Vehicle moving control method, device and equipment

Abstract

The invention provides a vehicle moving control method, device and equipment, and the method comprises the steps: determining a target recognition region based on the surrounding environment information of a vehicle under the condition that a vehicle moving control condition is satisfied, obtaining an identity verification action of a person located in the target recognition region, and carrying out the verification of the identity verification action after the verification of the identity verification action is passed, and taking the person as a vehicle moving control person, collecting vehicle control information output by the vehicle moving control person, determining a vehicle driving operation corresponding to the vehicle control information, and controlling the vehicle to execute the vehicle driving operation. According to the method and the system, the vehicle can be controlled to run through the vehicle control information output by the vehicle moving control personnel, so that a channel for the blocked vehicle to run away from the current parking position can be reserved for the blocked vehicle, the blocked vehicle can run away conveniently, the time for waiting for the driver to move the vehicle is shortened as the driver does not need to be contacted with the returned vehicle to move the vehicle, and the vehicle moving efficiency is improved. And the car moving efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle driving, and more particularly to a vehicle moving control method, device and equipment. Background Art

[0002] As the number of cars in our country continues to increase, parking spaces are becoming more and more precious, and it is difficult to find an available parking space when you need to park.

[0003] When emergency parking is required due to insufficient parking spaces, the vehicle may be parked in a position in the departure direction of a parked vehicle, causing the vehicle to block other vehicles.

[0004] When the driver of the blocked vehicle needs to drive away the vehicle, he needs to contact the driver of the vehicle blocking the road to ask him to return to the vehicle to move the vehicle. The waiting time for moving the vehicle is long, which makes the efficiency of moving the vehicle low. Summary of the invention

[0005] In view of this, the present invention provides a vehicle maneuvering control method, device and equipment to solve the problem of low vehicle maneuvering efficiency.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A vehicle moving control method, comprising:

[0008] When it is determined that the vehicle moving control conditions are met, a target recognition area is determined based on the vehicle surrounding environment information;

[0009] Obtaining an identity verification action of a person located in the target identification area, and after the identity verification action is verified, using the person as a vehicle moving control person;

[0010] Collecting the vehicle control information output by the vehicle moving control personnel, and determining the vehicle driving operation corresponding to the vehicle control information;

[0011] The vehicle is controlled to execute the vehicle driving operation so as to leave a passage for the blocked vehicle to leave the current parking position.

[0012] Optionally, determining whether a vehicle moving control condition is met includes:

[0013] Determine whether an intelligent vehicle moving request sent from the cloud is received; the intelligent vehicle moving request is generated after receiving vehicle moving consent information sent by a user terminal corresponding to the vehicle; the vehicle moving consent information is generated after the user terminal confirms the vehicle moving request generated by scanning the barcode data on the vehicle;

[0014] If so, it is determined that the vehicle moving control condition is met.

[0015] Optionally, based on the vehicle surrounding environment information, determining the target recognition area includes:

[0016] Get the detection order of the areas around different vehicles;

[0017] Obstacle detection is performed on the area around the vehicle in the detection order, and the area around the vehicle in which no obstacle is detected first is used as a target recognition area.

[0018] Optionally, obtaining an identity verification action of a person located in the target identification area, and using the person as a vehicle moving control person after the identity verification action passes the verification, includes:

[0019] Outputting a first prompt information; the prompt information is used to guide a person to enter the target identification area;

[0020] When it is determined that there is a person in the target identification area, outputting a second prompt information; the second prompt information is used to prompt the person to perform a designated vehicle moving verification action;

[0021] Collect the action content of the person and use it as an identity verification action;

[0022] Determining whether the identity verification action is a designated vehicle moving verification action;

[0023] If so, it is determined that the person is a vehicle moving control person.

[0024] Optionally, after the person is used as a vehicle moving control person, the method further includes:

[0025] The external characteristic information of the person is collected and used as the target external characteristic information.

[0026] Optionally, collecting vehicle control information output by the vehicle moving control personnel and determining a vehicle driving operation corresponding to the vehicle control information includes:

[0027] Collecting external feature information of people around the vehicle, and filtering out gesture information of the vehicle moving control user whose collected external feature information is the target external feature information;

[0028] Determine standard gesture information corresponding to the gesture information, and determine a vehicle driving operation corresponding to the standard gesture information.

[0029] Optionally, in the process of controlling the vehicle to perform the vehicle driving operation, the process further includes:

[0030] Detect whether there is an obstacle with a collision risk in the direction of the vehicle's travel, and if so, perform braking operations.

[0031] Optionally, in the process of controlling the vehicle to perform the vehicle driving operation, the process further includes:

[0032] If the moving stop action of the car moving control personnel is detected, or the vehicle control information output by the car moving control personnel is not detected within a specified preset time, the reverse tracking method is adopted to control the vehicle to travel to the initial position before the moving operation is performed, and in the process of controlling the vehicle to return to the initial position, if an empty parking space is detected, the parking operation is performed.

[0033] A vehicle moving control device, comprising:

[0034] An area recognition module is used to determine a target recognition area based on the vehicle surrounding environment information when it is determined that the vehicle moving control conditions are met;

[0035] A personnel determination module, used for obtaining the identity verification action of the personnel located in the target identification area, and after the identity verification action is verified, the personnel is used as the vehicle moving control personnel;

[0036] An operation determination module, used to collect the vehicle control information output by the vehicle moving control personnel, and determine the vehicle driving operation corresponding to the vehicle control information;

[0037] The vehicle moving control module is used to control the vehicle to execute the vehicle driving operation so as to leave a passage for the blocked vehicle to leave the current parking position.

[0038] An electronic device comprising a memory and a processor;

[0039] The memory is used to store at least one instruction;

[0040] The processor is used to execute the at least one instruction to implement the above-mentioned vehicle moving control method.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] The present invention provides a method, device and equipment for controlling a vehicle moving. When it is determined that the vehicle moving control conditions are met, a target identification area is determined based on the vehicle surrounding environment information, and the identity verification action of the person located in the target identification area is obtained. After the identity verification action is verified, the person is used as a vehicle moving control person, and the vehicle control information output by the vehicle moving control person is collected, and the vehicle driving operation corresponding to the vehicle control information is determined, and the vehicle is controlled to perform the vehicle driving operation. That is, in the present invention, the vehicle driving can be controlled by the vehicle control information output by the vehicle moving control person, so that a channel can be reserved for the blocked vehicle to leave the current parking position, which is convenient for the blocked vehicle to leave. Since the present invention does not need to contact the driver to return to the vehicle for moving the vehicle, the time waiting for the driver to move the vehicle is reduced, and the efficiency of moving the vehicle is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0044] Figure 1 A method flow chart of a vehicle moving control method provided by an embodiment of the present invention;

[0045] Figure 2 A flow chart of a method for personnel determination provided by an embodiment of the present invention;

[0046] Figure 3 A flow chart of a method for determining a vehicle driving operation provided by an embodiment of the present invention;

[0047] Figure 4 A schematic diagram of a scenario of a vehicle moving control method provided by an embodiment of the present invention;

[0048] Figure 5 A schematic structural diagram of a vehicle moving control device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] As the number of cars in our country continues to increase, parking spaces are becoming more and more precious, and it is difficult to find an available parking space when you need to park.

[0051] When emergency parking is required due to insufficient parking spaces, the driver may park in a position in the direction of departure of a parked vehicle, causing his vehicle to block other vehicles. When the driver of the blocked vehicle needs to drive away, he can manually push the vehicle to remove the blocked vehicle. Due to various factors such as the physical fitness of the pusher, the type of vehicle, and the parking location of the vehicle, it is often difficult to move the vehicle by manually pushing the vehicle, and it is easy to cause vehicle collisions.

[0052] At this time, it is necessary to contact the driver of the vehicle blocking the road and ask him to return to the vehicle to move it. This wastes a lot of time for the driver. If the driver fails to return in time, he may even be fined, have his vehicle towed away, and other penalties. It also makes the waiting time for moving the vehicle longer, resulting in lower efficiency.

[0053] To this end, an embodiment of the present invention provides a vehicle moving control method, device and equipment, by which the driver of the blocked vehicle, the parking lot manager or other personnel can output vehicle control information based on the personnel, such as gesture control of the vehicle to perform the vehicle moving operation, thereby providing an exit channel for the blocked vehicle to leave.

[0054] Specifically, in an embodiment of the present invention, when it is determined that the vehicle moving control conditions are met, a target identification area is determined based on the vehicle surrounding environment information, and the identity verification action of the person located in the target identification area is obtained. After the identity verification action is verified, the person is used as a vehicle moving control person, and the vehicle control information output by the vehicle moving control person is collected, and the vehicle driving operation corresponding to the vehicle control information is determined, and the vehicle is controlled to perform the vehicle driving operation. That is, in the present invention, the vehicle driving can be controlled by the vehicle control information output by the vehicle moving control person, so that a channel can be reserved for the blocked vehicle to leave the current parking position, which is convenient for the blocked vehicle to leave. Since the present invention does not need to contact the driver to return to the vehicle for moving the vehicle, the time waiting for the driver to move the vehicle is reduced, and the efficiency of moving the vehicle is improved.

[0055] In addition, the present invention integrates the intelligent driving controller into the current car moving solution, making it easier to complete the car moving.

[0056] Based on the above content, an embodiment of the present invention provides a vehicle maneuvering control method. The execution subject of the vehicle maneuvering control method may be an existing intelligent driving controller (ADAS, Advanced Driving Assistance System) on the vehicle.

[0057] Reference Figure 1, a vehicle moving control method may include:

[0058] S11. When it is determined that the vehicle moving control condition is met, a target recognition area is determined based on the vehicle surrounding environment information.

[0059] In actual applications, a small program can be developed, which is mainly used to realize the intelligent car moving function. In the small program, there are corresponding introductions to the intelligent car moving function, human-computer interaction logic (used to guide on-site personnel on how to operate) and traffic control gesture diagrams. Traffic control gestures include straight-ahead gestures, left-turn gestures, right-turn gestures, stop gestures, etc., which are convenient for car moving control personnel to refer to gestures for command.

[0060] There is a built-in car moving request button in the mini program. When the blocked vehicle needs to leave, if this vehicle blocks the blocked vehicle from leaving, the driver, passenger or parking lot manager of the blocked vehicle and other persons responsible for controlling the moving of this vehicle can send a car moving request to the driver of this vehicle through the car moving request button.

[0061] In order to enter the above-mentioned mini program, you can configure the car moving QR code and bind it to the mini program. The car moving QR code needs to be bound to the vehicle, and the vehicle information, such as the license plate number, vehicle brand, owner's contact number, etc., needs to be entered, and then the car moving QR code corresponding to the vehicle is generated based on this information.

[0062] The car owner then needs to place the car moving QR code in a conspicuous position on the car body, such as the front glass. When on-site personnel, such as the driver, passenger or parking lot manager of the blocked vehicle mentioned above, need to move the vehicle, they can scan the vehicle QR code to open the mini program and apply for the smart car moving function.

[0063] When the car owner receives a remote request to move the car, if he agrees to the request, he can click a button on the user terminal to allow the car to be moved. At this time, the cloud will receive the consent information sent by the user terminal to move the car, and then generate an intelligent car moving request and send it to the car side through the Internet of Things. After the car side receives the request, it considers that the car moving control conditions are met, and controls the vehicle to enter the driving preparation state to prepare for subsequent car moving operations.

[0064] It should be noted that, in this embodiment, in addition to using barcode data such as the car moving QR code, other barcode data may also be used, or a car moving link may be used.

[0065] From the above, it can be determined that the vehicle moving control conditions are met, which may include:

[0066] Determine whether a smart car moving request sent by the cloud is received; the smart car moving request is generated after receiving a car moving consent message sent by a user terminal corresponding to the vehicle; the car moving consent message is generated after the user terminal confirms the car moving request generated by scanning the barcode data on the vehicle. If so, determine that the car moving control condition is met.

[0067] When it is determined that the vehicle moving control conditions are met, a target identification area is determined based on the vehicle surrounding environment information. The target identification area in this embodiment is for personnel to enter the area for identity verification. If the verification is passed, the person will be used as a vehicle moving control personnel to perform vehicle moving control operations.

[0068] Specifically, the target recognition area is generally an idle area around the vehicle. In order to facilitate the intelligent surround view system in the vehicle, such as the surround view camera, to have high recognition accuracy, the target recognition area is generally located within 120 cm around the vehicle.

[0069] In practical applications, intelligent surround view systems, such as surround view cameras, can be located in front, rear, left and right of the vehicle.

[0070] Specifically, the intelligent driving controller will activate the intelligent surround view system, judge the surrounding environment, identify an optimal gesture recognition area, and use it as the target recognition area.

[0071] Since a vehicle has four areas, front, back, left and right, and each area has a corresponding surround-view camera, based on the user's vehicle operating habits, the accuracy of directing the vehicle in the front or rear area is generally higher than that in the left or right area, so it is preferred to direct the vehicle in the front or rear area.

[0072] In detail, the detection order of different areas around the vehicle will be pre-set, such as the detection order of the front, back, left and right sides around the vehicle, and in each area direction, the area at most 120 cm away from the vehicle will be identified.

[0073] That is, the area within 120cm in the four directions of the vehicle is regarded as the vehicle surrounding area, and the detection order of the front, back, left and right is limited.

[0074] After determining and obtaining the detection order of different vehicle surrounding areas, obstacle detection will be performed on the vehicle surrounding areas according to the detection order, and the vehicle surrounding area in which no obstacles are detected first will be used as the target recognition area.

[0075] Specifically, the intelligent surround view system is activated to detect obstacle information in the surrounding environment. If there are no obstacles in the area 120 cm (TBD) in front of the vehicle, the area in front of the vehicle will be used as the target identification area, and the following information will be conveyed to on-site personnel through an external loudspeaker: Please go to the identification area approximately 120 cm (TBD) in front of the vehicle to give gesture commands. Please face the vehicle and start giving commands after hearing the prompt.

[0076] If there is an obstacle within 120cm (TBD) in front of the vehicle, the system will identify whether there is an obstacle in the area 120cm behind the vehicle. If not, the area behind the vehicle will be used as the target identification area, and the following information will be conveyed to on-site personnel through an external loudspeaker: Please go to the identification area approximately 120cm (TBD) directly behind the vehicle to give gesture commands. Please face the vehicle and start giving commands after hearing the prompt.

[0077] If there are obstacles within 120cm (TBD) on the front / rear side of the vehicle, identify whether there are obstacles on the side of the vehicle (first the left side, then the right side). If not, use the left / right side of the vehicle as the target identification area, and convey the following information to on-site personnel through an external loudspeaker: Please go to the identification area about 120cm (TBD) on the left / right side of the vehicle to give gesture commands. Please face the vehicle and start giving commands after hearing the prompt.

[0078] S12, obtaining the identity verification action of the person located in the target identification area, and after the identity verification action is verified, using the person as a vehicle moving control person.

[0079] Specifically, in order to ensure that the person entering the target identification area is a legal car moving person, the person's identity will be verified. During the specific identity verification, an action verification method can be used, such as prompting the person to make a specified identity verification action, and verifying whether the identity verification action made by the user is the specified car moving verification action. If so, the person is determined to be the car moving control person.

[0080] For details, refer to Figure 2 , step S12 may include:

[0081] S21. Output the first prompt information.

[0082] The prompt information is used to guide people to enter the target recognition area. The first prompt information may be as described above, "Please go to the recognition area about 120 cm (TBD) in front of the vehicle to make gesture commands, please face the vehicle, and start commanding after hearing the prompt."

[0083] S22: When it is determined that there is a person in the target identification area, output second prompt information.

[0084] The second prompt information is used to prompt the person to perform a designated vehicle moving verification action.

[0085] When the intelligent surround view system detects that a person has entered the target identification area and stayed there for more than 3 seconds (TBD), the intelligent driving controller prompts the on-site personnel to perform designated vehicle moving verification actions through an external loudspeaker (the designated vehicle moving verification actions can be easily recognizable and characteristic actions such as raising arms horizontally). The designated actions are used by the intelligent driving controller to identify and lock the commander during this vehicle moving process.

[0086] S23. Collect the action content of the person and use it as an identity verification action.

[0087] After hearing the second prompt message, the person will perform a designated vehicle moving verification action according to the prompt message. At this time, the person's action content will be adopted as an identity verification action.

[0088] It should be noted that other people may mistakenly enter the target identification area during the vehicle moving control process, so it is necessary to identify who has made the designated vehicle moving verification action to lock the commander who made the designated vehicle moving verification action. Therefore, in this embodiment, the action content of the person in the target identification area needs to be used as the identity verification action.

[0089] S24, determining whether the identity verification action is a designated vehicle moving verification action; if so, executing step S25.

[0090] S25. Determine that the person is a vehicle moving control person.

[0091] Specifically, after collecting the action content of the person, the specific content of the identity verification action performed by the user can be identified by detecting the key parts of the person's head, arms, and legs, such as raising arms horizontally, raising the head, bending legs, etc.

[0092] Then determine whether the user's identity verification action is a designated car moving verification action, such as raising the arm as mentioned above. If the person whose identity verification action is determined to be a designated car moving verification action (such as raising the arm as mentioned above) in the target recognition area is identified, he or she will be used as the car moving control personnel.

[0093] It should be noted that in this embodiment, the identity verification action of the user entering the target identification area is confirmed to identify the vehicle moving control personnel. If there is only one person in the target identification area and the person exists for a certain time, such as 1 minute, the action verification may not be performed on the person and the person may be directly used as the vehicle moving control personnel.

[0094] In addition to motion verification, you can also use voice verification, such as speaking a specified car moving language, or use biometric verification such as fingerprints.

[0095] When the on-site personnel are identified to make the designated car moving verification action and are captured, the intelligent driving controller collects the external characteristic information of the car moving control personnel, such as clothing and height, and uses it as the target external characteristic information and locks the information. In the subsequent car moving operation, only the operation instructions of the personnel are received.

[0096] S13: collecting vehicle control information output by the vehicle moving control personnel, and determining a vehicle driving operation corresponding to the vehicle control information.

[0097] In actual application, after the vehicle moving control personnel is locked in step S12, the vehicle moving control personnel can output vehicle control information to perform vehicle moving operations.

[0098] Specifically, when the vehicle computer obtains the commander's information, the intelligent driving controller informs the vehicle moving control personnel through an external loudspeaker that the information has been obtained and that command can begin, and then waits for commands from on-site personnel.

[0099] When commanding, the vehicle maneuvering control personnel can control the vehicle maneuvering through voice commands, that is, the vehicle control information in this embodiment is voice information. For example, if you want the vehicle to move forward, you can output the forward voice. At this time, the intelligent driving controller will determine that the vehicle driving operation corresponding to the forward voice is forward. When the vehicle moves backward, you can output the backward voice. When the vehicle turns, you can output the left turn or right turn voice, so as to control the vehicle to move forward, backward or turn through voice.

[0100] In addition to voice control, control can also be performed through actions. The vehicle maneuvering control personnel can make gestures to direct the vehicle to go straight, turn left, turn right, etc., that is, the vehicle control information in this embodiment is gesture information, and the intelligent driving controller will recognize the vehicle driving operation corresponding to the gesture. For example, if the vehicle maneuvering control personnel is in front of the vehicle and gives a straight gesture, the intelligent driving controller will control the vehicle to move forward.

[0101] These gestures adopt the international traffic control gestures. Since the international traffic control gestures do not include the backward gesture, the vehicle moving control personnel need to make a straight-ahead gesture at the front of the vehicle when the vehicle needs to move forward. If the vehicle needs to reverse, the personnel need to make a straight-ahead gesture at the rear of the vehicle.

[0102] That is, when the vehicle maneuvering control personnel needs to control the vehicle to move backward, they need to move to the rear of the vehicle and give a straight-ahead gesture, and the vehicle will then move forward from the rear, thereby achieving the vehicle's backward movement. In this embodiment, the intelligent surround view system will track the vehicle maneuvering control personnel in real time to detect the actions they output, and inform the intelligent driving controller to control the vehicle to perform the corresponding actions.

[0103] It should be noted that when the vehicle moving control personnel give gesture commands, they can be in any front, back, left, or right direction of the vehicle, and do not need to be within the target recognition area, as long as it is within the area that the intelligent surround view system can recognize.

[0104] In practical applications, taking the vehicle control information as gesture information as an example, the specific implementation of step S13 is introduced below, which specifically includes the following steps:

[0105] S31, collecting external feature information of people around the vehicle, and filtering out gesture information of the vehicle-moving control user whose collected external feature information is the target external feature information.

[0106] Specifically, since there may be at least one person around the vehicle, in this embodiment, only the gesture command of the vehicle moving control user is executed. Therefore, it is necessary to screen out the vehicle moving control person from the at least one person and collect the gesture information thereof.

[0107] During personnel screening, since the target external feature information has been recorded, the target external feature information is used to lock the vehicle moving control personnel. Using the target external feature information as the screening condition, the external feature information of each person around the vehicle is first collected, and the vehicle moving control users whose collected external feature information is the target external feature information are screened out. Then the gesture information of the vehicle moving control user is collected.

[0108] When specifically collecting gesture information, an artificial intelligence model (AI) can be used for gesture recognition, such as collecting a user's hand image and inputting it into an artificial intelligence model to obtain gesture information, such as a straight-ahead gesture, a left-turn gesture, a right-turn gesture, etc.

[0109] In addition, image recognition may be used to identify gesture information in the user's hand image.

[0110] When the user of the car moving control inputs gesture information, he can refer to the traffic control gesture diagram in the above-mentioned mini program.

[0111] S32: Determine standard gesture information corresponding to the gesture information, and determine a vehicle driving operation corresponding to the standard gesture information.

[0112] In actual applications, since the gesture information output by the car moving control user may not be standard gesture information, in order to improve gesture recognition and ensure that the intelligent driving controller can correctly perform the car moving operation and avoid scratching surrounding vehicles, the gesture information output by the car moving control user can be standardized to obtain its corresponding standard gesture information.

[0113] During standardization, an AI model can be used. During training, the AI ​​model selects people of different ages, heights, weights, and genders, and uses gestures as samples in different environments (day, night, rainy days, sunny days, snowy days). The international traffic control gestures corresponding to the gestures are used as annotations, and deep AI learning is performed to ensure the accuracy of gesture recognition.

[0114] When using the AI ​​model, the above-collected gesture information is used as input to output standard gesture information, which is the international traffic control gesture.

[0115] The intelligent driving controller then determines the vehicle driving operation corresponding to the standard gesture information. For example, if the standard gesture information is going straight, the vehicle driving operation is to control the vehicle to move forward or backward. For example, if the standard gesture information is turning left, the vehicle driving operation is to control the vehicle to turn left.

[0116] S14, controlling the vehicle to execute the vehicle driving operation to leave a passage for the blocked vehicle to leave the current parking position.

[0117] In this embodiment, the vehicle is controlled to perform the vehicle driving operation according to the gesture of the vehicle moving control personnel. During the vehicle moving process, the vehicle moving control personnel can continuously change the control gesture of the vehicle according to the current environment information of the vehicle and the departure route of the blocked vehicle, so as to leave space for the blocked vehicle to leave.

[0118] When the vehicle starts to execute the vehicle driving operation, it will inform the on-site personnel through the external loudspeaker. If the vehicle moving control personnel make a gesture to move the vehicle forward, the intelligent driving controller will inform the on-site personnel through the external loudspeaker that the vehicle is about to move according to the command and please maintain the command action. Once you finish the action, the vehicle will stop and return to its original position after a certain period of time.

[0119] Since parking areas are generally small, in order to improve vehicle driving safety and avoid scratching surrounding vehicles, while controlling the vehicle to perform the vehicle driving operation, it is possible to detect whether there are obstacles with a collision risk in the vehicle driving direction. If so, braking operations are performed.

[0120] Specifically, when the intelligent driving controller recognizes a clear vehicle driving operation, it starts the power system, starts the low-speed emergency braking system, and starts the vehicle tracking function. Follow the command of the car moving control personnel. For example, if the car moving control personnel makes a straight-ahead gesture, after the vehicle computer recognizes it, it will maintain a distance of 120cm from the car moving control personnel and follow the movement. If there is an obstacle in the forward direction, the intelligent driving controller calculates that there may be a risk of collision and orders the vehicle to brake. If the car moving control personnel's gesture to stop going straight is recognized or the gesture cannot be recognized, the vehicle brakes. If the car moving control personnel changes the gesture (turn left / turn right), the intelligent driving controller first determines whether there is a risk of collision after turning. If there is no risk, it turns. Otherwise, it prompts the on-site personnel that there is a risk in turning and they cannot turn.

[0121] During the vehicle moving process, if the car moving control personnel believes that sufficient space has been reserved for the blocked vehicle to leave, they can output a car moving stop action, that is, a stop gesture, or stop outputting gesture information for a preset time (such as 5 minutes). At this time, the intelligent driving controller detects the car moving stop action of the car moving control personnel, or fails to detect the vehicle control information output by the car moving control personnel within the specified preset time. The reverse tracking method is used to control the vehicle to the initial position before the car moving operation is performed. In the process of controlling the vehicle to return to the initial position, if an empty parking space is detected, the parking operation is performed, and the owner is notified that the vehicle has been parked, so that the owner can quickly find the vehicle.

[0122] In summary, in this embodiment, the recognition capability of the surround view camera, especially the camera recognition capability of the front and rear of the vehicle, is relied upon. During the function activation process, the intelligent front view / intelligent rear view system will issue advance, steering, and braking instructions to the vehicle by recognizing the gestures of the vehicle moving control personnel, so as to inform the vehicle's intelligent driving controller of which direction the vehicle can move most effectively. After giving up the vehicle position, the on-site personnel can use gestures to stop the vehicle from moving until the blocked vehicle is moved away, and the vehicle will reverse and track the vehicle and return to the original position. If a parking space is recognized at the original position, automatic parking will be performed.

[0123] In this embodiment, when it is determined that the vehicle moving control conditions are met, the target identification area is determined based on the vehicle surrounding environment information, the identity verification action of the person located in the target identification area is obtained, and after the identity verification action is verified, the person is used as the vehicle moving control person, the vehicle control information output by the vehicle moving control person is collected, and the vehicle driving operation corresponding to the vehicle control information is determined, and the vehicle is controlled to perform the vehicle driving operation. That is, in the present invention, the vehicle driving can be controlled by the vehicle control information output by the vehicle moving control person, so that a channel can be reserved for the blocked vehicle to leave the current parking position, which is convenient for the blocked vehicle to leave. Since the present invention does not need to contact the driver to return to the vehicle for moving the vehicle, the time waiting for the driver to move the vehicle is reduced, and the efficiency of moving the vehicle is improved.

[0124] In addition, in the present invention, based on the logic of interaction between on-site personnel and vehicles, the need to move the vehicle in an emergency parking scenario is solved, the intelligence level of the vehicle is effectively improved, and the driver's need to move the vehicle in an emergency is solved.

[0125] In order to make those skilled in the art better understand the present invention, Figure 4 Provide explanation.

[0126] When the on-site personnel, such as the driver of the blocked vehicle, need to leave the parking space and find other vehicles parked in the direction of leaving, such as parked directly in front of the blocked vehicle, they will need to move the other vehicles. At this time, they will scan the QR code and other information on the other vehicles to obtain the moving plan. The moving plan is generally the introduction of the above-mentioned intelligent moving function, the human-computer interaction logic (used to guide the on-site personnel on how to operate) and the traffic command gesture diagram. Then, the mini program entered by scanning the QR code will be used to transmit the moving request to the owner of the other vehicle. If the owner of the other vehicle agrees to the moving request, the other vehicle's car computer will activate the moving function and start the relevant controller, such as the intelligent driving controller. The intelligent driving controller makes an environmental judgment to identify whether the vehicle has the possibility of moving, specifically whether there is free space for the vehicle to move. If so, the commander of the other vehicle is determined. Specifically, it can be based on the characteristic gestures of the on-site personnel, such as raising the arm horizontally, locking the commander to avoid interference from irrelevant personnel.

[0127] The commander outputs control gestures, performs gesture recognition, and controls the vehicle to move following the commander's gestures. Obstacles are detected during the movement to avoid collisions.

[0128] After a period of time after the on-site personnel stop directing, the execution function exits and the vehicle returns by tracking the track. If a parking space is recognized during the return process, it will automatically park in it. After successful parking, feedback will be given to the owner, and the function will be completed and exited.

[0129] Optionally, based on the above-mentioned embodiment of the vehicle moving control method, another embodiment of the present invention provides a vehicle moving control device, referring to Figure 5 , which may include:

[0130] The area recognition module 11 is used to determine the target recognition area based on the vehicle surrounding environment information when it is determined that the vehicle moving control condition is met;

[0131] A personnel determination module 12 is used to obtain the identity verification action of the person located in the target identification area, and after the identity verification action is verified, the person is used as a vehicle moving control person;

[0132] An operation determination module 13, used to collect the vehicle control information output by the vehicle moving control personnel, and determine the vehicle driving operation corresponding to the vehicle control information;

[0133] The vehicle moving control module 14 is used to control the vehicle to execute the vehicle driving operation so as to leave a passage for the blocked vehicle to leave the current parking position.

[0134] Further, when determining that the vehicle moving control condition is met, the area identification module 11 is specifically used to:

[0135] Determine whether an intelligent vehicle moving request sent from the cloud is received; the intelligent vehicle moving request is generated after receiving vehicle moving consent information sent by a user terminal corresponding to the vehicle; the vehicle moving consent information is generated after the user terminal confirms the vehicle moving request generated by scanning the barcode data on the vehicle;

[0136] If so, it is determined that the vehicle moving control condition is met.

[0137] Further, the area recognition module 11 is used to determine the target recognition area based on the vehicle surrounding environment information, specifically for:

[0138] A detection order of different vehicle surrounding areas is obtained, obstacle detection is performed on the vehicle surrounding areas according to the detection order, and the vehicle surrounding area in which no obstacle is detected first is used as the target recognition area.

[0139] Further, the personnel determination module 12 includes:

[0140] A first information output submodule is used to output first prompt information; the prompt information is used to guide people to enter the target identification area;

[0141] The second information output submodule is used to output second prompt information when it is determined that there is a person in the target identification area; the second prompt information is used to prompt the person to perform a designated vehicle moving verification action;

[0142] The action collection submodule is used to collect the action content of the person and use it as an identity verification action;

[0143] The personnel determination submodule is used to determine whether the identity verification action is a designated vehicle moving verification action, and if so, determine that the person is a vehicle moving control person.

[0144] Furthermore, it also includes:

[0145] The feature determination module is used to collect the external feature information of the person and use it as the target external feature information.

[0146] Further, the operation determination module 13 is specifically used for:

[0147] The external feature information of people around the vehicle is collected, and the gesture information of the vehicle moving control user whose collected external feature information is the target external feature information is filtered out, the standard gesture information corresponding to the gesture information is determined, and the vehicle driving operation corresponding to the standard gesture information is determined.

[0148] Furthermore, it also includes:

[0149] The braking control module is used to detect whether there is an obstacle with a collision risk in the driving direction of the vehicle during the process of controlling the vehicle to perform the vehicle driving operation, and if so, perform a braking operation.

[0150] Furthermore, it also includes:

[0151] The parking module is used to control the vehicle to drive to the initial position before the vehicle moving operation is performed by adopting a reverse tracking method if a moving stop action of the vehicle moving control personnel is detected during the process of controlling the vehicle to perform the vehicle driving operation, or if the vehicle control information output by the vehicle moving control personnel is not detected within a specified preset time. In the process of controlling the vehicle to return to the initial position, if an empty parking space is detected, the parking operation is performed.

[0152] In this embodiment, when it is determined that the vehicle moving control conditions are met, the target identification area is determined based on the vehicle surrounding environment information, the identity verification action of the person located in the target identification area is obtained, and after the identity verification action is verified, the person is used as the vehicle moving control person, the vehicle control information output by the vehicle moving control person is collected, and the vehicle driving operation corresponding to the vehicle control information is determined, and the vehicle is controlled to perform the vehicle driving operation. That is, in the present invention, the vehicle driving can be controlled by the vehicle control information output by the vehicle moving control person, so that a channel can be reserved for the blocked vehicle to leave the current parking position, which is convenient for the blocked vehicle to leave. Since the present invention does not need to contact the driver to return to the vehicle for moving the vehicle, the time waiting for the driver to move the vehicle is reduced, and the efficiency of moving the vehicle is improved.

[0153] In addition, in the present invention, based on the logic of interaction between on-site personnel and vehicles, the need to move the vehicle in an emergency parking scenario is solved, the intelligence level of the vehicle is effectively improved, and the driver's need to move the vehicle in an emergency is solved.

[0154] It should be noted that for the working process of each module and sub-module in this embodiment, please refer to the introduction of the corresponding parts above.

[0155] Optionally, based on the above-mentioned embodiments of the vehicle moving control method and device, another embodiment of the present invention provides an electronic device, the electronic device comprising a memory and a processor;

[0156] The memory is used to store at least one instruction;

[0157] The processor is used to execute the at least one instruction to implement the above-mentioned vehicle moving control method.

[0158] Specifically, a vehicle moving control method includes:

[0159] When it is determined that the vehicle moving control conditions are met, a target recognition area is determined based on the vehicle surrounding environment information;

[0160] Obtaining an identity verification action of a person located in the target identification area, and after the identity verification action is verified, using the person as a vehicle moving control person;

[0161] Collecting the vehicle control information output by the vehicle moving control personnel, and determining the vehicle driving operation corresponding to the vehicle control information;

[0162] The vehicle is controlled to execute the vehicle driving operation so as to leave a passage for the blocked vehicle to leave the current parking position.

[0163] Further, determine whether the vehicle moving control conditions are met, including:

[0164] Determine whether an intelligent vehicle moving request sent from the cloud is received; the intelligent vehicle moving request is generated after receiving vehicle moving consent information sent by a user terminal corresponding to the vehicle; the vehicle moving consent information is generated after the user terminal confirms the vehicle moving request generated by scanning the barcode data on the vehicle;

[0165] If so, it is determined that the vehicle moving control condition is met.

[0166] Further, based on the vehicle surrounding environment information, a target recognition area is determined, including:

[0167] Get the detection order of the areas around different vehicles;

[0168] Obstacle detection is performed on the area around the vehicle in the detection order, and the area around the vehicle in which no obstacle is detected first is used as a target recognition area.

[0169] Further, obtaining the identity verification action of the person located in the target identification area, and after the identity verification action is verified, using the person as a vehicle moving control person, including:

[0170] Outputting a first prompt information; the prompt information is used to guide a person to enter the target identification area;

[0171] When it is determined that there is a person in the target identification area, outputting a second prompt information; the second prompt information is used to prompt the person to perform a designated vehicle moving verification action;

[0172] Collect the action content of the person and use it as an identity verification action;

[0173] Determining whether the identity verification action is a designated vehicle moving verification action;

[0174] If so, it is determined that the person is a vehicle moving control person.

[0175] Furthermore, after the personnel are used as vehicle moving control personnel, it also includes:

[0176] The external characteristic information of the person is collected and used as the target external characteristic information.

[0177] Further, collecting the vehicle control information output by the vehicle moving control personnel and determining the vehicle driving operation corresponding to the vehicle control information includes:

[0178] Collecting external feature information of people around the vehicle, and filtering out gesture information of the vehicle moving control user whose collected external feature information is the target external feature information;

[0179] Determine standard gesture information corresponding to the gesture information, and determine a vehicle driving operation corresponding to the standard gesture information.

[0180] Furthermore, in the process of controlling the vehicle to perform the vehicle driving operation, it also includes:

[0181] Detect whether there is an obstacle with a collision risk in the direction of the vehicle's travel, and if so, perform braking operations.

[0182] Furthermore, in the process of controlling the vehicle to perform the vehicle driving operation, it also includes:

[0183] If the moving stop action of the car moving control personnel is detected, or the vehicle control information output by the car moving control personnel is not detected within a specified preset time, the reverse tracking method is adopted to control the vehicle to travel to the initial position before the moving operation is performed, and in the process of controlling the vehicle to return to the initial position, if an empty parking space is detected, the parking operation is performed.

[0184] In this embodiment, when it is determined that the vehicle moving control conditions are met, the target identification area is determined based on the vehicle surrounding environment information, the identity verification action of the person located in the target identification area is obtained, and after the identity verification action is verified, the person is used as the vehicle moving control person, the vehicle control information output by the vehicle moving control person is collected, and the vehicle driving operation corresponding to the vehicle control information is determined, and the vehicle is controlled to perform the vehicle driving operation. That is, in the present invention, the vehicle driving can be controlled by the vehicle control information output by the vehicle moving control person, so that a channel can be reserved for the blocked vehicle to leave the current parking position, which is convenient for the blocked vehicle to leave. Since the present invention does not need to contact the driver to return to the vehicle for moving the vehicle, the time waiting for the driver to move the vehicle is reduced, and the efficiency of moving the vehicle is improved.

[0185] In addition, in the present invention, based on the logic of interaction between on-site personnel and vehicles, the need to move the vehicle in an emergency parking scenario is solved, the intelligence level of the vehicle is effectively improved, and the driver's need to move the vehicle in an emergency is solved.

[0186] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle moving control method, characterized in that: include: When it is determined that the vehicle moving control conditions are met, a target recognition area is determined based on the vehicle surrounding environment information; Obtaining an identity verification action of a person located in the target identification area, and after the identity verification action is verified, using the person as a vehicle moving control person; Collecting the vehicle control information output by the vehicle moving control personnel, and determining the vehicle driving operation corresponding to the vehicle control information; The vehicle is controlled to execute the vehicle driving operation so as to leave a passage for the blocked vehicle to leave the current parking position.

2. The vehicle moving control method according to claim 1, characterized in that: Determine whether the vehicle moving control conditions are met, including: Determine whether an intelligent vehicle moving request sent from the cloud is received; the intelligent vehicle moving request is generated after receiving vehicle moving consent information sent by a user terminal corresponding to the vehicle; the vehicle moving consent information is generated after the user terminal confirms the vehicle moving request generated by scanning the barcode data on the vehicle; If so, it is determined that the vehicle moving control condition is met.

3. The vehicle moving control method according to claim 1, characterized in that: Based on the vehicle's surrounding environment information, the target recognition area is determined, including: Get the detection order of the areas around different vehicles; Obstacle detection is performed on the area around the vehicle in the detection order, and the area around the vehicle in which no obstacle is detected first is used as a target recognition area.

4. The vehicle moving control method according to claim 1, characterized in that: Obtaining the identity verification action of the person located in the target identification area, and after the identity verification action is verified, using the person as a vehicle moving control person, including: Outputting a first prompt information; the prompt information is used to guide a person to enter the target identification area; When it is determined that there is a person in the target identification area, outputting a second prompt information; the second prompt information is used to prompt the person to perform a designated vehicle moving verification action; Collect the action content of the person and use it as an identity verification action; Determining whether the identity verification action is a designated vehicle moving verification action; If so, it is determined that the person is a vehicle moving control person.

5. The vehicle moving control method according to claim 1, characterized in that: After the above-mentioned personnel are used as vehicle moving control personnel, it also includes: The external characteristic information of the person is collected and used as the target external characteristic information.

6. The vehicle moving control method according to claim 5, characterized in that: Collecting the vehicle control information output by the vehicle moving control personnel and determining the vehicle driving operation corresponding to the vehicle control information, including: Collecting external feature information of people around the vehicle, and filtering out gesture information of the vehicle moving control user whose collected external feature information is the target external feature information; Determine standard gesture information corresponding to the gesture information, and determine a vehicle driving operation corresponding to the standard gesture information.

7. The vehicle moving control method according to claim 1, characterized in that: The process of controlling the vehicle to perform the vehicle driving operation also includes: Detect whether there is an obstacle with a collision risk in the direction of the vehicle's travel, and if so, perform braking operations.

8. The vehicle moving control method according to claim 1, characterized in that: The process of controlling the vehicle to perform the vehicle driving operation also includes: If the moving stop action of the car moving control personnel is detected, or the vehicle control information output by the car moving control personnel is not detected within a specified preset time, the reverse tracking method is adopted to control the vehicle to travel to the initial position before the moving operation is performed, and in the process of controlling the vehicle to return to the initial position, if an empty parking space is detected, the parking operation is performed.

9. A vehicle moving control device, characterized in that: include: An area recognition module is used to determine a target recognition area based on the vehicle surrounding environment information when it is determined that the vehicle moving control conditions are met; A personnel determination module, used for obtaining the identity verification action of the personnel located in the target identification area, and after the identity verification action is verified, the personnel is used as the vehicle moving control personnel; An operation determination module, used to collect the vehicle control information output by the vehicle moving control personnel, and determine the vehicle driving operation corresponding to the vehicle control information; The vehicle moving control module is used to control the vehicle to execute the vehicle driving operation so as to leave a passage for the blocked vehicle to leave the current parking position.

10. An electronic device, characterized in that: The electronic device comprises a memory and a processor; The memory is used to store at least one instruction; The processor is used to execute the at least one instruction to implement the vehicle moving control method according to any one of claims 1 to 8.

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