle end.

[0140] It can be understood that the sending order of the messages in the message queue can be obtained according to the sorting, the instruction at the front of the message queue is used as the second frame message, and the second frame message is sent.

[0141] In a feasible implementation, step S30 may include steps B31 to B33:

[0142] Step B31, when the preset sending strategy is the second sending strategy, obtaining the order and message information of the second message queue;

[0143] It should be noted that the message information refers to the specific content of each message in the second message queue, including but not limited to instructions, data, timestamp and other information.

[0144] Step B32, determining whether the first frame message and the message information are the same according to the sorting;

[0145] Step B33, when the first frame message and the message information are different, the message corresponding to the message information is used as the second frame message, and the second frame message is sent to the vehicle end.

[0146] It can be understood that step B32 and step B33 represent comparing the message successfully sent in the previous frame with the messages in the message queue one by one starting from the front according to the sorting, and selecting the operation instruction that is different from the successful sending of the previous frame. This different operation instruction is the third frame message in step A24.

[0147] The mobile terminal sends the first instruction found in the message queue that is different from the successfully sent instruction of the previous frame to the mobile phone Bluetooth transmission module for sending, and at the same time clears all message queues in front of the sending instruction in the message queue and saves all message queues in the message queue behind the sending instruction.

[0148] During the implementation process, the mobile terminal sends a frame of continuous parking signal, and receives a successful feedback instruction from the vehicle within the receiving timeout period of 1000ms. The operation instruction scheduling module compares the successfully sent continuous parking instruction with the instructions in the message queue one by one starting from the front. If a pause parking instruction appears in the message queue, the pause parking instruction will be immediately sent to the mobile terminal for sending, and the continuous parking instruction in front will be cleared, while the pause parking instruction at the back will be retained.

[0149] Please refer to Figure 4 , Figure 4 This is a schematic diagram of a mobile terminal instruction sending process of the first embodiment of the remote parking control method applied to a mobile terminal of the present application.

[0150] like Figure 4 As shown, the operation on the mobile phone is converted into an operation instruction according to the cycle T1 and enters the message queue; the operation instruction scheduling module on the mobile phone sends the operation instruction to the vehicle side through the Bluetooth transmission module on the mobile phone according to the instruction in the message queue; within the receiving timeout period T2, check whether the successful reception feedback from the Bluetooth transmission module on the vehicle side is received; if no feedback is received, it is judged that the message sending fails, and the operation instruction scheduling module will discard the instruction and take out the next instruction from the message queue to continue sending; if the instruction that failed to send is a safety instruction such as pausing parking or exiting parking, it will be resent; otherwise, the first instruction that is different from the instruction that failed or succeeded in the last sending is taken out from the message queue and sent, and the message queue is adjusted according to the situation of the remaining instructions in the message queue to ensure the continuity and safety of the remote control parking operation.

[0151] Please refer to Figure 5 , Figure 5 Schematic diagram of a mobile terminal instruction transmission process of a first embodiment of a remote parking control method applied to a mobile terminal of the present application.

[0152] like Figure 5 As shown in the figure, the mobile terminal, i.e. the mobile phone, first displays the operation instruction interface. The user issues the operation instruction through the mobile phone, and these instructions enter the message queue respectively. When the user clicks the send button, these operation instructions in the message queue are sent out through the Bluetooth transmission module on the vehicle side, and wait for feedback instructions on whether they are received successfully. If the instruction is sent successfully, the corresponding confirmation information will be displayed; if the sending fails, the corresponding error handling or resending mechanism will be executed according to the situation.

[0153] This embodiment adopts wireless communication technology such as Bluetooth to transmit an orderly organized message queue between the mobile terminal and the vehicle end, and dynamically selects and sends the corresponding message according to a preset sending strategy. The technical problem that the vehicle cannot accurately execute the parking command due to communication delay or failure during the remote parking process is solved, and the beneficial effect of improving the communication reliability, efficiency and safety of the remote parking system is achieved, thereby enhancing the automatic parking experience and reducing operational risks.

[0154] In addition, the present application embodiment provides a remote control parking control method, the remote control parking control method is applied to the vehicle side, please refer to Figure 6 , Figure 6 1 is a flow chart of a first embodiment of a remote parking control method applied to a vehicle side of the present application.

[0155] In this embodiment, the remote parking control method applied to the vehicle side includes steps S40 to S60:

[0156] Step S40, receiving a first frame message of a first message queue sent by a mobile terminal;

[0157] It should be noted that the mobile terminal refers to a device used by a user, such as a smart phone or a dedicated remote control device, which communicates with the vehicle through a built-in application, such as an APP, and sends remote parking instructions.

[0158] Step S50, generating first frame message feedback information to the mobile terminal according to the first frame message, so that the mobile terminal determines a preset sending strategy based on the first frame message feedback information, and selects a second frame message from a second message queue based on the first frame message and the preset sending strategy and feeds back the second frame message;

[0159] Step S60: receiving the second frame message fed back by the mobile terminal, detecting the Bluetooth connection status according to the second frame message, and controlling the remote parking according to the second frame message and the Bluetooth connection status.

[0160] It should be noted that the Bluetooth connection status refers to the Bluetooth connection state, and the Bluetooth connection state includes but is not limited to normal connection and disconnection.

[0161] It can be understood that, in step S50 and step S60, the mobile terminal selects and feeds back the second frame message in the second message queue based on the first frame message and the preset sending strategy, and detects the Bluetooth connection status according to the second frame message.

[0162] In a feasible implementation manner, step S50 may include steps S51 to S54:

[0163] Step S51, detecting whether the second frame message is received within a second preset period or a third preset period;

[0164] It can be understood that detecting whether the second frame message is received within the second preset period or the third preset period means confirming the reception of the second frame message within the second preset period and the third preset period, and performing subsequent steps according to the reception of the second frame message.

[0165] Step S52, when the second frame message is not received within the second preset period, obtaining a second frame message based on the first frame message;

[0166] It can be understood that when the second frame message is not received within the second preset period, the second frame message is obtained based on the first frame message, indicating that if no operation instruction from the mobile phone is received within the second preset period, the signal conversion module directly assigns the previous frame message to the message to be converted. In this embodiment, the second preset period is 200ms.

[0167] Step S53, when the second frame message is not received within the third preset period, obtaining a second frame message based on the parking pause instruction;

[0168] It can be understood that when the second frame message is not received within the third preset period, the second frame message is obtained based on the pause parking instruction, indicating that if no operation instruction from the mobile phone is received within the third preset period, the signal conversion module directly sends the pause parking instruction to stop the vehicle and keep the vehicle in a safe state. In this embodiment, the third preset period is 1200ms.

[0169] When the message sent by the vehicle-end Bluetooth transmission module is continuously and normally received within a plurality of third preset periods, the signal conversion module starts to normally convert the message sent by the vehicle-end Bluetooth transmission module.

[0170] Step S54: Control remote parking based on the second frame message.

[0171] It is understandable that the vehicle side will use the second frame message obtained in step S52 or step S53 to execute or adjust the remote control parking operation. Adjusting the remote control parking operation may include operations such as continuing parking, pausing parking, or exiting parking.

[0172] In a feasible implementation, step S60 may include steps S61 to S64:

[0173] Step S61, receiving the second frame message fed back by the mobile terminal, and detecting the Bluetooth connection status based on the second frame message and a second preset period;

[0174] It is understandable that the signal conversion module on the vehicle side converts the Bluetooth signal into a CAN signal according to the second preset period and sends it to the gateway module on the vehicle side. During the signal protocol conversion process, the TBOX Bluetooth message scheduling module on the vehicle side will determine in real time whether the mobile phone and the TBOX on the vehicle side are disconnected from the Bluetooth connection based on the strength of the Bluetooth signal, and send the Bluetooth connection status signal to the signal conversion module.

[0175] Step S62, when the Bluetooth connection status is disconnected, determining whether the second frame message is a continue parking instruction;

[0176] It should be noted that disconnection means that the Bluetooth communication connection between the vehicle end and the mobile terminal has been interrupted. In this case, the vehicle end cannot receive instructions or information from the mobile terminal through normal Bluetooth communication.

[0177] In addition, it should be noted that the continue parking instruction is an instruction that may be included in the second frame message, instructing the vehicle end to continue to perform the remote control parking operation.

[0178] Step S63, when the second frame message is the continue parking instruction, modifying the second frame message into a pause parking instruction, and controlling remote parking based on the pause parking instruction;

[0179] It can be understood that when the second frame message is the continue parking instruction, modifying the second frame message to the pause parking instruction means that if Bluetooth is disconnected and the current message received is the continue parking instruction, the signal conversion module directly converts the message into the pause parking instruction and temporarily parks according to the pause parking instruction.

[0180] Step S64, when the Bluetooth connection status is a normal connection or the second frame message is not the continue parking instruction, remote control parking is controlled based on the second frame message.

[0181] It can be understood that when the Bluetooth connection is a normal connection or the second frame message is not the continue parking instruction, controlling the remote parking based on the second frame message means directly converting the Bluetooth message transmitted by the vehicle-side Bluetooth transmission module, and controlling the vehicle according to the Bluetooth message.

[0182] Please refer to Figure 7 , Figure 7 This is a schematic diagram of the vehicle-side command sending process of the first embodiment of the remote parking control method applied to the vehicle side of the present application.

[0183] like Figure 7 As shown, when the vehicle-side Bluetooth transmission module receives the operation instruction message from the mobile phone, it will compare the timestamp in the message with the timestamp of the current message. If the time difference is less than 800 milliseconds, the vehicle-side Bluetooth transmission module will immediately feedback the Bluetooth message of successful message reception to the mobile phone Bluetooth transmission module; if the time difference is greater than or equal to 800 milliseconds, the message will be directly discarded and wait for the next message to be received. In addition, if the current information received is a continue parking instruction, the signal conversion module will convert it into a pause parking instruction; if it is other instructions, the signal conversion module will directly convert the Bluetooth signal into a CAN signal. The signal conversion module will also determine whether the Bluetooth connection is normal based on the strength of the Bluetooth signal. If it is connected normally, the Bluetooth signal will be converted into a CAN signal and sent to the gateway module according to a fixed period of 200 milliseconds; if no message is received within 200 milliseconds, the value of the previous CAN message will be forwarded. If no message is received within 1200 milliseconds, the signal conversion module will directly send a pause parking instruction to ensure safety.

[0184] It should be noted that the above examples are only used to understand the present application, and do not constitute a limitation on the method of the present application in which, during the remote parking process, unstable communication may lead to delay or failure in the transmission of remote control commands, thereby affecting the real-time and safety of the parking operation. More forms of simple transformations based on this technical concept are all within the scope of protection of the present application.

[0185] In addition, to achieve the above-mentioned purpose, the present invention further proposes a remote control parking control system, which includes the mobile terminal and the vehicle terminal mentioned above.

[0186] Please refer to Figure 8 , Figure 8 This is a schematic diagram of the system architecture of the remote parking control system of this application.

[0187] like Figure 8As shown in the figure, the system architecture of the remote parking control system includes a mobile terminal 1 and a vehicle terminal 2. The mobile terminal 1 is a mobile terminal, which mainly provides the user with a remote parking operation interface and displays the prompts and status information fed back by the remote parking controller. The vehicle terminal 2 includes a vehicle terminal TBOX 201, a gateway 202, a remote parking controller 203, a surround view camera 204, an ultrasonic radar 205, an IVI controller 206, a central control screen 207, an EPS 208, an IBC 209, and a PDCU 210.

[0188] The vehicle-side TBOX201 can realize authentication with the mobile phone APP, receive the remote parking operation instructions from the mobile phone, and realize the mutual conversion between Bluetooth signals and CAN signals; the function of the gateway 202 is to realize the information interaction of controllers on different CAN buses; the remote parking controller 203 can automatically control the vehicle to park according to the remote control instructions from the mobile phone, and provide real-time feedback of the remote parking system status and operation prompt instructions to the mobile phone to guide the user to perform remote parking operations; the surround view camera 204, as a visual perception sensor, can identify the marked parking spaces and obstacles during the parking process and provide them to the remote parking controller for planning and decision-making control. The surround view camera 204 uses LVDS (Low Voltage Differential The ultrasonic radar 205 is used as a perception sensor to identify the parking space and obstacle information and provide it to the remote parking controller for planning and decision-making control. The ultrasonic radar 205 is connected to the remote parking controller 203 through I / O (Input / Output). The IVI controller 206 and the central control screen 207 are mainly used for human-computer interaction display during remote parking, including the display of surround view, target parking space, classical Chinese prompts, etc. The EPS (Electric Power Steering) 208 realizes lateral control during remote parking by responding to the steering angle or torque request of the remote parking system. The IBC (Integrated Braking Control) 209 realizes longitudinal control during remote parking by responding to the target distance and maximum control speed request of the remote parking system. The PDCU (Powertrain Domain Control Unit) 210 realizes drive control during remote parking by responding to the torque request of the IBC.

[0189] Please refer to Fig. 9 , Fig. 9 This is a schematic diagram of the message transmission link of the remote parking control system of this application.

[0190] like Fig. 9As shown in the figure, the operation instructions on the mobile phone are authenticated and interacted with the vehicle-side TBOX through Bluetooth connection, and then the operation and display module on the mobile phone and the vehicle-side Bluetooth transmission module exchange Bluetooth connection status instructions and remote parking feedback instructions. The signal conversion module of the vehicle-side TBOX is responsible for converting Bluetooth signals into CAN signals and sending them to the gateway and remote parking controller, while receiving steering control instructions, drive control instructions and brake control instructions from remote parking. In addition, the vehicle-side Bluetooth message scheduling module determines the Bluetooth connection status in real time according to the Bluetooth signal strength, and optimizes the scheduling of message sending and receiving by feedback instructions on whether the message is received successfully.

[0191] Since the remote control parking control system adopts the remote control parking control method in the above embodiment, it can solve the technical problem that during the remote control parking process, the remote control command transmission delay or failure due to unstable communication will affect the real-time and safety of the parking operation. Compared with the prior art, the beneficial effects of the remote control parking control device provided by the present application are the same as the beneficial effects of the remote control parking control method provided by the above embodiment, and the other technical features of the remote control parking control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0192] The present application also provides a remote control parking control device, which is applied to a mobile terminal. Please refer to Fig.10 , the remote control parking control device applied to the mobile terminal comprises:

[0193] The sending module 10 is used to send a first frame message of a first message queue to the vehicle end when detecting that the remote parking function is turned on, and receive first frame message feedback information of the vehicle end based on the first frame message feedback;

[0194] A selection module 20, configured to select a preset sending strategy according to a first frame message sending time, feedback information of the first frame message, and a first preset period;

[0195] The control module 30 is used to select a second frame message from the second message queue according to the first frame message and the preset sending strategy, and send the second frame message to the vehicle end, so that the vehicle end detects the Bluetooth connection status based on the second frame message, and controls the remote parking according to the second frame message and the Bluetooth connection status.

[0196] This application also provides a remote parking control device, which is applied to the vehicle side, please refer to Fig.11 , the remote control parking control device applied to the vehicle side includes:

[0197] The receiving module 40 is used to receive a first frame message of a first message queue sent by a mobile terminal;

[0198] A determination module 50 is used to generate first frame message feedback information to the mobile terminal according to the first frame message, so that the mobile terminal determines a preset sending strategy based on the first frame message feedback information, and selects a second frame message from the second message queue based on the first frame message and the preset sending strategy and feeds back the second frame message;

[0199] The detection module 60 is used to receive the second frame message fed back by the mobile terminal, detect the Bluetooth connection status according to the second frame message, and control the remote parking according to the second frame message and the Bluetooth connection status.

[0200] The remote control parking control device provided by the present application adopts the remote control parking control method in the above embodiment, which can solve the technical problem that during the remote control parking process, the remote control command transmission delay or failure due to unstable communication will affect the real-time and safety of the parking operation. Compared with the prior art, the beneficial effects of the remote control parking control device provided by the present application are the same as the beneficial effects of the remote control parking control method provided by the above embodiment, and the other technical features of the remote control parking control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0201] The present application provides a remote control parking control device, which includes: at least one processor; and a memory that is communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the remote control parking control method in the above-mentioned embodiment 1.

[0202] Reference below Fig.12 , which shows a schematic diagram of the structure of a remote parking control device suitable for implementing the embodiment of the present application. The remote parking control device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig.12 The remote parking control device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0203] like Fig.12As shown, the remote parking control device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the remote parking control device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the remote parking control device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a remote parking control device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0204] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0205] The remote control parking control device provided by the present application adopts the remote control parking control method in the above embodiment, which can solve the technical problem that during the remote control parking process, the remote control command transmission delay or failure due to unstable communication will affect the real-time and safety of the parking operation. Compared with the prior art, the beneficial effects of the remote control parking control device provided by the present application are the same as the beneficial effects of the remote control parking control method provided by the above embodiment, and the other technical features of the remote control parking control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0206] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0207] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0208] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the remote control parking control method in the above-mentioned embodiment.

[0209] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0210] The computer-readable storage medium may be included in the remote parking control device; or may exist independently without being assembled into the remote parking control device.

[0211] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the remote parking control device, the remote parking control device: upon detecting that the remote parking function is turned on, sends a first frame message of a first message queue to the vehicle end, and receives first frame message feedback information based on the first frame message feedback from the vehicle end;

[0212] Selecting a preset sending strategy according to the first frame message sending time, the first frame message feedback information and the first preset period;

[0213] A second frame message is selected from the second message queue according to the first frame message and the preset sending strategy, and the second frame message is sent to the vehicle end, so that the vehicle end detects the Bluetooth connection status based on the second frame message, and controls the remote parking according to the second frame message and the Bluetooth connection status.

[0214] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0215] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0216] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0217] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above remote parking control method, and can solve the technical problem that in the remote parking process, the remote control instruction transmission delay or failure due to unstable communication may affect the real-time and safety of the parking operation. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the remote parking control method provided in the above embodiment, and will not be repeated here.

[0218] The present application also provides a computer program product, including a computer program, wherein when the computer program is executed by a processor, the steps of the remote control parking control method as described above are implemented.

[0219] The computer program product provided by the present application can solve the technical problem that during the remote parking process, the remote control command transmission delay or failure due to unstable communication may affect the real-time and safety of the parking operation. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as those of the remote parking control method provided by the above embodiment, and will not be elaborated here.

[0220] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A remote parking control method, characterized in that: The remote parking control method is applied to a mobile terminal, and the method includes: When detecting that the remote parking function is turned on, sending a first frame message of a first message queue to the vehicle end, and receiving first frame message feedback information based on the first frame message feedback from the vehicle end; Selecting a preset sending strategy according to the first frame message sending time, the first frame message feedback information and the first preset period; A second frame message is selected from the second message queue according to the first frame message and the preset sending strategy, and the second frame message is sent to the vehicle end, so that the vehicle end detects the Bluetooth connection status based on the second frame message, and controls the remote parking according to the second frame message and the Bluetooth connection status.

2. The method according to claim 1, characterized in that The step of sending a first frame message of a first message queue to the vehicle end when detecting that the remote parking function is turned on, and receiving first frame message feedback information based on the first frame message feedback from the vehicle end comprises: When it is detected that the remote parking function is turned on, a first frame message of the first message queue is sent to the vehicle end; When the time difference between the time information of the first frame message and the current time information is less than a preset time difference, receiving first frame message feedback information generated by the vehicle end based on the time information of the first frame message and a message sending success flag; When the time difference between the time information of the first frame message and the current time information is greater than or equal to the preset time difference, a discard instruction is sent to the vehicle end, so that the vehicle end discards the first frame message based on the discard instruction.

3. The method according to claim 1, characterized in that The step of selecting a preset sending strategy according to the first frame message sending time, the first frame message feedback information and the first preset period includes: Obtaining a second message queue according to the first frame message and the first message queue; When the sending time of the first frame message does not exceed the first preset period and the feedback information of the first frame message is received, obtaining a third frame message; When there is no third frame message in the second message queue, selecting the first sending strategy as the preset sending strategy; When the third frame message exists in the second message queue, the second sending strategy is selected as the preset sending strategy.

4. The method according to claim 3, characterized in that The step of selecting a preset sending strategy according to the first frame message sending time, the first frame message feedback information and the first preset period includes: When the first frame message sending time exceeds the first preset period and the first frame message feedback information is not received, determining whether the first frame message is security information; When the first frame message does not belong to the security information, the first frame message is discarded, and the first sending strategy or the second sending strategy is selected as the preset sending strategy according to the second message queue and the first frame message.

5. The method according to claim 1, characterized in that The step of selecting a second frame message from the second message queue according to the first frame message and the preset sending strategy, and sending the second frame message to the vehicle end includes: When the preset sending strategy is the first sending strategy, obtaining the order of the second message queue; A second frame message is selected from the second message queue according to the sorting and the first frame message, and the second frame message is sent to the vehicle end.

6. The method according to claim 1, characterized in that The step of selecting a second frame message from the second message queue according to the first frame message and the preset sending strategy, and sending the second frame message to the vehicle end further includes: When the preset sending strategy is the second sending strategy, obtaining the order and message information of the second message queue; Determining, according to the sorting, whether the first frame message and the message information are the same; When the first frame message and the message information are different, the message corresponding to the message information is used as the second frame message, and the second frame message is sent to the vehicle end.

7. A remote parking control method, characterized in that: The remote parking control method is applied to the vehicle side, and the method comprises: Receiving a first frame message of a first message queue sent by a mobile terminal; Generate first frame message feedback information to the mobile terminal according to the first frame message, so that the mobile terminal determines a preset sending strategy based on the first frame message feedback information, and selects a second frame message from a second message queue based on the first frame message and the preset sending strategy and feeds back the second frame message; The second frame message fed back by the mobile terminal is received, a Bluetooth connection status is detected according to the second frame message, and remote parking is controlled according to the second frame message and the Bluetooth connection status.

8. The method according to claim 7, characterized in that The steps of receiving the second frame message fed back by the mobile terminal, detecting the Bluetooth connection status according to the second frame message, and controlling the remote parking according to the second frame message and the Bluetooth connection status include: receiving the second frame message fed back by the mobile terminal, and detecting the Bluetooth connection status based on the second frame message and a second preset period; When the Bluetooth connection status is disconnected, determining whether the second frame message is a continue parking instruction; When the second frame message is the continue parking instruction, modifying the second frame message into a pause parking instruction, and controlling remote parking based on the pause parking instruction; When the Bluetooth connection status is a normal connection or the second frame message is not the continue parking instruction, remote parking is controlled based on the second frame message.

9. The method according to claim 7, characterized in that After the step of generating first frame message feedback information to the mobile terminal according to the first frame message, so that the mobile terminal determines a preset sending strategy based on the first frame message feedback information, and selecting a second frame message in the second message queue based on the first frame message and the preset sending strategy and feeding back the second frame message, the step further includes: Detecting whether the second frame message is received within a second preset period or a third preset period; When the second frame message is not received within the second preset period, obtaining a second frame message based on the first frame message; When the second frame message is not received within the third preset period, obtaining a second frame message based on the parking pause instruction; The remote parking is controlled based on the second frame message.

10. A remote control parking control system, characterized in that: The remote control parking control system comprises the mobile terminal according to any one of claims 1 to 6 and the vehicle terminal according to any one of claims 7 to 9.

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