Remote vehicle moving control method, first equipment, second equipment and storage medium

Abstract

The invention provides a remote vehicle moving control method, first equipment, second equipment and a storage medium, and the method comprises the steps: building a virtual parking space according to the information of an obstacle around a current vehicle; sending the information of the virtual parking space to a second device; receiving a vehicle moving instruction sent by the second equipment based on the information of the virtual parking space, wherein the vehicle moving instruction comprises the information of the target virtual parking space; and based on the information of the target virtual parking space, controlling at least part of the current vehicle to be parked in a region corresponding to the target virtual parking space in the actual scene. Therefore, the virtual parking space is created according to the information of the obstacles around the current vehicle, and the information of the virtual parking space is sent to the second equipment, so that a user of the second equipment can intuitively know the information of the virtual parking space which can be parked at present; according to the invention, the second device sends the vehicle moving instruction to the first device, so that the current vehicle can be controlled to enter the area corresponding to the target virtual parking space in the actual scene, and the efficiency and convenience of remote vehicle moving are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and specifically to a remote vehicle movement control method, a first device, a second device, and a storage medium. Background Art

[0002] In modern urban life, parking space is tight and vehicle parking is often limited by space. When a vehicle is blocked by other vehicles or obstacles and needs to be temporarily moved, it often faces problems such as inconvenient operation and difficulty in space judgment, which makes the process of moving the vehicle time-consuming and laborious, and may even cause disputes.

[0003] In the related art, in the method of realizing the vehicle moving remotely, a communication connection is usually established between a mobile phone and a vehicle, and real-time information (position, size, size, etc.) of obstacles around the vehicle is sent to the mobile phone, and the real-time information of obstacles around the vehicle is displayed on the application (Application, APP) on the mobile phone. According to the real-time information of the obstacles, the user sends a vehicle moving instruction to the vehicle through the mobile phone APP to realize the forward and backward control operations of the vehicle. For example, a vehicle moving instruction is sent once through the mobile phone APP to control the vehicle to move forward once, and then a vehicle moving instruction is sent again to control the vehicle to move forward again until the vehicle is parked in a suitable position. This vehicle moving control method may require the mobile phone to send multiple vehicle moving instructions to the vehicle, which is cumbersome to operate and inefficient. Summary of the invention

[0004] The present application provides a method, device, equipment and medium for remote vehicle moving control, which can improve the efficiency and convenience of remote vehicle moving.

[0005] The technical solution of this application is implemented as follows:

[0006] An embodiment of the present application provides a method for remote vehicle moving control, including: creating virtual parking spaces around the current vehicle according to obstacle information around the current vehicle; the virtual parking spaces include at least one virtual parking space information that is sent to a second device; receiving a vehicle moving instruction sent by the second device based on the virtual parking space information; the vehicle moving instruction includes information of a target virtual parking space, the target virtual parking space being any one of the at least one virtual parking space; based on the target virtual parking space information, controlling the current vehicle to park in an area corresponding to the target virtual parking space in an actual scene.

[0007] According to the above-mentioned technical means, by creating one or more virtual parking spaces around the current vehicle based on the obstacle information around the current vehicle, and sending the information of the virtual parking spaces to the second device, the user of the second device can intuitively understand the information of the virtual parking spaces that can be parked at present. Furthermore, by sending a vehicle moving instruction from the second device to the first device, the current vehicle can be controlled to enter the area corresponding to the target virtual parking space in the actual scene, thereby improving the efficiency and convenience of remote vehicle moving.

[0008] Furthermore, the obstacle information includes distance information between the current vehicle and surrounding obstacles; based on the obstacle information around the current vehicle, a virtual parking space around the current vehicle is created, including: determining a first size of the virtual parking space based on the distance information and a safety distance threshold; the first size is the length or width of the virtual parking space; determining a second size of the virtual parking space based on an actual size of the current vehicle; the second size is the length or width of the virtual parking space, and the first size and the second size are different; creating a virtual parking space based on the first size and the second size.

[0009] According to the above technical means, the first size of the virtual parking space is determined by the distance information between the current vehicle and the surrounding obstacles and the corresponding safety distance threshold, and the second size of the virtual parking space is determined according to the actual size of the current vehicle. The size information corresponding to the virtual parking space can be accurately determined, so that a virtual parking space that can be moved into by the current vehicle can be obtained.

[0010] Furthermore, the distance information includes a first distance between the current vehicle and a front obstacle; the safety distance threshold includes a first safety distance threshold between the front obstacle and the front of the current vehicle; the first size includes the length of a virtual parking space in front of the current vehicle; determining the first size of the virtual parking space based on the distance information and the safety distance threshold includes: obtaining braking performance parameters and speed of the current vehicle; determining a safe braking distance based on the braking performance parameters and speed; determining a first reference length of the virtual parking space located in front of the current vehicle based on the first distance and the first safety distance threshold; if the safe braking distance is less than the first reference length, determining the first reference length as the length of the virtual parking space in front of the current vehicle.

[0011] According to the above technical means, by determining the safe braking distance according to the braking performance parameters and speed of the current vehicle, determining the first reference length of the virtual parking space in front of the current vehicle according to the first distance and the first safe distance threshold, and determining the first reference length as the length of the virtual parking space in front of the current vehicle only when the safe braking distance is less than the first reference length, it is possible to avoid safety hazards in the process of the current vehicle moving to the virtual parking space in front, thereby improving the safety of the constructed virtual parking space.

[0012] Further distance information includes a second distance between the current vehicle and a side obstacle, and the safety distance threshold includes a second safety distance threshold between the side obstacle and the current vehicle; the first size includes the width of the virtual parking space on the side of the current vehicle; according to the distance information and the safety distance threshold, the first size of the virtual parking space is determined, including: obtaining a steering parameter of the current vehicle; based on the steering parameter, determining a safety distance adjustment value; according to the second distance and the second safety distance threshold, determining a first reference width of the virtual parking space located on the side of the current vehicle; according to the safety distance adjustment value and the first reference width, determining the width of the virtual parking space on the side of the current vehicle.

[0013] According to the above-mentioned technical means, by determining the width of the virtual parking space on the side of the current vehicle based on the safety distance adjustment value determined according to the steering parameters of the current vehicle, and the second distance between the current vehicle and the side obstacle and the first reference width determined by the second safety distance threshold, the safety of the constructed virtual parking space on the side of the current vehicle can be improved, so that the current vehicle will not collide with the side obstacle when entering the virtual parking space on the side of the current vehicle in a sideways manner.

[0014] Furthermore, the distance information includes a third distance between the current vehicle and the rear obstacle, and the safety distance threshold includes a third safety distance threshold between the rear obstacle and the current vehicle; the first size includes the length of the virtual parking space behind the current vehicle; according to the distance information and the safety distance threshold, the first size of the virtual parking space is determined, including: obtaining motion information of the rear obstacle; determining a second reference length of the virtual parking space behind the current vehicle according to the third distance and the third safety distance threshold; and determining the length of the virtual parking space behind the current vehicle based on the motion information and the second reference parking space length.

[0015] According to the above technical means, by determining the second reference length of the virtual parking space behind the current vehicle according to the third distance between the current vehicle and the rear obstacle and the third safety distance threshold, and determining the length of the virtual parking space behind the current vehicle according to the motion information of the obstacle behind the current vehicle and the second reference length, the current vehicle can enter the virtual parking space behind without colliding with the rear obstacle in motion.

[0016] Further, determining the second size of the virtual parking space according to the actual size of the current vehicle includes: determining the width of the current vehicle as the width of the virtual parking space, or determining the length of the current vehicle as the length of the virtual parking space.

[0017] According to the above technical means, by determining the width of the current vehicle as the width of the virtual parking space, or determining the length of the current vehicle as the length of the virtual parking space, the length of the virtual parking space can be adapted to the length of the current vehicle, or the width of the virtual parking space can be adapted to the width of the current vehicle, ensuring that the current vehicle can enter the area corresponding to the virtual parking space in the actual scene in a vertical or horizontal manner.

[0018] Furthermore, the method further includes: receiving a vehicle moving request sent by the second device; and in response to the vehicle moving request, controlling a sensor of the current vehicle to collect obstacle information around the current vehicle.

[0019] According to the above technical means, when a vehicle moving request is received from a second device, in response to the vehicle moving request, the sensors of the current vehicle are controlled to collect obstacle information around the current vehicle, which can create a prerequisite for subsequently creating a virtual parking space around the current vehicle based on the obstacle information.

[0020] Furthermore, the information of the target virtual parking space includes position information and motion information of obstacles around the target virtual parking space; based on the information of the target virtual parking space, controlling at least a portion of the current vehicle to be parked in an area corresponding to the target virtual parking space in the actual scene includes: determining a planned path and a movement speed for the current vehicle to move to the target virtual parking space according to the position information and the movement information of obstacles around the target virtual parking space; and controlling at least a portion of the current vehicle to be parked in an area corresponding to the target virtual parking space in the actual scene according to the planned path and the movement speed.

[0021] According to the above-mentioned technical means, by determining the planned path and movement speed of the current vehicle to the target virtual parking space based on the position information and movement information of the obstacles around the target virtual parking space, the current vehicle can travel according to the planned path and movement speed when entering the corresponding area of ​​the target virtual parking space in the actual scene, and will not collide with the obstacles around the target virtual parking space, thereby ensuring the safety of the current vehicle during the moving process.

[0022] Furthermore, the method also includes: if it is determined that the reference obstacle enters the target virtual parking space, controlling the current vehicle to stop parking in the area corresponding to the target virtual parking space in the actual scene, and sending a prompt message to the second device to prompt the user of the second device that there is currently a reference obstacle entering the target virtual parking space.

[0023] According to the above technical means, during the process of moving the current vehicle, if it is determined that a reference obstacle has entered the target virtual parking space, the current vehicle can be controlled to stop parking in the area corresponding to the target virtual parking space in the actual scene, so that the current vehicle will not collide with the reference obstacle during the process of entering the target virtual parking space; further, by sending a prompt message to the second device, the user of the second device can be prompted that a reference obstacle has entered the target virtual parking space, so that the user can choose whether to continue to move the vehicle, thereby improving the user's vehicle moving experience.

[0024] An embodiment of the present application provides a method for remote vehicle moving control, which is applied to a second device, comprising: receiving virtual parking space information sent by a first device; the virtual parking space information includes position information and size information of each virtual parking space created by the first device according to obstacle information around the current vehicle, and the virtual parking space includes at least one; based on the virtual parking space information, displaying each virtual parking space on a display interface of the second device; in the case of obtaining a first operation for a target virtual parking space on the display interface, sending a vehicle moving instruction to the first device, so that the first device controls at least part of the current vehicle to be parked in an area corresponding to the target virtual parking space in the actual scene based on the vehicle moving instruction; the target virtual parking space is any one of the at least one virtual parking space.

[0025] According to the above-mentioned technical means, based on the information of the virtual parking spaces sent by the first device, each virtual parking space is displayed on the display interface of the second device, so that the user of the second device can intuitively observe the virtual parking spaces that the current vehicle can move into, which is convenient for the user of the second device to select the target virtual parking space for the current vehicle to move into, thereby improving the user's car moving experience.

[0026] The present application embodiment provides a first device, including:

[0027] A first creation module is used to create a virtual parking space around the current vehicle according to the obstacle information around the current vehicle; the virtual parking space includes at least one;

[0028] A first sending module, used for sending the information of the virtual parking space to the second device;

[0029] A first receiving module is used to receive a car moving instruction sent by the second device based on the information of the virtual parking space; the car moving instruction includes information of a target virtual parking space, and the target virtual parking space is any one of the at least one virtual parking space;

[0030] The first control module is used to control at least a portion of the current vehicle to park in an area corresponding to the target virtual parking space in the actual scene based on the information of the target virtual parking space.

[0031] The embodiment of the present application provides a second device, including:

[0032] A second receiving module is used to receive information about virtual parking spaces sent by the first device; the information about virtual parking spaces includes position information and size information of each virtual parking space created by the first device according to obstacle information around the current vehicle, and the virtual parking space includes at least one;

[0033] A first display module, configured to display each virtual parking space on a display interface of a second device according to information about the virtual parking space;

[0034] The second sending module is used to send a vehicle moving instruction to the first device when a first operation on the target virtual parking space on the display interface is obtained, so that the first device controls at least part of the current vehicle to be parked in the area corresponding to the target virtual parking space in the actual scene based on the vehicle moving instruction; the target virtual parking space is any one of the at least one virtual parking space.

[0035] The present application embodiment provides a first device, including:

[0036] A memory for storing computer programs that can be run on the processor;

[0037] The processor is used to execute the remote vehicle moving control method applied to the first device provided in the embodiment of the present application when running the computer program.

[0038] The embodiment of the present application provides a second device, including:

[0039] A memory for storing computer programs that can be run on the processor;

[0040] The processor is used to execute the method for remote vehicle moving control applied to the second device provided in the embodiment of the present application when running the computer program.

[0041] An embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. The computer-executable instructions are configured to execute the above-mentioned method for remote vehicle moving control applied to a first device, or the method for remote vehicle moving control applied to a second device. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A flowchart of a method for remote vehicle moving control provided in an embodiment of the present application;

[0043] Figure 2 A flowchart of another method for remote vehicle moving control provided in an embodiment of the present application;

[0044] Figure 3 A flowchart of another method for remote vehicle moving control provided in an embodiment of the present application;

[0045] Figure 4 A schematic diagram of a display state of a virtual parking space on a display interface of a second device provided in an embodiment of the present application;

[0046] Figure 5 A schematic diagram of the structure of a remote automatic parking space moving system based on a mobile phone APP provided in an embodiment of the present application;

[0047] Figure 6 A flowchart illustrating a method for remotely and automatically constructing a parking space and moving a car based on a mobile phone APP provided in an embodiment of the present application;

[0048] Figure 7 A schematic diagram of an application scenario of remote automatic parking space moving based on a mobile phone APP provided in an embodiment of the present application Figure 1 ;

[0049] Figure 8 A schematic diagram of an application scenario of remote automatic parking space moving based on a mobile phone APP provided in an embodiment of the present application Figure 2 ;

[0050] Fig. 9 A schematic diagram of an application scenario of remote automatic parking space moving based on a mobile phone APP provided in an embodiment of the present application Figure 3 ;

[0051] Fig.10 A schematic diagram of an application scenario of remote automatic parking space moving based on a mobile phone APP provided in an embodiment of the present application Figure 4 ;

[0052] Fig.11 A schematic diagram of an application scenario of remote automatic parking space moving based on a mobile phone APP provided in an embodiment of the present application Figure 5 ;

[0053] Fig.12 A schematic diagram of an application scenario of remote automatic parking space moving based on a mobile phone APP provided in an embodiment of the present application Figure 6 ;

[0054] Fig.13 A schematic diagram of the composition structure of a first device provided in an embodiment of the present application;

[0055] Fig.14 A schematic diagram of the composition structure of a second device provided in an embodiment of the present application;

[0056] Fig.15 A schematic diagram of the composition structure of another first device provided in an embodiment of the present application;

[0057] Fig.16 A schematic diagram of the composition structure of another second device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0059] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described below in conjunction with the accompanying drawings. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0060] In the following description, reference is made to “some embodiments\other embodiments”, which describe a subset of all possible embodiments, but it can be understood that “some embodiments\other embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0061] In the following description, the terms "first\second\third" involved are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that "first\second\third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0062] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0063] In the related art, a remote car moving system and a remote car moving method use a four-way button to control the vehicle to move forward, backward, turn left or right, but are greatly affected by the real-world network at both ends of the mobile phone and the vehicle, resulting in a high operation delay, making it difficult to accurately move the vehicle to the target position, resulting in a poor functional experience.

[0064] Based on the problems existing in the related art, the embodiment of the present application provides a method for remote vehicle moving control, which can be applied to a first device, which can be a vehicle-mounted device, a cloud server, etc. The method can improve the efficiency and convenience of remote vehicle moving. Figure 1 FIG. 1 is a flow chart of a method for remotely controlling a vehicle moving provided by an embodiment of the present application, the method comprising the following steps:

[0065] S101. Create a virtual parking space around the current vehicle according to obstacle information around the current vehicle.

[0066] It should be noted that there may not be actual planned parking spaces or parking space lines in the area corresponding to the virtual parking space in the actual scene. According to the information of obstacles around the current vehicle, the virtual parking space may be a potential parking space, and there may be one or more virtual parking spaces. At least one dimension of the virtual parking space matches the dimension corresponding to the current vehicle, for example, the length of the virtual parking space matches the length of the current vehicle, and / or the width of the current vehicle matches the width of the current vehicle. Each virtual parking space may be smaller than the size of the current vehicle, for example, it may be half the size, one third the size, etc. of the current vehicle, and each virtual parking space may also be greater than or equal to the size of the current vehicle.

[0067] In some embodiments, the obstacles around the current vehicle may be other vehicles, pedestrians, road edges, etc. around the current vehicle. The obstacle information may include information such as the shape, size, position, and state of the obstacles. The size information, position information, etc. of the area where part or all of the current vehicle can be parked can be determined based on the shape, size, position, and state of the obstacles, and a virtual parking space can be created based on the size information and position information.

[0068] In some embodiments, according to the obstacle information around the current vehicle, a virtual parking space may be created in at least one direction of the front, rear, left or right of the current vehicle. Each virtual parking space may be rectangular, and the size of each virtual parking space may be different. For example, if the virtual parking space includes a virtual parking space A in front of the current vehicle and a virtual parking space B on the left side of the current vehicle, the width of the virtual parking space A matches the width of the current vehicle, but the length is half of the length of the current vehicle, that is, half of the current vehicle can be parked in the virtual parking space A; the length of the virtual parking space B is greater than the length of the current vehicle, and the width of the virtual parking space B is also greater than the width of the current vehicle, that is, the current vehicle can be completely parked in the virtual parking space B. The number of virtual parking spaces and the size relationship between the virtual parking spaces and the current vehicle are merely exemplary descriptions, and this application does not limit this.

[0069] S102: Send the information of the virtual parking space to the second device.

[0070] In some embodiments, the information of the virtual parking space may include position information, size information, etc. of the virtual parking space. The position information and size information of the virtual parking space can be determined based on the obstacle information around the current vehicle. The position information may include the position coordinates of the virtual parking space relative to the coordinate system established by the center of the current vehicle, the position of the virtual parking space relative to the obstacles around the vehicle, etc. The size information may include the length and width of the virtual parking space.

[0071] In some embodiments, after determining the information of one or more virtual parking spaces around the current vehicle, the information of each virtual parking space can be sent to a second device, which can be a mobile phone, tablet computer, laptop computer, etc. that has established a communication connection with the first device.

[0072] S103: receiving a vehicle moving instruction sent by the second device based on the information of the virtual parking space.

[0073] In some embodiments, the vehicle moving instruction includes information of a target virtual parking space, and the target virtual parking space is any one of the at least one virtual parking space. The vehicle moving instruction can be a user's instruction to the second device to move the position of the current vehicle, and the vehicle moving instruction indicates the target position (target virtual parking space) to which the current vehicle needs to be moved.

[0074] In some embodiments, the car moving instruction can be triggered by the user of the second device through the APP of the second device. After receiving the information of each virtual parking space sent by the first device, the second device can display each virtual parking space on the display interface of the APP based on the information of each virtual parking space. Through the display interface, the user can observe the position, size and other information of each virtual parking space, and select one of the virtual parking spaces through touch, click and other operations, and the car moving instruction will be sent to the second device. The virtual parking space selected by the user through the APP will be the target virtual parking space.

[0075] S104. Based on the information of the target virtual parking space, control at least a portion of the current vehicle to be parked in an area corresponding to the target virtual parking space in the actual scene.

[0076] In some embodiments, after receiving the vehicle moving instruction sent by the first device, the second device can parse the instruction to obtain information about the target virtual parking space, determine the virtual parking space that the user wants to move through the information of the virtual parking space, and control the operation instructions of the vehicle movement sent by the second device, so that part or all of the current vehicle enters the area corresponding to the target virtual parking space in the actual scene.

[0077] In some embodiments, when the target virtual parking space is smaller than the size of the current vehicle, the length of the target virtual parking space is adapted to the length of the current vehicle, or the width of the target virtual parking space is adapted to the width of the current vehicle, so that at least part of the target vehicle can enter the area corresponding to the target virtual parking space in the actual scene. By moving part or all of the current vehicle into the area corresponding to the target virtual parking space in the actual scene, other vehicles (such as the vehicle of the user who requests the current vehicle to be moved) can pass through the area moved by the current vehicle.

[0078] In an embodiment of the present application, a virtual parking space around the current vehicle is created based on the obstacle information around the current vehicle; the information of the virtual parking space is sent to the second device; a moving instruction sent by the second device based on the information of the virtual parking space is received; the moving instruction includes information of the target virtual parking space, and the target virtual parking space is any one of at least one virtual parking space; based on the information of the target virtual parking space, at least part of the current vehicle is controlled to be parked in the area corresponding to the target virtual parking space in the actual scene. In this way, by creating one or more virtual parking spaces around the current vehicle based on the obstacle information around the current vehicle, and sending the information of the virtual parking space to the second device, the user of the second device can intuitively understand the information of the virtual parking space that can be parked at present. Furthermore, by sending a moving instruction to the first device through the second device, the current vehicle can be controlled to enter the area corresponding to the target virtual parking space in the actual scene, thereby improving the efficiency and convenience of remote moving of the vehicle.

[0079] In some embodiments of the present application, the obstacle information includes distance information between the current vehicle and surrounding obstacles. Based on this, a virtual parking space around the current vehicle is created according to the obstacle information around the current vehicle, and the above-mentioned step S101 can be implemented through the following steps S1011 to S1013. Each step is described below.

[0080] S1011. Determine a first size of the virtual parking space according to the distance information and the safety distance threshold.

[0081] It should be noted that the first dimension is the length or width of the virtual parking space. The distance information may be the actual distance between the current vehicle and surrounding obstacles, and the safety distance threshold may be the minimum distance between the vehicle and other obstacles without the risk of collision or scratching. The safety distance threshold may be predetermined, and the safety distance thresholds corresponding to different directions of the vehicle may be different. For example, the safety distance threshold corresponding to the front of the vehicle may be smaller than the safety distance threshold corresponding to the rear of the vehicle.

[0082] In some embodiments, the length or width of the virtual parking space can be determined based on the actual distance between the current vehicle and the surrounding obstacles and the corresponding safety distance threshold. For example, the length of the virtual parking space can be determined based on the actual distance between the current vehicle and the obstacle in front and the corresponding safety distance threshold, and the width of the virtual parking space can be determined based on the actual distance between the current vehicle and the obstacle on the left and the corresponding safety distance threshold.

[0083] S1012. Determine a second size of the virtual parking space according to the actual size of the current vehicle.

[0084] In some embodiments, the second size is the length or width of the virtual parking space, and the first size and the second size are different. When the first size is the virtual parking space, the second size may be the width of the virtual parking space; when the first size is the width of the virtual parking space, the second size may be the length of the virtual parking space. The actual size of the current vehicle may be used as the length or width of the virtual parking space, or a size greater than the actual size of the current vehicle may be used as the length or width of the virtual parking space, that is, at least the current vehicle may be guaranteed to enter the virtual parking space in a vertical or horizontal manner.

[0085] S1013: Create a virtual parking space based on the first size and the second size.

[0086] In some embodiments, after determining the first size and the second size of the virtual parking space, ie, the length and the width, the corresponding virtual parking space can be constructed, and the virtual parking space has no planned parking space line in the corresponding area in the actual scene.

[0087] According to the above technical means, the first size of the virtual parking space is determined by the distance information between the current vehicle and the surrounding obstacles and the corresponding safety distance threshold, and the second size of the virtual parking space is determined according to the actual size of the current vehicle. The size information corresponding to the virtual parking space can be accurately determined, so that a virtual parking space that can be moved into by the current vehicle can be obtained.

[0088] In some embodiments of the present application, the distance information includes a first distance between the current vehicle and the obstacle ahead, and the safety distance threshold includes a first safety distance threshold between the obstacle ahead and the front of the current vehicle; the first size includes the length of the virtual parking space in front of the current vehicle; based on this, according to the distance information and the safety distance threshold, the first size of the virtual parking space is determined, that is, the above-mentioned step S1011 can be implemented by the following steps S201A to S204A, and each step is described below.

[0089] S201A: Obtain the braking performance parameters and speed of the current vehicle.

[0090] In some embodiments, the braking performance parameter of the current vehicle may be the braking acceleration of the current vehicle, which may be determined based on the model of the current vehicle. Different models of vehicles may correspond to different braking accelerations. The speed may be the current speed of the current vehicle, which may be obtained by collecting the speed sensor of the current vehicle.

[0091] S202A: Determine a safe braking distance based on braking performance parameters and speed.

[0092] In some embodiments, the distance that the current vehicle travels from the current moment to the complete stop of the vehicle, i.e., the safe braking distance, can be calculated based on the braking performance parameters and speed. For example, if the braking acceleration of the current vehicle is a and the current speed is v, the safe braking distance D can be calculated by formula (1): q :

[0093] D q =v 2 / 2×a (1);

[0094] S203A: Determine a first reference length of a virtual parking space located in front of the current vehicle according to the first distance and a first safety distance threshold.

[0095] In some embodiments, the first distance may be the distance between the current vehicle and the nearest obstacle in front. If the first distance is greater than a first safety distance threshold, the difference between the first distance and the first safety distance threshold may be used as a first reference length of a virtual parking space in front of the current vehicle. If the first distance is less than the first safety distance threshold, it means that the current vehicle is close to the obstacle in front and does not meet the conditions for constructing a virtual parking space in front of the current vehicle.

[0096] S204A: If the safety braking distance is less than the first reference length, determine the first reference length as the length of the virtual parking space in front of the current vehicle.

[0097] In some embodiments, if the safe braking distance is less than the first reference length, it means that the distance moved by the current vehicle from the current speed to a complete stop is less than the first reference length of the virtual parking space, that is, if the vehicle brakes to enter the virtual parking space ahead from the current moment, it will not exceed the area corresponding to the virtual parking space.

[0098] According to the above technical means, by determining the safe braking distance according to the braking performance parameters and speed of the current vehicle, determining the first reference length of the virtual parking space in front of the current vehicle according to the first distance and the first safe distance threshold, and determining the first reference length as the length of the virtual parking space in front of the current vehicle only when the safe braking distance is less than the first reference length, it is possible to avoid safety hazards in the process of the current vehicle moving to the virtual parking space in front, thereby improving the safety of the constructed virtual parking space.

[0099] In some embodiments of the present application, the distance information includes a second distance between the current vehicle and a side obstacle, and the safety distance threshold includes a second safety distance threshold between the side obstacle and the current vehicle; the first size includes the width of the virtual parking space to the side of the current vehicle; based on this, the first size of the virtual parking space is determined according to the distance information and the safety distance threshold, that is, the above-mentioned step S1011 can be implemented by the following steps S201B to S204B, and each step is described below.

[0100] S201B, obtaining the steering parameters of the current vehicle.

[0101] In some embodiments, the steering parameters of the current vehicle may include the steering radius, body swing amplitude, etc. of the current vehicle. The turning radius and body swing amplitude of the vehicle can be determined according to the vehicle model, that is, the steering parameters corresponding to the current vehicle can be determined.

[0102] S202B: Determine a safety distance adjustment value based on the steering parameter.

[0103] In some embodiments, a safety distance adjustment value may be determined based on the current turning radius of the vehicle. The safety distance adjustment value may be a distance value added to ensure that the vehicle body swings and does not collide with obstacles during the turning process. For example, the safety distance adjustment value D may be determined based on formula (2): t :

[0104] D t = k × z (2);

[0105] Among them, k represents the adjustment coefficient, which can be determined in advance through experiments, and z represents the turning radius or the body swing amplitude.

[0106] S203B: Determine a first reference width of a virtual parking space located on the side of the current vehicle according to the second distance and the second safety distance threshold.

[0107] In some embodiments, the second distance may be the distance between the current vehicle and the obstacle closest to the left side of the current vehicle, or the distance between the current vehicle and the obstacle closest to the right side of the current vehicle. The second safety distance threshold may be the minimum distance to ensure that the vehicle does not collide or scratch the obstacle on the left or right side of the vehicle during movement. The second safety distance threshold may be greater than or less than the first safety distance threshold.

[0108] In some embodiments, if the second distance is greater than the second safety distance threshold, the difference between the second distance and the second safety distance threshold can be determined as the first reference width of the virtual parking space on the side of the current vehicle; if the second distance is less than or equal to the second safety distance threshold, it means that the distance between the current vehicle and the side obstacle is relatively close, and the conditions for constructing a virtual parking space on the side of the current vehicle are not met.

[0109] S204B: Determine the width of the virtual parking space on the side of the current vehicle according to the safety distance adjustment value and the first reference width.

[0110] In some embodiments, the safety distance may be adjusted to the sum of the safety distance and the first reference width, and determined as the width of the virtual parking space on the side of the current vehicle, which may be greater than, less than, or equal to the actual width of the current vehicle.

[0111] According to the above-mentioned technical means, by determining the width of the virtual parking space on the side of the current vehicle based on the safety distance adjustment value determined according to the steering parameters of the current vehicle, and the second distance between the current vehicle and the side obstacle and the first reference width determined by the second safety distance threshold, the safety of the constructed virtual parking space on the side of the current vehicle can be improved, so that the current vehicle will not collide with the side obstacle when entering the virtual parking space on the side of the current vehicle in a sideways manner.

[0112] In some embodiments of the present application, the distance information includes a third distance between the current vehicle and the rear obstacle, and the safety distance threshold includes a third safety distance threshold between the rear obstacle and the current vehicle; the first size includes the length of the virtual parking space behind the current vehicle; based on this, according to the distance information and the safety distance threshold, the first size of the virtual parking space is determined, that is, the above-mentioned step S1011 can be implemented by the following steps S201C to S203C, and each step is described below.

[0113] S201C: Obtain movement information of the rear obstacle.

[0114] In some embodiments, the motion information of the rear obstacle may be the motion direction, motion speed, etc. of the rear obstacle, and the motion information of the rear obstacle may be detected by a sensor of the current vehicle.

[0115] S202C: Determine a second reference length of the virtual parking space behind the current vehicle according to the third distance and the third safety distance threshold.

[0116] In some embodiments, the third safety distance threshold may be greater than the first safety distance threshold, and may also be greater than the second safety distance threshold. The third safety distance threshold may be the minimum distance that ensures that the vehicle does not collide with the rear obstacle.

[0117] In some embodiments, if the third distance is greater than the third safety distance threshold, the difference between the third distance and the third safety distance threshold can be used as the second reference length of the virtual parking space behind the current vehicle; if the third distance is less than or equal to the third safety distance threshold, it means that the distance between the current vehicle and the rear obstacle is relatively close, and the conditions for constructing a virtual parking space behind the current vehicle are not met.

[0118] S203C: Determine the length of the virtual parking space behind the current vehicle based on the motion information and the second reference parking space length.

[0119] In some embodiments, a distance adjustment value can be determined based on the movement information of the obstacle behind the current vehicle, and the sum of the distance adjustment value and the second reference parking space length is determined as the length of the virtual parking space behind the current vehicle, so that the rear obstacle will not collide with the current vehicle during movement.

[0120] According to the above technical means, by determining the second reference length of the virtual parking space behind the current vehicle according to the third distance between the current vehicle and the rear obstacle and the third safety distance threshold, and determining the length of the virtual parking space behind the current vehicle according to the motion information of the obstacle behind the current vehicle and the second reference length, the current vehicle can enter the virtual parking space behind without colliding with the rear obstacle in motion.

[0121] In some embodiments of the present application, the second size of the virtual parking space is determined according to the actual size of the current vehicle, that is, the above step S1012 can be implemented by the following step S301, which is described below.

[0122] S301. Determine the width of the current vehicle as the width of the virtual parking space, or determine the length of the current vehicle as the length of the virtual parking space.

[0123] In some embodiments, when the first dimension is the length of the virtual parking space, the width of the current vehicle can be determined as the width of the virtual parking space; when the first dimension is the width of the virtual parking space, the length of the current vehicle can be determined as the length of the virtual parking space.

[0124] In other embodiments, if the first size is the length of the virtual parking space, the first preset length can be added on the basis of the width of the current vehicle to obtain the width of the virtual parking space, that is, the width of the virtual parking space is greater than the actual width of the current vehicle; if the first size is the width of the virtual parking space, the second preset length can be added on the basis of the length of the current vehicle to obtain the length of the virtual parking space, that is, the length of the virtual parking space is greater than the actual length of the current vehicle.

[0125] According to the above technical means, by determining the width of the current vehicle as the width of the virtual parking space, or determining the length of the current vehicle as the length of the virtual parking space, the length of the virtual parking space can be adapted to the length of the current vehicle, or the width of the virtual parking space can be adapted to the width of the current vehicle, ensuring that the current vehicle can enter the area corresponding to the virtual parking space in the actual scene in a vertical or horizontal manner.

[0126] In some embodiments of the present application, before creating a virtual parking space around the current vehicle based on obstacle information around the current vehicle, that is, before step S101, the following steps S401 to S402 may also be executed, and each step is described below.

[0127] S401: Receive a vehicle moving request sent by a second device.

[0128] In some embodiments, the vehicle moving request sent by the second device may be sent by the user of the second device after triggering a vehicle moving event through the APP of the second device. In practice, if the current vehicle blocks the way of other vehicles, other vehicles can call the user of the current vehicle to move the vehicle, and the user of the current vehicle can send a vehicle moving request to the first device through the APP of the second device after receiving the vehicle moving call.

[0129] S402: In response to the vehicle moving request, control the sensor of the current vehicle to collect obstacle information around the current vehicle.

[0130] In some embodiments, after receiving the vehicle moving request sent by the second device, the first device can control the sensors of the current vehicle to collect information such as the position, size, and shape of obstacles around the current vehicle based on the vehicle moving request. The sensors of the current vehicle can be image acquisition sensors, lidars, ultrasonic sensors, etc.

[0131] According to the above technical means, when a vehicle moving request is received from a second device, in response to the vehicle moving request, the sensors of the current vehicle are controlled to collect obstacle information around the current vehicle, which can create a prerequisite for subsequently creating a virtual parking space around the current vehicle based on the obstacle information.

[0132] In some embodiments of the present application, the information of the target virtual parking space includes the position information and motion information of obstacles around the target virtual parking space; based on this, based on the information of the target virtual parking space, the current vehicle is controlled to be parked at least partially in the area corresponding to the target virtual parking space in the actual scene, that is, the above-mentioned step S104 can be implemented by the following steps S1041 to S1042, and each step is explained separately below.

[0133] S1041. Determine a planned path and movement speed for the current vehicle to move to the target virtual parking space based on the position information and movement information of obstacles around the target virtual parking space.

[0134] In some embodiments, the position information of obstacles around the target virtual parking space may be the position of the obstacles around the target virtual parking space relative to the current vehicle or the target virtual parking space. The motion information of the obstacles around the target virtual parking space may include the motion state, motion speed, etc. of the obstacles. The position information and motion information of the obstacles around the target virtual parking space may be obtained by collecting sensors of the current vehicle. After acquiring the position information and motion information of the obstacles around the virtual parking space, the first device may determine the planned path and motion speed of the current vehicle to the target virtual parking space under the premise that the current vehicle will not collide with the obstacles.

[0135] S1042: According to the planned path and the movement speed, control at least a portion of the current vehicle to park in an area corresponding to the target virtual parking space in the actual scene.

[0136] In some embodiments, after the planned path and movement speed of the current vehicle are determined, the current vehicle can be controlled to partially or completely enter the area corresponding to the target virtual parking space in the actual scene according to the planned path and movement speed. In implementation, if the target virtual parking space is larger than the actual size of the current vehicle, the current vehicle can be controlled to completely enter the area corresponding to the target virtual parking space in the actual scene; if the target virtual parking space is smaller than the actual size of the current vehicle, the current vehicle can be controlled to partially enter the area corresponding to the target virtual parking space in the actual scene.

[0137] According to the above-mentioned technical means, by determining the planned path and movement speed of the current vehicle to the target virtual parking space based on the position information and movement information of the obstacles around the target virtual parking space, the current vehicle can travel according to the planned path and movement speed when entering the corresponding area of ​​the target virtual parking space in the actual scene, and will not collide with the obstacles around the target virtual parking space, thereby ensuring the safety of the current vehicle during the moving process.

[0138] In some embodiments of the present application, during step S104 "controlling at least part of the current vehicle to park in the area corresponding to the target virtual parking space in the actual scene", the following step S501 may be executed, and each step is described below.

[0139] S501. If it is determined that a reference obstacle enters the target virtual parking space, control the current vehicle to stop parking in the area corresponding to the target virtual parking space in the actual scene, and send a prompt message to the second device to prompt the user of the second device that a reference obstacle currently enters the target virtual parking space.

[0140] In some embodiments, the reference obstacle may be an obstacle around the current vehicle, and the reference obstacle may include one or more. The sensor of the current vehicle may detect the state of obstacles around the current vehicle in real time during the process of the current vehicle entering the target virtual parking space in the corresponding area in the actual scene. If it is determined that a reference obstacle enters the target virtual parking space, information indicating that there is an obstacle in the corresponding area of ​​the target virtual parking space in the actual scene may be sent to the first device. After receiving the message, the first device may control the current vehicle to stop moving, that is, stop entering the corresponding area of ​​the target virtual parking space in the actual scene. In addition, the first device may also send a prompt message to the second device to inform the user of the second device that there is a reference obstacle in the target virtual parking space, so that the user can choose whether to continue moving the current vehicle.

[0141] According to the above technical means, during the process of moving the current vehicle, if it is determined that a reference obstacle has entered the target virtual parking space, the current vehicle can be controlled to stop parking in the area corresponding to the target virtual parking space in the actual scene, so that the current vehicle will not collide with the reference obstacle during the process of entering the target virtual parking space; further, by sending a prompt message to the second device, the user of the second device can be prompted that a reference obstacle has entered the target virtual parking space, so that the user can choose whether to continue to move the vehicle, thereby improving the user's vehicle moving experience.

[0142] The present application provides a method for remote vehicle moving control, which is applied to a second device, such as Figure 2 As shown, the method includes:

[0143] S601. Receive information about a virtual parking space sent by a first device.

[0144] In some embodiments, the information of the virtual parking space includes the position information and size information of each virtual parking space created by the first device according to the obstacle information around the current vehicle. After acquiring the obstacle information around the current vehicle, the first device can create one or more virtual parking spaces around the current vehicle according to the obstacle information, and send the position information, size information, etc. of each virtual parking space to the second device.

[0145] S602: Display each virtual parking space on a display interface of a second device according to the information of the virtual parking space.

[0146] In some embodiments, after the second device obtains the information of the virtual parking spaces sent by the first device, it can display the status, shape, size and other information of each virtual parking space on the display interface of the APP of the second device according to the location information, size information and the like of each virtual parking space.

[0147] In some embodiments, the first device may also send information about the current vehicle and information about obstacles around the current vehicle to the second device. After receiving the information about the current vehicle and obstacles around the current vehicle, the second device may display the current vehicle, obstacles around the current vehicle, and each virtual parking space in the display interface of the APP of the second device, so that the user of the second device can clearly understand the relative position relationship of the current vehicle, obstacles around the current vehicle, and each virtual parking space.

[0148] S603: When a first operation on the target virtual parking space on the display interface is obtained, a vehicle moving instruction is sent to the first device, so that the first device controls at least a portion of the current vehicle to park in an area corresponding to the target virtual parking space in the actual scene based on the vehicle moving instruction.

[0149] It should be noted that the target virtual parking space is any one of the at least one virtual parking space, and the first operation may be a click operation, a touch operation, etc. performed by the user of the second device on the display interface of the APP of the second device on the target virtual parking space.

[0150] In some embodiments, after observing the information of the virtual parking space on the display interface, the user of the second device can select one of the multiple virtual parking spaces as the target virtual parking space. If there is only one virtual parking space, the virtual parking space can be selected as the target virtual parking space. After the user of the second device performs a first operation on the target virtual parking space on the display interface, the user can send a vehicle moving instruction to the first device. After receiving the vehicle moving instruction, the first device can control part or all of the current vehicle to park in the area corresponding to the target virtual parking space in the actual scene.

[0151] According to the above-mentioned technical means, based on the information of the virtual parking spaces sent by the first device, each virtual parking space is displayed on the display interface of the second device, so that the user of the second device can intuitively observe the virtual parking spaces that the current vehicle can move into, and it is convenient for the user of the second device to select the target virtual parking space for the current vehicle to move into, thereby improving the user's car moving experience.

[0152] The present application also provides a method for remote vehicle moving control, which involves an interaction process between a first device and a second device, such as Figure 3 As shown, the method includes:

[0153] S701. The first device creates a virtual parking space around the current vehicle according to obstacle information around the current vehicle.

[0154] In some embodiments, the obstacles around the current vehicle may be other vehicles, pedestrians, road edges, etc. around the current vehicle. The obstacle information may include information such as the shape, size, position, and state of the obstacles. The size information, position information, etc. of the area where part or all of the current vehicle can be parked can be determined based on the shape, size, position, and state of the obstacles, and a virtual parking space can be created based on the size information and position information.

[0155] In some embodiments, after obtaining the vehicle moving request sent by the second device, the first device can control the sensors of the current vehicle to collect information about obstacles around the current vehicle, thereby obtaining the obstacle information around the current vehicle, and determining the size information of the area that can be partially or fully moved into by the current vehicle based on the obstacle information, and establishing a virtual parking space based on the size information.

[0156] S702: The first device sends information about the virtual parking space to the second device.

[0157] In some embodiments, after the first device creates one or more virtual parking spaces around the current vehicle, it can send location information, size information, etc. of each virtual parking space to the second device, so that the user of the second device can select a target virtual parking space from the various virtual parking spaces.

[0158] S703: The second device displays each virtual parking space on a display interface of the second device according to the information of the virtual parking space sent by the first device.

[0159] In some embodiments, after the second device obtains the information of the virtual parking spaces sent by the first device, it can display the status, shape, size and other information of each virtual parking space on the display interface of the APP of the second device according to the location information, size information and the like of each virtual parking space.

[0160] S704: When the second device obtains the first operation on the target virtual parking space on the display interface, the second device sends a car moving instruction to the first device.

[0161] In some embodiments, the car moving instruction includes information of a target virtual parking space, and the target virtual parking space is any one of the at least one virtual parking space. After observing the information of the virtual parking space on the display interface, the user of the second device can select one of the multiple virtual parking spaces as the target virtual parking space. If there is only one virtual parking space, the virtual parking space can be selected as the target virtual parking space. After the user of the second device performs the first operation on the target virtual parking space on the display interface, the car moving instruction can be sent to the first device.

[0162] S705: The first device controls at least a portion of the current vehicle to park in an area corresponding to the target virtual parking space in the actual scene based on the information of the target virtual parking space in the vehicle moving instruction sent by the second device.

[0163] In some embodiments, the moving vehicle instruction sent by the second device carries information of the target virtual parking space. After receiving the moving vehicle instruction and parsing the information of the target virtual parking space, the first device can control part or all of the current vehicle to park in the area corresponding to the target virtual parking space in the actual scene.

[0164] For example, Figure 4 As shown, on the display interface of the second device, three virtual parking spaces for the current vehicle are constructed. If the user clicks on any virtual parking space as the target virtual parking space and clicks to start moving the car, a moving instruction can be sent to the first device to move the current vehicle to the target virtual parking space.

[0165] In an embodiment of the present application, a first device creates one or more virtual parking spaces around the current vehicle based on obstacle information around the current vehicle, and sends the information of the virtual parking spaces to a second device. The second device displays each virtual parking space in a display interface based on the information of the virtual parking spaces, so that a user of the second device can intuitively understand the information of the virtual parking spaces that can be parked at present, thereby improving the user's car moving experience; further, by sending a car moving instruction from the second device to the first device, the current vehicle can be controlled to enter the area corresponding to the target virtual parking space in the actual scene, thereby improving the efficiency and convenience of remote car moving.

[0166] Next, the implementation process of the application embodiment in the actual application scenario is introduced.

[0167] Figure 5 A schematic diagram of a remote automatic parking space moving system based on a mobile phone APP provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the vehicle moving system 800 includes a sensor module 801 and a control module 802 on the vehicle side, a data analysis and processing module 803 on the cloud side, and an APP module 804 on the mobile phone side.

[0168] Figure 6 A flowchart of a method for remote automatic parking space construction and moving a car based on a mobile phone APP provided in an embodiment of the present application is provided. The method can be based on Figure 5 The method is implemented in the vehicle moving system, and the method includes:

[0169] S901. The user initiates a request to move the vehicle through the APP module 804. The sensor module 801 on the vehicle side collects information about surrounding obstacles and sends it to the data analysis and processing module 803 on the cloud.

[0170] In some embodiments, the user can initiate a remote vehicle moving request on the mobile phone APP module 804, and the vehicle-side sensor module 801 can collect obstacle information around the vehicle in real time. The obstacle information may include distance, shape, location, etc. The sensor module 801 can upload this information to the cloud data analysis and processing module 803 for processing by the data analysis and processing module 803.

[0171] S902, the data analysis and processing module 803 calculates the potential parking space that can be safely parked (equivalent to the "virtual parking space" in other embodiments) based on the obstacle information, and sends the information of the potential parking space to the APP module 804 on the mobile phone.

[0172] In some embodiments, the data analysis and processing module 803 can use the automatic parking space construction algorithm to perform calculations to determine information about potential parking spaces that can be parked around the vehicle. The potential parking spaces may include the potential parking spaces in front, behind, on the left, and on the right of the vehicle (equivalent to the "current vehicle" in other embodiments).

[0173] (1) Calculation of potential parking spaces ahead

[0174] In the process of determining the potential parking space ahead, the actual distance between the obstacle ahead and the front end of the vehicle acquired by the sensor module 801 and the preset first safety distance (equivalent to the "first safety distance threshold" in other embodiments) can be used to determine the length of the potential parking space ahead. By way of example, assuming that the actual distance between the obstacle ahead and the front end of the vehicle is D1, and the preset safety distance is S1, the length of the potential parking space ahead can be preliminarily determined to be L1=D1-S1 through subtraction.

[0175] In addition, the acceleration and braking performance of the ego vehicle need to be considered, and the acceleration performance parameters of the vehicle, including maximum acceleration, acceleration time, etc., need to be analyzed. Based on the current vehicle speed and the maximum speed that can be reached within a certain period of time, the minimum distance required for the vehicle to stop safely before reaching the obstacle ahead is predicted. This minimum distance can be combined with the vehicle's braking performance parameters, such as braking acceleration, etc. For example, the minimum distance required for the vehicle to brake from the current speed to stop can be estimated by formula (1). Afterwards, this minimum distance can be compared with the initially determined potential parking space length L1. If the minimum distance is less than L1, it means that the conditions for constructing a parking space are still met in the front considering the vehicle's motion characteristics; otherwise, a safe potential parking space cannot be constructed in the front.

[0176] (2) Calculation of potential parking spaces on the left and right sides

[0177] In the process of determining the potential parking spaces on the left and right sides of the vehicle, the actual distance between the side obstacle of the vehicle and the side of the vehicle acquired by the sensor module 801 and the preset second safety distance (equivalent to the "second safety distance threshold" in other embodiments) can be used to determine the width of the potential parking space in front. Exemplarily, let the distance between the left obstacle and the left side of the vehicle be D2, and the distance between the right obstacle and the right side of the vehicle be D3. The preset second safety distances on both the left and right sides are both S2, and the widths of the potential parking spaces on the left and right sides can be calculated respectively as W1=D2-S2 (left side) and W2=D3-S2 (right side).

[0178] In addition, different models have different turning radiuses, which can be obtained from the vehicle's technical manual or actual measurements. When calculating the width of a parking space, the swing amplitude of the vehicle body during the turning process should be considered. For example, if the turning radius of the vehicle is small and the swing amplitude of the vehicle body is relatively large, then when calculating the width of the left or right parking space, the value of the safety distance S2 needs to be appropriately increased to ensure that the vehicle will not collide with obstacles when moving into the parking space. The relationship between the vehicle turning radius, the swing amplitude of the vehicle body and the safety distance adjustment value can be established based on empirical formulas or actual test data, such as formula (2).

[0179] (3) Calculation of potential parking space at the rear

[0180] In the process of determining the potential parking space behind the vehicle, the actual distance between the obstacle behind the vehicle and the rear of the vehicle acquired by the sensor module 801 and the preset third safety distance (equivalent to the "third safety distance threshold" in other embodiments) can be used to determine the length of the potential parking space in front. Exemplarily, the actual distance between the rear obstacle and the rear end of the vehicle is set to D4. Due to the difficulty of vision and operation when reversing, the preset rear safety distance is S3 (S3 is greater than the front safety distance S1), and the length of the potential parking space in the rear is preliminarily determined to be L2 = D4-S3.

[0181] In addition, when calculating the length of the rear parking space, not only static obstacles should be considered, but also dynamic obstacles, such as pedestrians or moving vehicles. If a dynamic obstacle approaches from the rear, the system should promptly evaluate its movement trajectory and speed to determine whether it will affect the safety of the parking space structure. The detailed rear obstacle information provided by the reversing image and radar, including the position, size, and movement state of the obstacle, can be combined to determine whether the dynamic obstacle will enter the potential parking space area during the movement. If it is found that the dynamic obstacle may enter the potential parking space area during the vehicle reversing process, the control module 802 can issue a command to control the suspension of the vehicle moving operation, and send an alarm to the user through the APP module 804, allowing the user to decide whether to continue moving the vehicle or wait for the dynamic obstacle to leave before operating.

[0182] After determining the information of each potential parking space, the data analysis and processing module 202 may send the calculated parking space information to the APP module 804 on the user's mobile phone.

[0183] S903 , the user selects a potential parking space on the APP module 804 and sends a car moving instruction to the cloud, and the cloud forwards the car moving instruction to the control module 802 .

[0184] In some embodiments, the APP module 804 can display the parking spaces constructed around the vehicle in real time, including the location, size and relationship of each parking space with obstacles. The user then selects a suitable potential parking space on the APP module 804 according to the actual blocking situation, and sends a car moving instruction to the cloud through the APP module 804. The cloud forwards the car moving instruction to the control module 802 on the vehicle side.

[0185] S904: The control module 802 controls the vehicle to move to a designated potential parking space according to a preset path and speed.

[0186] In some embodiments, after receiving the vehicle moving instruction, the control module 802 can control the vehicle to move to the designated parking space according to the preset path and speed. In addition, during the vehicle moving process, the sensor module 801 can continuously monitor the surrounding environment of the vehicle and feed back the real-time environmental information to the control module 802. The control module 802 can upload the real-time environmental information to the cloud. If the cloud determines that a new obstacle or abnormal situation has appeared, it will immediately send an instruction to the control module 802 to stop the vehicle moving operation. In addition, the system of the vehicle can set a speed limit for the vehicle to ensure safety during the vehicle moving process.

[0187] S905: After the vehicle is moved to the designated parking space, the vehicle moving operation is completed, and the APP module 804 feeds back the vehicle moving result and related information to the user.

[0188] In some embodiments, the vehicle moving results can be fed back to the user through voice broadcast or text display. The vehicle moving results may include successful or failed vehicle moving. Related information may include the location information of the vehicle after moving, and the distance information of the vehicle from surrounding obstacles after moving.

[0189] For example, Figure 7 As shown, in the simplest scenario, there is space around the vehicle 11, and four potential parking spaces 12, 13, 14, and 15 can be constructed in front, behind, left, and right of the vehicle.

[0190] For example, Figure 8As shown, the temporary parking of the own vehicle 21 blocks the vehicle 23. According to the status of the obstacles around the own vehicle 21 (vehicles 22, 23, 24), three potential parking spaces 25, 26, and 27 can be constructed in front of, behind, and on the left side of the own vehicle, respectively. The user can choose any one of the potential parking spaces 25, 26, and 27 to move the vehicle, thereby vacating the original position of the own vehicle 21 so that the vehicle 23 has space to park and leave.

[0191] For example, Fig. 9 As shown, the temporary parking of vehicle 31 blocks vehicle 32. According to the status of obstacles around vehicle 31 (vehicles 32, 33, 34, 36), two potential parking spaces 35 and 37 can be constructed in front of and on the left side of the vehicle, respectively. The user can choose potential parking space 35 or 37 to move the vehicle, thereby freeing up the original position of vehicle 31 so that vehicle 32 has space to park and leave.

[0192] For example, Fig.10 As shown, the temporary parking of the own vehicle 41 blocks the vehicle 44. According to the status of the obstacles around the own vehicle 41 (vehicles 42, 43, 44, 45, 46), a potential parking space 47 can be constructed on the left side of the own vehicle. The user can move the vehicle to the potential parking space 47, thereby vacating the original position of the own vehicle 41 so that the vehicle 44 has space to park and leave.

[0193] For example, Fig.11 As shown, the temporary parking of the own vehicle 51 blocks the vehicle 53. According to the status of the obstacles around the own vehicle 51 (vehicles 52, 53, 54, 55, 56, 57), a potential parking space 58 (less than a whole parking space) can be constructed in front of the own vehicle. The user can select the potential parking space 58 to move the vehicle, thereby vacating the original position of the own vehicle 51 so that the vehicle 53 has space to park and leave.

[0194] For example, Fig.12 As shown, the temporary parking of the own vehicle 61 blocks the vehicle 67. According to the status of the obstacles around the own vehicle 61 (vehicles 62, 63, 64, 65, 66, 67, 68, 69), a potential parking space 60 (less than a whole parking space) can be constructed on the right side of the own vehicle. The user can select the potential parking space 60 to move the vehicle, thereby vacating the original position of the own vehicle 61 so that the vehicle 67 has space to park and leave.

[0195] The present application provides a method for remote automatic construction of parking spaces and moving the car based on a mobile phone APP. When the user has a temporary need to move the car, the remote car moving function is activated through the mobile phone APP. The cloud-based data analysis and processing module can automatically construct up to four parking spaces in front, behind, left and right of the vehicle according to the state of obstacles around the vehicle. The user can choose and complete the car moving operation based on the actual blocking situation, effectively improving the efficiency and convenience of moving the car.

[0196] The remote automatic parking space construction and car moving method based on mobile phone APP provided by the present application significantly enhances the flexibility of car moving by constructing parking spaces, and meets the needs of different scenarios. For example, on narrow streets, suitable parking spaces can be accurately constructed according to the complex distribution of obstacles; the car moving time is greatly shortened, the efficiency and convenience of temporary car moving are significantly improved, and the waiting time of users is greatly reduced; the vehicle management level in parking lots and narrow spaces is significantly improved. For example, due to limited space, chaotic parking of vehicles and frequent blocked passages in a certain community parking lot, the introduction of this method can timely and effectively carry out remote car moving, effectively ensuring the order and traffic efficiency in the parking lot; it avoids the car owner's misjudgment of the distance and almost hitting the pillar next to it when moving the car by himself. The solution provided by the present application can accurately construct parking spaces and complete safe car moving with precise sensors and algorithms; users only need to perform simple operations through the mobile phone application to realize remote car moving, and have a friendly interactive interface. The system will provide users with timely feedback, so that users can clearly understand the current status of the vehicle and the progress of the car moving, which greatly enhances the user's operating experience.

[0197] This embodiment of the application provides a first device, Fig.13 A schematic diagram of the composition structure of a first device provided in an embodiment of the present application is shown in FIG. Fig.13 As shown, the first device 70 includes:

[0198] A first creation module 71 is used to create a virtual parking space around the current vehicle according to obstacle information around the current vehicle; the virtual parking space includes at least one;

[0199] A first sending module 72, configured to send the information of the virtual parking space to a second device;

[0200] A first receiving module 73 is used to receive a car moving instruction sent by the second device based on the information of the virtual parking space; the car moving instruction includes information of a target virtual parking space, and the target virtual parking space is any one of the at least one virtual parking space;

[0201] The first control module 74 is configured to control at least a portion of the current vehicle to be parked in an area corresponding to the target virtual parking space in the actual scene based on the information of the target virtual parking space.

[0202] In some embodiments, the obstacle information includes distance information between the current vehicle and surrounding obstacles; the first creation module 71 includes:

[0203] A first determining submodule, configured to determine a first size of a virtual parking space according to the distance information and a safety distance threshold; the first size being the length or width of the virtual parking space;

[0204] A second determining submodule, configured to determine a second size of the virtual parking space according to the actual size of the current vehicle; the second size is the length or width of the virtual parking space, and the first size and the second size are different;

[0205] The first creation submodule is used to create the virtual parking space based on the first size and the second size.

[0206] In some embodiments, the distance information includes a first distance between the current vehicle and a front obstacle; the safety distance threshold includes a first safety distance threshold between the front obstacle and the front of the current vehicle; the first size includes a length of a virtual parking space in front of the current vehicle; and the first determination submodule includes:

[0207] A first acquisition unit, used to acquire the braking performance parameters and speed of the current vehicle;

[0208] A first determining unit, configured to determine a safe braking distance according to the braking performance parameter and the speed;

[0209] A second determining unit, configured to determine a first reference length of a virtual parking space located in front of the current vehicle according to the first distance and the first safety distance threshold;

[0210] The third determining unit is configured to determine the first reference length as the length of the virtual parking space in front of the current vehicle if the safe braking distance is less than the first reference length.

[0211] In some embodiments, the distance information includes a second distance between the current vehicle and a side obstacle, the safety distance threshold includes a second safety distance threshold between the side obstacle and the current vehicle; the first size includes a width of a virtual parking space on the side of the current vehicle; and the first determination submodule includes:

[0212] A second acquisition unit, used to acquire the steering parameters of the current vehicle;

[0213] a fourth determining unit, configured to determine a safety distance adjustment value based on the steering parameter;

[0214] a fifth determining unit, configured to determine a first reference width of a virtual parking space located on a side of the current vehicle according to the second distance and the second safety distance threshold;

[0215] A sixth determining unit is used to determine the width of the virtual parking space on the side of the current vehicle according to the safety distance adjustment value and the first reference width.

[0216] In some embodiments, the distance information includes a third distance between the current vehicle and the rear obstacle, the safety distance threshold includes a third safety distance threshold between the rear obstacle and the current vehicle; the first size includes a length of a virtual parking space behind the current vehicle; and the first determination submodule includes:

[0217] A third acquisition unit, used to acquire the motion information of the rear obstacle;

[0218] a seventh determining unit, configured to determine a second reference length of a virtual parking space located behind the current vehicle according to the third distance and the third safety distance threshold;

[0219] An eighth determining unit is used to determine the length of the virtual parking space behind the current vehicle based on the motion information and the second reference parking space length.

[0220] In some embodiments, the second determining submodule includes:

[0221] A ninth determining unit is configured to determine the width of the current vehicle as the width of the virtual parking space, or to determine the length of the current vehicle as the length of the virtual parking space.

[0222] In some embodiments, the first device 70 further includes:

[0223] A third receiving module, used for receiving a vehicle moving request sent by the second device;

[0224] The second control module is used to control the sensor of the current vehicle to collect obstacle information around the current vehicle in response to the vehicle moving request.

[0225] In some embodiments, the information of the target virtual parking space includes the position information and movement information of obstacles around the target virtual parking space; the first control module 74 includes:

[0226] A third determination submodule is used to determine the planned path and movement speed of the current vehicle moving to the target virtual parking space according to the position information and movement information of obstacles around the target virtual parking space;

[0227] The first control submodule is used to control at least a portion of the current vehicle to park in an area corresponding to the target virtual parking space in the actual scene according to the planned path and the movement speed.

[0228] In some embodiments, the first control module 74 is further used to control the current vehicle to stop parking in the area corresponding to the target virtual parking space in the actual scene if it is determined that the reference obstacle enters the target virtual parking space, and send a prompt message to the second device to prompt the user of the second device that the reference obstacle currently enters the target virtual parking space.

[0229] This embodiment of the application provides a second device, Fig.14 A schematic diagram of the composition structure of a second device provided in an embodiment of the present application is shown in FIG. Fig.14 As shown, the second device 80 includes:

[0230] The second receiving module 81 is used to receive the information of the virtual parking space sent by the first device; the information of the virtual parking space includes the position information and size information of each virtual parking space created by the first device according to the obstacle information around the current vehicle, and the virtual parking space includes at least one;

[0231] A first display module 82, configured to display each virtual parking space on a display interface of the second device according to the information of the virtual parking space;

[0232] The second sending module 83 is used to send a vehicle moving instruction to the first device when a first operation on the target virtual parking space on the display interface is obtained, so that the first device controls at least part of the current vehicle to be parked in the area corresponding to the target virtual parking space in the actual scene based on the vehicle moving instruction; the target virtual parking space is any one of at least one of the virtual parking spaces.

[0233] It should be noted that the description of the first device and the second device in the embodiment of the present application is similar to the description of the corresponding method embodiment above, and has similar beneficial effects as the method embodiment, so it is not repeated. For technical details not disclosed in this embodiment, please refer to the description of the method embodiment of the present application for understanding.

[0234] It should be noted that in the embodiments of the present application, if the above-mentioned remote vehicle moving control method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application can essentially or in other words, the part that contributes to the relevant solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods of each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk. In this way, the embodiments of the present application are not limited to any specific combination of hardware and software.

[0235] Accordingly, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for remote vehicle moving control applied to a first device provided in the above embodiment is implemented, or the method for remote vehicle moving control applied to a second device provided in the above embodiment is implemented.

[0236] Fig.15 A schematic diagram of the composition structure of another first device provided in an embodiment of the present application is shown in FIG. Fig.15 As shown, the first device 1500 includes: a first memory 1501, a first processor 1502, a first communication interface 1503 and a first communication bus 1504. The first memory 1501 is used to store instructions that can execute remote vehicle moving control; the first processor 1502 is used to execute the instructions that can execute remote vehicle moving control stored in the first memory 1501, and implement the method for remote vehicle moving control applied to the first device provided in the above embodiment.

[0237] Fig.16 A schematic diagram of the composition structure of another second device provided in an embodiment of the present application is shown in FIG. Fig.16 As shown, the second device 1600 includes: a second memory 1601, a second processor 1602, a second communication interface 1603 and a second communication bus 1604. The second memory 1601 is used to store instructions that can execute remote vehicle moving control; the second processor 1602 is used to execute the instructions that can execute remote vehicle moving control stored in the second memory 1601, and implement the method for remote vehicle moving control applied to the second device provided in the above embodiment.

[0238] The description of the embodiments of the first device and the second device above is similar to the description of the corresponding embodiments of the above method, and has similar beneficial effects as the method embodiments. For technical details not disclosed in the embodiments of the first device and the second device of the present application, please refer to the description of the method embodiments of the present application for understanding.

[0239] It should be noted that, in this article, the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises at least one ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0240] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0241] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0242] In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be a separate unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0243] A person of ordinary skill in the art can understand that: all or part of the steps of implementing the above-mentioned method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiment; and the aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROM, disks or optical disks.

[0244] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application can essentially or in other words, the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a product to execute all or part of the methods of each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks or optical disks.

[0245] The above are only implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technical object familiar with the technical field can be easily thought of within the technical scope disclosed in the present application. Changes or substitutions should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for remote vehicle moving control, applied to a first device, characterized in that: include: Creating a virtual parking space around the current vehicle according to obstacle information around the current vehicle; the virtual parking space includes at least one; Sending information of the virtual parking space to a second device; receiving a car moving instruction sent by the second device based on the information of the virtual parking space; the car moving instruction includes information of a target virtual parking space, and the target virtual parking space is any one of the at least one virtual parking space; Based on the information of the target virtual parking space, the current vehicle is controlled to be parked at least partially in an area corresponding to the target virtual parking space in the actual scene.

2. The method according to claim 1, characterized in that: The obstacle information includes distance information between the current vehicle and surrounding obstacles; The step of creating a virtual parking space around the current vehicle according to obstacle information around the current vehicle includes: Determine a first size of the virtual parking space according to the distance information and the safety distance threshold; the first size is the length or width of the virtual parking space; determining a second size of the virtual parking space according to the actual size of the current vehicle; the second size is the length or width of the virtual parking space, and the first size and the second size are different; The virtual parking space is created based on the first size and the second size.

3. The method according to claim 2, characterized in that The distance information includes a first distance between the current vehicle and a front obstacle; the safety distance threshold includes a first safety distance threshold between the front obstacle and the front of the current vehicle; The first size includes the length of the virtual parking space in front of the current vehicle; The determining, according to the distance information and the safety distance threshold, a first size of the virtual parking space includes: Obtaining braking performance parameters and speed of the current vehicle; determining a safe braking distance according to the braking performance parameter and the speed; Determining a first reference length of a virtual parking space located in front of the current vehicle according to the first distance and the first safety distance threshold; If the safe braking distance is less than the first reference length, the first reference length is determined as the length of the virtual parking space in front of the current vehicle.

4. The method according to claim 2, characterized in that: The distance information includes a second distance between the current vehicle and a side obstacle, and the safety distance threshold includes a second safety distance threshold between the side obstacle and the current vehicle; the first size includes a width of a virtual parking space on the side of the current vehicle; The determining, according to the distance information and the safety distance threshold, a first size of the virtual parking space includes: Obtaining a steering parameter of the current vehicle; Based on the steering parameter, determining a safety distance adjustment value; Determining a first reference width of a virtual parking space located on the side of the current vehicle according to the second distance and the second safety distance threshold; The width of the virtual parking space on the side of the current vehicle is determined according to the safety distance adjustment value and the first reference width.

5. The method according to claim 2, characterized in that: The distance information includes a third distance between the current vehicle and the rear obstacle, the safety distance threshold includes a third safety distance threshold between the rear obstacle and the current vehicle; the first size includes a length of a virtual parking space behind the current vehicle; The determining, according to the distance information and the safety distance threshold, a first size of the virtual parking space includes: Acquiring motion information of the rear obstacle; Determining a second reference length of a virtual parking space located behind the current vehicle according to the third distance and the third safety distance threshold; Based on the motion information and the second reference parking space length, a length of a virtual parking space behind the current vehicle is determined.

6. The method according to claim 2, characterized in that The determining the second size of the virtual parking space according to the actual size of the current vehicle includes: The width of the current vehicle is determined as the width of the virtual parking space, or the length of the current vehicle is determined as the length of the virtual parking space.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: receiving a vehicle moving request sent by the second device; In response to the vehicle moving request, the sensor of the current vehicle is controlled to collect obstacle information around the current vehicle.

8. The method according to any one of claims 1 to 6, characterized in that: The information of the target virtual parking space includes position information and movement information of obstacles around the target virtual parking space; The controlling, based on the information of the target virtual parking space, to park at least a portion of the current vehicle into an area corresponding to the target virtual parking space in the actual scene comprises: Determining a planned path and a movement speed for the current vehicle to move to the target virtual parking space according to the position information and movement information of obstacles around the target virtual parking space; According to the planned path and the moving speed, at least a portion of the current vehicle is controlled to be parked in an area corresponding to the target virtual parking space in the actual scene.

9. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: If it is determined that the reference obstacle enters the target virtual parking space, the current vehicle is controlled to stop parking in the area corresponding to the target virtual parking space in the actual scene, and a prompt message is sent to the second device to prompt the user of the second device that the reference obstacle currently enters the target virtual parking space.

10. A method for remotely controlling a vehicle, applied to a second device, characterized in that: include: receiving virtual parking space information sent by a first device; the virtual parking space information includes position information and size information of each virtual parking space created by the first device according to obstacle information around the current vehicle, and the virtual parking space includes at least one; Displaying each virtual parking space on a display interface of the second device according to the information of the virtual parking space; When a first operation for a target virtual parking space on the display interface is obtained, a vehicle moving instruction is sent to the first device, so that the first device controls at least part of the current vehicle to be parked in an area corresponding to the target virtual parking space in the actual scene based on the vehicle moving instruction; the target virtual parking space is any one of at least one of the virtual parking spaces.

11. A first device, characterized in that: include: A first creation module is used to create a virtual parking space around the current vehicle according to obstacle information around the current vehicle; the virtual parking space includes at least one; A first sending module, used for sending the information of the virtual parking space to a second device; A first receiving module is used to receive a car moving instruction sent by a second device based on the information of the virtual parking space; the car moving instruction includes information of a target virtual parking space, and the target virtual parking space is any one of the at least one virtual parking space; The first control module is used to control at least a portion of the current vehicle to park in an area corresponding to the target virtual parking space in the actual scene based on the information of the target virtual parking space.

12. A second device, characterized in that: include: A second receiving module, used to receive the virtual parking space information sent by the first device; The information of the virtual parking spaces includes position information and size information of each virtual parking space created by the first device according to obstacle information around the current vehicle, and the virtual parking space includes at least one; A first display module, configured to display each virtual parking space on a display interface of the second device according to the information of the virtual parking space; The second sending module is used to send a vehicle moving instruction to the first device when a first operation on the target virtual parking space on the display interface is obtained, so that the first device controls at least part of the current vehicle to be parked in the area corresponding to the target virtual parking space in the actual scene based on the vehicle moving instruction; the target virtual parking space is any one of at least one of the virtual parking spaces.

13. A first device, characterized in that: include: a first processor and a first memory; wherein, The first memory is used to store a computer program that can be run on the processor; The first processor is configured to execute the method according to any one of claims 1 to 9 when running the computer program.

14. A second device, characterized in that: include: A second processor and a second memory; wherein, The second memory is used to store a computer program that can be run on the processor; The second processor is configured to execute the method according to claim 10 when running the computer program.

15. A computer-readable storage medium, characterized in that: The storage medium stores computer program code, and when the computer program code is executed by a computer, the method according to any one of claims 1 to 9 or the method according to claim 10 is executed.

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