Remote original-way return method, system and device, vehicle and storage medium

Abstract

The invention discloses a remote original road return method, system and device, a vehicle and a storage medium, and relates to the technical field of intelligent driving, and the method comprises the steps: obtaining a remote original road return instruction; vehicle information is obtained according to the remote original road return instruction; obtaining a background memory track according to the vehicle information; obtaining vehicle coordinates recorded in the background memory track at different moments; according to the vehicle coordinates at different moments and a preset curve, obtaining a starting point of a fitted original return path, an end point of the fitted original return path and a bending degree of the fitted original return path; obtaining the fitted original return path according to the starting point of the fitted original return path, the end point of the fitted original return path and the bending degree of the fitted original return path; and controlling the vehicle to return on the original road according to the fitted return path on the original road. And the fitted original path return path is obtained based on the background memory track and the preset curve, so that the efficiency and the safety of remotely controlling the vehicle to return on the original path are improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a remote return-to-original-route method, system, device, vehicle and storage medium. Background Art

[0002] With the continuous development of intelligent driving systems, the operation mode of automobiles is gradually moving towards automatic and unmanned directions. After using remote car moving, the vehicle is often unable to return to the original parking position, which can easily cause a bad experience for users. In order to solve this pain point scenario for users, it is crucial to study how to efficiently remotely control the vehicle to return safely along the original path. Summary of the invention

[0003] The main purpose of the present application is to provide a remote return-to-original-route method, system, device, vehicle and storage medium, aiming to solve the technical problem of how to efficiently and remotely control the vehicle to return safely along the original path in the existing remote return-to-original-route solutions.

[0004] To achieve the above purpose, the present application proposes a remote return method, which includes:

[0005] Get remote return instructions;

[0006] Obtaining vehicle information according to the remote return-to-original-route instruction;

[0007] Obtaining a background memory track according to the vehicle information;

[0008] Obtaining the vehicle coordinates at different times recorded in the background memory track;

[0009] Obtaining a starting point of a fitting return path, an end point of the fitting return path, and a curvature of the fitting return path according to the vehicle coordinates at different times and a preset curve;

[0010] Obtaining a fitted original return path according to a starting point of the fitted original return path, an end point of the fitted original return path, and a degree of curvature of the fitted original return path;

[0011] The vehicle is controlled to return to the original route according to the fitted original route return path.

[0012] In one embodiment, the vehicle information includes at least: vehicle wheel speed, circumference of vehicle tires, angular velocity, and the time corresponding to the angular velocity;

[0013] The step of obtaining a background memory track according to the vehicle information comprises:

[0014] Get the vehicle's starting coordinates;

[0015] Obtaining the vehicle speed according to the vehicle wheel speed and the circumference of the vehicle tire;

[0016] Obtaining the vehicle heading angle according to the angular velocity and the time corresponding to the angular velocity;

[0017] Obtaining vehicle coordinates at different times according to the vehicle starting coordinates, the vehicle speed, the vehicle heading angle, and the time corresponding to the heading angle;

[0018] A background memory track is obtained according to the vehicle coordinates at different times.

[0019] In one embodiment, after the step of obtaining the background memory track according to the vehicle coordinates at different times, the method further includes:

[0020] If it is confirmed that there is an obstacle on the path in the background memory trajectory, then obtaining the actual vehicle coordinates, the first obstacle coordinates and the second obstacle coordinates;

[0021] Obtaining a first distance and a second distance according to the actual vehicle coordinates, the first obstacle coordinates, and the second obstacle coordinates;

[0022] If the first distance or the second distance is less than or equal to a first preset distance threshold, braking is performed;

[0023] If the first distance or the second distance is greater than a first preset distance threshold and less than or equal to a second preset distance threshold, braking is performed;

[0024] If the first distance or the second distance is greater than a second preset distance threshold, a fitting original return path is obtained.

[0025] In one embodiment, the step of obtaining the starting point of the fitting original return path, the end point of the fitting original return path, and the curvature of the fitting original return path according to the preset curve comprises:

[0026] Taking a third-order derivative of the preset curve to obtain a third-order preset curve;

[0027] The starting point of the fitting original return path, the end point of the fitting original return path, and the curvature of the fitting original return path are obtained according to the vehicle coordinates at different times and the third-order preset curve.

[0028] In one embodiment, controlling the vehicle to return to the original route according to the fitted original route return path includes:

[0029] The vehicle is controlled to move according to the fitted original return path by a power domain control system, and the vehicle is controlled to steer according to the fitted original return path by an electric power steering system, so that the vehicle returns to the original path.

[0030] In one embodiment, after the step of controlling the vehicle to return to the original path according to the fitted original return path, the method further includes:

[0031] If it is detected that the vehicle returns to the original position;

[0032] Control the vehicle to stop by intelligent integrated braking system;

[0033] Put the vehicle into the park gear via the electronic shift system;

[0034] The vehicle is powered off through the power domain control system to end the return journey.

[0035] In addition, to achieve the above-mentioned purpose, the present application also proposes a remote return-to-original-route system, the remote return-to-original-route system comprising a mobile terminal, a cloud and a vehicle, the vehicle at least comprising a sensor module and an on-board communication terminal, the mobile terminal performs data exchange with the on-board communication terminal of the vehicle through the cloud, and the vehicle executes the steps of the remote return-to-original-route method as described above;

[0036] The mobile terminal is used to send a remote return-to-original-route instruction to the cloud;

[0037] The cloud is used to receive the remote return-to-original-route instruction and transparently transmit the remote return-to-original-route instruction to the vehicle-mounted communication terminal;

[0038] The sensor module is also used to obtain real-time video around the vehicle and send the real-time video to the vehicle communication terminal;

[0039] The vehicle-mounted communication terminal is further used to receive the remote original route return instruction and the real-time video, and upload the real-time video to the cloud;

[0040] The cloud is also used to transparently transmit the real-time video to the mobile terminal;

[0041] The mobile terminal is also used to obtain the real-time video so as to monitor the vehicle status in real time and perform remote management.

[0042] In addition, to achieve the above-mentioned purpose, the present application also proposes a remote original path return device, the remote original path return device comprising:

[0043] An acquisition module is used to obtain remote original path return instructions;

[0044] The acquisition module is further used to obtain vehicle information according to the remote original route return instruction;

[0045] The calculation module is further used to obtain a background memory track according to the vehicle information;

[0046] The acquisition module is further used to acquire the vehicle coordinates at different times recorded in the background memory track;

[0047] The calculation module is further used to obtain the starting point of the fitting original return path, the end point of the fitting original return path, and the curvature of the fitting original return path according to the vehicle coordinates at different times and the preset curve;

[0048] The calculation module is further used to obtain the fitted original return path according to the starting point of the fitted original return path, the end point of the fitted original return path and the degree of curvature of the fitted original return path;

[0049] The control module is used to control the vehicle to return to the original route according to the fitted original route return path.

[0050] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the remote return method as described above.

[0051] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the remote return method as described above are implemented.

[0052] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the remote return method as described above are implemented.

[0053] One or more technical solutions proposed in this application include obtaining a remote return-to-original-route instruction; obtaining vehicle information according to the remote return-to-original-route instruction; obtaining a background memory track according to the vehicle information; obtaining the vehicle coordinates at different times recorded in the background memory track; obtaining the starting point of the fitted return-to-original-route path, the end point of the fitted return-to-original-route path, and the degree of curvature of the fitted return-to-original-route path according to the vehicle coordinates at different times and a preset curve; obtaining a fitted return-to-original-route path according to the starting point of the fitted return-to-original-route path, the end point of the fitted return-to-original-route path, and the degree of curvature of the fitted return-to-original-route path; and controlling the vehicle to return to its original route according to the fitted return-to-original-route path. Obtaining the fitted return-to-original-route path based on the background memory track and the preset curve improves the efficiency and safety of remotely controlling the vehicle to return to its original route. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0055] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0056] Figure 1 A flowchart of the first embodiment of the remote return method of the present application is provided;

[0057] Figure 2 This is a brief schematic diagram of the remote original path return system in the first embodiment of the remote original path return method of the present application;

[0058] Figure 3 A flowchart of the second embodiment of the remote return method of the present application is provided;

[0059] Figure 4 This is a schematic diagram of the module structure of the remote original return device of the embodiment of the present application;

[0060] Figure 5 A schematic diagram of the vehicle structure of the hardware operating environment involved in the remote return-to-origin method in an embodiment of the present application.

[0061] Description of Figure Numbers:

[0062] Mobile terminal 10 , cloud 20 , vehicle 30 , vehicle communication terminal 301 , original path return controller 302 , motion control module 303 , sensor module 304 , safety warning module 305 .

[0063] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0064] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0065] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0066] The main solutions of the embodiments of this application are:

[0067] As existing technologies continue to develop with intelligent driving systems, the operation mode of cars is gradually moving towards automatic and unmanned directions. After using remote car moving, the vehicle is often unable to return to its original parking position, which can easily cause a bad experience for users. In order to solve this pain point scenario for users, it is crucial to study how to efficiently remotely control the vehicle to return safely along the original path.

[0068] The present application provides a solution, which obtains a fitted return path based on a background memory trajectory and a preset curve, thereby improving the efficiency and safety of the remote control vehicle returning to the original path.

[0069] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device, a vehicle, etc. capable of realizing the above functions. The following takes a vehicle as an example to illustrate this embodiment and the following embodiments.

[0070] Based on this, the present application embodiment provides a remote return method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the remote return method of the present application.

[0071] In this embodiment, the remote return-to-origin method is applied to the vehicle 30, and the vehicle 30 includes an on-board communication terminal 301, a return-to-origin controller 302, a motion control module 303, and a sensor module 304. The method includes steps S10 to S70:

[0072] Step S10: Obtain remote original route return instruction.

[0073] It should be noted that the remote return-to-original-route instruction can be obtained through the vehicle-mounted communication terminal and forwarded to the return-to-original-route controller. The vehicle-mounted communication terminal is a device installed on the vehicle for realizing data communication between the vehicle and an external network, device or service. It is like a communication hub for the vehicle, enabling the vehicle to have the function of information exchange, and is a key component of the intelligent transportation system and the Internet of Vehicles application.

[0074] The remote return-to-original-route instruction can be sent to the vehicle communication terminal by clicking a button corresponding to the remote return-to-original-route instruction on the mobile terminal. When the vehicle communication terminal receives the instruction, it starts preparing for the remote return-to-original-route instruction.

[0075] A mobile terminal refers to a computer device that can be used on the move. It can be easily carried around and access the network through wireless communication technology to achieve various functions, such as communication, information processing, and entertainment. Common mobile terminals include smartphones, tablets, smart watches, etc. These devices usually have independent operating systems and can run various applications.

[0076] The return-to-origin controller can be a device or a software module. Its main function is to enable the vehicle to return in the opposite direction of the path it had previously traveled. In many application scenarios, it is a key component for achieving automated return operations.

[0077] In addition, the embodiment of the present application further provides a remote return-to-origin system, the remote return-to-origin system at least comprising a mobile terminal 10, a cloud 20 and a vehicle 30, the vehicle 30 at least comprising an on-board communication terminal 301, a return-to-origin controller 302, a motion control module 303 and a sensor module 304, Figure 2 , Figure 2 This is a brief schematic diagram of the remote original return system in Example 1 of the remote original return method of the present application.

[0078] The remote return-to-original-route system also includes: a mobile terminal 10 and a cloud 20, wherein the mobile terminal exchanges data with the vehicle-mounted communication terminal through the cloud; the mobile terminal is used to send a remote return-to-original-route instruction to the cloud; the cloud is used to receive the remote return-to-original-route instruction and transparently transmit the remote return-to-original-route instruction to the vehicle-mounted communication terminal; the sensor module is also used to obtain real-time video around the vehicle and send the real-time video to the vehicle-mounted communication terminal; the vehicle-mounted communication terminal is also used to receive the remote return-to-original-route instruction and the real-time video and upload the real-time video to the cloud; the cloud is also used to transparently transmit the real-time video to the mobile terminal; the mobile terminal is also used to obtain the real-time video for real-time monitoring of the vehicle status and remote management.

[0079] Among them, the cloud refers to the computing and storage environment built by remote server clusters connected by the Internet. It is like a huge "data center" that provides various support services for smart driving vehicles. These servers have powerful computing power and massive storage capacity, and can process and save large amounts of data related to smart driving.

[0080] It is understandable that smart driving vehicles rely on a variety of sensor modules to perceive the surrounding environment. The sensor modules include cameras and radars, etc., and this embodiment can transmit mutually between the mobile terminal, the vehicle communication terminal and the cloud through the remote return-to-original-route instruction, thereby requesting the sensor module to send the acquired real-time video around the vehicle to the mobile terminal. At the same time, the cloud can also store the real-time video for users to watch, thereby monitoring the vehicle status in real time and remotely managing it.

[0081] In summary, through the data interaction between the sensor module, the on-board communication terminal, the mobile terminal and the cloud in the remote return-to-origin system, the vehicle status can be monitored in real time and remotely managed more conveniently.

[0082] Step S20: Obtain vehicle information according to the remote original route return instruction.

[0083] In a specific embodiment, the vehicle information can be obtained through the sensor module and transmitted to the original return controller. The sensor module can include 4 surround view cameras, 4 millimeter wave radars, 12 ultrasonic radars, 4 wheel speed sensors and a gyroscope. The 4 surround view cameras are respectively arranged on the left rearview mirror, the right rearview mirror, the front bumper and the rear bumper; the 4 millimeter wave radars are respectively arranged on the left front, right front, left rear and right rear corners; the 12 ultrasonic radars are arranged 4 at intervals on the front bumper, 4 at intervals on the rear bumper, and 1 on the left front, right front, left rear and right rear sides of the vehicle body. The vehicle information includes at least: vehicle wheel speed, vehicle tire circumference, angular velocity and the time corresponding to the angular velocity. The wheel speed sensor is responsible for memorizing the wheel speed pulse signal of each wheel when the vehicle is moving forward. The vehicle wheel speed can be obtained through the wheel speed pulse signal of each wheel, and the circumference of the vehicle tire can be calculated, and the angular velocity and the time corresponding to the angular velocity can be obtained through the gyroscope.

[0084] Step S30: obtaining a background memory track according to the vehicle information.

[0085] It should be noted that the controller can be returned to the original route to obtain the background memory track based on the vehicle information. The background memory track refers to a function in which the intelligent vehicle system stores and records the driving route, state change and other information of the vehicle during driving through various modules and data recording methods. These recorded data can be stored in the local storage device of the vehicle or in the background of the cloud server for subsequent query, analysis and tracing of vehicle behavior.

[0086] In a specific implementation, the vehicle starting coordinates can be obtained by returning to the original route controller; the vehicle speed can be obtained according to the vehicle wheel speed and the circumference of the vehicle tire; the vehicle heading angle can be obtained according to the angular velocity and the moment corresponding to the angular velocity; the vehicle coordinates at different moments can be obtained according to the vehicle starting coordinates, the vehicle speed, the vehicle heading angle and the moment corresponding to the heading angle; and the background memory trajectory can be obtained according to the vehicle coordinates at different moments.

[0087] The original route return controller can construct a vehicle coordinate system based on the vehicle, and the vehicle starting coordinates are the coordinates of a certain position to which the vehicle needs to return, recorded as (X0, Y0); the vehicle wheel speed obtained from the sensor module is recorded as V L , and the circumference of the vehicle tire is recorded as L, according to the vehicle wheel speed V L and the circumference L of the vehicle tire to obtain the vehicle speed V 车 , as shown in Equation 1:

[0088] V 车 =V L *L(Formula 1)

[0089] The vehicle heading angle θ is obtained according to the angular velocity ω and the time t corresponding to the angular velocity, as shown in the following formula 2:

[0090] θ=ω*dt(Equation 2)

[0091] According to the vehicle starting coordinates (X0, Y0), the vehicle speed V 车 , the vehicle heading angle θ and the time t corresponding to the heading angle to obtain the vehicle coordinates at different times, as shown in the following formula 3:

[0092]

[0093] Thus, the vehicle coordinates at different times are obtained by the calculation method shown in Formula 3, such as A0(X0, Y0), A1(X1, Y1), A2(X2, Y2), ..., A t (X t , Y t ), etc., it can be understood that the background memory track can be obtained according to the vehicle coordinates at different times.

[0094] Step S40: Acquire the vehicle coordinates at different times recorded in the background memory track.

[0095] In a specific embodiment, the vehicle coordinates at different times recorded in the background memory track can be obtained directly by acquiring the background memory track.

[0096] Step S50: obtaining the starting point of the fitting return path, the end point of the fitting return path, and the curvature of the fitting return path according to the vehicle coordinates at different times and the preset curve.

[0097] It should be noted that the starting point of the fitting original return path, the end point of the fitting original return path, and the curvature of the fitting original return path can be obtained according to the preset curve through the original return controller based on the background memory trajectory. Among them, the preset curve can be a Bezier curve, which is explained below with the Bezier curve. The Bezier curve is a parametric curve widely used in computer graphics. It was proposed by French engineer Pierre Bezier in 1962 and named after his surname. The Bezier curve has been widely used in animation, font design, computer, and intelligent driving path planning due to its mathematical simplicity and good controllability.

[0098] In addition, fitting the return path means that after an object (such as a vehicle, robot, etc.) has walked a certain path, a return route as close to the original path as possible is constructed through certain algorithms and technologies. This process involves processing and analyzing the original path data in order to accurately guide the object to return to the starting point along a trajectory similar to the one it came from.

[0099] In a specific implementation, a third-order derivative is taken on the preset curve to obtain a third-order preset curve; and the starting point of the fitting original return path, the end point of the fitting original return path, and the curvature of the fitting original return path are obtained according to the vehicle coordinates at different times and the third-order preset curve.

[0100] Specifically, the vehicle coordinates A0(X0, Y0), A1(X1, Y1), A2(X2, Y2), ..., A3(X3, Y4), ..., recorded at different times in the background memory track can be obtained. t (X t , Y t ) etc.; and the n-order Bezier curve is defined as shown in the following formula 4:

[0101]

[0102] In the above formula 4, P i Generate the i-th control point for the curve, τ is the independent variable (0≤τ≤1), b i,n (τ) is the Bernstein formula. When the order of the Bezier curve is higher, there are more control points, and the control of the curve shape will be weakened. In order to calculate the speed and acceleration of the vehicle, it is necessary to perform a third-order derivative of the preset curve to obtain a third-order preset curve. The third-order preset curve is shown in the following formula 5:

[0103]

[0104] According to the above formula 5, we can get the equation shown in the following formula 6:

[0105]

[0106] Four points (P0, P1, P2, P3) can be obtained through Formula 6 and the vehicle coordinates at different times obtained above, including: the starting point of the fitting original return path determined by P0, the end point of the fitting original return path determined by P3, and the curvature of the fitting original return path determined by P1 and P2.

[0107] Step S60: obtaining a fitting original return path according to a starting point of the fitting original return path, an end point of the fitting original return path, and a degree of curvature of the fitting original return path.

[0108] It should be explained that the fitted original return path can be obtained through the four points (P0, P1, P2, P3) mentioned above; and the fitted original return path is sent to the motion control module.

[0109] In addition, the motion control module is a key subsystem that is responsible for converting the path and driving intention (such as acceleration, deceleration, turning, etc.) planned by the intelligent driving system into the actual movement of the vehicle, ensuring that the vehicle can travel accurately and safely on the road.

[0110] Among them, in this embodiment, the motion control module includes: an intelligent integrated braking system, a power domain control system, an electronic shifting system and an electric power steering system; the original return controller is also used to input control instructions to the motion control module to control the vehicle to complete corresponding operations; the intelligent integrated braking system is used to control the vehicle to stop according to the control instructions; the power domain control system is used to control the vehicle movement according to the control instructions; the electronic shifting system is used to control the vehicle shifting according to the control instructions; the electric power steering system is used to control the vehicle steering according to the control instructions.

[0111] Step S70: controlling the vehicle to return to the original route according to the fitted original route return path.

[0112] Specifically, the vehicle can be controlled to return to its original route according to the fitted return path through a motion control module, and the fitted return path can be input into the motion control module; the vehicle can be controlled to move according to the fitted return path through a power domain control system in the motion control module, and the vehicle can be controlled to turn according to the fitted return path through an electric power steering system in the motion control module, so that the vehicle returns to its original route.

[0113] It is understandable that through the "division of labor and cooperation" between the power domain control system and the electric power steering system in the motion control module, the vehicle can be controlled to return to its original route more accurately and quickly.

[0114] It should be noted that if it is detected that the vehicle returns to the original position, the intelligent integrated braking system in the motion control module is requested to control the vehicle to stop; the electronic shifting system in the motion control module is requested to shift the vehicle into the parking gear (P gear); and the power domain control system in the motion control module is requested to power off the vehicle to end the return to the original position.

[0115] In addition, the vehicle can be parked and powered off through the intelligent integrated braking system, electronic shifting system and power domain control system in the motion control module, reducing the vehicle's energy consumption.

[0116] This embodiment provides a remote return-to-original-route method, which includes obtaining a remote return-to-original-route instruction; obtaining vehicle information according to the remote return-to-original-route instruction; and obtaining a background memory track according to the vehicle information.

[0117] The vehicle coordinates at different times recorded in the background memory track are obtained; the starting point of the fitting return path, the end point of the fitting return path, and the curvature of the fitting return path are obtained according to the vehicle coordinates at different times and the preset curve; the fitting return path is obtained according to the starting point of the fitting return path, the end point of the fitting return path, and the curvature of the fitting return path; the vehicle is controlled to return to the original path according to the fitting return path. The fitting return path is obtained based on the background memory track and the preset curve, which improves the efficiency and safety of remotely controlling the return of the vehicle to the original path.

[0118] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be described in detail later. Figure 2 The vehicle 30 also includes a safety warning module 305; on this basis, please refer to Figure 3 , step S30 includes steps S301 to S305:

[0119] Step S301: If it is confirmed that there is an obstacle on the path in the background memory trajectory, the actual vehicle coordinates, the first obstacle coordinates and the second obstacle coordinates are obtained.

[0120] It should be noted that the safety warning module can send different signal requests to the original return controller according to the obstacle information. The safety warning module mainly sends different signals to the original return controller according to the obstacle information so that the original return controller determines different control strategies.

[0121] Among them, the safety warning module can obtain the vehicle coordinates recorded in the background memory trajectory from the original route return controller; and the first obstacle coordinates and the second obstacle coordinates are the coordinates obtained by the surround-view camera, ultrasonic radar, and millimeter-wave radar in the sensor module continuously detecting obstacles on the path in the background memory trajectory. The safety warning module will fuse the acquired coordinates.

[0122] In addition, if the sensor module confirms that there is no obstacle on the path in the background memory trajectory, the original return controller directly obtains a fitted original return path based on the background memory trajectory according to a preset curve.

[0123] Step S302: Obtain a first distance and a second distance according to the actual vehicle coordinates, the first obstacle coordinates, and the second obstacle coordinates.

[0124] It should be noted that the surround view camera in the sensor module can detect typical obstacles such as cones, pedestrians, two-wheeled bicycles, shopping carts, four-wheeled vehicles, walls, fire hydrants, etc. to obtain the first obstacle coordinates (X H , Y H ); and the ultrasonic radar in the sensor module detects obstacles near the vehicle, and the millimeter wave radar detects obstacles farther away on the driving path to obtain the second obstacle coordinates (X R , Y R ); thus according to the actual vehicle coordinates (X t , Y t ) and the first obstacle coordinate (X H , Y H ) Get the first distance D 环 , as shown in Equation 7 below:

[0125]

[0126] According to the actual vehicle coordinates (X t , Y t ) and the second obstacle coordinate (X R , Y R ) to obtain the second distance D R , as shown in Equation 8 below:

[0127]

[0128] Step S303: If the first distance or the second distance is less than or equal to a first preset distance threshold, braking is performed.

[0129] It should be noted that the first preset distance threshold is an emergency braking safety threshold set by the user. For example, the first preset distance D low =0.5m. This type of braking is emergency braking.

[0130] In a specific implementation, when the first distance D 环 ≤D low Or the second distance D R ≤D low When the safety warning module sends an emergency braking request to the original return controller, the original return controller calls the intelligent integrated braking system in the motion control module for emergency braking.

[0131] It is understandable that when the distance between the vehicle and the obstacle is small, the vehicle is controlled to perform emergency braking to ensure safety.

[0132] Step S304: If the first distance or the second distance is greater than a first preset distance threshold and less than or equal to a second preset distance threshold, use a second brake.

[0133] It should be noted that the second preset distance threshold is a comfort braking safety threshold set by the user. For example, the second preset distance threshold D large =2m. This type of braking is called comfort braking.

[0134] In a specific implementation, when the first distance D low <D 环 ≤D large or D low <D R ≤D large When the safety warning module sends a comfort braking request to the original return controller, the original return controller calls the intelligent integrated braking system in the motion control module to perform comfort braking.

[0135] It can be understood that when the distance between the vehicle and the obstacle is moderate, the vehicle comfort braking can be controlled to ensure the comfort of the passengers in the vehicle.

[0136] Step S305: If the first distance or the second distance is greater than a second preset distance threshold, a fitting original return path is obtained.

[0137] It is understandable that when the distance between the vehicle and the obstacle is too large, that is, D 环 >D large or D R >D large When the vehicle is in the vicinity of the obstacle-free zone, it can be considered that there is no obstacle near the vehicle, and the obstacle-free information is sent to the original route return controller through the safety warning module, so that the original route return controller can obtain the fitted original route return path, thereby controlling the vehicle to perform original route return control.

[0138] In this embodiment, if it is confirmed that there is an obstacle on the path in the background memory trajectory, the actual vehicle coordinates, the first obstacle coordinates and the second obstacle coordinates are obtained; the first distance and the second distance are obtained according to the actual vehicle coordinates, the first obstacle coordinates and the second obstacle coordinates; if the first distance or the second distance is less than or equal to the first preset distance threshold, braking is performed; if the first distance or the second distance is greater than the first preset distance threshold and less than or equal to the second preset distance threshold, braking is performed; if the first distance or the second distance is greater than the second preset distance threshold, a fitting original return path is obtained. Different signal requests are sent according to the distance determination result between the vehicle and the obstacle by the safety warning module, thereby improving the safety and comfort of the remote control vehicle returning to the original path.

[0139] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the remote return method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0140] The present application also provides a remote return-to-origin system, which includes at least a mobile terminal 10, a cloud 20 and a vehicle 30, wherein the vehicle 30 includes at least an on-board communication terminal 301, a return-to-origin controller 302, a motion control module 303, a sensor module 304 and a safety warning module 305. Figure 2 , Figure 2 This is a brief schematic diagram of the remote original return system in Example 1 of the remote original return method of the present application.

[0141] The mobile terminal is used to send a remote return-to-original-route instruction to the cloud;

[0142] The cloud is used to receive the remote return-to-original-route instruction and transparently transmit the remote return-to-original-route instruction to the vehicle-mounted communication terminal;

[0143] The sensor module is also used to obtain real-time video around the vehicle and send the real-time video to the vehicle communication terminal;

[0144] The vehicle-mounted communication terminal is further used to receive the remote original route return instruction and the real-time video, and upload the real-time video to the cloud;

[0145] The cloud is also used to transparently transmit the real-time video to the mobile terminal;

[0146] The mobile terminal is also used to obtain the real-time video so as to monitor the vehicle status in real time and perform remote management.

[0147] This application also provides a remote return device, please refer to Figure 4 , the remote original return device comprises:

[0148] An acquisition module 10 is used to acquire a remote original path return instruction;

[0149] The acquisition module 10 is further used to obtain vehicle information according to the remote original route return instruction;

[0150] The calculation module 20 is further used to obtain a background memory track according to the vehicle information;

[0151] The acquisition module 10 is also used to acquire the vehicle coordinates at different times recorded in the background memory track;

[0152] The calculation module 20 is further used to obtain the starting point of the fitting original return path, the end point of the fitting original return path and the curvature of the fitting original return path according to the vehicle coordinates at different times and the preset curve;

[0153] The calculation module 20 is further used to obtain the fitting original return path according to the starting point of the fitting original return path, the end point of the fitting original return path and the curvature of the fitting original return path;

[0154] The control module 30 is used to control the vehicle to return to the original route according to the fitted original route return path.

[0155] The remote return-to-original-route device provided by the present application adopts the remote return-to-original-route method in the above-mentioned embodiment, and can solve the technical problem of how to efficiently remotely control the vehicle to return safely along the original path in the existing remote return-to-original-route solution. Compared with the prior art, the beneficial effects of the remote return-to-original-route device provided by the present application are the same as the beneficial effects of the remote return-to-original-route method provided by the above-mentioned embodiment, and the other technical features of the remote return-to-original-route device are the same as the features disclosed in the above-mentioned embodiment method, which will not be repeated here.

[0156] In one embodiment, the calculation module 20 is further used to obtain the vehicle starting coordinates through the original return controller; obtain the vehicle speed according to the vehicle wheel speed and the circumference of the vehicle tire; obtain the vehicle heading angle according to the angular velocity and the moment corresponding to the angular velocity; obtain the vehicle coordinates at different times according to the vehicle starting coordinates, the vehicle speed, the vehicle heading angle and the moment corresponding to the heading angle; and obtain the background memory trajectory according to the vehicle coordinates at different times.

[0157] In one embodiment, the calculation module 20 is also used to obtain the actual vehicle coordinates, the first obstacle coordinates and the second obstacle coordinates if it is confirmed that there is an obstacle on the path in the background memory trajectory; obtain the first distance and the second distance according to the actual vehicle coordinates, the first obstacle coordinates and the second obstacle coordinates; if the first distance or the second distance is less than or equal to the first preset distance threshold, brake; if the first distance or the second distance is greater than the first preset distance threshold and less than or equal to the second preset distance threshold, brake; if the first distance or the second distance is greater than the second preset distance threshold, obtain a fitted original return path.

[0158] In one embodiment, the calculation module 20 is further used to perform a third-order derivative of the preset curve to obtain a third-order preset curve; and obtain the starting point of the fitted original return path, the end point of the fitted original return path, and the curvature of the fitted original return path according to the vehicle coordinates at different times and the third-order preset curve.

[0159] In one embodiment, the control module 30 is further used to control the vehicle to move according to the fitted return path through a power domain control system, and to control the vehicle to turn according to the fitted return path through an electric power steering system, so that the vehicle returns to the original path.

[0160] In one embodiment, the control module 30 is also used to, if it is detected that the vehicle returns to the original route and returns to the initial position; control the vehicle to stop by the intelligent integrated braking system; shift the vehicle into the parking gear by the electronic shift system; and power off the vehicle by the power domain control system to end the return to the original route.

[0161] The present application provides a vehicle, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the remote return method in the above-mentioned embodiment one.

[0162] Reference below Figure 5 , which shows a schematic diagram of a structure of a vehicle suitable for implementing the embodiment of the present application. The vehicle in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The vehicle shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0163] like Figure 5As shown, the vehicle may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for vehicle operation are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the vehicle to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a vehicle with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0164] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0165] The vehicle provided by the present application adopts the remote return to original route method in the above embodiment, which can solve the technical problem of how to efficiently and remotely control the vehicle to return safely along the original route in the existing remote return to original route solution. Compared with the prior art, the beneficial effects of the vehicle provided by the present application are the same as the beneficial effects of the remote return to original route method provided by the above embodiment, and the other technical features of the vehicle are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0166] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0167] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0168] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the remote return-to-original-route method in the above-mentioned embodiment.

[0169] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0170] The computer-readable storage medium may be included in the vehicle, or may exist independently without being installed in the vehicle.

[0171] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the vehicle, the vehicle: obtains a remote return-to-original-route instruction; obtains vehicle information according to the remote return-to-original-route instruction; obtains a background memory track according to the vehicle information; obtains the vehicle coordinates at different times recorded in the background memory track; obtains the starting point of a fitted return-to-original-route path, the end point of the fitted return-to-original-route path, and the degree of curvature of the fitted return-to-original-route path according to the vehicle coordinates at different times and a preset curve; obtains a fitted return-to-original-route path according to the starting point of the fitted return-to-original-route path, the end point of the fitted return-to-original-route path, and the degree of curvature of the fitted return-to-original-route path; and controls the vehicle to return to the original route according to the fitted return-to-original-route path.

[0172] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0173] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0174] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0175] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned remote return-to-original-route method, and can solve the technical problem of how to efficiently and remotely control the vehicle to return safely along the original path in the existing remote return-to-original-route solution. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the remote return-to-original-route method provided by the above-mentioned embodiment, and will not be repeated here.

[0176] The present application also provides a computer program product, including a computer program, wherein when the computer program is executed by a processor, the steps of the remote return-to-origin method as described above are implemented.

[0177] The computer program product provided by the present application can solve the technical problem of how to efficiently and remotely control the vehicle to return safely along the original path in the existing remote return-to-original-route solution. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the remote return-to-original-route method provided by the above embodiment, which will not be elaborated here.

[0178] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A remote return method, characterized in that: The remote return method comprises: Get remote return instructions; Obtaining vehicle information according to the remote return-to-original-route instruction; Obtaining a background memory track according to the vehicle information; Obtaining the vehicle coordinates at different times recorded in the background memory track; Obtaining a starting point of a fitting return path, an end point of the fitting return path, and a curvature of the fitting return path according to the vehicle coordinates at different times and a preset curve; Obtaining a fitted original return path according to a starting point of the fitted original return path, an end point of the fitted original return path, and a degree of curvature of the fitted original return path; The vehicle is controlled to return to the original route according to the fitted original route return path.

2. The method according to claim 1, characterized in that The vehicle information includes at least: vehicle wheel speed, circumference of vehicle tires, angular velocity and the time corresponding to the angular velocity; The step of obtaining a background memory track according to the vehicle information comprises: Get the vehicle's starting coordinates; Obtaining the vehicle speed according to the vehicle wheel speed and the circumference of the vehicle tire; Obtaining the vehicle heading angle according to the angular velocity and the time corresponding to the angular velocity; Obtaining vehicle coordinates at different times according to the vehicle starting coordinates, the vehicle speed, the vehicle heading angle, and the time corresponding to the heading angle; A background memory track is obtained according to the vehicle coordinates at different times.

3. The method according to claim 2, characterized in that After the step of obtaining the background memory track according to the vehicle coordinates at different times, the method further includes: If it is confirmed that there is an obstacle on the path in the background memory trajectory, then obtaining the actual vehicle coordinates, the first obstacle coordinates and the second obstacle coordinates; Obtaining a first distance and a second distance according to the actual vehicle coordinates, the first obstacle coordinates, and the second obstacle coordinates; If the first distance or the second distance is less than or equal to a first preset distance threshold, braking is performed; If the first distance or the second distance is greater than a first preset distance threshold and less than or equal to a second preset distance threshold, braking is performed; If the first distance or the second distance is greater than a second preset distance threshold, a fitting original return path is obtained.

4. The method according to claim 1, characterized in that The step of obtaining the starting point of the fitting original return path, the end point of the fitting original return path, and the curvature of the fitting original return path according to the vehicle coordinates at different times and the preset curve comprises: Taking a third-order derivative of the preset curve to obtain a third-order preset curve; The starting point of the fitting original return path, the end point of the fitting original return path, and the curvature of the fitting original return path are obtained according to the vehicle coordinates at different times and the third-order preset curve.

5. The method according to claim 1, characterized in that The step of controlling the vehicle to return to its original path according to the fitted original return path comprises: The vehicle is controlled to move according to the fitted original return path by a power domain control system, and the vehicle is controlled to steer according to the fitted original return path by an electric power steering system, so that the vehicle returns to the original path.

6. The method according to claim 1, characterized in that After the step of controlling the vehicle to return to the original path according to the fitted original return path, the method further includes: If it is detected that the vehicle returns to the original position; Control the vehicle to stop by intelligent integrated braking system; Put the vehicle into the park gear via the electronic shift system; The vehicle is powered off through the power domain control system to end the return journey.

7. A remote return system, characterized in that: The remote return-to-original-route system comprises: a mobile terminal, a cloud, and a vehicle, wherein the vehicle comprises at least a sensor module and an on-board communication terminal, the mobile terminal exchanges data with the on-board communication terminal of the vehicle through the cloud, and the vehicle executes the steps of the remote return-to-original-route method according to any one of claims 1 to 6; The mobile terminal is used to send a remote return-to-original-route instruction to the cloud; The cloud is used to receive the remote return-to-original-route instruction and transparently transmit the remote return-to-original-route instruction to the vehicle-mounted communication terminal; The sensor module is also used to obtain real-time video around the vehicle and send the real-time video to the vehicle communication terminal; The vehicle-mounted communication terminal is further used to receive the remote original route return instruction and the real-time video, and upload the real-time video to the cloud; The cloud is also used to transparently transmit the real-time video to the mobile terminal; The mobile terminal is also used to obtain the real-time video so as to monitor the vehicle status in real time and perform remote management.

8. A remote return device, characterized in that: The remote original path return device comprises: An acquisition module is used to obtain remote original path return instructions; The acquisition module is further used to obtain vehicle information according to the remote original route return instruction; The calculation module is further used to obtain a background memory track according to the vehicle information; The acquisition module is further used to acquire the vehicle coordinates at different times recorded in the background memory track; The calculation module is further used to obtain the starting point of the fitting original return path, the end point of the fitting original return path, and the curvature of the fitting original return path according to the vehicle coordinates at different times and the preset curve; The calculation module is further used to obtain the fitted original return path according to the starting point of the fitted original return path, the end point of the fitted original return path and the degree of curvature of the fitted original return path; The control module is used to control the vehicle to return to the original route according to the fitted original route return path.

9. A vehicle, characterized in that: The vehicle comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the remote return-to-origin method according to any one of claims 1 to 6.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the remote return method according to any one of claims 1 to 6 are implemented.

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