Remote car moving control method, computer equipment, storage medium and product

Abstract

The invention discloses a remote vehicle moving control method, which is applied to a terminal and comprises the following steps: receiving a first information set sent by a target vehicle; wherein the first information set comprises the initial position of the target vehicle and surrounding environment information, and the surrounding environment information at least comprises the position relation between the target vehicle and the vehicle to be passed; based on the surrounding environment information, determining whether the target vehicle meets a vehicle moving condition corresponding to the position relation; under the condition that the vehicle moving condition is met, the target position where the target vehicle is parked is determined based on the first information set; generating a control instruction of the target vehicle according to the initial position, the target position and the surrounding environment information; and sending a control instruction to the target vehicle to enable the target vehicle to execute the control instruction to move to the target position so as to complete remote vehicle moving. Therefore, when the vehicle moving condition is judged and the target position is determined, the system fully considers the position relationship between the target vehicle and the vehicle to be passed, and traffic accidents possibly caused by blind vehicle moving are avoided; meanwhile, the control instruction is sent only once, and compared with a mode that a four-way key needs to send the control instruction in real time, the problem of network delay can be better relieved.

Description

Technical Field

[0001] The present application relates to the field of vehicle intelligent control technology, and in particular to a remote vehicle moving control method, computer equipment, storage medium and product. Background Art

[0002] As the number of cars in cities increases, parking space becomes increasingly tight, and improper parking often leads to the need to move cars. The traditional way to move a car is for the owner to personally go to the location of the car to move it. However, if the owner is not nearby or cannot arrive in time, it may cause traffic congestion or conflict disputes.

[0003] With the development of Internet of Vehicles technology and intelligent driving technology, there are now ways to remotely move the car between the mobile phone and the vehicle through a network connection such as 4G, 5G and WiFi. For example, CN112937556B in the related art discloses a remote car moving system and a remote car moving method, which uses the four-way button on the mobile phone to remotely control the vehicle to move forward, backward, turn left or right. However, this method is limited by the network conditions between the mobile phone and the vehicle, resulting in a large operation delay, and it is difficult to accurately complete the expected car moving action, with a poor functional experience and high safety risks. Summary of the invention

[0004] One of the purposes of the present application is to provide a remote vehicle moving control method, computer equipment, storage medium and product to solve the problem in the related technology that the network conditions between the mobile phone and the vehicle are limited, resulting in large operation delays, difficulty in accurately completing the expected vehicle moving action, poor functional experience and high safety risks.

[0005] In order to achieve the above purpose, the technical solution of the embodiment of the present application is implemented as follows:

[0006] The technical solution of the embodiment of the present application is implemented as follows:

[0007] In a first aspect, the present application provides a remote vehicle moving control method, which is applied to a terminal, and the method includes:

[0008] Receive a first information set sent by a target vehicle; wherein the first information set includes an initial position and surrounding environment information of the target vehicle, and the surrounding environment information at least includes a positional relationship between the target vehicle and a vehicle to be passed;

[0009] Based on the surrounding environment information, determining whether the target vehicle meets the vehicle moving condition corresponding to the position relationship;

[0010] When the vehicle moving condition is met, determining a target parking position of the target vehicle based on the first information set;

[0011] Generate a control instruction for the target vehicle according to the initial position, the target position and the surrounding environment information;

[0012] The control instruction is sent to the target vehicle so that the target vehicle executes the control instruction to move to the target position, thereby completing the remote vehicle moving.

[0013] According to the above technical means, by receiving the first information set containing the initial position and surrounding environment information sent by the target vehicle, the terminal can quickly determine whether the target vehicle meets the conditions for moving the vehicle, and determine the new position where the target vehicle should be parked accordingly, shortening the time required for manual judgment and execution of moving the vehicle, and improving the overall efficiency of moving the vehicle. When judging the conditions for moving the vehicle and determining the target position, the system fully considers the positional relationship between the target vehicle and the vehicle to be passed, avoiding traffic accidents that may be caused by blind moving of the vehicle. In addition, by generating and sending precise control instructions, the system can ensure that the target vehicle moves to the target position safely and accurately. For car owners, moving the vehicle can be completed through remote operation without having to be present in person, which greatly facilitates the user's daily life. Finally, sending a control command only once can better alleviate the problem of network delay while ensuring the safety of moving the vehicle, compared with the four-way button that needs to send control commands in real time.

[0014] Further, determining whether the target vehicle satisfies the vehicle moving condition corresponding to the position relationship based on the surrounding environment information includes: obtaining the distance between the target vehicle and each obstacle in the surrounding environment information; if at least one first distance between the target vehicle and the front and rear obstacles is greater than or equal to the first reference distance corresponding to the position relationship, determining that the target vehicle satisfies the vehicle moving condition corresponding to the position relationship; if multiple first distances are all less than the first reference distance corresponding to the position relationship, obtaining the second distance between the target vehicle and the left or right obstacle line, and multiple third distances between the adjacent side position of the target vehicle and the front and rear obstacles; if at least one third distance is greater than or equal to the first reference distance corresponding to the position relationship, and the second distance is greater than or equal to the second reference distance corresponding to the position relationship, determining that the target vehicle satisfies the vehicle moving condition corresponding to the position relationship; wherein, the first reference distance and the second reference distance corresponding to different position relationships are different.

[0015] According to the above technical means, by considering multiple positional relationships and the distance between the target vehicle and the surrounding obstacles, it is possible to more flexibly determine whether the target vehicle meets the conditions for moving the vehicle, which helps to adapt to the parking environment in different scenarios and improve the feasibility of the vehicle moving operation. At the same time, it ensures that there will be no collision with obstacles during the vehicle moving process, thereby greatly reducing the risk of accidents. When the distance between the target vehicle and the front and rear obstacles is too close, the method will further consider the distance between the left and right obstacle lines and the distance between the adjacent side positions and the front and rear obstacles to ensure the safety of the vehicle moving. This method can more accurately determine whether the target vehicle can be safely moved within a given space, thereby helping to optimize the space utilization of the parking lot.

[0016] Further, the first reference distance corresponding to the parallel position relationship is the sum of the body length of the target vehicle and the first preset distance, the second reference distance corresponding to the parallel position relationship is the sum of the body width of the target vehicle and the second preset distance, and the second preset distance is greater than the first preset distance; the first reference distance corresponding to the vertical position relationship is the sum of the body length of the target vehicle and the third preset distance; wherein the third preset distance is less than or equal to the first preset distance and greater than the fourth preset distance; the second reference distance corresponding to the vertical position relationship is the sum of the body width of the target vehicle and the fifth preset distance, the fifth preset distance is less than or equal to the second preset distance and greater than the sixth preset distance, and the fifth preset distance is greater than the third preset distance.

[0017] Further, the position relationship includes a vertical position relationship between the target vehicle and the vehicle to be passed, and determining whether the target vehicle satisfies the vehicle moving condition corresponding to the position relationship based on the surrounding environment information includes: obtaining a fourth distance between a first body end of the target vehicle and a first reference obstacle in a first direction, and a fifth distance between a second body end opposite to the first body end and a second reference obstacle in a second direction; the surrounding environment information includes the fourth distance and the fifth distance; obtaining a sixth distance between the first body end and a first lateral body side portion of the vehicle to be passed, and a seventh distance between the second body end and a second lateral body side portion opposite to the first lateral body side portion; wherein the first body end and the second lateral body side portion are close to the first reference obstacle, and the second body end and the first lateral body side portion are close to the second reference obstacle, and the surrounding environment information includes the sixth distance and the seventh distance; if the fourth distance is greater than or equal to the sum of the seventh distance and the seventh preset distance, and / or the fifth distance is greater than or equal to the sum of the sixth distance and the eighth preset distance, it is determined that the target vehicle satisfies the vehicle moving condition corresponding to the vertical position relationship.

[0018] According to the above technical means, by accurately measuring multiple distances (fourth distance, fifth distance, sixth distance and seventh distance) between the target vehicle and the first and second reference obstacles and the vehicle to be passed, it is possible to more accurately determine whether the target vehicle can be moved without colliding with any obstacles or vehicles to be passed. By introducing the seventh preset distance and the eighth preset distance as safety thresholds, the safety of the vehicle moving decision is further enhanced; by comprehensively considering multiple distance parameters, it is possible to ensure that the target vehicle will not collide with any obstacles or vehicles to be passed during the vehicle moving process, thereby greatly reducing the risk of accidents.

[0019] Further, determining the target parking position of the target vehicle based on the first information set includes: generating panoramic image information of the target vehicle based on the first information set, and displaying the panoramic image information and a parking space frame in a display area; displaying first prompt information in the display area in response to a moving operation on the parking space frame; wherein the first prompt information includes the distance and angle between the parking space frame and each obstacle; and determining the target position based on the acquired position of the parking space frame on the display area and the panoramic image information in response to a stop moving operation on the parking space frame.

[0020] Based on the above technical means, the panoramic image information provides users with a comprehensive perspective, which helps to better determine the surrounding environment of the target vehicle. The distance and angle between the parking space frame and obstacles are displayed in real time, so that when the user moves the parking space frame, he can more accurately judge the relative position of the vehicle and the obstacle, determine the accurate target position, and avoid collisions when the vehicle is actually moving; by directly operating the parking space frame on the display area, the user can plan the parking route more intuitively; according to the user's stop moving operation on the parking space frame, the target position where the vehicle needs to be parked during the actual driving process is determined.

[0021] Furthermore, the first information set also includes map data of the scene where the target vehicle is located, and the method also includes: determining the parking space size of the scene where the target vehicle is located based on the map data of the scene where the target vehicle is located; adjusting the size of the parking space frame based on the parking space size and the panoramic image information, and determining that the adjusted parking space frame size meets the parking space size requirement of the scene in the panoramic image information.

[0022] According to the above technical means, by adjusting the size and shape of the parking space frame and the corresponding prompt information, it is possible to adapt to the needs of different vehicle models and parking scenarios, such as structured parking environments such as parking lots, and unstructured environments such as roadside parking.

[0023] Further, the first information set also includes: posture information and vehicle parameter information, and the control instructions for the target vehicle are generated according to the initial position, the target position, the position relationship and the surrounding environment information, including: determining a first driving path of the target vehicle according to the initial position, the target position and the surrounding environment information; generating a control instruction for the target vehicle on the first driving path according to the posture information, the vehicle parameter information and the surrounding environment information; the control instruction includes a first driving path and vehicle driving parameters, and the vehicle driving parameters include one or more of the following: initial starting speed, acceleration and deceleration strategies during driving, and steering timing and steering angle.

[0024] According to the above technical means, by comprehensively considering the vehicle's posture (such as the body orientation angle and wheel steering angle) and parameters (such as vehicle length, vehicle width, wheelbase, etc.), the system can more accurately predict the vehicle's behavior during driving, thereby generating more accurate control instructions. Accurate driving path planning and vehicle driving parameter settings help avoid collisions with surrounding obstacles and improve driving safety. According to the vehicle's initial starting speed, acceleration and deceleration strategies during driving, and parameters such as the timing and steering angle of steering, the system can generate a smoother and more efficient driving path, reducing unnecessary driving time and energy consumption. By accurately controlling the vehicle's driving parameters, the system can ensure that the vehicle remains stable during driving, reduce bumps and shaking, and improve driving comfort.

[0025] In a second aspect, the present application provides a remote vehicle moving control method, which is applied to a vehicle, and the method comprises:

[0026] Collecting a first information set; wherein the first information set includes an initial position and surrounding environment information of the target vehicle, and the surrounding environment information at least includes a positional relationship between the target vehicle and the vehicle to be passed;

[0027] Sending the first information set to a terminal so that the terminal determines whether the target vehicle satisfies the vehicle moving condition corresponding to the position relationship based on the surrounding environment information; if the vehicle moving condition is satisfied, determining the target position of the target vehicle based on the first information set; and generating a control instruction for the target vehicle according to the initial position, the target position and the surrounding environment information;

[0028] Receive and execute the control command sent by the terminal, move the target vehicle to the target position, and thus complete the remote vehicle moving.

[0029] According to the above technical means, the first information set containing the initial position and surrounding environment information collected by the target vehicle, the terminal can quickly determine whether the target vehicle meets the conditions for moving the vehicle, and determine the new position where the target vehicle should be parked accordingly, shortening the time required for manual judgment and execution of moving the vehicle, and improving the overall efficiency of moving the vehicle. When judging the conditions for moving the vehicle and determining the target position, the system fully considers the positional relationship between the target vehicle and the vehicle to be passed, avoiding traffic accidents that may be caused by blind moving of the vehicle. In addition, by generating and sending precise control instructions, the system can ensure that the target vehicle moves to the target position safely and accurately. For car owners, moving the vehicle can be completed through remote operation without being present in person, which greatly facilitates the user's daily life. Finally, sending a control command only once, compared with the four-way button that needs to send control commands in real time, can better alleviate the problem of network delay while ensuring the safety of moving the vehicle.

[0030] Furthermore, the control instruction includes a first driving path and vehicle driving parameters, and the vehicle driving parameters include one or more of the following: an initial starting speed, acceleration and deceleration strategies during driving, and a turning timing and a steering angle. The receiving and executing the control instruction sent by the terminal to move the target vehicle to the target position, thereby completing the remote vehicle moving, includes: receiving the control instruction through a central control unit of the target vehicle, decomposing the control instruction according to the category of the execution unit to obtain multiple types of control sub-instructions; sending each of the control sub-instructions to a corresponding execution unit, and in the process of the target vehicle moving along the first driving path, each of the execution units executes the corresponding control sub-instruction and moves according to the vehicle driving parameters, thereby controlling the target vehicle to move to the target position to complete the remote vehicle moving.

[0031] Furthermore, the method also includes: while the target vehicle moves along the first driving path, obtaining a second information set of the target vehicle; wherein the second information set includes driving status information, current driving position and current surrounding environment information of the target vehicle; generating a second driving path based on the current driving position, current surrounding environment information and the target position; if the second driving path does not meet the path difference condition with the first driving path, and / or the driving status information does not meet the driving condition, updating the control instruction based on the second information set.

[0032] According to the above technical means, the current driving position and surrounding environment information of the vehicle are obtained in real time, so that the system can dynamically adjust the driving path to cope with emergencies or road changes; when the second driving path is significantly different from the first driving path, the system can quickly identify and generate new control instructions to ensure that the vehicle can reach the target location safely and accurately, and improve the flexibility and adaptability of the driving path. Real-time monitoring of driving status information (such as vehicle speed, acceleration, steering angle, etc.), when the driving status information does not meet the driving conditions, the system can immediately update the control instructions, take measures such as deceleration and parking, and avoid accidents. By dynamically adjusting the driving path and driving parameters, the system can reduce unnecessary driving time and energy consumption, improve driving efficiency, and at the same time, ensure the driving safety of the vehicle during remote vehicle movement.

[0033] In a third aspect, the present application provides a remote vehicle moving control device, the device comprising:

[0034] A first receiving module, configured to receive a first information set sent by a target vehicle; wherein the first information set includes an initial position and surrounding environment information of the target vehicle, and the surrounding environment information at least includes a positional relationship between the target vehicle and a vehicle to be passed;

[0035] A determination module, used to determine whether the target vehicle meets the vehicle moving condition corresponding to the position relationship based on the surrounding environment information;

[0036] The determination module is further configured to determine a target parking position of the target vehicle based on the first information set when the vehicle moving condition is met;

[0037] A generating module, used for generating a control instruction of the target vehicle according to the initial position, the target position and the surrounding environment information;

[0038] The first sending module is used to send the control instruction to the target vehicle, so that the target vehicle executes the control instruction to move to the target position to complete the remote vehicle moving.

[0039] In a fourth aspect, the present application provides a remote vehicle moving control device, the device comprising:

[0040] A collection module, used for collecting a first information set; wherein the first information set includes an initial position and surrounding environment information of the target vehicle, and the surrounding environment information includes at least a positional relationship between the target vehicle and a vehicle to be passed;

[0041] a second sending module, configured to send the first information set to a terminal, so that the terminal determines whether the target vehicle satisfies the vehicle moving condition corresponding to the position relationship based on the surrounding environment information; if the vehicle moving condition is satisfied, determines the target position of the target vehicle based on the first information set; and generates a control instruction for the target vehicle according to the initial position, the target position and the surrounding environment information;

[0042] The second receiving module is used to receive and execute the control instruction sent by the terminal to move the target vehicle to the target position, thereby completing the remote vehicle moving.

[0043] In a fifth aspect, the present application provides a computer device, the computer device comprising: a transceiver, a memory, and a processor,

[0044] The memory stores a computer program executable on the processor;

[0045] The transceiver is used to perform the operation of receiving data or sending data under the control of the processor;

[0046] When the processor executes the computer program, part or all of the steps in the remote vehicle moving control method as described in any one of the first aspect or the second aspect are implemented.

[0047] In a sixth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores one or more computer programs, and the one or more computer programs can be executed by one or more processors to implement part or all of the steps in the remote vehicle moving control method as described in any one of the first aspect or the second aspect.

[0048] In a seventh aspect, the present application provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements part or all of the steps in the remote vehicle moving control method as described in any one of the first aspect or the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0050] Figure 1 A schematic diagram of a network architecture of an optional remote vehicle moving control method provided in an embodiment of the present application;

[0051] Figure 2 A schematic diagram of an implementation flow of an optional remote vehicle moving control method provided in an embodiment of the present application;

[0052] Figure 3 A schematic diagram of an implementation flow of an optional remote vehicle moving control method provided in an embodiment of the present application;

[0053] Figure 4 A scenario diagram of an optional remote vehicle moving control method provided in an embodiment of the present application Figure 1 ;

[0054] Figure 5 A scenario diagram of an optional remote vehicle moving control method provided in an embodiment of the present application Figure 2 ;

[0055] Figure 6 A scenario diagram of an optional remote vehicle moving control method provided in an embodiment of the present application Figure 3 ;

[0056] Figure 7 A scenario diagram of an optional remote vehicle moving control method provided in an embodiment of the present application Figure 4 ;

[0057] Figure 8 A scenario diagram of an optional remote vehicle moving control method provided in an embodiment of the present application Figure 5 ;

[0058] Fig. 9 A schematic diagram of an implementation flow of an optional remote vehicle moving control method provided in an embodiment of the present application;

[0059] Fig.10 A scenario diagram of an optional remote vehicle moving control method provided in an embodiment of the present application Figure 6 ;

[0060] Fig.11 A schematic diagram of an implementation flow of an optional remote vehicle moving control method provided in an embodiment of the present application;

[0061] Fig.12 A schematic diagram of an optional interface for displaying panoramic image information provided in an embodiment of the present application;

[0062] Fig.13 A schematic diagram of an implementation flow of an optional remote vehicle moving control method provided in an embodiment of the present application;

[0063] Fig.14 A schematic diagram of an implementation flow of an optional remote vehicle moving control method provided in an embodiment of the present application;

[0064] Fig.15 A schematic diagram of the structure of an optional remote vehicle moving control device provided in an embodiment of the present application;

[0065] Fig.16A schematic diagram of the structure of an optional remote vehicle moving control device provided in an embodiment of the present application;

[0066] Fig.17 A schematic diagram of the structure of an optional computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0067] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions of the present application are further elaborated in detail below in conjunction with the drawings and embodiments. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0068] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict. The terms "first / second / third" involved are merely used to distinguish similar objects and do not represent a specific order for the objects. It is understood that "first / second / third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0069] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing this application and are not intended to limit this application.

[0070] The remote vehicle maneuvering control method provided in the embodiment of the present application can be applied to a scenario where a user remotely controls a vehicle maneuvering through a terminal. Figure 1 , Figure 1 1 is a schematic diagram of the network architecture of a remote vehicle moving control method provided in an embodiment of the present application. The network architecture at least includes a terminal 100 and a vehicle 200; wherein the terminal 100 and the vehicle 200 are connected via a network; the network architecture may also include a terminal 100, a vehicle 200 and a server; wherein the terminal 100 and the vehicle 200 are respectively connected to the server via a network. The network includes but is not limited to a local area network, a metropolitan area network and a wide area network. Here, the server may be a single server, or a server cluster composed of multiple servers, a cloud computing center, a cloud, etc.

[0071] Here, the terminal 100 may be referred to as a remote device connected to the vehicle 200, and the terminal 100 may be an application terminal (mobile phone APP terminal), and the terminal 100 may communicate with the vehicle 200 through a network. The terminal 100 includes but is not limited to a smart phone, a tablet computer, a personal digital assistant (PDA), a camera, a wearable device, a smart TV, a smart camera, a smart projector, a laptop portable computer, a desktop computer, and the like.

[0072] Here, the vehicle 200 can be a new energy vehicle such as a pure electric vehicle, a hybrid electric vehicle, or a fuel vehicle. The vehicle 200 includes a central control unit, a communication unit, a sensor unit, and an execution unit. The central control unit has a powerful computing capability and can quickly parse and process control instructions from the terminal. The central control unit has the function of controlling the operation of the vehicle. The central control unit can adopt a redundant design to improve the reliability of the system. The communication unit can include a WiFi module and a Bluetooth module, etc. The communication unit can also support 4G, 5G communication modes or new communication modes. At the same time, the communication unit can also have a signal strength monitoring function to automatically switch to the optimal network; in this way, the communication unit can be used to communicate with the associated terminal to ensure high-speed and stable data transmission. The sensor unit includes but is not limited to a position sensor, a speed sensor, an angle sensor, and an obstacle detection sensor. Of course, the sensor unit can also include a surround camera. The position sensor can detect the vehicle position, the speed sensor can detect the vehicle speed, the angle sensor can detect the vehicle body orientation angle and the wheel steering angle, etc. The obstacle detection sensor can be set at the front bumper, rear bumper, and tire-near skin of the vehicle, and the distance between the vehicle and each obstacle is detected by the obstacle detection sensor. Surround cameras are set around the vehicle. They collect image data around the vehicle and obtain full-angle visual image data from above. Since the camera cannot shoot the vehicle, the vehicle icon is used to replace the actual vehicle image in the panoramic image. The execution unit can include but is not limited to high-performance components such as the drive system, steering system and braking system, with fast execution response speed and precise action; at the same time, it has fault detection and alarm functions to ensure the safety of the vehicle during movement.

[0073] The remote vehicle moving control method, remote vehicle moving control method, computer equipment, storage medium and product implemented in the present application can be used when a user parks the vehicle and leaves the vehicle and encounters an emergency, such as: the parking position of the user's vehicle blocks the driving of other vehicles, or the parking position of the user's vehicle makes it impossible for other vehicles on the side to open their doors, etc., and the user needs to temporarily control the vehicle to move through a terminal associated with the vehicle.

[0074] In an embodiment of the present application, when the parking position (i.e., initial position) of the user's vehicle obstructs the travel of other vehicles, when the user's vehicle (i.e., target vehicle) establishes a communication connection with the terminal, the target vehicle collects a first information set; wherein, the first information set includes the initial position and surrounding environment information of the target vehicle, and the surrounding environment information at least includes the positional relationship between the target vehicle and the vehicle to be passed (the vehicle obstructing the travel); the first information set is sent to the terminal; based on the surrounding environment information, the terminal determines whether the target vehicle satisfies the vehicle moving condition corresponding to the positional relationship; if the vehicle moving condition is met, the target position of the target vehicle is determined based on the first information set; according to the initial position, the target position and the surrounding environment information, a control instruction for the target vehicle is generated; the control instruction is sent to the target vehicle, the control instruction is executed, and the target vehicle is moved to the target position, thereby completing the remote vehicle moving, achieving the purpose of the user moving the vehicle remotely through the terminal, and moving the vehicle to other nearby idle positions to avoid obstructing the travel of other vehicles, thereby improving the user experience.

[0075] Reference Figure 2 , Figure 2 A schematic diagram of a remote vehicle moving control method according to an embodiment of the present application. The method can be implemented by Figure 1 In the terminal execution, here, we will combine Figure 2 The steps shown are explained,

[0076] Step 201, receiving a first information set sent by a target vehicle; wherein the first information set includes an initial position and surrounding environment information of the target vehicle, and the surrounding environment information at least includes a positional relationship between the target vehicle and a vehicle to be passed.

[0077] In an embodiment of the present application, the first information set includes the initial position and surrounding environment information of the target vehicle. The first information set may also include posture information and vehicle parameter information of the target vehicle; of course, the first information set may also include map data of the scene where the target vehicle is located.

[0078] The initial position of the target vehicle is the current parking position of the vehicle, and the initial position of the target vehicle can be obtained by a sensor unit on the vehicle, such as a position sensor.

[0079] The surrounding environment information includes but is not limited to the positional relationship between the target vehicle and surrounding vehicles, the distance between the target vehicle and surrounding obstacles, the width of the road on the side of the target vehicle away from the blocked vehicle (i.e., the vehicle to be passed), and the width of the front and rear obstacles. Of course, the surrounding environment information may also include guide line information and obstacle information, and the obstacle information includes but is not limited to obstacle type, obstacle location, and obstacle boundary information. Surrounding vehicles include vehicles to be passed. Here, the surrounding environment information of the vehicle can be obtained by a sensor unit such as an obstacle detection sensor.

[0080] In an embodiment of the present application, the positional relationship between the target vehicle and the vehicle to be passed includes a vertical positional relationship and a parallel positional relationship between the target vehicle and the vehicle to be passed. Of course, the positional relationship between the target vehicle and the vehicle to be passed may also include: a first angle is formed between the extension line of the target vehicle and the extension line of the vehicle to be passed, and the first angle is less than 90 degrees.

[0081] In the example scenario, the front obstacle, rear obstacle and / or one side obstacle of the target vehicle involved in the embodiments of the present application include: one or more of the obstacle vehicle in front of the target vehicle, the obstacle vehicle in the rear of the target vehicle and the vehicles to be passed blocked by the target vehicle. Of course, there may also be other achievable scenarios, and the present application does not impose any specific restrictions on this.

[0082] Among them, the posture information of the target vehicle includes the initial orientation angle of the vehicle body and the initial steering angle of the wheels. Of course, it can also include other angle information, and this application does not make specific restrictions on this. Here, the posture information of the vehicle can be obtained by a sensor unit such as an angle sensor. In this way, according to the initial orientation angle of the vehicle body and the initial steering angle of the wheels of the target vehicle, the motion state information of the target vehicle when moving the vehicle, such as speed, acceleration, heading angle and vehicle boundary information, is determined, so that the vehicles to be passed can pass while ensuring the safe movement of the target vehicle.

[0083] Among them, the vehicle parameter information of the target vehicle can be performance parameter information, and the performance parameter information includes but is not limited to the vehicle's own wheelbase, track, total length, total width, front overhang and rear overhang parameters, so as to determine whether the target vehicle can avoid collision risks when moving based on the above performance parameter information.

[0084] The scene where the target vehicle is located may be an outdoor parking scene, a public indoor parking scene, and a residential indoor parking scene. Of course, the scene where the target vehicle is located may also be a scene where a vehicle can be parked according to certain rules, and this application does not impose any specific restrictions on this. The map data of the scene where the target vehicle is located may be the data of surrounding objects collected at fixed intervals by a sensor unit on the vehicle, such as a vehicle-mounted radar, after the target vehicle enters the scene, and the point cloud data of the parking scene is constructed using the collected data, thereby forming map data.

[0085] In some embodiments, a specific format encoding may be predefined between the terminal and the vehicle, and the target vehicle may send the first information set to the terminal in the specific format encoding, thereby ensuring the security of the data.

[0086] In some embodiments, before step 201 receives the first information set sent by the target vehicle, the following steps may be performed: the terminal establishes a communication connection with the vehicle. Here, the terminal and the vehicle establish a communication connection as follows: the terminal sends a connection request to the communication unit of the vehicle, the connection request carries a user identifier, and after the communication module of the vehicle receives the connection request, two-way communication is established based on the user identifier.

[0087] In one possible scenario, the user opens and logs in to the remote car moving application in the terminal and performs identity authentication (fingerprint recognition, facial recognition, password authentication, etc.) to ensure the security of user information and the vehicle. After successful login, the terminal selects the optimal communication protocol to connect to the vehicle based on the network conditions. After the terminal establishes a communication connection with the vehicle, the terminal can display the connection status and signal strength in real time.

[0088] In some embodiments, the terminal is equipped with a security protection mechanism, such as a firewall function, which can effectively prevent external malicious attacks. At the same time, security scans and vulnerability detection are performed regularly to promptly repair discovered security vulnerabilities. In addition, the application side will also log the user's operations so that they can be traced and investigated when security issues arise.

[0089] Step 202: Based on the surrounding environment information, determine whether the target vehicle meets the vehicle moving condition corresponding to the position relationship.

[0090] In some embodiments, different positional relationships correspond to different vehicle maneuvering conditions, and the vehicle maneuvering conditions include: at least one distance between the vehicle and the front and rear obstacles is greater than or equal to the first reference distance corresponding to the positional relationship; the vehicle maneuvering conditions also include: the distances between the vehicle and the front and rear obstacles are both less than the first reference distance corresponding to the positional relationship, the distance between the vehicle and the left or right obstacle line is greater than or equal to the second reference distance corresponding to the positional relationship, and at least one distance between the adjacent side positions of the vehicle and the front and rear obstacles is greater than or equal to the first reference distance corresponding to the positional relationship; wherein the first reference distance and the second reference distance are determined based on the vehicle body length, body width and one or more of a plurality of preset distances. Different positional relationships correspond to different first reference distances and second reference distances.

[0091] In some embodiments, when the position relationship is a vertical position relationship, the vehicle moving condition may also include: the distance between the second body end of the vehicle and the obstacle in the facing direction is greater than or equal to the sum of the distance between the first lateral body side of the vehicle to be passed and the first body end of the vehicle and a preset distance, and / or the distance between the first body end of the vehicle and the obstacle in the facing direction is greater than or equal to the sum of the distance between the second lateral body side of the vehicle to be passed and the second body end of the vehicle and a preset distance. It should be noted that the above multiple preset distances may be the same or different.

[0092] Step 203: When the vehicle moving condition is met, a target parking position of the target vehicle is determined based on the first information set.

[0093] In some embodiments, the target position is the final parking position of the target vehicle, and the target position is determined based on the initial position of the target vehicle and surrounding environment information.

[0094] In the embodiment of the present application, after receiving the first information set sent by the target vehicle and carrying the initial position and surrounding environment information of the target vehicle, the terminal determines whether the target vehicle meets the vehicle moving condition corresponding to the position relationship based on the surrounding environment information. If the target vehicle meets the vehicle moving condition, the target position where the target vehicle is finally parked is determined based on the initial position and surrounding environment information of the target vehicle. Of course, in some scenarios, if the target vehicle meets the vehicle moving condition, a start command can also be sent to the vehicle to start the vehicle.

[0095] Step 204: Generate a control instruction for the target vehicle according to the initial position, the target position and the surrounding environment information;

[0096] Step 205: Send a control instruction to the target vehicle so that the target vehicle executes the control instruction to move to the target position, thereby completing the remote vehicle moving.

[0097] In the embodiment of the present application, the control instructions may include a first driving path and vehicle driving parameters. The control instructions may also include driving instructions, reversing instructions, parking instructions, speed control instructions, left turn instructions and right turn instructions, but are not limited to this. The control instructions may also include acceleration instructions, deceleration instructions, horn instructions, light instructions, etc.

[0098] In an embodiment of the present application, the terminal generates a control instruction for the target vehicle based on the initial position, target position and surrounding environment information, and sends the control instruction to the target vehicle. The target vehicle executes the control instruction to move from the current position such as the initial position to the target position to complete the remote vehicle moving.

[0099] The embodiment of the present application provides a remote vehicle moving control method, receiving a first information set sent by a target vehicle; the first information set includes the initial position and surrounding environment information of the target vehicle, and the surrounding environment information at least includes the position relationship between the target vehicle and the vehicle to be passed; based on the surrounding environment information, determining whether the target vehicle meets the vehicle moving condition corresponding to the position relationship; if the vehicle moving condition is met, determining the target position of the target vehicle based on the first information set; generating a control instruction for the target vehicle according to the initial position, the target position and the surrounding environment information; sending a control instruction to the target vehicle so that the target vehicle executes the control instruction to move to the target position to complete the remote vehicle moving. In this way, by receiving the first information set including the initial position and surrounding environment information sent by the target vehicle, the terminal can quickly determine whether the target vehicle meets the vehicle moving condition, and determine the new position where the target vehicle should be parked accordingly, shortening the time required for manual judgment and execution of vehicle moving, and improving the overall efficiency of vehicle moving. When judging the vehicle moving condition and determining the target position, the system fully considers the position relationship between the target vehicle and the vehicle to be passed, avoiding traffic accidents that may be caused by blind vehicle moving. In addition, by generating and sending precise control commands, the system can ensure that the target vehicle is moved to the target location safely and accurately. For car owners, they can move the car remotely without having to be there in person, which greatly facilitates their daily lives. Finally, sending control commands only once can better alleviate the problem of network latency compared to the four-way button, which requires real-time control commands.

[0100] In some embodiments, step 202 determines whether the target vehicle meets the vehicle moving condition corresponding to the position relationship based on the surrounding environment information. Figure 3 Provide explanation.

[0101] Step 301: Obtain the distance between the target vehicle and each obstacle in the surrounding environment information.

[0102] In the embodiment of the present application, obstacles include objects that block the passage of vehicles. Obstacles include vehicles to be passed and surrounding vehicles. Of course, obstacles also include other types of objects, such as piers, bicycles, electric vehicles, steps, etc.

[0103] Step 302: If at least one first distance between the target vehicle and the front and rear obstacles is greater than or equal to a first reference distance corresponding to the positional relationship, it is determined that the target vehicle meets the vehicle moving condition corresponding to the positional relationship.

[0104] In the embodiment of the present application, the positional relationship includes a parallel positional relationship and a vertical positional relationship.

[0105] In the embodiment of the present application, the first reference distance may be the distance for the vehicle to pass safely. The first reference distance may be the sum of the body length of the target vehicle and the preset distance corresponding to the position relationship. Different position relationships correspond to different preset distances.

[0106] Here, the first reference distance corresponding to the parallel position relationship is the sum of the body length of the target vehicle and the first preset distance; illustratively, the first preset distance can be 0.6 meters (meter, m), of course, the first preset distance can also be other distances that can ensure the safe passage of the blocked vehicle.

[0107] Here, the first reference distance corresponding to the vertical position relationship is the sum of the body length of the target vehicle and the third preset distance, and the third preset distance is less than or equal to the first preset distance and greater than the fourth preset distance; illustratively, the third preset distance can be 0.6m, the third preset distance can also be 0.5m, etc., and the third preset distance can also be other distances that can ensure the safe passage of the blocked vehicle. It should be noted that the distances between the first preset distance and the fourth preset distance can ensure the safe passage of the blocked vehicle.

[0108] In an embodiment of the present application, after obtaining multiple first distances between the target vehicle and the front obstacle and the rear obstacle, as well as the positional relationship between the target vehicle and the vehicle to pass, if the positional relationship is a parallel positional relationship, the sum of the body length of the target vehicle and the first preset distance is calculated to obtain the first reference distance corresponding to the parallel positional relationship; if at least one first distance is greater than or equal to the first reference distance, it is determined that the target vehicle meets the moving vehicle condition corresponding to the parallel positional relationship, that is, there is sufficient moving vehicle space around the target vehicle.

[0109] If the position relationship is a vertical position relationship, the sum of the body length of the target vehicle and the third preset distance is calculated to obtain the first reference distance corresponding to the vertical position relationship; if at least one first distance is greater than or equal to the first reference distance, it is determined that the target vehicle meets the moving vehicle condition corresponding to the vertical position relationship, that is, there is enough moving vehicle space around the target vehicle.

[0110] From the above, it can be seen that by considering multiple position relationships and the distances between the target vehicle and surrounding obstacles, it is possible to more flexibly judge whether the target vehicle meets the conditions for moving the vehicle, which helps to adapt to parking environments in different scenarios and improve the feasibility of moving the vehicle. At the same time, it ensures that there will be no collision with obstacles during the moving process, thereby greatly reducing the risk of accidents.

[0111] In one possible scenario, refer to Figure 4As shown, in this public parking scene, vehicles 41, 42 and 43 are parked in parking spaces, and vehicle 44 is temporarily parked next to vehicle 42, that is, vehicle 44 and blocked vehicle 42 are parked in parallel, and at least one of the front and rear of vehicle 44 is not parked, as shown in FIG. Figure 4 In the left figure, there are no parked vehicles in front of, behind, or on one side of the vehicle 44; Figure 4 In the right figure, a vehicle 45 is parked in front of the vehicle 44, and there are no vehicles parked behind and on one side of the vehicle 44. It should be noted that the arrows in the figure represent the driving direction of the vehicle. Here, when the vehicle 42 can be used as a vehicle to be passed, the vehicle 44 can be used as a target vehicle. Exemplarily, the positional relationship between the vehicle 44 and the blocked vehicle 42 is first obtained as a parallel positional relationship; secondly, the distance D1 of the vehicle 44 from the front obstacle (such as a vehicle and / or a parking boundary) and the distance D2 from the rear obstacle (such as a vehicle and / or a parking boundary) are obtained; when D1≥body length+0.6m and / or D2≥body length+0.6m are satisfied, it is determined that the vehicle 44 meets the vehicle moving condition corresponding to the parallel positional relationship, and there is enough space for moving around the vehicle 44. After that, the user can move the vehicle 44 to the parking position 45 in the front direction, or move the vehicle 44 to the parking position 46 in the rear direction through the operation terminal, so as to vacate the original position of the vehicle 44 so that the vehicle 42 has space to park and leave.

[0112] In another possible scenario, refer to Figure 5 As shown, in this public parking scene, vehicles 51, 52, 53, 54 and 55 are parked in parking spaces, and vehicle 56 is temporarily parked in front of vehicle 53, that is, vehicle 56 and blocked vehicle 53 are parked vertically, and at least one of the front and rear of vehicle 56 is not parked, as shown in FIG. Figure 5 In the left figure, there are no parked vehicles in front of, behind, or on one side of the vehicle 56; Figure 5In the right figure, a vehicle 57 is parked in front of the vehicle 56, and no vehicle is parked behind or on one side of the vehicle 56. It should be noted that the arrows in the figure represent the driving direction of the vehicle. Here, the vehicle 53 can be used as a waiting vehicle, and the vehicle 56 can be used as a target vehicle. Exemplarily, the positional relationship between vehicle 56 and blocked vehicle 53 is first obtained as a vertical positional relationship; secondly, the distance D3 between vehicle 56 and the front obstacle (such as a vehicle and / or a parking boundary) and the distance D4 between vehicle 56 and the rear obstacle (such as a vehicle and / or a parking boundary) are obtained; when D3 ≥ vehicle body length + 0.5 m and / or D4 ≥ vehicle body length + 0.5 m are satisfied, it is determined that vehicle 56 satisfies the vehicle moving conditions corresponding to the vertical positional relationship, and there is enough space for moving around vehicle 56. After that, the user can use the operating terminal to move vehicle 56 in the forward direction to a parking position 57, or move vehicle 56 in the rearward direction to a parking position 58; of course, the user can use the operating terminal to move the vehicle forward to achieve diagonal parking, or move vehicle 56 in the rearward direction to achieve diagonal parking, thereby vacating the original position of vehicle 56 so that vehicle 53 has space to park and leave.

[0113] Step 303: If the multiple first distances are all smaller than the first reference distance corresponding to the positional relationship, obtain the second distance between the target vehicle and the left or right obstacle line, and multiple third distances between the adjacent side position of the target vehicle and the front and rear obstacles; if at least one third distance is greater than or equal to the first reference distance corresponding to the positional relationship, and the second distance is greater than or equal to the second reference distance corresponding to the positional relationship, determine that the target vehicle meets the vehicle moving condition corresponding to the positional relationship.

[0114] Among them, the first reference distance and the second reference distance corresponding to different positional relationships are different.

[0115] In the embodiment of the present application, the second reference distance may be a distance for the target vehicle to move safely. The second reference distance may be the sum of the body width of the target vehicle and the preset distance corresponding to the position relationship. Different position relationships correspond to different preset distances.

[0116] Here, the second reference distance corresponding to the parallel position relationship is the sum of the body width of the target vehicle and the second preset distance, and the second preset distance is greater than the first preset distance; exemplarily, the second preset distance can be 0.8m, the first preset distance is 0.6m, and the second preset distance is greater than the first preset distance. Of course, the second preset distance can also be other distances that can ensure the safe passage of the blocked vehicle.

[0117] Here, the second reference distance corresponding to the vertical position relationship is the sum of the body width of the target vehicle and the fifth preset distance, and the fifth preset distance is less than or equal to the second preset distance, and greater than the sixth preset distance, and at the same time, the fifth preset distance is greater than the third preset distance; illustratively, the fifth preset distance can be 0.8m, the fifth preset distance can also be 0.6m, etc., the third preset distance can be 0.5m, the fifth preset distance is greater than the third preset distance, and the fifth preset distance can also be other distances that can ensure the safe passage of the blocked vehicle. It should be noted that the distances between the third preset distance and the sixth preset distance can ensure the safe passage of the blocked vehicle.

[0118] In the embodiment of the present application, after determining that the multiple first distances are all less than the first reference distance corresponding to the positional relationship, the second distance between the target vehicle and the left or right obstacle line, and the multiple third distances between the adjacent side position of the target vehicle and the front and rear obstacles are obtained. If the positional relationship is a parallel positional relationship, the sum of the body width of the target vehicle and the second preset distance is calculated to obtain the second reference distance corresponding to the parallel positional relationship; if at least one third distance is greater than or equal to the first reference distance, and the second distance is greater than or equal to the second reference distance, it is determined that the target vehicle meets the vehicle maneuvering condition corresponding to the parallel positional relationship, that is, there is enough vehicle maneuvering space around the target vehicle.

[0119] If the position relationship is a vertical position relationship, the sum of the body width of the target vehicle and the fifth preset distance is calculated to obtain the second reference distance corresponding to the vertical position relationship; if at least one third distance is greater than or equal to the first reference distance, and the second distance is greater than or equal to the second reference distance, it is determined that the target vehicle meets the moving vehicle condition corresponding to the vertical position relationship, that is, there is enough moving vehicle space around the target vehicle.

[0120] As can be seen from the above, when the target vehicle is too close to the front and rear obstacles, the method will further consider the distance between the left and right obstacle lines and the distance between the adjacent side positions and the front and rear obstacles to ensure the safety of the vehicle. This method can more accurately determine whether the target vehicle can be safely moved within a given space, thereby helping to optimize the space utilization of the parking lot.

[0121] In one possible scenario, refer to Figure 6As shown, in this public parking scene, vehicles 61, 62 and 63 are parked in parking spaces, and vehicle 65 is temporarily parked next to vehicle 62, that is, vehicle 65 and blocked vehicle 62 are parked in parallel, and vehicles 64 and 66 are parked in front and behind vehicle 65. It should be noted that the arrows in the figure represent the driving directions of the vehicles. Here, vehicle 62 can be used as a waiting vehicle, and vehicle 65 can be used as a target vehicle. Exemplarily, the positional relationship between the vehicle 65 and the blocked vehicle 62 is first obtained as a parallel positional relationship; secondly, the distance D1 between the vehicle 65 and the front obstacle (such as a vehicle and / or a parking boundary) and the distance D2 between the vehicle 65 and the rear obstacle (such as a vehicle and / or a parking boundary) are obtained; when D1 ≥ vehicle body length + 0.6m and / or D2 ≥ vehicle body length + 0.6m are not satisfied, the distance D7 between the vehicle 65 and the left obstacle line, the distance D5 between the adjacent side position of the vehicle 65 (such as when the vehicle is moved one parking space to the left) and the front obstacle (such as a vehicle and / or a parking boundary) and the distance D6 between the vehicle 65 and the rear obstacle (such as a vehicle and / or a parking boundary) are obtained. Further, when D5≥body length+0.6m or D6≥body length+0.6m, and D7≥body width+0.8m, it is determined that vehicle 65 meets the moving condition corresponding to the parallel position relationship, and there is enough moving space around vehicle 65. After that, the user can use the operation terminal to drive vehicle 65 diagonally forward to move to parking position 67, or drive vehicle 65 diagonally rearward to move to parking position 68, thereby vacating the original position of vehicle 65 so that vehicle 62 has space to park and leave.

[0122] In another possible scenario, refer to Figure 7As shown, in this public parking scene, vehicles 71, 72, 73, 74 and 75 are parked in parking spaces, and vehicle 77 is temporarily parked in front of vehicle 73, that is, vehicle 77 and blocked vehicle 73 are parked vertically, and vehicles 76 and 78 are parked in front of and behind vehicle 77. It should be noted that the arrows in the figure represent the driving direction of the vehicles. Here, vehicle 73 can be used as a waiting vehicle, and vehicle 77 can be used as a target vehicle. Exemplarily, the positional relationship between vehicle 77 and blocked vehicle 73 obtained first is a vertical positional relationship; secondly, the distance D3 of vehicle 77 from the front obstacle (such as a vehicle and / or a parking boundary) and the distance D4 from the rear obstacle (such as a vehicle and / or a parking boundary) are obtained; when D3 ≥ vehicle body length + 0.6m and / or D4 ≥ vehicle body length + 0.6m are not satisfied, the distance D10 of vehicle 77 from the left obstacle line, the distance D8 of the adjacent side position of vehicle 77 (such as when the vehicle is moved one parking space to the left) from the front obstacle (such as a vehicle and / or a parking boundary), and the distance D9 from the rear obstacle (such as a vehicle and / or a parking boundary) are obtained. Further, when D8≥body length+0.6m or D9≥body length+0.6m, and D10≥body width+0.8m, it is determined that vehicle 77 meets the moving conditions corresponding to the vertical position relationship, and there is enough moving space around vehicle 77. After that, the user can use the operating terminal to move vehicle 77 in the forward direction to the parking position 79, or move vehicle 77 in the rearward direction to the parking position 710; of course, the user can use the operating terminal to drive the vehicle in the diagonally forward direction to move to the parking position 79, or drive vehicle 77 in the diagonally rearward direction to move to the parking position 710, thereby vacating the original position of vehicle 77 so that vehicle 73 has space to park and leave.

[0123] In another possible scenario, refer to Figure 8 As shown, in this residential parking scene, vehicles 82, 83, 84 and 85 are parked in parking spaces, and vehicle 83 temporarily occupies the private parking space of vehicle 86. Here, the body distance D11 between two adjacent vehicles is obtained. When D11≥body width+0.8m is satisfied, the user can move vehicle 83 to the parking space 85 through the operation terminal, thereby giving up the private parking space of vehicle 86.

[0124] In some embodiments, when the position relationship indicates that the target vehicle has a vertical position relationship with the vehicle to be passed, step 202 determines whether the target vehicle meets the vehicle moving condition corresponding to the position relationship based on the surrounding environment information. Fig. 9 Provide explanation.

[0125] Step 401: Obtain a fourth distance between a first body end of a target vehicle and a first reference obstacle in a first direction, and a fifth distance between a second body end opposite to the first body end and a second reference obstacle in a second direction.

[0126] The surrounding environment information includes a fourth distance and a fifth distance.

[0127] In an embodiment of the present application, the first body end may be the front end of the target vehicle, or the first body end may be the rear end of the target vehicle; the second body end is the end opposite to the first body end of the target vehicle; here, the first body end is the front end of the target vehicle, and the second body end is the rear end of the target vehicle, or, the first body end is the rear end of the target vehicle, and the second body end is the front end of the target vehicle.

[0128] In the embodiment of the present application, the first direction may be the direction of traveling forward toward the first vehicle body end, and the second direction may be the direction of traveling forward toward the second vehicle body end, and the second direction is a direction opposite to the first direction.

[0129] In the embodiment of the present application, the first reference obstacle is an obstacle located in a first direction at a first body end of the target vehicle, and the second reference obstacle is an obstacle located in a second direction at a second body end of the target vehicle.

[0130] In an embodiment of the present application, when the position relationship between the target vehicle and the vehicle to pass is obtained as a vertical position relationship, the fourth distance between the first body end of the target vehicle and the first reference obstacle in the first direction, and the fifth distance between the second body end opposite to the first body end and the second reference obstacle in the second direction are obtained.

[0131] Step 402: Obtain a sixth distance between the first vehicle body end and a first lateral vehicle body side portion of a vehicle to be passed, and a seventh distance between the second vehicle body end and a second lateral vehicle body side portion opposite to the first lateral vehicle body side portion.

[0132] The first vehicle body end and the second lateral vehicle body side are close to a first reference obstacle, the second vehicle body end and the first lateral vehicle body side are close to a second reference obstacle, and the surrounding environment information includes a sixth distance and a seventh distance.

[0133] In the embodiment of the present application, the first transverse body side portion may be the left transverse body portion of the vehicle to be passed, or the first transverse body side portion may be the left transverse body portion of the vehicle to be passed; the second transverse body side portion is the body side portion opposite to the first transverse body side portion of the vehicle to be passed. Here, the first transverse body side portion is the left transverse body portion of the vehicle to be passed, and the second transverse body side portion is the right transverse body portion of the vehicle to be passed, or the first transverse body side portion is the right transverse body portion of the vehicle to be passed, and the second transverse body side portion is the left transverse body portion of the vehicle to be passed.

[0134] In an embodiment of the present application, the first body end of the target vehicle and the second lateral body side of the vehicle to pass may both be located on the side close to the first reference obstacle (or away from the second reference obstacle), and the second body end of the target vehicle and the first lateral body side of the vehicle to pass may both be located on the side away from the first reference obstacle (or close to the second reference obstacle).

[0135] In the embodiment of the present application, a sixth distance between the first body end and the first lateral body side of the vehicle to be passed, and a seventh distance between the second body end and the second lateral body side opposite to the first lateral body side are obtained.

[0136] Step 403: If the fourth distance is greater than or equal to the sum of the seventh distance and the seventh preset distance, and / or the fifth distance is greater than or equal to the sum of the sixth distance and the eighth preset distance, it is determined that the target vehicle meets the vehicle moving condition corresponding to the vertical position relationship.

[0137] In the embodiment of the present application, the seventh preset distance and the eighth preset distance are both distances that can ensure the safe passage of vehicles to be passed.

[0138] In an embodiment of the present application, after obtaining the fourth distance, the fifth distance, the sixth distance and the seventh distance, if the fourth distance is greater than or equal to the sum of the seventh distance and the seventh preset distance, and / or the fifth distance is greater than or equal to the sum of the sixth distance and the eighth preset distance, it is determined that the target vehicle meets the moving vehicle condition corresponding to the vertical position relationship, that is, there is sufficient moving vehicle space around the target vehicle.

[0139] As can be seen from the above, by accurately measuring multiple distances (fourth distance, fifth distance, sixth distance and seventh distance) between the target vehicle and the first and second reference obstacles and the vehicle to be passed, it is possible to more accurately determine whether the target vehicle can be moved without colliding with any obstacles or vehicles to be passed. By introducing the seventh preset distance and the eighth preset distance as safety thresholds, the safety of the vehicle moving decision is further enhanced; by comprehensively considering multiple distance parameters, it can be ensured that the target vehicle will not collide with any obstacles or vehicles to be passed during the vehicle moving process, thereby greatly reducing the risk of accidents.

[0140] In one possible scenario, refer to Fig.10 As shown, in this public parking scene, vehicles 91, 92, 93, 94 and 95 are parked in parking spaces, and vehicle 96 is temporarily parked in front of vehicle 93, that is, vehicle 96 and blocked vehicle 93 are parked vertically, and there are no vehicles parked in front, behind and on one side of vehicle 96. Here, when vehicle 93 can be used as a vehicle to be passed, vehicle 96 can be used as a target vehicle. Exemplarily, the position relationship between vehicle 96 and blocked vehicle 93 is first obtained as a vertical position relationship; secondly, the distance D12 of vehicle 96 from the front obstacle (such as a vehicle and / or a parking boundary) and the distance D13 from the rear obstacle (such as a vehicle and / or a parking boundary) are obtained; further, the distance D14 between the body end M3 of vehicle 96 and the lateral body side M2 ​​of vehicle 93 is obtained, and the distance D15 between the body end M4 of vehicle 96 and the lateral body side M1 of vehicle 93 is obtained. When D12≥D15+0.4m and / or D13≥D14+0.4m is satisfied, it is determined that vehicle 96 satisfies the moving condition corresponding to the vertical position relationship, and there is enough moving space around vehicle 96. After that, the user can use the operating terminal to move vehicle 96 forward to parking position 97, or move vehicle 96 backward to parking position 98, thereby vacating the original position of vehicle 96 so that vehicle 93 has space to park and leave.

[0141] In some embodiments, the process of determining the target location of the target vehicle based on the first information set in step 203 is combined with Fig.11 Provide explanation.

[0142] Step 501: Generate panoramic image information of a target vehicle based on a first information set, and display the panoramic image information and a parking space frame in a display area.

[0143] In the embodiment of the present application, the panoramic image information may be a 360-degree panoramic bird's-eye view of the scene where the target vehicle is located.

[0144] In the embodiment of the present application, the panoramic image information includes a parking space frame.

[0145] In the embodiment of the present application, the first information set includes the initial position, posture information and surrounding environment information of the target vehicle, and the surrounding environment information at least includes the positional relationship between the target vehicle and the vehicle to be passed. After receiving the first information set, the terminal uses a built-in heuristic search algorithm such as the A-star algorithm and a graphics engine to generate panoramic image information of the scene where the target vehicle is located; at the same time, referring to Fig.12As shown, panoramic image information 6 and parking space frame 602 are displayed in the display area of ​​the terminal. Here, in the panoramic image information, the position, posture and surrounding environment of the target vehicle are clearly visible. As shown in the figure, vehicle 601 is the position of the target vehicle, 602 in the figure is a customized parking space frame, and vehicles 603, 604, 605 and 606 are parked vehicles. It should be noted that vehicles 601, 603, 604, 605 and 606 are customized vehicle models. It should also be noted that the panoramic image refresh frequency is high, ensuring that the user can understand the situation around the vehicle in real time.

[0146] In some embodiments, the first information set also includes map data of the scene where the target vehicle is located. The parking space frame can be determined by the following process:

[0147] Based on the map data of the scene where the target vehicle is located, determine the size of the parking space in the scene where the target vehicle is located; based on the parking space size and the panoramic image information, adjust the size of the parking space frame, and determine that the adjusted parking space frame size meets the parking space size requirement of the scene where the target vehicle is located in the panoramic image information.

[0148] In the embodiment of the present application, the size of the standard parking space in the scene where the target vehicle is located can be determined based on the map data of the scene where the target vehicle is located, such as a parking lot. Furthermore, based on the size of the parking space and the panoramic image information, the size of the parking space frame in the display area is adjusted, so as to determine that the adjusted parking space frame size meets the parking space size requirements of the scene where the target vehicle is located, such as a parking lot, in the panoramic image information; of course, if the size of the parking space does not exist in the scene where the target vehicle is located, the size of the parking space frame in the display area is adjusted to a default size so that the target vehicle can be parked. In this way, by adjusting the size and shape of the parking space frame, as well as the corresponding prompt information, it can meet the needs of different vehicle models and parking scenes, such as being suitable for structured parking environments such as parking lots, and also suitable for unstructured environments such as roadside parking.

[0149] Step 502: In response to the movement operation on the parking space frame, display first prompt information in the display area; wherein the first prompt information includes the distance and angle between the parking space frame and each obstacle;

[0150] Step 503: In response to the stop movement operation on the parking space frame, a target position is determined based on the acquired position of the parking space frame on the display area and the panoramic image information.

[0151] In the embodiment of the present application, a parking space frame is displayed in the panoramic image information, and in response to the user's operation of moving the parking space frame, one or more of the distance between the current position of the moving parking space frame and each obstacle, the angle formed between the current position of the moving parking space frame and each obstacle, and the deflection angle of the moving parking space frame are displayed in the display area to help the user locate the target position of the vehicle more accurately. Furthermore, in response to the user's operation of stopping the movement of the parking space frame, the actual target position of the scene where the corresponding target vehicle is located is determined based on the current position of the parking space frame on the display area and the panoramic image information obtained.

[0152] As can be seen from the above, panoramic image information provides users with a comprehensive perspective, which helps to better determine the surrounding environment of the target vehicle. The distance and angle between the parking space frame and the obstacle are displayed in real time, so that when the user moves the parking space frame, he can more accurately judge the relative position of the vehicle and the obstacle, determine the accurate target position, and avoid collisions when the vehicle is actually moving; by directly operating the parking space frame on the display area, the user can plan the parking route more intuitively; according to the user's stop moving operation on the parking space frame, the target position where the vehicle needs to be parked during the actual driving process is determined.

[0153] In some embodiments, after the target position is determined, the target position can also be sent to the vehicle so that the vehicle can determine whether the target position is reasonable, such as whether there are obstacles in the target position, and give corresponding prompt information to ensure safe parking of the vehicle.

[0154] In some embodiments, the first information set also includes: posture information and vehicle parameter information. Step 204 illustrates the process of generating control instructions for the target vehicle based on the initial position, target position and surrounding environment information.

[0155] Step A1, determining a first driving path of the target vehicle according to the initial position, the target position and the surrounding environment information;

[0156] Step A2: Generate a control instruction for the target vehicle on the first driving path based on the posture information, vehicle parameter information and surrounding environment information; the control instruction includes the first driving path and the vehicle driving parameters, and the vehicle driving parameters include one or more of the following: initial starting speed, acceleration and deceleration strategies during driving, turning timing and steering angle.

[0157] In the embodiment of the present application, the first driving path may be the shortest and safest driving path.

[0158] In the embodiment of the present application, the shortest and safest first driving path of the target vehicle is calculated based on the current position, target position and surrounding environment information of the target vehicle. Then, combined with the vehicle parameter information, the posture information of the target vehicle, the surrounding environment information, the road conditions of the scene where the target vehicle is located and the relevant regulatory requirements, the control instructions of the initial starting speed, the acceleration and deceleration strategy during the driving process, the steering timing and steering angle and other detailed parameters of the target vehicle when driving along the first driving path are determined. Further, continue to refer to Fig.12 After the control command is generated, the start parking button in the display area is triggered to send the control command to the target vehicle to realize the movement of the vehicle. In this way, by comprehensively considering the surrounding environment information and vehicle parameter information, the generated control command can ensure that the vehicle avoids obstacles, abides by traffic rules, and maintains appropriate vehicle distance and speed during driving, thereby improving the safety of autonomous driving; the optimal path from the initial position to the target position reduces driving time and mileage and improves driving efficiency; through the control command issued by the terminal, the vehicle's automatic parking system can independently complete the path planning and execution of the control command, reducing the reliance on manual intervention.

[0159] From the above, it can be seen that by comprehensively considering the vehicle's posture (such as the body's orientation angle and the wheel steering angle) and parameters (such as vehicle length, width, wheelbase, etc.), the system can more accurately predict the vehicle's behavior during driving, thereby generating more accurate control instructions. Accurate driving path planning and vehicle driving parameter settings help avoid collisions with surrounding obstacles and improve driving safety. According to the vehicle's initial starting speed, acceleration and deceleration strategies during driving, and parameters such as the timing and steering angle of steering, the system can generate a smoother and more efficient driving path, reducing unnecessary driving time and energy consumption. By accurately controlling the vehicle's driving parameters, the system can ensure that the vehicle remains stable during driving, reduce bumps and shaking, and improve driving comfort.

[0160] Reference Fig.13 , Fig.13 A schematic diagram of a remote vehicle moving control method according to an embodiment of the present application is provided. The method can be implemented by Figure 1 Here, we will combine Fig.13 The steps shown are explained.

[0161] Step 701, collect a first information set; wherein the first information set includes an initial position of a target vehicle and surrounding environment information, and the surrounding environment information at least includes a positional relationship between the target vehicle and a vehicle to be passed.

[0162] In an embodiment of the present application, the first information set includes the initial position and surrounding environment information of the target vehicle. The first information set may also include posture information and vehicle parameter information of the target vehicle; of course, the first information set may also include map data of the scene where the target vehicle is located.

[0163] The initial position of the target vehicle is the current parking position of the vehicle, and the initial position of the target vehicle can be obtained by a sensor unit on the vehicle, such as a position sensor.

[0164] The surrounding environment information includes but is not limited to the positional relationship between the target vehicle and surrounding vehicles, the distance between the target vehicle and surrounding obstacles, the width of the road on the side of the target vehicle away from the blocked vehicle (i.e., the vehicle to be passed), and the width of the front and rear obstacles. Of course, the surrounding environment information may also include guide line information and obstacle information, and the obstacle information includes but is not limited to obstacle type, obstacle location, and obstacle boundary information. Surrounding vehicles include vehicles to be passed. Here, the surrounding environment information of the vehicle can be obtained by a sensor unit such as an obstacle detection sensor.

[0165] In an embodiment of the present application, the positional relationship between the target vehicle and the vehicle to be passed includes a vertical positional relationship and a parallel positional relationship between the target vehicle and the vehicle to be passed. Of course, the positional relationship between the target vehicle and the vehicle to be passed may also include: a first angle is formed between the extension line of the target vehicle and the extension line of the vehicle to be passed, and the first angle is less than 90 degrees.

[0166] In the example scenario, the front obstacle, rear obstacle and / or one side obstacle of the target vehicle involved in the embodiments of the present application include: one or more of the obstacle vehicle in front of the target vehicle, the obstacle vehicle in the rear of the target vehicle and the vehicles to be passed blocked by the target vehicle. Of course, there may also be other achievable scenarios, and the present application does not impose any specific restrictions on this.

[0167] Among them, the posture information of the target vehicle includes the initial orientation angle of the vehicle body and the initial steering angle of the wheels. Of course, it can also include other angle information, and this application does not make specific restrictions on this. Here, the posture information of the vehicle can be obtained by a sensor unit such as an angle sensor. In this way, according to the initial orientation angle of the vehicle body and the initial steering angle of the wheels of the target vehicle, the motion state information of the target vehicle when moving the vehicle, such as speed, acceleration, heading angle and vehicle boundary information, is determined, so that the vehicles to be passed can pass while ensuring the safe movement of the target vehicle.

[0168] Among them, the vehicle parameter information of the target vehicle can be performance parameter information, and the performance parameter information includes but is not limited to the vehicle's own wheelbase, track, total length, total width, front overhang and rear overhang parameters, so as to determine whether the target vehicle can avoid collision risks when moving based on the above performance parameter information.

[0169] The scene where the target vehicle is located may be an outdoor parking scene, a public indoor parking scene, and a residential indoor parking scene. Of course, the scene where the target vehicle is located may also be a scene where a vehicle can be parked according to certain rules, and this application does not impose any specific restrictions on this. The map data of the scene where the target vehicle is located may be the data of surrounding objects collected at fixed intervals by a sensor unit on the vehicle, such as a vehicle-mounted radar, after the target vehicle enters the scene, and the point cloud data of the parking scene is constructed using the collected data, thereby forming map data.

[0170] Step 702: Send a first information set to the terminal so that the terminal determines whether the target vehicle satisfies the vehicle moving condition corresponding to the position relationship based on the surrounding environment information; if the vehicle moving condition is met, determine the target position of the target vehicle based on the first information set; and generate a control instruction for the target vehicle according to the initial position, the target position and the surrounding environment information.

[0171] In an embodiment of the present application, a specific format code may be pre-defined between the terminal and the vehicle, and the target vehicle may send the first information set to the terminal in the specific format code, thereby ensuring the security of the data.

[0172] In some embodiments, different positional relationships correspond to different vehicle maneuvering conditions, and the vehicle maneuvering conditions include: at least one distance between the vehicle and the front and rear obstacles is greater than or equal to the first reference distance corresponding to the positional relationship; the vehicle maneuvering conditions also include: the distances between the vehicle and the front and rear obstacles are both less than the first reference distance corresponding to the positional relationship, the distance between the vehicle and the left or right obstacle line is greater than or equal to the second reference distance corresponding to the positional relationship, and at least one distance between the adjacent side positions of the vehicle and the front and rear obstacles is greater than or equal to the first reference distance corresponding to the positional relationship; wherein the first reference distance and the second reference distance are determined based on the vehicle body length, body width and one or more of a plurality of preset distances. Different positional relationships correspond to different first reference distances and second reference distances.

[0173] In some embodiments, when the position relationship is a vertical position relationship, the vehicle moving condition may also include: the distance between the second body end of the vehicle and the obstacle in the facing direction is greater than or equal to the sum of the distance between the first lateral body side of the vehicle to be passed and the first body end of the vehicle and a preset distance, and / or the distance between the first body end of the vehicle and the obstacle in the facing direction is greater than or equal to the sum of the distance between the second lateral body side of the vehicle to be passed and the second body end of the vehicle and a preset distance. It should be noted that the above multiple preset distances may be the same or different.

[0174] In some embodiments, the target position is the final parking position of the target vehicle, and the target position is determined based on the initial position of the target vehicle and surrounding environment information.

[0175] In the embodiment of the present application, after receiving the first information set sent by the target vehicle and carrying the initial position and surrounding environment information of the target vehicle, the terminal determines whether the target vehicle meets the vehicle moving condition corresponding to the position relationship based on the surrounding environment information. If the target vehicle meets the vehicle moving condition, the target position where the target vehicle is finally parked is determined based on the initial position and surrounding environment information of the target vehicle. Of course, in some scenarios, if the target vehicle meets the vehicle moving condition, a start command can also be sent to the vehicle to start the vehicle.

[0176] In the embodiment of the present application, the terminal generates a control instruction for the target vehicle according to the initial position, the target position and the surrounding environment information. The control instruction may include a first driving path and a vehicle driving parameter, and the control instruction may also include a driving instruction, a reversing instruction, a parking instruction, a speed control instruction, a left turn instruction and a right turn instruction, but is not limited thereto, and the control instruction may also include an acceleration instruction, a deceleration instruction, a horn instruction, a light instruction, and the like.

[0177] Step 703: Receive and execute the control command sent by the terminal, move the target vehicle to the target position, and thus complete the remote vehicle moving.

[0178] In the embodiment of the present application, after the target vehicle receives the control instruction sent by the terminal, it executes the control instruction, thereby moving the target vehicle from the current position, such as the initial position, to the target position to complete the remote vehicle moving.

[0179] In some embodiments, the control instruction may also include a first driving path and vehicle driving parameters, the vehicle driving parameters include one or more of the following: initial starting speed, acceleration and deceleration strategies during driving, turning timing and steering angle, step 703 receives and executes the control instruction sent by the terminal, moves the target vehicle to the target position, and thus completes the remote vehicle moving, which can be achieved through the following steps.

[0180] The control instruction is received by the central control unit of the target vehicle, and the control instruction is decomposed according to the category of the execution unit to obtain multiple types of control sub-instructions; each control sub-instruction is sent to the corresponding execution unit, and when the target vehicle moves along the first driving path, each execution unit executes the corresponding control sub-instruction and moves according to the vehicle driving parameters, thereby controlling the target vehicle to move to the target position to complete the remote vehicle moving.

[0181] In the embodiment of the present application, the execution unit includes but is not limited to the vehicle's steering system, drive system, and braking system.

[0182] In an embodiment of the present application, control instructions are received by a central control unit of the target vehicle, and the control instructions are decoded and analyzed according to the category of the execution unit. Control sub-instructions related to power, such as speed control instructions, are sent to execution units such as a drive system and / or a braking system to adjust the throttle opening or brake pressure to control the vehicle speed; control sub-instructions related to steering, such as steering control instructions and related parameters, are sent to execution units such as a steering system to accurately control the steering angle of the wheels; further, during the movement of the target vehicle along the first driving path, each execution unit executes the corresponding control sub-instruction and moves according to the vehicle driving parameters, thereby controlling the target vehicle to move to the target position to complete the remote vehicle moving. After the remote vehicle moving is completed, the vehicle can also be closed and locked.

[0183] The embodiment of the present application provides a control method for remote vehicle moving, which collects a first information set; wherein the first information set includes the initial position and surrounding environment information of the target vehicle, and the surrounding environment information at least includes the position relationship between the target vehicle and the vehicle to be passed; sends the first information set to the terminal so that the terminal determines whether the target vehicle meets the vehicle moving condition corresponding to the position relationship based on the surrounding environment information; if the vehicle moving condition is met, the target position of the target vehicle is determined based on the first information set; generates a control instruction for the target vehicle according to the initial position, the target position and the surrounding environment information; receives and executes the control instruction sent by the terminal, moves the target vehicle to the target position, and thus completes the remote vehicle moving. In this way, the terminal can quickly determine whether the target vehicle meets the vehicle moving condition based on the first information set containing the initial position and surrounding environment information collected by the target vehicle, and determine the new position where the target vehicle should be parked accordingly, shortening the time required for manual judgment and execution of vehicle moving, and improving the overall efficiency of vehicle moving. When judging the vehicle moving condition and determining the target position, the system fully considers the position relationship between the target vehicle and the vehicle to be passed, avoiding traffic accidents that may be caused by blind vehicle moving. In addition, by generating and sending precise control commands, the system can ensure that the target vehicle is moved to the target location safely and accurately. For car owners, they can move the vehicle remotely without having to be present in person, which greatly facilitates their daily lives. Finally, sending control commands only once can better alleviate the problem of network latency while ensuring the safety of moving the vehicle, compared to the four-way button, which requires real-time control commands.

[0184] In some embodiments, the remote vehicle moving control method further includes:

[0185] Step A1, while the target vehicle is moving along the first driving path, obtaining a second information set of the target vehicle; wherein the second information set includes driving state information, current driving position and current surrounding environment information of the target vehicle;

[0186] Step A2: generating a second driving path based on the current driving position, current surrounding environment information and the target position;

[0187] Step A3: If the second driving path and the first driving path do not satisfy the path difference condition, and / or the driving state information does not satisfy the driving condition, update the control instruction based on the second information set.

[0188] In the embodiment of the present application, the second information set may also include posture information of the vehicle.

[0189] In the embodiment of the present application, the path difference condition includes that the distance between the positions of corresponding points in the first driving path and the second driving path is greater than a distance threshold; the driving condition includes that the driving speed corresponding to the current moment is greater than a preset driving speed.

[0190] In an embodiment of the present application, during the process of the target vehicle moving along the first driving path, the sensor unit in the target vehicle continuously detects the driving state information, current driving position and current environmental information of the target vehicle, and generates a second driving path based on the current driving position, current surrounding environment information and target position; if the distance between the positions of corresponding points in the first driving path and the second driving path is greater than a distance threshold, and / or the driving speed corresponding to the current moment is greater than a preset driving speed, based on the second information set, the target vehicle determines a third driving path of the target vehicle according to the current driving position, target position and current environmental information; generates a control instruction for the target vehicle on the third driving path according to the current posture information, vehicle parameter information and current environmental information; the target vehicle executes the control instruction to move from the current driving position to the target position to complete the remote vehicle moving.

[0191] As can be seen from the above, real-time acquisition of the vehicle's current driving position and surrounding environment information enables the system to dynamically adjust the driving path to respond to emergencies or road changes; when the second driving path is significantly different from the first driving path, the system can quickly identify and generate new control instructions to ensure that the vehicle can safely and accurately reach the target location, thereby improving the flexibility and adaptability of the driving path. Real-time monitoring of driving status information (such as vehicle speed, acceleration, steering angle, etc.) When the driving status information does not meet the driving conditions, the system can immediately update the control instructions and take measures such as deceleration and parking to avoid accidents. By dynamically adjusting the driving path and driving parameters, the system can reduce unnecessary driving time and energy consumption, improve driving efficiency, and at the same time ensure the driving safety of the vehicle during remote vehicle movement.

[0192] The remote car moving system of the remote car moving control method is exemplarily described below through a specific embodiment. The remote car moving system includes a mobile phone application end (corresponding to the above-mentioned terminal) and a vehicle end (corresponding to the above-mentioned vehicle).

[0193] The mobile application includes a user registration and login module, a vehicle connection and control module, a 360-degree vehicle overhead view display module, a custom parking space frame setting module, a command generation and transmission module, and a safety protection mechanism.

[0194] The user registration and login module is used for users to log in to the automatic car moving application to perform car moving operations. Here, user information is stored using encryption technology to ensure the security of user information. At the same time, during the user login process, multiple identity authentication methods are supported, such as fingerprint recognition, facial recognition, etc.

[0195] The vehicle connection and control module is used to communicate with the vehicle. Of course, it can also optimize the communication protocol according to the network status, improve the connection stability, and reduce the data packet loss rate. At the same time, it has an automatic reconnection function to ensure that the connection with the vehicle can be maintained even when the network is unstable.

[0196] The 360-degree vehicle top view display module is used to display and update the vehicle and surrounding environment information in real time, with a display accuracy of centimeters. It supports multi-angle viewing, and users can switch viewing angles freely.

[0197] Among them, the custom parking space frame setting module is used to define and adjust the parking space frame. The dragging operation of the parking space frame is more sensitive and supports fine-tuning function with accuracy to the millimeter level. At the same time, the parking space frame size adjustment function is provided to meet the needs of different parking scenarios.

[0198] Among them, the instruction generation and transmission module is used to generate and transmit control instructions. It should be noted that this module uses advanced algorithms to optimize the instruction generation process and reduce the instruction generation time. In the process of transmitting control instructions, data compression technology is used to improve instruction transmission efficiency and reduce the impact of network delay.

[0199] Among them, the security protection mechanism, the application end has a firewall function, which can effectively prevent external malicious attacks. At the same time, regular security scans and vulnerability detection are carried out to promptly repair discovered security vulnerabilities. In addition, the application end will also log the user's operations so that they can be traced and investigated when security issues occur.

[0200] The vehicle end includes a central control unit, a communication unit, a sensor unit and an execution unit.

[0201] The central control unit has powerful computing capabilities and can quickly parse and process control instructions from the mobile phone application. The central control unit can adopt a redundant design to improve the reliability of the system.

[0202] The communication unit can support multiple network modes, such as 4G / 5G, WiFi, etc., to ensure high-speed and stable data transmission. It has the function of signal strength monitoring and automatically switches to the optimal network.

[0203] Among them, the sensor units include but are not limited to position sensors, speed sensors, angle sensors and obstacle detection sensors. The position sensor adopts a high-precision global positioning system (GPS) and an inertial navigation system to improve positioning accuracy; the speed sensor has the ability to monitor vehicle speed changes in real time, and the response time is less than milliseconds; the angle sensor has an accuracy of less than degrees to ensure the accuracy of vehicle steering; the obstacle detection sensor is used to detect the distance and type of obstacles to determine the safety of vehicle driving.

[0204] The execution unit, including high-performance components such as the drive system, steering system and braking system, has fast response speed and precise action. At the same time, it has fault detection and alarm functions to ensure the safety of the vehicle during movement.

[0205] Furthermore, the embodiment of the present application provides a control method based on remote vehicle movement, which can alleviate the operation delay problem caused by network influence and make it more convenient by changing the way of operating vehicle movement at the functional interaction level. Fig.14 , Fig.14 It is a specific overall flow chart of a remote vehicle moving control method shown in an exemplary embodiment of the present application, which is applied to the above-mentioned remote vehicle moving system. The method can be implemented through the following steps.

[0206] Step 801: The user completes registration and login on the mobile application, and establishes a connection with the vehicle through a communication protocol.

[0207] Here, the car owner opens the car moving application on the mobile phone and enters the login information. The terminal will automatically detect the network status of the mobile phone and select the optimal network or communication protocol to send a connection request to the vehicle to establish a communication connection. The connection request carries a connection identifier (one or more of the user identifier, vehicle identifier, and dynamic code identifier). The communication unit on the vehicle side receives the connection request and establishes two-way communication with the mobile phone application side after confirming the identity based on the connection identifier. After the connection is established, the mobile phone application side will display the connection status and signal strength in real time.

[0208] Step 802: The sensor unit on the vehicle side transmits the collected vehicle data to the mobile phone application side.

[0209] Here, the sensor unit includes, but is not limited to, a position sensor, a speed sensor, an angle sensor, an obstacle detection sensor, and the like.

[0210] Here, the vehicle data (corresponding to the first information set mentioned above) includes but is not limited to the precise initial position of the vehicle, the vehicle body orientation angle, the wheel steering angle, the obstacle distance around the vehicle, the map data of the scene where the vehicle is located, and the vehicle performance parameters, etc.

[0211] Here, the sensor unit on the vehicle side collects the real-time status information of the vehicle at a fixed frequency, encodes the collected vehicle data in a specific format, and sends it to the mobile phone application side through the vehicle's communication unit.

[0212] Step 803: The mobile application generates a 360-degree bird's-eye view of the vehicle based on the vehicle data.

[0213] Here, after receiving the vehicle data, the mobile application uses the A-star algorithm and graphics engine to generate a 360-degree bird's-eye view of the vehicle based on the vehicle data (corresponding to the panoramic image information mentioned above). In the 360-degree bird's-eye view, the vehicle's position, posture and surrounding environment are clearly visible, and the image refresh frequency is high, ensuring that users can understand the situation around the vehicle in real time.

[0214] Step 804: The user determines the desired target location by dragging the parking space frame on the 360-degree bird's-eye view of the mobile application.

[0215] Here, the user specifies an empty target position by dragging the parking space frame on the 360-degree bird's-eye view. It should be noted that when the user drags the parking space frame to determine the target position, the mobile application will provide real-time distance and angle prompts between the vehicle and the obstacle to help the user locate more accurately. At the same time, after determining the target position, the mobile application can also send the target position to the vehicle. The vehicle will automatically determine whether the target position is reasonable, such as whether the area size of the target position is appropriate, whether there are obstacles at the target position, etc., and give corresponding prompts. After the judgment is completed, the judgment result will be sent to the mobile application so that subsequent operations can be performed based on the judgment result.

[0216] Step 805: The mobile application generates a control instruction including detailed parameters such as the driving path, speed, and steering angle according to the user's parking space frame dragging operation and in combination with the vehicle's current state and surrounding environment information.

[0217] Here, after the mobile application receives the dragging operation from the car owner, it starts the control instruction generation program; when the mobile application generates the control instruction based on the user's parking space frame dragging operation, it calculates the shortest and safest driving path based on the vehicle's current position and target position; at the same time, combined with the vehicle's current state, vehicle performance parameters, surrounding environment information, parking lot rules and relevant regulations, it determines the vehicle's initial starting speed, acceleration and deceleration strategies during driving, steering timing and angle and other detailed parameters to avoid collisions between the vehicle and other vehicles or obstacles during movement, while complying with the speed limit regulations of the parking lot.

[0218] Step 806: The mobile application transmits the control command to the central control unit of the vehicle through the communication network.

[0219] Here, the mobile application sends the generated control instructions to the central control unit of the vehicle through the communication network in the form of encrypted data packets; in this way, the integrity and accuracy of the instructions are ensured. If data is lost during the transmission process, the mobile application will automatically resend the control instructions.

[0220] Step 807, the central control unit of the vehicle parses and processes the control instruction, and controls the execution unit to perform corresponding actions, such as starting the vehicle, adjusting the speed, steering, braking, etc., so that the vehicle moves toward the target parking position.

[0221] Here, after receiving the control command, the central control unit on the vehicle side decodes and analyzes the control command. The speed control command is sent to the vehicle's power system, i.e., the execution unit, to adjust the throttle opening or brake pressure to control the vehicle speed. The steering control command is passed to the steering system, i.e., the execution unit, to accurately control the steering angle of the wheel. At the same time, when executing the control command, the execution unit will provide real-time feedback on the execution status to the central control unit so that the central control unit can adjust the control command in time.

[0222] Step 808, during the movement of the vehicle, the sensor unit continuously monitors the vehicle status and transmits the information back to the central control unit in real time. The central control unit dynamically adjusts and optimizes the control instructions based on the feedback information, so that the vehicle finally stops at the designated target position accurately.

[0223] Here, during the movement of the vehicle, the sensor unit continuously monitors the vehicle's status and sends new vehicle data to the central control unit in real time. The central control unit compares the new vehicle data with the expected driving path and status. If deviations are found, such as the vehicle deviating from the planned path or abnormal speed, the control instructions are dynamically adjusted and optimized, such as adjusting the timing and strength of acceleration, deceleration and steering according to the actual speed and position of the vehicle, to ensure that the vehicle moves safely and accurately to the target location.

[0224] From the above, it can be seen that the beneficial effects of this application are:

[0225] This application allows users to more intuitively specify the target parking position by customizing the parking space frame, which improves the accuracy and convenience of moving the car. Users can flexibly drag the parking space frame according to actual needs to accurately locate the parking position of the vehicle. The display effect of the parking space frame is clearer, and users can clearly see the relationship between the parking space frame and the surrounding environment.

[0226] The remote car moving system and method of the present application has high practicality and versatility, is applicable to various parking scenarios, and provides users with a better parking experience. Whether in a narrow parking lot or a complex parking environment, the system can play a good role and meet the user's car moving needs.

[0227] This application also has the advantages of simple operation and easy to use. Users only need to perform simple operations through the mobile phone application to realize remote car moving. With a friendly interactive interface, the system will give users feedback in time, so that users can clearly understand the current status of the vehicle and the progress of the car moving, enhancing the user's operating experience. This friendly interactive design allows users to use the system to move the car remotely more conveniently and comfortably. In addition, the interactive method of the custom parking space frame can better alleviate the problem of network delay compared to the four-way button method of controlling the car. The custom parking space frame can convey the user's intention more accurately and reduce the misunderstanding of commands caused by network delays, so that the vehicle can respond to operations more quickly and accurately. In the case of high network delay, the system will automatically reduce the frequency of sending commands to avoid control confusion caused by frequent sending of commands.

[0228] The present application embodiment provides a remote control device for moving a vehicle, referring to Fig.15 As shown, Fig.15 This is a schematic diagram of the structure of a remote vehicle moving control device provided in an embodiment of the present application. The remote vehicle moving control device 15 includes:

[0229] The first receiving module 1501 is used to receive a first information set sent by a target vehicle; wherein the first information set includes an initial position and surrounding environment information of the target vehicle, and the surrounding environment information at least includes a positional relationship between the target vehicle and a vehicle to be passed;

[0230] A determination module 1502 is used to determine whether the target vehicle meets the vehicle moving condition corresponding to the position relationship based on the surrounding environment information;

[0231] The determination module 1502 is further configured to determine a target parking position of the target vehicle based on the first information set when the vehicle moving condition is met;

[0232] A generating module 1503 is used to generate a control instruction of a target vehicle according to the initial position, the target position and the surrounding environment information;

[0233] The first sending module 1504 is used to send a control instruction to the target vehicle, so that the target vehicle executes the control instruction to move to the target position to complete the remote vehicle moving.

[0234] The present application embodiment provides a remote control device for moving a vehicle, referring to Fig.16 As shown, Fig.16 The schematic diagram of the structure of a remote vehicle moving control device provided in an embodiment of the present application, the remote vehicle moving control device 16 comprises:

[0235] The acquisition module 1601 is used to acquire a first information set; wherein the first information set includes an initial position of the target vehicle and surrounding environment information, and the surrounding environment information at least includes a positional relationship between the target vehicle and the vehicle to be passed;

[0236] The second sending module 1602 is used to send the first information set to the terminal, so that the terminal determines whether the target vehicle meets the vehicle moving condition corresponding to the position relationship based on the surrounding environment information; if the vehicle moving condition is met, determine the target position of the target vehicle based on the first information set; generate a control instruction for the target vehicle according to the initial position, the target position and the surrounding environment information;

[0237] The second receiving module 1603 is used to receive and execute the control command sent by the terminal to move the target vehicle to the target position, thereby completing the remote vehicle moving.

[0238] An embodiment of the present application provides a computer device, which may be a vehicle or a terminal. The computer device includes: a transceiver, a memory, and a processor.

[0239] The memory stores a computer program executable on the processor;

[0240] The transceiver is used to perform the operation of receiving data or sending data under the control of the processor;

[0241] When the processor executes the computer program, part or all of the steps in the remote vehicle moving control method described in the above embodiment are implemented.

[0242] The embodiment of the present application provides a computer-readable storage medium, which stores one or more computer programs, and the one or more computer programs can be executed by one or more processors to implement some or all of the steps in the above method. The storage medium can be transient or non-transient.

[0243] An embodiment of the present application provides a computer program, including a computer-readable code. When the computer-readable code is run in a computer device, a processor in the computer device executes some or all of the steps for implementing the above method.

[0244] The embodiment of the present application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and when the computer program is read and executed by a computer, some or all of the steps in the above method are implemented. The computer program product can be implemented specifically by hardware, software or a combination thereof. In some embodiments, the computer program product is specifically embodied as a computer storage medium, and in other embodiments, the computer program product is specifically embodied as a software product, such as a software development kit (SDK) and the like.

[0245] It should be noted here that the description of the various embodiments above tends to emphasize the differences between the various embodiments, and the same or similar aspects can be referenced to each other. The description of the above device, storage medium, computer program and computer program product embodiments is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the embodiments of the device, storage medium, computer program and computer program product of this application, please refer to the description of the method embodiment of this application for understanding.

[0246] A hardware entity diagram of a computer device provided in an embodiment of the present application, the computer device may be a vehicle or a terminal, such as Fig.17 As shown, the hardware entity of the computer device 17 includes: a processor 1701, a memory 1702 and a transceiver 1703, wherein the memory 1702 stores a computer program that can be run on the processor 1701, and the transceiver 1703 is used to perform operations of receiving data or sending data under the control of the processor; the processor 1701 executes part or all of the steps in the remote vehicle moving control method described above.

[0247] Among them, the memory 1702 stores a computer program that can be run on the processor. The memory 1702 is configured to store instructions and applications executable by the processor 1701. It can also cache data to be processed or processed by the processor 1701 and various modules in the computer device 17 (for example, image data, audio data, voice communication data, and video communication data), which can be implemented through flash memory (FLASH) or random access memory (Random Access Memory, RAM).

[0248] The processor 1701 generally controls the overall operation of the computer device 17 .

[0249] The transceiver 1703 receives data or sends data under the control of the processor.

[0250] An embodiment of the present application provides a storage medium, which stores one or more computer programs. The one or more computer programs can be executed by one or more processors to implement the steps of the remote vehicle moving control method of any of the above embodiments.

[0251] It should be noted here that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium and device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0252] The processor may be at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a Central Processing Unit (CPU), a controller, a microcontroller, and a microprocessor. It is understandable that the electronic device that implements the functions of the processor may also be other, and the embodiments of the present application are not specifically limited.

[0253] The above-mentioned computer storage medium / memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory (Flash Memory), a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM) and the like; it can also be various terminals including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0254] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the size of the serial number of each step / process mentioned above does not mean the order of execution, and the execution order of each step / process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. The serial numbers of the embodiments of the present application mentioned above are for description only and do not represent the advantages and disadvantages of the embodiments.

[0255] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0256] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0257] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0258] In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be a separate unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0259] A person skilled in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, etc., various media that can store program codes.

[0260] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a vehicle-mounted terminal (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0261] The above is only an implementation method of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the 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.

Claims

1. A remote vehicle moving control method, characterized in that: Applied to a terminal, the method comprises: Receive a first information set sent by a target vehicle; wherein the first information set includes an initial position and surrounding environment information of the target vehicle, and the surrounding environment information at least includes a positional relationship between the target vehicle and a vehicle to be passed; Based on the surrounding environment information, determining whether the target vehicle meets the vehicle moving condition corresponding to the position relationship; When the vehicle moving condition is met, determining a target parking position of the target vehicle based on the first information set; Generate a control instruction for the target vehicle according to the initial position, the target position and the surrounding environment information; The control instruction is sent to the target vehicle so that the target vehicle executes the control instruction to move to the target position, thereby completing the remote vehicle moving.

2. The remote vehicle moving control method according to claim 1, characterized in that: The determining, based on the surrounding environment information, whether the target vehicle satisfies the vehicle moving condition corresponding to the position relationship includes: Obtaining the distance between the target vehicle and each obstacle in the surrounding environment information; If at least one first distance between the target vehicle and the front and rear obstacles is greater than or equal to the first reference distance corresponding to the positional relationship, it is determined that the target vehicle meets the vehicle moving condition corresponding to the positional relationship; If multiple first distances are all smaller than the first reference distance corresponding to the positional relationship, obtain the second distance between the target vehicle and the left or right obstacle line, as well as multiple third distances between the adjacent side position of the target vehicle and the front and rear obstacles; if at least one third distance is greater than or equal to the first reference distance corresponding to the positional relationship, and the second distance is greater than or equal to the second reference distance corresponding to the positional relationship, determine that the target vehicle meets the vehicle moving condition corresponding to the positional relationship; wherein, the first reference distance and the second reference distance corresponding to different positional relationships are different.

3. The remote vehicle moving control method according to claim 2, characterized in that: The positional relationship includes a parallel positional relationship and a vertical positional relationship, wherein: The first reference distance corresponding to the parallel position relationship is the sum of the body length of the target vehicle and the first preset distance, and the second reference distance corresponding to the parallel position relationship is the sum of the body width of the target vehicle and the second preset distance, and the second preset distance is greater than the first preset distance; The first reference distance corresponding to the vertical position relationship is the sum of the body length of the target vehicle and the third preset distance; wherein the third preset distance is less than or equal to the first preset distance and greater than the fourth preset distance; the second reference distance corresponding to the vertical position relationship is the sum of the body width of the target vehicle and the fifth preset distance, wherein the fifth preset distance is less than or equal to the second preset distance and greater than the sixth preset distance, and the fifth preset distance is greater than the third preset distance.

4. The remote vehicle moving control method according to claim 1, characterized in that: The position relationship includes a vertical position relationship between the target vehicle and the vehicle to be passed, and determining whether the target vehicle satisfies a vehicle moving condition corresponding to the position relationship based on the surrounding environment information includes: Acquire a fourth distance between a first body end of the target vehicle and a first reference obstacle in a first direction, and a fifth distance between a second body end opposite to the first body end and a second reference obstacle in a second direction; the surrounding environment information includes the fourth distance and the fifth distance; Acquire a sixth distance between the first vehicle body end and a first lateral vehicle body side portion of the vehicle to be passed, and a seventh distance between the second vehicle body end and a second lateral vehicle body side portion opposite to the first lateral vehicle body side portion; wherein the first vehicle body end and the second lateral vehicle body side portion are close to the first reference obstacle, and the second vehicle body end and the first lateral vehicle body side portion are close to the second reference obstacle, and the surrounding environment information includes the sixth distance and the seventh distance; If the fourth distance is greater than or equal to the sum of the seventh distance and the seventh preset distance, and / or the fifth distance is greater than or equal to the sum of the sixth distance and the eighth preset distance, it is determined that the target vehicle meets the vehicle moving condition corresponding to the vertical position relationship.

5. The remote vehicle moving control method according to any one of claims 1 to 4, characterized in that: The step of determining the target location where the target vehicle is parked based on the first information set includes: Based on the first information set, generating panoramic image information of the target vehicle, and displaying the panoramic image information and a parking space frame in a display area; In response to the movement operation on the parking space frame, displaying first prompt information in the display area; wherein the first prompt information includes the distance and angle between the parking space frame and each obstacle; In response to a stop movement operation applied to the parking space frame, the target position is determined based on the acquired position of the parking space frame on the display area and the panoramic image information.

6. The remote vehicle moving control method according to claim 5, characterized in that: The first information set also includes map data of the scene where the target vehicle is located, and the method further includes: Determine the size of the parking space in the scene where the target vehicle is located based on the map data of the scene where the target vehicle is located; Based on the parking space size and the panoramic image information, the size of the parking space frame is adjusted, and it is determined that the adjusted parking space frame size meets the parking space size requirement of the scene in the panoramic image information.

7. The remote vehicle moving control method according to any one of claims 1 to 4, characterized in that: The first information set further includes: posture information and vehicle parameter information. The generating of the control instruction of the target vehicle according to the initial position, the target position, the position relationship and the surrounding environment information includes: Determining a first driving path of the target vehicle according to the initial position, the target position and the surrounding environment information; A control instruction for the target vehicle on the first driving path is generated based on the posture information, the vehicle parameter information and the surrounding environment information; the control instruction includes the first driving path and the vehicle driving parameters, and the vehicle driving parameters include one or more of the following: initial starting speed, acceleration and deceleration strategies during driving, turning timing and steering angle.

8. A remote vehicle moving control method, characterized in that: Applied to a vehicle, the method comprises: Collecting a first information set; wherein the first information set includes an initial position and surrounding environment information of the target vehicle, and the surrounding environment information at least includes a positional relationship between the target vehicle and the vehicle to be passed; Sending the first information set to a terminal so that the terminal determines whether the target vehicle satisfies the vehicle moving condition corresponding to the position relationship based on the surrounding environment information; if the vehicle moving condition is satisfied, determining the target position of the target vehicle based on the first information set; and generating a control instruction for the target vehicle according to the initial position, the target position and the surrounding environment information; Receive and execute the control command sent by the terminal, move the target vehicle to the target position, and thus complete the remote vehicle moving.

9. The remote vehicle moving control method according to claim 8, characterized in that: The control instruction includes a first driving path and vehicle driving parameters, wherein the vehicle driving parameters include one or more of the following: initial starting speed, acceleration and deceleration strategies during driving, steering timing and steering angle, and receiving and executing the control instruction sent by the terminal to move the target vehicle to the target position, thereby completing remote vehicle moving, including: The control instruction is received by the central control unit of the target vehicle, and the control instruction is decomposed according to the types of the execution units to obtain multiple types of control sub-instructions; Each of the control sub-instructions is sent to a corresponding execution unit. When the target vehicle moves along the first driving path, each of the execution units executes a corresponding control sub-instruction and moves according to the vehicle driving parameters, thereby controlling the target vehicle to move to the target position to complete remote vehicle moving.

10. The remote vehicle moving control method according to claim 9, characterized in that: The method further comprises: In the process of the target vehicle moving along the first driving path, a second information set of the target vehicle is obtained; wherein the second information set includes driving state information, current driving position and current surrounding environment information of the target vehicle; generating a second driving path based on the current driving position, current surrounding environment information and the target position; If the second driving path and the first driving path do not satisfy a path difference condition, and / or the driving state information does not satisfy a driving condition, the control instruction is updated based on the second information set.

11. A computer device, characterized in that: The computer device comprises: a transceiver, a memory and a processor. The memory stores a computer program executable on the processor; The transceiver is used to perform the operation of receiving data or sending data under the control of the processor; When the processor executes the computer program, the remote vehicle moving control method according to any one of claims 1 to 7 is implemented, or the remote vehicle moving control method according to any one of claims 8 to 10 is implemented.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more computer programs, and the one or more computer programs can be executed by one or more processors to implement the remote vehicle moving control method as described in any one of claims 1 to 7, or the remote vehicle moving control method as described in any one of claims 8 to 10.

13. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed by the processor, the remote vehicle moving control method according to any one of claims 1 to 7 or the remote vehicle moving control method according to any one of claims 8 to 10 is implemented.

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