Vehicle control system and method

Abstract

The invention provides a vehicle control system and method, and belongs to the technical field of vehicles. The vehicle control system comprises a vehicle, a vehicle sensing module and a parking assisting module. The vehicle sensing module sends a secret key of a wireless local area network to the vehicle when sensing that the vehicle enters the parking lot; the vehicle-mounted terminal of the vehicle sends a parking instruction to the parking auxiliary module under the condition that the vehicle-mounted terminal is accessed to the wireless local area network; the parking auxiliary module responds to the parking instruction, determines a target parking space from a plurality of idle parking spaces of a parking lot and sends first path information to the vehicle-mounted terminal, and the vehicle-mounted terminal displays the first path information; in response to a confirmation operation on the first path information, the vehicle-mounted terminal sends the first path information to an automatic driving module of the vehicle; and the automatic driving module parks the vehicle into the target parking space based on the first path information. According to the technical scheme, the vehicle can be automatically parked when entering the parking lot, a driver does not need to manually find an idle parking space or park, and the parking efficiency is improved.

Description

Technical Field

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

[0002] With the continuous increase in car ownership, parking difficulties in large parking lots in areas such as shopping malls and scenic spots have become a common problem in many cities. These difficulties include, but are not limited to, finding and parking in available spaces. Traditional parking methods often require drivers to manually search for an available space and then park their vehicle in it, resulting in relatively low parking efficiency. Summary of the Invention

[0003] The embodiments of the present application provide a vehicle control system and method that can improve parking efficiency. The technical solution is as follows: In one aspect, a vehicle control system is provided, comprising a vehicle, a vehicle perception module, and a parking assistance module, wherein the vehicle perception module is installed at an exit and an entrance of a parking lot; The vehicle sensing module is configured to, upon sensing that the vehicle has entered the parking lot, send a wireless local area network key to the vehicle, so that the vehicle-mounted terminal of the vehicle can access the wireless local area network based on the key, and the vehicle-mounted terminal can communicate data with the parking assistance module via the wireless local area network; The vehicle terminal is configured to display a prompt message when connected to the wireless local area network, the prompt message being used to prompt whether to activate the automatic parking function; and in response to a confirmation operation on the prompt message, send a parking instruction to the parking assistance module; The parking assistance module is configured to determine, in response to the parking instruction, a target parking space from a plurality of available parking spaces in the parking lot based on the position of the vehicle; determine and transmit first path information to the vehicle terminal, the first path information indicating a driving path for the vehicle to park in the target parking space; The vehicle-mounted terminal is further configured to display the first path information upon receiving the first path information; and transmit the first path information to the automatic driving module of the vehicle in response to a confirmation operation on the first path information; The automatic driving module of the vehicle is used to park the vehicle into the target parking space based on the first path information.

[0004] In some embodiments, upon sensing that the vehicle enters the parking lot, sending a wireless local area network key to the vehicle includes: When the vehicle is sensed to enter the parking lot, the key of the wireless local area network is sent to the vehicle body controller via infrared communication, and the vehicle body controller forwards the key of the wireless local area network to the vehicle-mounted terminal.

[0005] In some embodiments, in response to the parking instruction, determining a target parking space from a plurality of available parking spaces in the parking lot based on the position of the vehicle includes: In response to the parking instruction, determining a plurality of vacant parking spaces in the parking lot and a position of each of the vacant parking spaces; determining a parking difficulty coefficient for each of the vacant parking spaces based on the position of the vehicle and the position of each of the vacant parking spaces, wherein the parking difficulty coefficient is positively correlated with a driving distance required for the vehicle to park in the corresponding vacant parking space and negatively correlated with the number of vacant parking spaces adjacent to the corresponding vacant parking space; The vacant parking space with the lowest parking difficulty coefficient is determined as the target parking space.

[0006] In some embodiments, the vehicle further includes a body controller, and the body controller is configured to control the vehicle to activate an anti-theft mode when the vehicle is parked in the target parking space.

[0007] In some embodiments, the vehicle control system further comprises a terminal used by a driver of the vehicle; The vehicle body controller is further configured to send a notification message to the terminal when the anti-theft mode of the vehicle is turned on, and the terminal displays the notification message, wherein the notification message is configured to indicate that the vehicle has been successfully parked.

[0008] In some embodiments, the vehicle control system further comprises a terminal used by a driver of the vehicle; The terminal is used to send a summoning instruction to the vehicle body controller after the vehicle is parked in the target parking space, and the vehicle body controller starts the vehicle and turns off the anti-theft mode of the vehicle based on the summoning instruction, and the summoning instruction is used to instruct the vehicle to automatically drive to the target position; The terminal is further configured to send location information to the vehicle perception module, which forwards the location information to the parking assistance module, wherein the location information is used to indicate the target location; The parking assistance module is configured to determine, based on the location information, and send second path information to the vehicle terminal, wherein the second path information represents a driving path for the vehicle to travel to the target location; The vehicle-mounted terminal is also used to send the second path information to the automatic driving module of the vehicle when the second path information is received, and the automatic driving module of the vehicle is used to drive the vehicle to the target location based on the second path information.

[0009] In some embodiments, when the vehicle-mounted terminal is not connected to the wireless local area network, the vehicle body controller is further configured to control the vehicle-mounted terminal to access the wireless local area network based on the key based on the summon instruction.

[0010] In some embodiments, the parking assistance module is further configured to update the path information of the vehicle in real time based on the location and environmental information of the vehicle during the automatic driving of the vehicle, and transmit the updated path information to the in-vehicle terminal when the path information is updated; The vehicle-mounted terminal is also used to forward the updated path information to the automatic driving module, and the automatic driving module controls the vehicle to drive automatically based on the updated path information.

[0011] In another aspect, a vehicle control method is provided, which is applied to a vehicle control system. The vehicle control system includes a vehicle, a vehicle perception module, and a parking assistance module. The vehicle perception module is installed at the exit and entrance of a parking lot. The method includes: When the vehicle sensing module senses that the vehicle has entered the parking lot, the vehicle sensing module sends a wireless local area network key to the vehicle, so that the vehicle-mounted terminal of the vehicle can access the wireless local area network based on the key, and the vehicle-mounted terminal communicates data with the parking assistance module via the wireless local area network; When the vehicle terminal is connected to the wireless local area network, the vehicle terminal displays a prompt message, the prompt message being used to prompt whether to activate the automatic parking function; and in response to a confirmation operation on the prompt message, sends a parking instruction to the parking assistance module; The parking assistance module, in response to the parking instruction, determines a target parking space from a plurality of available parking spaces in the parking lot based on the position of the vehicle; determines and sends first path information to the vehicle terminal, the first path information indicating a driving path for the vehicle to park in the target parking space; The vehicle-mounted terminal of the vehicle displays the first path information when receiving the first path information; and sends the first path information to the automatic driving module of the vehicle in response to a confirmation operation on the first path information; The automatic driving module of the vehicle parks the vehicle into the target parking space based on the first path information.

[0012] In some embodiments, the vehicle control system further includes a terminal used by a driver of the vehicle, and the method further includes: After the vehicle is parked in the target parking space, the terminal sends a summoning instruction to the vehicle's body controller, and the body controller starts the vehicle and turns off the vehicle's anti-theft mode based on the summoning instruction. The summoning instruction is used to instruct the vehicle to automatically drive to the target location; The terminal sends location information to the vehicle perception module, and the vehicle perception module forwards the location information to the parking assistance module, where the location information is used to indicate the target location; The parking assistance module determines, based on the location information, and sends second path information to the vehicle terminal, where the second path information represents a driving path for the vehicle to reach the target location; When the vehicle-mounted terminal receives the second path information, it sends the second path information to the automatic driving module of the vehicle, and the automatic driving module of the vehicle drives the vehicle to the target location based on the second path information.

[0013] On the other hand, a computer device is provided, which includes a processor and a memory, wherein the memory is used to store at least one computer program, and the at least one computer program is loaded and executed by the processor to implement the vehicle control method as described in the above aspect.

[0014] On the other hand, a computer-readable storage medium is provided, in which at least one computer program is stored. The at least one computer program is loaded and executed by a processor to implement the vehicle control method as described in the above aspects.

[0015] On the other hand, a computer program product is provided, comprising a computer program, wherein the computer program is executed by a processor to implement the vehicle control method according to the above aspect.

[0016] The present application provides a vehicle control system, which includes a vehicle, a vehicle perception module installed at the entrance and exit of a parking lot, and a parking assistance module. When the vehicle perception module senses that the vehicle has entered the parking lot, the vehicle perception module sends a wireless local area network key to the vehicle so that the vehicle-mounted terminal of the vehicle can access the wireless local area network. When the driver agrees to automatic parking, the vehicle can send a parking instruction to the parking assistance module via the wireless local area network. The parking assistance module determines the target parking space to be parked and returns path information. Then, the automatic driving module of the vehicle can park the vehicle in the target parking space according to the path information. By adopting the above method, the vehicle can automatically park when entering the parking lot, without the driver having to look for an empty parking space or park the vehicle, thereby improving parking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] Figure 1 is a schematic diagram of an implementation environment of a vehicle control system provided by an embodiment of the present application; Figure 2 This is a flow chart of controlling a vehicle based on a vehicle control system provided in an embodiment of the present application; Figure 3 is another flow chart for controlling a vehicle based on a vehicle control system provided in accordance with an embodiment of the present application; Figure 4 It is a structural diagram of a controller provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0019] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0020] In this application, the terms "first", "second", etc. are used to distinguish identical or similar items with substantially the same effects and functions. It should be understood that there is no logical or temporal dependency between "first", "second", and "nth", nor is there any limitation on the quantity and execution order.

[0021] In the present application, the term "at least one" means one or more, and the term "plurality" means two or more.

[0022] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, storage, and display, etc.), and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the path information involved in this application was obtained with full authorization.

[0023] Figure 1 This is a schematic diagram of an implementation environment of a vehicle control system provided by an embodiment of the present application, see Figure 1The implementation environment includes a vehicle 101, a vehicle perception module 102, a parking assistance module 103, and a terminal 104. The vehicle perception module 102 and the parking assistance module 103 communicate data via a wireless local area network. The terminal 104 can be a terminal used by the driver, such as a mobile phone, tablet computer, smart watch, etc.

[0024] Vehicle 101 includes a body controller, an onboard terminal, and an autonomous driving module. The body controller and the onboard terminal communicate via a CAN (Controller Area Network) bus. The body controller and the autonomous driving module also communicate via the CAN bus. The onboard terminal and the autonomous driving module communicate via a wireless local area network (WLAN). Once connected to the WLAN, the onboard terminal of vehicle 101 can communicate with the parking assistance module 103 via the WLAN. The vehicle perception module 102 can transmit data to the body controller via infrared communication.

[0025] The vehicle sensing module 102 is installed at the entrance and exit of the parking lot. Upon sensing a vehicle 101 entering the parking lot, the vehicle sensing module 102 transmits a wireless local area network (WLAN) key to the vehicle's body controller via infrared communication. The body controller then forwards this key to the vehicle's onboard terminal, enabling the terminal to access the WLAN based on the key. Once connected to the WLAN, the onboard terminal can send parking instructions to the parking assistance module 103, provided the automatic parking function is enabled.

[0026] In response to the parking instruction, the parking assistance module 103 determines a target parking space from multiple available spaces in the parking lot based on the location of the vehicle 101. It then determines and returns path information to the vehicle terminal. This path information includes the path the vehicle will take to park in the target parking space. Upon receiving this path information, the vehicle terminal transmits it to the autonomous driving module, which uses this path information to park the vehicle 101 in the target parking space, thereby enabling automatic parking once the vehicle enters the parking lot.

[0027] After vehicle 101 parks in the target parking space, the body controller can also send a notification message to terminal 104, which displays the notification message, thereby notifying the driver that the vehicle has been successfully parked. Accordingly, when the driver wants to pick up the vehicle, the driver can send a call command to the body controller through terminal 104 and send their own location information to the parking assistance module 103 through the vehicle perception module 102. The body controller will start the vehicle, and the parking assistance module will determine the driving path of vehicle 101 based on the driver's location information. Then, the automatic driving module can automatically drive vehicle 101 to the driver's location based on the driving path, eliminating the need for the driver to manually search for their own vehicle in the parking lot.

[0028] Taking the smart parking scenario as an example, the process of a vehicle control system controlling a vehicle to achieve smart parking is described through the following embodiments. Figure 2 This is a flow chart of controlling a vehicle based on a vehicle control system according to an embodiment of the present application. The method is executed by the vehicle control system. Figure 2 , the method comprises the following steps: 201. When the vehicle sensing module senses that a vehicle has entered a parking lot, it sends a wireless LAN key to the vehicle's body controller via infrared communication, and the body controller forwards the wireless LAN key to the vehicle-mounted terminal.

[0029] In an embodiment of the present application, a vehicle sensing module is installed at the entrance and exit of a parking lot. The vehicle sensing module can detect vehicles entering and exiting the parking lot. Upon sensing a vehicle entering the parking lot, the vehicle sensing module can transmit a wireless local area network (WLAN) key to the vehicle's body controller via infrared communication. Optionally, the vehicle sensing module can also transmit a WLAN identifier to the body controller, such as the WLAN name. The WLAN can be a wireless network provided by the parking lot.

[0030] After receiving the key, the vehicle's body controller forwards it to the onboard terminal, which then uses it to access the wireless LAN. By sending the wireless LAN key to the vehicle's onboard terminal upon sensing the vehicle's entry into the parking lot, the onboard terminal can communicate with other modules via the wireless LAN, such as the parking assistance module in the parking lot and the vehicle's autonomous driving module, thereby enabling automated parking.

[0031] 202. When the vehicle's onboard terminal is connected to a wireless local area network, a prompt message is displayed, where the prompt message is used to prompt whether to enable the automatic parking function.

[0032] In the embodiment of the present application, after the vehicle terminal is connected to the wireless local area network, the vehicle terminal displays a prompt message on the screen to prompt the driver whether to activate the automatic parking function. Optionally, in addition to displaying the prompt message on the screen, the vehicle terminal can also broadcast the prompt message through an audio output device. The embodiment of the present application does not limit the method of outputting the prompt message by the vehicle terminal.

[0033] 203. In response to the confirmation operation on the prompt information, the vehicle's onboard terminal sends a parking instruction to the parking assistance module.

[0034] In an embodiment of the present application, the vehicle terminal can also display a confirmation option for the prompt information. Accordingly, the confirmation operation of the prompt information can be a trigger operation for the confirmation option. Alternatively, the driver can also perform the confirmation operation by replying to a confirmation voice message, for example, the driver can reply with a voice message such as "Confirm to turn on" or "Turn on".

[0035] Upon receiving the aforementioned confirmation, the vehicle terminal sends a parking instruction to the parking assistance module via the wireless local area network. The parking assistance module can be a software system running on an embedded device. The parking assistance module can access the parking lot's backend management system, communicating and synchronizing data with it, thereby implementing parking assistance functions based on the parking lot's backend data, such as querying available parking spaces and calculating parking paths.

[0036] 204 . The parking assistance module determines a target parking space from a plurality of available parking spaces in the parking lot based on the position of the vehicle in response to the parking instruction.

[0037] In this embodiment of the present application, the parking assistance module responds to a parking instruction and, based on the vehicle's current location, determines the optimal available parking space, also known as the target parking space, from among multiple available spaces in the parking lot. For example, the target parking space may be the space with the shortest parking distance or the space with the lowest parking difficulty.

[0038] The following steps (1) to (3) illustrate the process of the parking assistance module determining a target parking space from multiple vacant parking spaces in the parking lot.

[0039] (1) The parking assistance module determines a plurality of vacant parking spaces in the parking lot and the location of each vacant parking space in response to a parking instruction.

[0040] Optionally, when the parking assistance module is connected to the background management system of the parking lot, the parking assistance module can directly read the status of each parking space in the background management system and determine the multiple vacant parking spaces in the parking lot based on the read status. Optionally, the status of the parking space includes but is not limited to idle status, occupied status, maintenance status, reserved status, etc. A parking space that is idle is an idle parking space. Then, the parking assistance module reads the location of each vacant parking space in the background management system. The location of the parking space can be represented by "floor number-area number-parking space number". For example, B2-A-001 represents parking space No. 001 in area A on the B2 floor. Since the background management system of the parking lot can usually store the real-time status of each parking space, by reading the background management system of the parking lot, the multiple vacant parking spaces in the parking lot and the location of each vacant parking space can be quickly determined, thereby improving the efficiency of smart parking.

[0041] Optionally, if the backend management system of the parking lot cannot update the status of the parking spaces in real time, such as if the parking lot is an open-air public parking lot, the parking assistance module can send a monitoring call request to the backend management system of the parking lot to request the backend management system to retrieve the monitoring screen of the parking lot to obtain multiple vacant parking spaces in the parking lot and the location of each vacant parking space.

[0042] For example, in response to a monitoring call request, the backend management system retrieves the monitoring screen of the parking lot and identifies the unoccupied parking spaces and their locations in the monitoring screen. Then, the backend management system draws a virtual layout diagram based on the identification results. The virtual layout diagram includes multiple vacant parking spaces and the location of each vacant parking space. Compared with the retrieved monitoring screen, the virtual layout diagram only retains the vacant parking spaces and their corresponding location information, and does not include other information that may involve privacy, such as other vehicles in the parking lot, other unrelated personnel, etc. The backend management system then sends the virtual layout diagram to the parking assistance module, which determines the optimal vacant parking space and calculates the parking path based on the virtual layout diagram.

[0043] Alternatively, in response to a monitoring request, the backend management system retrieves parking lot surveillance footage and identifies unoccupied parking spaces and their locations. Based on this identification, the backend management system generates parking space location information, including the location of each available space. The backend management system then sends this parking space location information to the parking assistance module, which uses it to determine the optimal available space and calculate a parking path.

[0044] (2) The parking assistance module determines the parking difficulty coefficient for each free parking space based on the vehicle's position and the position of each free parking space. The parking difficulty coefficient is positively correlated with the driving distance required for the vehicle to park in the corresponding free parking space, and negatively correlated with the number of free parking spaces adjacent to the corresponding free parking space.

[0045] The following describes the process by which the parking assistance module determines the parking difficulty coefficient for any vacant parking space, taking a vacant parking space as an example. For any vacant parking space, the parking assistance module determines the driving distance required for the vehicle to park in the vacant space based on the vehicle's location and the location of the vacant space. Optionally, the parking assistance module can determine at least one driving path from the vehicle's current location to the vacant space based on a navigation map of the parking lot, and determine the distance of each driving path. The parking assistance module then determines the shortest distance as the driving distance required for the vehicle to park in the vacant space. The parking assistance module can also determine the number of vacant parking spaces adjacent to the vacant space based on the number of adjacent vacant spaces. For example, the parking assistance module obtains the status of each parking space adjacent to the vacant space from the parking lot's backend management system, then determines the number of vacant spaces to obtain the number of adjacent vacant spaces. Alternatively, the parking assistance module can determine the number of adjacent vacant spaces based on the aforementioned virtual layout map, although this embodiment of the present application is not limited thereto. The parking assistance module then determines the parking difficulty coefficient for the vacant parking space based on the driving distance required for the vehicle to park in the vacant parking space and the number of adjacent vacant parking spaces. For example, the parking assistance module can calculate the parking difficulty coefficient by performing a weighted summation of the driving distance and the number of adjacent vacant parking spaces using the following formula.

[0046] K=w1*L+w2*(1 / M) Where K is the parking difficulty coefficient for a particular vacant parking space, L is the driving distance required to park in that vacant space, and M is the number of adjacent vacant spaces. w1 and w2 are the weights for the driving distance L and the number of vacant spaces M, respectively. The values ​​of w1 and w2 can be set as needed and are not limited in this embodiment.

[0047] It should be noted that, in some embodiments, the parking assistance module can also refer to other information to determine the parking difficulty coefficient of the vacant parking space, such as the number of load-bearing walls, fire hydrants, guardrails and other obstacles around the vacant parking space. The embodiment of the present application does not limit the method for determining the parking difficulty coefficient.

[0048] (3) The parking assistance module determines the vacant parking space with the lowest parking difficulty coefficient as the target parking space. The target parking space is also the parking space to be parked. By determining the vacant parking space with the lowest parking difficulty coefficient as the parking space to be parked, the parking difficulty can be reduced and the parking efficiency and success rate can be improved.

[0049] 205. The parking assistance module determines and sends first path information to the vehicle's onboard terminal, which displays the first path information. The first path information indicates the driving path of the vehicle to park in the target parking space.

[0050] In this embodiment of the present application, after the parking assistance module determines the target parking space, it can determine first path information based on the location of the target parking space and the current location of the vehicle. The first path information can represent the driving path of the vehicle into the target parking space. The parking assistance module then transmits the first path information to the vehicle's onboard terminal, which displays the first path information on a screen for the driver to confirm.

[0051] 206. In response to the confirmation operation of the first path information, the vehicle's onboard terminal sends the first path information to the vehicle's automatic driving module.

[0052] In an embodiment of the present application, if the driver confirms the first route information, the vehicle terminal sends the first route information to the vehicle's autonomous driving module. The confirmation operation for the first route information can be a triggering operation for a confirmation option for the first route information or a reply confirmation voice message, which is not limited in this embodiment of the present application.

[0053] In some embodiments, in response to a rejection of the first path information, the vehicle-mounted terminal issues a correction instruction to the parking assistance module, instructing it to re-determine the target parking space and plan a driving path for the driver to select. Accordingly, the parking assistance module can determine and return multiple parking solutions, each with a different target parking space and driving path. The vehicle-mounted terminal then displays the multiple parking solutions for the driver to select. In response to selecting any parking solution, the vehicle-mounted terminal transmits the path information for that solution to the vehicle's autonomous driving module.

[0054] It should be noted that the driver can get off the vehicle after confirming the path information, and the vehicle can automatically park in the target parking space according to the path information confirmed by the driver.

[0055] 207. The vehicle's automatic driving module parks the vehicle into a target parking space based on the first path information.

[0056] In an embodiment of the present application, the automatic driving module of the vehicle drives to the target parking space according to the first path information and parks the vehicle in the target parking space.

[0057] Optionally, the autonomous driving module may be an autonomous driving controller. The autonomous driving controller includes, but is not limited to, an environmental perception unit, a decision-making unit, a power control unit, a steering control unit, and the like. The environmental perception unit is used to acquire environmental information through sensing devices such as cameras, such as identifying traffic signs, lane lines, vehicles, and pedestrians. The decision-making unit is used to determine the vehicle's driving behavior, such as acceleration, deceleration, turning, and parking, based on environmental information and path information. The power control unit is used to control the vehicle's power output, including but not limited to the power output of the engine or electric motor. During automatic parking, the power control unit can adjust the vehicle's speed according to the instructions of the decision-making unit. The steering control unit is used to control the vehicle's steering system to ensure that the vehicle follows the planned path. The steering control unit can receive turning instructions from the decision-making unit and accurately control the vehicle's turning angle and speed based on the turning instructions.

[0058] In some embodiments, during the vehicle's autonomous driving process, the parking assistance module can also update the vehicle's path information in real time based on the vehicle's location and environmental information. This environmental information includes, but is not limited to, environmental information acquired by the environmental sensing unit. When the path information is updated, the parking assistance module sends the updated path information to the vehicle's onboard terminal, which then forwards the updated path information to the autonomous driving module. The autonomous driving module can then control the vehicle's autonomous driving based on the updated path information, thereby achieving autonomous parking. Optionally, scenarios where the path information is updated include, but is not limited to, situations where the target parking space remains unchanged but the path to the target parking space changes; situations where the target parking space changes but the path to the target parking space changes accordingly. Real-time updates of the vehicle's path information based on the vehicle's location and environmental information ensure that the vehicle can more accurately avoid dynamic obstacles, such as suddenly appearing vehicles or pedestrians, during autonomous driving, preventing collisions between the vehicle and obstacles. This ensures that the vehicle can accurately and safely park in the target parking space, thereby improving parking accuracy and safety.

[0059] In some embodiments, the vehicle further includes a body controller. When the vehicle is parked in a target parking space, the body controller can control the vehicle to activate an anti-theft mode to prevent unauthorized persons from illegally starting or driving the vehicle or stealing vehicle parts, thereby ensuring the safety of the vehicle's property.

[0060] Optionally, after the vehicle turns on the anti-theft mode, the vehicle-mounted terminal can also store the key of the wireless local area network so that the vehicle can directly access the wireless local area network according to the key next time.

[0061] In some embodiments, the vehicle body controller is further configured to, when the vehicle anti-theft mode is enabled, send a notification message to the driver's terminal via a wireless local area network to inform the driver that the vehicle has been successfully parked. By sending the notification message to the terminal, the terminal can display the notification message, thereby promptly informing the driver of the vehicle's parking status.

[0062] The present application provides a vehicle control system that can be used in smart parking scenarios. The vehicle control system includes a vehicle, a vehicle perception module installed at the entrance and exit of a parking lot, and a parking assistance module. When the vehicle perception module senses that the vehicle has entered the parking lot, the vehicle perception module sends a wireless local area network key to the vehicle so that the vehicle's on-board terminal can access the wireless local area network. When the driver agrees to automatic parking, the vehicle can send a parking instruction to the parking assistance module through the wireless local area network. The parking assistance module determines the target parking space to be parked and returns path information. The automatic driving module of the vehicle can park the vehicle in the target parking space according to the path information. By adopting the above method, the vehicle can automatically park when entering the parking lot, without the driver having to look for an empty parking space or park, thereby improving parking efficiency.

[0063] The above embodiments are described using the smart parking scenario as an example. In some embodiments, the above vehicle control system can also be applied to a remote vehicle summoning scenario. In this scenario, when the driver wishes to retrieve the vehicle, the vehicle control system can automatically drive the vehicle to the driver's location, eliminating the need for the driver to manually search for the vehicle in the parking lot. The following embodiments illustrate the vehicle control process in the remote vehicle summoning scenario.

[0064] Figure 3 This is another flow chart of controlling a vehicle based on a vehicle control system according to an embodiment of the present application. The method is executed by the vehicle control system. Figure 3 , the method comprises the following steps: 301. The terminal sends a summoning instruction to a vehicle body controller, and the vehicle body controller starts the vehicle and turns off the anti-theft mode of the vehicle based on the summoning instruction.

[0065] In an embodiment of the present application, after the vehicle is parked in the target parking space, it indicates that the vehicle is parked in the target parking space. When the driver returns to the parking lot to pick up the car, the driver may forget the location of the target parking space or does not want to spend time looking for the target parking space. The driver can send a summon command to the vehicle's body controller through the terminal to instruct the vehicle to automatically drive to the target location through the summon command. The target location can be the driver's location or any location in the parking lot set by the driver, and the embodiment of the present application does not limit this. In response to the summon command, the body controller controls the vehicle to start and turn off the vehicle's anti-theft mode to ensure that the vehicle can drive normally.

[0066] In some embodiments, after the vehicle is started, if the vehicle terminal is not connected to the wireless local area network, the body controller is further configured to control the vehicle terminal to access the wireless local area network based on the key. Optionally, the vehicle terminal can access the wireless local area network based on a stored key and communicate with modules such as the parking assistance module via the wireless local area network without having to obtain the key externally, thereby improving data communication efficiency.

[0067] 302. The terminal sends location information to the vehicle perception module, which forwards the location information to the parking assistance module. The location information is used to indicate the target location.

[0068] In an embodiment of the present application, in order for the vehicle to accurately drive to the target location, the driver needs to send location information to the vehicle perception module through the terminal. The location information is used to represent the target location. For example, the location information can be an identifier of the target location, such as the location information is "Parking Lot A Exit". Optionally, the driver can scan the QR code provided by the vehicle perception module through the terminal, and then manually select or enter the target location in the location acquisition interface that pops up on the terminal. The terminal can then send location information that can represent the target location to the vehicle perception module, and the vehicle perception module forwards the location information to the parking assistance module.

[0069] 303. The parking assistance module determines second path information based on the position information and sends the second path information to the vehicle's onboard terminal. The second path information represents the driving path of the vehicle to the target location.

[0070] In this embodiment of the present application, the parking assistance module can determine second path information based on the received location information and the location of the target parking space, that is, determine the driving path for the vehicle to reach the target location. The parking assistance module then transmits the second path information to the vehicle's onboard terminal. Optionally, data communication between the onboard terminal and the parking assistance module occurs via a wireless local area network.

[0071] 304. Upon receiving the second path information, the vehicle-mounted terminal sends the second path information to the vehicle's automatic driving module, and the vehicle's automatic driving module drives the vehicle to the target location based on the second path information.

[0072] In an embodiment of the present application, the vehicle-mounted terminal can forward the received second path information to the vehicle's autonomous driving module. The vehicle's autonomous driving module can drive the vehicle to the target location based on the second path information. Once the vehicle arrives at the target location, if the driver is already at the target location, the driver can open the door and get on the vehicle.

[0073] In some embodiments, during the process of automatic driving of the vehicle, the parking assistance module can also update the vehicle's path information in real time based on the vehicle's real-time position and environmental information, and when the path information is updated, send the updated path information to the on-board terminal, and the on-board terminal forwards the updated path information to the automatic driving module, so that the automatic driving module controls the vehicle to drive automatically according to the updated path information, thereby ensuring the safety and accuracy of the vehicle's automatic driving.

[0074] The present application provides a vehicle control system, which includes a vehicle, a vehicle perception module, a parking assistance module, and a terminal used by the driver. The vehicle control system can be applied to a vehicle remote summoning scenario. When the vehicle is parked in a parking lot and the driver wants to pick up the vehicle, the driver sends a summoning instruction and location information to the vehicle perception module through the terminal. The vehicle perception module starts the vehicle in response to the summoning instruction and forwards the location information to the parking assistance module. The parking assistance module determines and returns the path information to the on-board terminal based on the location information and the location where the vehicle is parked. Then, the automatic driving module of the vehicle can automatically drive the vehicle to the target location based on the path information. By adopting the above method, the driver can directly summon the vehicle remotely when there is a need to pick up the vehicle, without the driver having to look for the parking location of the vehicle in the parking lot, thereby improving the efficiency of the driver in picking up the vehicle in the parking lot.

[0075] Figure 4 1 is a schematic diagram of a controller according to an embodiment of the present application. The controller may be a controller inside a vehicle, such as a body controller, an autonomous driving controller, etc.

[0076] Typically, the controller 400 includes a main control module 401 and a CAN interface 402. The main control module 401 is connected to the CAN interface 402 respectively.

[0077] The main control module 401 typically includes a processor and memory. The processor may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor may be implemented in hardware using at least one of the following: a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), or a PLA (Programmable Logic Array). The processor may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), processes data while awake; the coprocessor is a low-power processor that processes data while in standby mode. In some embodiments, the processor may integrate a graphics processing unit (GPU), which is responsible for rendering and drawing content displayed on the vehicle's display screen. In some embodiments, the processor may also include an artificial intelligence (AI) processor for processing computational operations related to machine learning. The memory may include one or more computer-readable storage media, which may be non-transitory. The memory may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage medium in the memory is used to store at least one computer program, which is used to be executed by the processor to implement the vehicle control method provided by the method embodiment of the present application.

[0078] The CAN interface 402 is used to communicate with other modules of the vehicle, such as the vehicle terminal, power system module, and body system module. For example, the main control module 401 can communicate with the vehicle terminal, power system module, body system module, and other modules of the vehicle through the CAN interface 402, and send instructions to other modules through the CAN interface 402, such as instructions to turn on or off the anti-theft mode.

[0079] Those skilled in the art will understand that Figure 4 The structure shown in the figure does not constitute a limitation on the controller 400, and the controller 400 may include more or fewer components than shown in the figure, or combine certain components, or adopt a different component arrangement.

[0080] Those skilled in the art will understand that all or part of the steps of implementing the above embodiments may be accomplished by hardware, or by programs instructing related hardware to accomplish the steps. The programs may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk, or an optical disk, etc.

[0081] The above are merely optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A vehicle control system, characterized in that: The vehicle control system includes a vehicle, a vehicle perception module and a parking assistance module, wherein the vehicle perception module is installed at the exit and entrance of the parking lot; The vehicle sensing module is used to send a wireless local area network key to the vehicle when sensing that the vehicle enters the parking lot, so that the vehicle-mounted terminal of the vehicle accesses the wireless local area network based on the key, and the vehicle-mounted terminal communicates data with the parking assistance module through the wireless local area network; The vehicle terminal is used to display a prompt message when connected to the wireless local area network, wherein the prompt message is used to prompt whether to turn on the automatic parking function; in response to a confirmation operation on the prompt message, a parking instruction is sent to the parking assistance module; The parking assistance module is used to determine a target parking space from a plurality of vacant parking spaces in the parking lot based on the position of the vehicle in response to the parking instruction; Determine and send first path information to the vehicle-mounted terminal of the vehicle, wherein the first path information represents a driving path of the vehicle for parking in the target parking space; The vehicle-mounted terminal of the vehicle is further used to display the first path information when the first path information is received; and send the first path information to the automatic driving module of the vehicle in response to a confirmation operation on the first path information; The automatic driving module of the vehicle is used to park the vehicle into the target parking space based on the first path information.

2. The system according to claim 1, characterized in that The step of sending a wireless local area network key to the vehicle when sensing that the vehicle enters the parking lot includes: When the vehicle is sensed to enter the parking lot, the key of the wireless local area network is sent to the vehicle body controller through infrared communication, and the vehicle body controller forwards the key of the wireless local area network to the vehicle-mounted terminal.

3. The system according to claim 1, characterized in that The step of determining, in response to the parking instruction, a target parking space from a plurality of vacant parking spaces in the parking lot based on the position of the vehicle comprises: In response to the parking instruction, determining a plurality of vacant parking spaces in the parking lot and a position of each of the vacant parking spaces; Based on the position of the vehicle and the position of each of the vacant parking spaces, respectively determine a parking difficulty coefficient for each of the vacant parking spaces, wherein the parking difficulty coefficient is positively correlated with a driving distance for the vehicle to park in the corresponding vacant parking space, and negatively correlated with the number of vacant parking spaces adjacent to the corresponding vacant parking space; The vacant parking space with the lowest parking difficulty coefficient is determined as the target parking space.

4. The system according to claim 1, characterized in that The vehicle further includes a body controller, and the body controller is used to control the vehicle to start an anti-theft mode when the vehicle is parked in the target parking space.

5. The system according to claim 4, characterized in that The vehicle control system also includes a terminal used by the driver of the vehicle; The body controller is also used to send notification information to the terminal when the anti-theft mode of the vehicle is turned on, and the terminal displays the notification information, and the notification information is used to indicate that the vehicle has been parked successfully.

6. The system according to claim 1, characterized in that The vehicle control system also includes a terminal used by the driver of the vehicle; The terminal is used to send a summoning instruction to the body controller of the vehicle after the vehicle is parked in the target parking space, and the body controller starts the vehicle and turns off the anti-theft mode of the vehicle based on the summoning instruction, and the summoning instruction is used to instruct the vehicle to automatically drive to the target position; The terminal is further used to send location information to the vehicle perception module, and the vehicle perception module forwards the location information to the parking assistance module, wherein the location information is used to indicate the target location; The parking assistance module is used to determine and send second path information to the vehicle terminal based on the location information, wherein the second path information represents a driving path for the vehicle to travel to the target location; The vehicle-mounted terminal is also used to send the second path information to the automatic driving module of the vehicle when the second path information is received, and the automatic driving module of the vehicle is used to drive the vehicle to the target location based on the second path information.

7. The system according to claim 6, characterized in that In the case that the vehicle-mounted terminal is not connected to the wireless local area network, the vehicle body controller is further used to control the vehicle-mounted terminal to access the wireless local area network based on the key based on the summoning instruction.

8. The system according to any one of claims 1 to 6, characterized in that: The parking assistance module is also used to update the path information of the vehicle in real time based on the position and environment information of the vehicle during the automatic driving of the vehicle, and send the updated path information to the vehicle terminal when the path information is updated; The vehicle-mounted terminal is also used to forward the updated path information to the automatic driving module, and the automatic driving module controls the vehicle to drive automatically based on the updated path information.

9. A vehicle control method, characterized in that: Applied to a vehicle control system, the vehicle control system includes a vehicle, a vehicle perception module and a parking assistance module, the vehicle perception module is installed at the exit and entrance of a parking lot, the method includes: When the vehicle sensing module senses that the vehicle has entered the parking lot, the vehicle sensing module sends a key of the wireless local area network to the vehicle, so that the vehicle-mounted terminal of the vehicle accesses the wireless local area network based on the key, and the vehicle-mounted terminal communicates data with the parking assistance module through the wireless local area network; The vehicle terminal of the vehicle displays a prompt message when connected to the wireless local area network, wherein the prompt message is used to prompt whether to turn on the automatic parking function; in response to a confirmation operation on the prompt message, a parking instruction is sent to the parking assistance module; The parking assistance module determines, in response to the parking instruction, a target parking space from a plurality of vacant parking spaces in the parking lot based on the position of the vehicle; determines and sends first path information to the vehicle-mounted terminal of the vehicle, wherein the first path information indicates a driving path for the vehicle to park in the target parking space; The vehicle-mounted terminal of the vehicle displays the first path information when receiving the first path information; and sends the first path information to the automatic driving module of the vehicle in response to a confirmation operation on the first path information; The automatic driving module of the vehicle parks the vehicle into the target parking space based on the first path information.

10. The method according to claim 9, characterized in that The vehicle control system further includes a terminal used by a driver of the vehicle, and the method further includes: After the vehicle is parked in the target parking space, the terminal sends a summoning instruction to the body controller of the vehicle, and the body controller starts the vehicle and turns off the anti-theft mode of the vehicle based on the summoning instruction, and the summoning instruction is used to instruct the vehicle to automatically drive to the target position; The terminal sends location information to the vehicle perception module, and the vehicle perception module forwards the location information to the parking assistance module, where the location information is used to indicate the target location; The parking assistance module determines, based on the location information, and sends second path information to the vehicle-mounted terminal of the vehicle, wherein the second path information represents a driving path for the vehicle to travel to the target location; When the vehicle-mounted terminal receives the second path information, it sends the second path information to the automatic driving module of the vehicle, and the automatic driving module of the vehicle drives the vehicle to the target location based on the second path information.

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