Remote control parking control method and device, electronic equipment and storage medium

Abstract

The invention discloses a remote control parking control method and device, electronic equipment and a storage medium, and relates to the technical field of intelligent driving. The method is applied to an advanced driving assistance system of a vehicle and comprises the steps that a remote control parking instruction for the vehicle is received; and in response to the remote control parking instruction, controlling the vehicle to execute a parking task under the conditions that the main driving position of the vehicle is determined to be unmanned, all vehicle doors of the vehicle are in a closed state, a Bluetooth key connected with the vehicle is located outside the vehicle, and the distance between the Bluetooth key and the vehicle is greater than a preset distance, parking information of the vehicle executing the parking task is sent to a user terminal of a user to which the vehicle belongs; and in the process that the vehicle executes the parking task, in response to a parking pause instruction triggered by the user through the Bluetooth key and / or the user terminal, the vehicle is controlled to pause execution of the parking task. According to the invention, the driver can remotely monitor the vehicle parking process and trigger parking pause, the convenience and intelligence of remote control parking are improved, and the user experience is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a remote control parking method, device, electronic device and storage medium. Background Art

[0002] Traditional remote parking systems require the driver to maintain real-time on-site or near-end monitoring of vehicle operations during the parking process, which greatly limits the driver's convenience. Specifically, when the vehicle encounters potential risks or requires an emergency stop during parking, the driver must take manual actions, such as pulling the door handle to pause the parking process. This parking control mode that relies on immediate manual intervention is not only cumbersome, but also significantly reduces the user experience, and fails to fully realize the convenience and intelligent expectations of remote parking. Summary of the invention

[0003] In response to the above technical problems, the embodiments of the present application provide a remote parking control method, device, electronic device and storage medium, which can enable the driver to remotely monitor the vehicle parking process and trigger parking pause, thereby improving the convenience and intelligence of remote parking and further improving the user experience.

[0004] The technical solution of this application is implemented as follows:

[0005] In a first aspect, an embodiment of the present application provides a remote parking control method, which is applied to an advanced driver assistance system (ADS) of a vehicle, and the method includes:

[0006] receiving a remote control parking instruction for the vehicle;

[0007] In response to the remote parking instruction, when it is determined that there is no one in the main driving seat of the vehicle, all doors of the vehicle are closed, a Bluetooth key connected to the vehicle is located outside the vehicle, and the distance between the Bluetooth key and the vehicle is greater than a preset distance, the vehicle is controlled to perform a parking task, and parking information of the vehicle performing the parking task is sent to a user terminal of the user to whom the vehicle belongs;

[0008] During the process of the vehicle executing the parking task, in response to a parking pause instruction triggered by the user through the Bluetooth key and / or the user terminal, the vehicle is controlled to pause executing the parking task.

[0009] In some embodiments, sending the parking information of the vehicle executing the parking task to the user terminal of the user to which the vehicle belongs includes:

[0010] The parking information of the vehicle executing the parking task is sent to the vehicle's telematics processor T-BOX, so that the T-BOX forwards the parking information to the user terminal through a cloud server.

[0011] In some embodiments, in response to the remote parking instruction, when it is determined that there is no one in the main driving seat of the vehicle, all doors of the vehicle are closed, a Bluetooth key connected to the vehicle is located outside the vehicle, and the distance between the Bluetooth key and the vehicle is greater than a preset distance, controlling the vehicle to perform a parking task, and sending parking information of the vehicle performing the parking task to a user terminal of the user to whom the vehicle belongs, includes:

[0012] In response to the remote parking instruction, when it is determined that no one is in the main driving seat of the vehicle and all doors of the vehicle are closed, obtaining target information from a body control module (BCM) of the vehicle;

[0013] When it is determined that the target information indicates that the Bluetooth key connected to the vehicle is located outside the vehicle and the distance between the Bluetooth key and the vehicle is greater than a preset distance, the vehicle is controlled to perform a parking task, and parking information of the vehicle performing the parking task is sent to a user terminal of the user to which the vehicle belongs.

[0014] In some embodiments, the remote parking control method further includes:

[0015] When the vehicle is performing the parking task, if an abnormal behavior inconsistent with a normal parking process is detected, the vehicle is controlled to suspend the parking task and an alarm message is sent to the user terminal.

[0016] In some embodiments, controlling the vehicle to perform a parking task includes:

[0017] Sending a first request signal to a vehicle control unit VCU of the vehicle; the first request signal is used to request the VCU to set the state of the vehicle to a Ready state;

[0018] When a feedback signal sent by the VCU in response to the first request signal is received, the vehicle is controlled to perform a parking task.

[0019] In some embodiments, the remote parking control method further includes:

[0020] After controlling the vehicle to suspend the parking task, a second request signal is sent to the vehicle control unit VCU; the second request signal is used to request the VCU to convert the state of the vehicle from the Ready state to the Non-Ready state, and to set the gear position of the vehicle to the parking gear.

[0021] In some embodiments, the remote parking control method further includes:

[0022] When it is determined that the vehicle has completed the parking task, a third request signal is sent to the vehicle control unit VCU, and a fourth request signal is sent to the body control module BCM of the vehicle; the third request signal is used to request the VCU to convert the state of the vehicle from the Ready state to the Non-Ready state, and the fourth request signal is used to request the BCM to perform a vehicle power-off operation.

[0023] In a second aspect, an embodiment of the present application provides a remote parking control device, which is applied to an advanced driver assistance system ADS of a vehicle, and the device includes:

[0024] A receiving module, used for receiving a remote control parking instruction for the vehicle;

[0025] a first response module, configured to respond to the remote control parking instruction, control the vehicle to perform a parking task, and send parking information of the vehicle performing the parking task to a user terminal of the user to which the vehicle belongs, when it is determined that no one is in the main driving seat of the vehicle, all doors of the vehicle are closed, a Bluetooth key connected to the vehicle is located outside the vehicle, and a distance between the Bluetooth key and the vehicle is greater than a preset distance;

[0026] The second response module is used to control the vehicle to pause the parking task in response to a parking pause instruction triggered by the user through the Bluetooth key and / or the user terminal during the process of the vehicle performing the parking task.

[0027] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory and a processor, wherein the memory is used to store executable data instructions; when the processor is used to execute the executable data instructions stored in the memory, the steps in the remote control parking control method described in the first aspect are implemented.

[0028] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps in the remote parking control method described in the first aspect are implemented.

[0029] The remote parking control method, device, electronic device and storage medium provided in the embodiments of the present application receive a remote parking command for the vehicle through the advanced driving assistance system ADS of the vehicle, and then respond to the remote parking command, control the vehicle to perform a parking task when it is determined that there is no one in the main driving seat of the vehicle, all the doors of the vehicle are closed, the Bluetooth key connected to the vehicle is located outside the vehicle, and the distance between the Bluetooth key and the vehicle is greater than a preset distance, and send parking information of the vehicle performing the parking task to the user terminal of the user to whom the vehicle belongs, so that the user or driver of the vehicle can monitor the parking process of the vehicle remotely; and, during the process of the vehicle performing the parking task, the ADS can also respond to the parking pause command triggered by the user through the Bluetooth key and / or the user terminal to control the vehicle to pause the parking task, so that when the vehicle encounters potential risks or needs to stop urgently during parking, the user or driver of the vehicle can trigger the parking pause remotely, thereby improving the convenience and intelligence of remote parking, and thus improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 One of the flowcharts of a remote parking control method provided in an embodiment of the present application;

[0032] Figure 2 A second flowchart of a remote parking control method provided in an embodiment of the present application;

[0033] Figure 3 A third flowchart of a remote parking control method provided in an embodiment of the present application;

[0034] Figure 4 A fourth flowchart of a remote parking control method provided in an embodiment of the present application;

[0035] Figure 5 A fifth flowchart of a remote parking control method provided in an embodiment of the present application;

[0036] Figure 6 A sixth flowchart of a remote parking control method provided in an embodiment of the present application;

[0037] Figure 7 A seventh flowchart of a remote parking control method provided in an embodiment of the present application;

[0038] Figure 8 A schematic diagram of the principle of remote parking control provided in an embodiment of the present application;

[0039] Fig. 9 An interactive schematic diagram of a remote parking control provided in an embodiment of the present application;

[0040] Fig.10 A schematic diagram of the structure of a remote parking control device provided in an embodiment of the present application;

[0041] Fig.11 A schematic diagram of the physical structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0043] The following is an illustrative introduction to the remote parking control method, device, electronic device and storage medium provided in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application.

[0044] Figure 1 One of the flow charts of a remote parking control method provided in an embodiment of the present application, the method is applied to an advanced driver assistance system (Advanced Driver Assistance System, ADS) of a vehicle, such as Figure 1 As shown, the method includes:

[0045] S101: Receive a remote control parking instruction for the vehicle.

[0046] It should be noted that the vehicle in the embodiment of the present application can be any vehicle that supports the remote parking function.

[0047] It should be noted that the vehicle's advanced driver assistance system ADS integrates multiple technologies and is committed to improving the driver's driving safety and comfort. It can collect environmental data inside and outside the vehicle through on-board sensors (such as radar, camera, lidar, etc.), and perform technical processing such as detection, identification and tracking of dynamic and static objects, thereby providing the driver with active safety technologies such as safety warning, braking or steering assistance. These functions work together to provide the driver with a safer driving environment and reduce the probability of accidents during driving.

[0048] In some embodiments, the driver can select the target parking space on the central control panel of the vehicle and then click on remote parking, and the central control panel will send a remote parking instruction to the ADS. Correspondingly, the ADS will receive the remote parking instruction sent by the central control panel.

[0049] It should be noted that after the driver selects the target parking space, the driver can step on the brakes and click remote parking on the vehicle's central control panel, and release the brakes to shift into the parking (P) gear. At this time, the vehicle's parking state machine enters the Ready state, that is, the vehicle's automatic parking system is ready to start parking operations.

[0050] In some embodiments, the ADS may receive remote parking instructions sent by the driver or user via a user terminal (eg, a mobile phone application (Application, APP)), a remote control device such as a Bluetooth key connected to the vehicle, or the like.

[0051] S102. In response to the remote parking instruction, when it is determined that there is no one in the main driving seat of the vehicle, all the doors of the vehicle are closed, the Bluetooth key connected to the vehicle is located outside the vehicle, and the distance between the Bluetooth key and the vehicle is greater than a preset distance, control the vehicle to perform a parking task, and send parking information of the vehicle performing the parking task to the user terminal of the user to whom the vehicle belongs.

[0052] It should be noted that the preset distance in the embodiment of the present application can be adaptively set based on actual applications, and the embodiment of the present application does not specifically limit this. For example, the preset distance is 2 meters, 5 meters, 10 meters or 15 meters.

[0053] It is understandable that after receiving the remote parking command, ADS determines that there is no one in the main driving seat of the vehicle, all the doors of the vehicle are closed, the Bluetooth key connected to the vehicle is outside the vehicle, and the distance between the Bluetooth key and the vehicle is greater than the preset distance, which means that the user needs the vehicle to be automatically parked without anyone. At this time, ADS can respond to the received remote parking command, control the vehicle to perform the parking task, and send the parking information of the vehicle performing the parking task to the user terminal of the user to whom the vehicle belongs.

[0054] In some embodiments, ADS can collect environmental data inside and outside the vehicle through on-board sensors (such as radar, camera, lidar, etc.), and based on the collected environmental data, it can determine whether there is someone in the main driver's seat of the vehicle and whether all the doors of the vehicle are closed.

[0055] In some embodiments, the parking information of the vehicle performing the parking task may include parking space coordinate information, path planning information, state machine information, etc. ADS sends this information to the user terminal (such as a mobile phone APP) of the user to which the vehicle belongs, so that the user can remotely monitor the vehicle parking process in real time.

[0056] In some embodiments, the user terminal may display parking information in a graphical manner, such as parking trajectory, parking space location, etc., so that the user can understand the parking process more intuitively.

[0057] S103: During the process of the vehicle executing the parking task, in response to a parking pause instruction triggered by the user through the Bluetooth key and / or the user terminal, controlling the vehicle to pause the execution of the parking task.

[0058] It should be noted that when the user remotely monitors the parking process of the vehicle and finds potential risks (such as collision risks) or needs emergency parking, the user can trigger the parking pause command through the Bluetooth key and / or the user terminal. After receiving the parking pause command, the ADS can promptly control the vehicle to pause the parking task.

[0059] In some embodiments, when the driver remotely monitors that there is a potential risk in the vehicle parking process, the driver can trigger a parking pause command by pressing any button on the Bluetooth key.

[0060] In some embodiments, when the driver remotely monitors that there is a potential risk in the vehicle parking process, the driver can trigger the parking pause command by clicking the parking pause button on the mobile phone APP, switching out of the parking interface of the mobile phone APP, and exiting the mobile phone APP.

[0061] In some embodiments, after the user triggers the parking pause command, the parking pause command will be received by the body control module (BCM) of the vehicle and forwarded to the ADS of the vehicle.

[0062] It should be noted that the body control module (BCM) is an electronic control system that integrates multiple body control functions. It can receive signals from various vehicle sensors and the driver's operating instructions to achieve precise control of various body components.

[0063] It can be understood that the remote parking control method provided in the embodiment of the present application receives the remote parking command for the vehicle through the advanced driving assistance system ADS of the vehicle, and then responds to the remote parking command, controls the vehicle to perform the parking task, and sends the parking information of the vehicle performing the parking task to the user terminal of the user to which the vehicle belongs, when it is determined that there is no one in the main driving seat of the vehicle, all the doors of the vehicle are closed, the Bluetooth key connected to the vehicle is located outside the vehicle, and the distance between the Bluetooth key and the vehicle is greater than the preset distance. In this way, the user or driver of the vehicle can monitor the parking process of the vehicle remotely; and, in the process of the vehicle performing the parking task, the ADS can also respond to the parking pause command triggered by the user through the Bluetooth key and / or the user terminal to control the vehicle to pause the execution of the parking task. In this way, when the vehicle encounters potential risks or needs to stop urgently during parking, the user or driver of the vehicle can trigger the parking pause remotely, which improves the convenience and intelligence of remote parking, thereby improving the user experience.

[0064] In some embodiments, sending the parking information of the vehicle executing the parking task to the user terminal of the user to which the vehicle belongs includes:

[0065] The parking information of the vehicle executing the parking task is sent to the vehicle's telematics processor T-BOX, so that the T-BOX forwards the parking information to the user terminal through a cloud server.

[0066] It should be noted that the vehicle's telematics box (T-BOX) is an intelligent terminal device that integrates vehicle body network and wireless communication functions. It is usually installed on the vehicle to collect vehicle data and transmit it to the cloud for processing.

[0067] In the embodiment of the present application, during the process of controlling the vehicle to perform a parking task, the ADS can send the parking information of the vehicle performing the parking task to the vehicle's remote information processor T-BOX. After receiving the parking information, the T-BOX can forward the parking information to the user terminal through the cloud server, so that the user can monitor the vehicle's parking progress and the surrounding environment of the parking in real time through the user terminal.

[0068] For example, Figure 2 The second flowchart of a remote parking control method provided in an embodiment of the present application is applied to an advanced driver assistance system ADS of a vehicle, such as Figure 2 As shown, the method includes:

[0069] S201: Receive a remote control parking instruction for the vehicle.

[0070] S202, in response to the remote parking instruction, when it is determined that there is no one in the main driving seat of the vehicle, all the doors of the vehicle are closed, the Bluetooth key connected to the vehicle is located outside the vehicle, and the distance between the Bluetooth key and the vehicle is greater than a preset distance, control the vehicle to perform a parking task, and send parking information of the vehicle performing the parking task to the vehicle's telematics processor T-BOX, so that the T-BOX forwards the parking information to the user terminal of the user to whom the vehicle belongs through the cloud server.

[0071] S203: During the process of the vehicle executing the parking task, in response to a parking pause instruction triggered by the user through the Bluetooth key and / or the user terminal, controlling the vehicle to pause executing the parking task.

[0072] It should be noted that, for the description of the same steps and the same contents in this embodiment as those in other embodiments, reference can be made to the description in other embodiments and will not be repeated here.

[0073] It can be understood that the embodiment of the present application sends the parking information of the vehicle performing the parking task to the remote information processor T-BOX, so that the T-BOX can effectively forward the parking information to the user terminal of the user to which the vehicle belongs through the cloud server. The user can remotely monitor the parking status in real time through the user terminal, thereby improving the user experience.

[0074] In some embodiments, in response to the remote parking instruction, when it is determined that there is no one in the main driving seat of the vehicle, all doors of the vehicle are closed, a Bluetooth key connected to the vehicle is located outside the vehicle, and the distance between the Bluetooth key and the vehicle is greater than a preset distance, controlling the vehicle to perform a parking task, and sending parking information of the vehicle performing the parking task to a user terminal of the user to whom the vehicle belongs, includes:

[0075] In response to the remote parking instruction, when it is determined that no one is in the main driving seat of the vehicle and all doors of the vehicle are closed, obtaining target information from a body control module (BCM) of the vehicle;

[0076] When it is determined that the target information indicates that the Bluetooth key connected to the vehicle is located outside the vehicle and the distance between the Bluetooth key and the vehicle is greater than a preset distance, the vehicle is controlled to perform a parking task, and parking information of the vehicle performing the parking task is sent to a user terminal of the user to which the vehicle belongs.

[0077] In the embodiment of the present application, after receiving the remote parking command, the ADS can respond to the remote parking command, and then collect environmental data inside and outside the vehicle through the vehicle-mounted sensors, and determine whether there is someone in the main driving seat of the vehicle and whether all the doors of the vehicle are closed based on the collected environmental data; when it is determined that there is no one in the main driving seat of the vehicle and all the doors of the vehicle are closed, obtain target information including the location of the Bluetooth key connected to the vehicle and the distance between the Bluetooth key and the vehicle from the vehicle's body control module BCM; when it is determined based on the target information that the Bluetooth key connected to the vehicle is located outside the vehicle, and the distance between the Bluetooth key and the vehicle is greater than a preset distance, control the vehicle to perform the parking task, and send the parking information of the vehicle performing the parking task to the user terminal of the user to whom the vehicle belongs.

[0078] It should be noted that the Bluetooth key is a smart key that uses Bluetooth technology to achieve functions such as unlocking and starting the vehicle. It communicates with the vehicle's in-vehicle Bluetooth system to achieve connection and control with the vehicle. In some embodiments, the in-vehicle Bluetooth system can obtain information such as the connection status and signal strength between the Bluetooth key. The connection status can indicate whether the Bluetooth key is successfully connected to the vehicle, and the signal strength can reflect the distance between the Bluetooth key and the vehicle to a certain extent. This is because the strength of the Bluetooth signal will gradually weaken as the distance increases.

[0079] In some embodiments, the vehicle-mounted Bluetooth system may transmit information such as the connection status and signal strength of the Bluetooth key to the BCM via a controller area network (CAN) or other communication protocols.

[0080] For example, Figure 3 The third flowchart of a remote parking control method provided in an embodiment of the present application is applied to an advanced driver assistance system ADS of a vehicle, such as Figure 3 As shown, the method includes:

[0081] S301: Receive a remote control parking instruction for the vehicle.

[0082] S302: In response to the remote parking instruction, when it is determined that no one is in the main driving seat of the vehicle and all doors of the vehicle are closed, obtaining target information from a body control module (BCM) of the vehicle.

[0083] S303: When it is determined that the target information indicates that the Bluetooth key connected to the vehicle is located outside the vehicle and the distance between the Bluetooth key and the vehicle is greater than a preset distance, control the vehicle to perform a parking task, and send parking information of the vehicle performing the parking task to a user terminal of the user to which the vehicle belongs.

[0084] S304: During the process of the vehicle executing the parking task, in response to a parking pause instruction triggered by the user through the Bluetooth key and / or the user terminal, controlling the vehicle to pause executing the parking task.

[0085] It should be noted that, for the description of the same steps and the same contents in this embodiment as those in other embodiments, reference can be made to the description in other embodiments and will not be repeated here.

[0086] It can be understood that the embodiment of the present application obtains target information including the location of the Bluetooth key connected to the vehicle and the distance between the Bluetooth key and the vehicle from the body control module BCM of the vehicle, and then determines whether the user has left the vehicle with the Bluetooth key and exceeded a certain distance based on the target information. If the location of the Bluetooth key connected to the vehicle is outside the vehicle and the distance between the Bluetooth key and the vehicle is greater than a preset distance, it means that the user has left the vehicle with the Bluetooth key and exceeded a certain distance, that is, the user is not at the near end of the vehicle at this time. In this case, the ADS can send the vehicle parking information to the user terminal, so that the user can remotely monitor the parking status in real time through the user terminal, thereby improving the user experience.

[0087] In some embodiments, the remote parking control method further includes:

[0088] When the vehicle is performing the parking task, if an abnormal behavior inconsistent with a normal parking process is detected, the vehicle is controlled to suspend the parking task and an alarm message is sent to the user terminal.

[0089] It should be noted that in the process of controlling the vehicle to perform parking tasks, ADS can collect environmental data inside and outside the vehicle through on-board sensors (such as radar, camera, lidar, etc.), and determine whether there is abnormal behavior in the vehicle parking process that is inconsistent with the normal parking process based on the environmental data. If there is abnormal behavior, the vehicle is controlled to suspend the parking task and send an alarm message to the user terminal to let the user know the reason why the vehicle suspends the parking task and prompt the user to take over the parking task in time.

[0090] In some embodiments, abnormal behaviors inconsistent with the normal parking process may include parking pause behaviors caused by non-driver button operations, such as strangers pulling the car door, pedestrians accidentally touching the vehicle, etc.

[0091] For example, Figure 4 A fourth flowchart of a remote parking control method provided in an embodiment of the present application is provided. The method is applied to an advanced driver assistance system ADS of a vehicle, such as Figure 4 As shown, the method includes:

[0092] S401: Receive a remote control parking instruction for the vehicle.

[0093] S402. In response to the remote parking instruction, when it is determined that there is no one in the main driving seat of the vehicle, all the doors of the vehicle are closed, the Bluetooth key connected to the vehicle is located outside the vehicle, and the distance between the Bluetooth key and the vehicle is greater than a preset distance, control the vehicle to perform a parking task, and send parking information of the vehicle performing the parking task to the user terminal of the user to whom the vehicle belongs.

[0094] S403: When an abnormal behavior inconsistent with a normal parking process is detected during the process of the vehicle performing the parking task, the vehicle is controlled to suspend the parking task and an alarm message is sent to the user terminal.

[0095] It should be noted that, for the description of the same steps and the same contents in this embodiment as those in other embodiments, reference can be made to the description in other embodiments and will not be repeated here.

[0096] It can be understood that the embodiment of the present application can ensure that the user or driver is aware of the abnormal situation in the parking process at the first time and take appropriate measures to ensure the safety and reliability of the parking process by controlling the vehicle to pause the parking task and sending an alarm message to the user terminal when abnormal behavior inconsistent with the normal parking process is detected during the vehicle's parking task.

[0097] In some embodiments, controlling the vehicle to perform a parking task includes:

[0098] Sending a first request signal to a vehicle control unit VCU of the vehicle; the first request signal is used to request the VCU to set the state of the vehicle to a Ready state;

[0099] When a feedback signal sent by the VCU in response to the first request signal is received, the vehicle is controlled to perform a parking task.

[0100] It should be noted that the Vehicle Control Unit (VCU) is the vehicle controller of an electric vehicle. As the central control module of new energy vehicles, VCU occupies a pivotal position in the overall automatic control system. It is equivalent to the Electronic Control Unit (ECU) of a gasoline vehicle, but its functions are more comprehensive and complex. VCU receives and processes signals from different control modules, such as the accelerator pedal, brake pedal, gear position, battery and motor, and thus realizes comprehensive control and management of the vehicle.

[0101] In an embodiment of the present application, after receiving a remote parking command from a vehicle, if the ADS determines that there is no one in the main driver's seat of the vehicle, all the doors of the vehicle are closed, the Bluetooth key connected to the vehicle is located outside the vehicle, and the distance between the Bluetooth key and the vehicle is greater than a preset distance, it can send a first request signal to the vehicle control unit VCU to request the VCU to set the vehicle's status to the Ready state, and then control the vehicle to perform the parking task when receiving a feedback signal sent by the VCU in response to the first request signal.

[0102] It should be noted that the Ready state refers to the state of "ready to go". In the automotive field, when a vehicle is in the Ready state, it means that it has completed the necessary self-checking and initialization process, the power system has been started and is ready to provide power, and the vehicle can start to drive safely.

[0103] It should be noted that after receiving the first request signal, the VCU will start to perform a series of inspections and preparations. This includes checking whether the vehicle's high-voltage system is powered on, whether the battery pack temperature is appropriate, whether there is a third-level fault in the system, etc. If all conditions are met, the VCU will send control instructions to the relevant power system, power battery system, etc. to put them into working order. Once the vehicle successfully enters the Ready state, the VCU will send a feedback signal to the ADS, indicating that the vehicle is ready. After determining that the vehicle is ready, the ADS controls the vehicle to perform the parking task.

[0104] In some embodiments, before controlling the vehicle to perform a parking task, the vehicle's BCM may also be requested to perform a locking operation to ensure that the vehicle doors remain locked during the parking process to prevent accidental opening and improve safety.

[0105] In some embodiments, before controlling the vehicle to perform a parking task, the vehicle's BCM may also be requested to turn on the vehicle's hazard lights to send a warning signal to surrounding vehicles and pedestrians, further improving parking safety.

[0106] For example, Figure 5 A fifth flowchart of a remote parking control method provided in an embodiment of the present application is provided, wherein the method is applied to an advanced driver assistance system ADS of a vehicle, such as Figure 5 As shown, the method includes:

[0107] S501: Receive a remote control parking instruction for the vehicle.

[0108] S502. In response to the remote parking instruction, when it is determined that there is no one in the main driving seat of the vehicle, all the doors of the vehicle are closed, the Bluetooth key connected to the vehicle is located outside the vehicle, and the distance between the Bluetooth key and the vehicle is greater than a preset distance, a first request signal is sent to a vehicle control unit VCU of the vehicle; the first request signal is used to request the VCU to set the state of the vehicle to Ready state.

[0109] S503: upon receiving a feedback signal sent by the VCU in response to the first request signal, controlling the vehicle to perform a parking task, and sending parking information of the vehicle performing the parking task to a user terminal of a user to which the vehicle belongs.

[0110] S504: During the process of the vehicle executing the parking task, in response to a parking pause instruction triggered by the user through the Bluetooth key and / or the user terminal, controlling the vehicle to pause executing the parking task.

[0111] It should be noted that, for the description of the same steps and the same contents in this embodiment as those in other embodiments, reference can be made to the description in other embodiments and will not be repeated here.

[0112] It can be understood that the embodiment of the present application determines that the vehicle is ready by sending a first request signal to the vehicle control unit VCU to request the VCU to set the vehicle status to the Ready status, and after receiving the feedback signal sent by the VCU in response to the first request signal, the ADS then controls the vehicle to perform the parking task, thereby ensuring the safety of the vehicle in performing the parking task.

[0113] In some embodiments, the remote parking control method further includes:

[0114] After controlling the vehicle to suspend the parking task, a second request signal is sent to the vehicle control unit VCU; the second request signal is used to request the VCU to convert the state of the vehicle from the Ready state to the Non-Ready state, and to set the gear position of the vehicle to the parking gear.

[0115] It should be noted that in the intelligent parking system, when it is necessary to pause or terminate the parking task, it is very important to ensure that the vehicle safely returns to a stable and non-operating state. Therefore, in the embodiment of the present application, once the ADS controls the vehicle to pause the parking task, it can send a second request signal to the VCU, which contains two main requests: one is to convert the state of the vehicle from the Ready state to the non-Ready state, and the other is to set the gear position of the vehicle to the parking gear (P gear). After receiving the second request signal sent by the ADS, the VCU will start to perform the corresponding control operation. First, it will turn off or reduce the power system output of the vehicle to ensure that the vehicle does not move unexpectedly. Then, the VCU will control the vehicle's transmission system and switch the gear from the current state (which may be the forward gear D gear or the reverse gear R gear) to the parking gear P gear.

[0116] For example, Figure 6 The sixth flow chart of a remote parking control method provided in an embodiment of the present application is applied to an advanced driver assistance system ADS of a vehicle, such as Figure 6 As shown, the method includes:

[0117] S601: Receive a remote control parking instruction for the vehicle.

[0118] S602. In response to the remote parking instruction, when it is determined that there is no one in the main driving seat of the vehicle, all the doors of the vehicle are closed, the Bluetooth key connected to the vehicle is located outside the vehicle, and the distance between the Bluetooth key and the vehicle is greater than a preset distance, a first request signal is sent to the vehicle control unit VCU of the vehicle; the first request signal is used to request the VCU to set the state of the vehicle to the Ready state.

[0119] S603: When receiving a feedback signal sent by the VCU in response to the first request signal, control the vehicle to perform a parking task, and send parking information of the vehicle performing the parking task to a user terminal of a user to which the vehicle belongs.

[0120] S604: During the process of the vehicle executing the parking task, in response to a parking pause instruction triggered by the user through the Bluetooth key and / or the user terminal, controlling the vehicle to pause executing the parking task.

[0121] S605. After controlling the vehicle to pause the parking task, sending a second request signal to the vehicle control unit VCU; the second request signal is used to request the VCU to convert the state of the vehicle from the Ready state to the Non-Ready state, and to set the gear position of the vehicle to the parking gear.

[0122] It should be noted that, for the description of the same steps and the same contents in this embodiment as those in other embodiments, reference can be made to the description in other embodiments and will not be repeated here.

[0123] It can be understood that the embodiment of the present application can ensure the safety and stability of the vehicle when the parking task is paused by requesting the VCU to change the vehicle's state from the Ready state to the Non-Ready state and set the vehicle's gear position to the parking gear after controlling the vehicle to pause the parking task.

[0124] In some embodiments, the remote parking control method further includes:

[0125] When it is determined that the vehicle has completed the parking task, a third request signal is sent to the vehicle control unit VCU, and a fourth request signal is sent to the body control module BCM of the vehicle; the third request signal is used to request the VCU to convert the state of the vehicle from the Ready state to the Non-Ready state, and the fourth request signal is used to request the BCM to perform a vehicle power-off operation.

[0126] It should be noted that in the intelligent parking system, when the parking task is successfully completed, it is necessary to ensure that the vehicle safely returns to a low-power or completely power-off state. Therefore, in the embodiment of the present application, when the ADS determines that the vehicle has completed the parking task, it sends a third request signal to the vehicle control unit VCU to request the VCU to convert the vehicle state from the Ready state to the Non-Ready state, and the ADS also sends a fourth request signal to the body control module BCM to request the BCM to perform the whole vehicle power-off operation.

[0127] It should be noted that after receiving the third request signal, the VCU will start to perform corresponding control operations to transition the vehicle from the Ready state to the Non-Ready state. This may include shutting down the engine or motor, disconnecting the power system, etc. After receiving the fourth request signal, the BCM will start to perform the whole vehicle power-off operation. This may include shutting down all unnecessary electrical equipment, reducing battery power output, etc. to ensure that the vehicle is in a low power consumption or completely power-off state.

[0128] In some embodiments, when it is determined that the vehicle has completed the parking task, the ADS can send parking completion information to the user terminal. The information may include the parking completion time, the specific location of the vehicle (such as the parking space number or GPS coordinates), and the current status of the vehicle (such as whether the doors are locked, whether the windows are closed, etc.). The user can then remotely learn about the completion status of the parking task and the current status of the vehicle.

[0129] For example, Figure 7FIG. 7 is a flow chart of a remote parking control method provided in an embodiment of the present application, wherein the method is applied to an advanced driver assistance system ADS of a vehicle, such as Figure 7 As shown, the method includes:

[0130] S701: Receive a remote control parking instruction for the vehicle.

[0131] S702. In response to the remote parking instruction, when it is determined that there is no one in the main driving seat of the vehicle, all the doors of the vehicle are closed, the Bluetooth key connected to the vehicle is located outside the vehicle, and the distance between the Bluetooth key and the vehicle is greater than a preset distance, a first request signal is sent to the vehicle control unit VCU of the vehicle; the first request signal is used to request the VCU to set the state of the vehicle to Ready state.

[0132] S703: When receiving a feedback signal sent by the VCU in response to the first request signal, control the vehicle to perform a parking task, and send parking information of the vehicle performing the parking task to a user terminal of a user to which the vehicle belongs.

[0133] S704. When it is determined that the vehicle has completed the parking task, a third request signal is sent to the vehicle control unit VCU, and a fourth request signal is sent to the body control module BCM of the vehicle; the third request signal is used to request the VCU to convert the state of the vehicle from the Ready state to the Non-Ready state, and the fourth request signal is used to request the BCM to perform a vehicle power-off operation.

[0134] It should be noted that, for the description of the same steps and the same contents in this embodiment as those in other embodiments, reference can be made to the description in other embodiments and will not be repeated here.

[0135] It can be understood that the embodiment of the present application sends a third request signal to the vehicle control unit VCU to request the VCU to change the vehicle state from a Ready state to a non-Ready state when it is determined that the vehicle has completed the parking task, and sends a fourth request signal to the body control module BCM to request the BCM to perform a vehicle power-off operation, thereby ensuring that the vehicle is in a low power consumption or completely power-off state after completing the parking task.

[0136] For example, Figure 8 A schematic diagram of the principle of remote parking control provided in an embodiment of the present application is shown in FIG. Figure 8As shown in the figure, the central control panel, ADS domain controller, BCM, T-BOX, VCU controller, mobile phone APP and Bluetooth key cooperate with each other to realize the vehicle remote parking function. The system on chip (SOC) and microcontroller unit (MCU) in the ADS domain controller can communicate based on the serial peripheral interface (SPI) protocol to achieve efficient data transmission. Fig. 9 As shown in the figure, it is a schematic diagram of the interaction between the central control panel, ADS domain controller, BCM, T-BOX, VCU controller, mobile phone APP and Bluetooth key. Among them, after the user clicks on the remote parking on the central control panel, the ADS domain controller will receive the corresponding remote parking command, and then automatically trigger the parking action after determining that the location and distance information of the Bluetooth key meet the conditions (the Bluetooth key is located outside the vehicle and the distance between the Bluetooth key and the vehicle is greater than 2m) and the vehicle is in the Ready state; before executing parking, the driver can leave directly after getting off the vehicle, and can remotely monitor the real-time parking situation of the vehicle through the mobile phone APP, and can also monitor the surrounding environment through the real-time screen of the mobile phone APP. If there is an emergency and the system has no braking action, the driver can suspend parking by pressing any button of the Bluetooth key and related operations on the mobile phone APP; after suspending parking, the ADS domain controller can send a takeover prompt message to the mobile phone APP through the T-BOX, and can also request the VCU controller to set the vehicle state to a non-Ready state and the vehicle gear position to the parking gear.

[0137] It can be understood that in the remote parking control method provided in the embodiment of the present application, the driver can leave directly during the parking control process without the need for near-end monitoring. After ADS detects that the position and distance of the Bluetooth key meet the conditions, it will automatically start parking. At the same time, the driver can monitor the parking surrounding environment information throughout the process through the mobile phone APP. If there is a potential risk, the driver can trigger the parking pause through relevant operations on the mobile phone APP or any button on the Bluetooth key, and then ADS pushes the takeover information to the mobile phone APP, which effectively improves the user's remote parking experience.

[0138] The remote control parking control device provided in the embodiment of the present application is described below. The remote control parking control device described below and the remote control parking control method described above can be referred to each other.

[0139] Fig.10 Schematic diagram of the structure of a remote parking control device provided in an embodiment of the present application, the device is applied to an advanced driver assistance system ADS of a vehicle, such as Fig.10 As shown, the device includes: a receiving module 1010, a first response module 1020 and a second response module 1030; wherein:

[0140] A receiving module 1010, configured to receive a remote control parking instruction for the vehicle;

[0141] The first response module 1020 is used to respond to the remote parking instruction, control the vehicle to perform a parking task, and send parking information of the vehicle performing the parking task to the user terminal of the user to which the vehicle belongs, when it is determined that there is no one in the main driving seat of the vehicle, all the doors of the vehicle are closed, the Bluetooth key connected to the vehicle is located outside the vehicle, and the distance between the Bluetooth key and the vehicle is greater than a preset distance;

[0142] The second response module 1030 is used to control the vehicle to pause the parking task in response to a parking pause instruction triggered by the user through the Bluetooth key and / or the user terminal during the process of the vehicle performing the parking task.

[0143] The remote parking control device provided in the embodiment of the present application receives a remote parking command for the vehicle through the advanced driving assistance system ADS of the vehicle, and then responds to the remote parking command, controls the vehicle to perform a parking task, and sends parking information of the vehicle performing the parking task to the user terminal of the user to which the vehicle belongs, when it is determined that there is no one in the main driving seat of the vehicle, all the doors of the vehicle are closed, the Bluetooth key connected to the vehicle is located outside the vehicle, and the distance between the Bluetooth key and the vehicle is greater than a preset distance. In this way, the user or driver of the vehicle can monitor the parking process of the vehicle remotely; moreover, during the process of the vehicle performing the parking task, the ADS can also respond to the parking pause command triggered by the user through the Bluetooth key and / or the user terminal to control the vehicle to pause the parking task. In this way, when the vehicle encounters potential risks or needs to stop urgently during parking, the user or driver of the vehicle can trigger the parking pause remotely, which improves the convenience and intelligence of remote parking and thus improves the user experience.

[0144] In some embodiments, the first response module 1020 is further configured to:

[0145] The parking information of the vehicle executing the parking task is sent to the vehicle's telematics processor T-BOX, so that the T-BOX forwards the parking information to the user terminal through a cloud server.

[0146] In some embodiments, the first response module 1020 includes:

[0147] an acquisition unit, configured to, in response to the remote parking instruction, acquire target information from a body control module (BCM) of the vehicle when it is determined that no one is in the main driving seat of the vehicle and all doors of the vehicle are in a closed state;

[0148] A control unit is used to control the vehicle to perform a parking task and send parking information of the vehicle performing the parking task to a user terminal of a user to which the vehicle belongs, when it is determined that the target information indicates that the Bluetooth key connected to the vehicle is located outside the vehicle and the distance between the Bluetooth key and the vehicle is greater than a preset distance.

[0149] In some embodiments, the apparatus further comprises:

[0150] The control module is used to control the vehicle to suspend the parking task and send an alarm message to the user terminal when an abnormal behavior inconsistent with the normal parking process is detected during the vehicle performing the parking task.

[0151] In some embodiments, the first response module 1020 is also used to: send a first request signal to the vehicle control unit VCU of the vehicle; the first request signal is used to request the VCU to set the state of the vehicle to the Ready state; and when receiving a feedback signal sent by the VCU in response to the first request signal, control the vehicle to perform a parking task.

[0152] In some embodiments, the apparatus further comprises:

[0153] The first sending module is used to send a second request signal to the vehicle control unit VCU after controlling the vehicle to pause the parking task; the second request signal is used to request the VCU to convert the state of the vehicle from the Ready state to the Non-Ready state, and to set the gear position of the vehicle to the parking gear.

[0154] In some embodiments, the apparatus further comprises:

[0155] The second sending module is used to send a third request signal to the vehicle control unit VCU and a fourth request signal to the body control module BCM of the vehicle when it is determined that the vehicle has completed the parking task; the third request signal is used to request the VCU to convert the state of the vehicle from the Ready state to the Non-Ready state, and the fourth request signal is used to request the BCM to perform a vehicle power-off operation.

[0156] It should be noted here that the above-mentioned remote control parking control device provided in the embodiment of the present application can implement all the method steps implemented in the above-mentioned remote control parking control method embodiment, and can achieve the same technical effects. The parts and beneficial effects of this embodiment that are the same as those of the method embodiment will not be described in detail here.

[0157] Fig.11 A schematic diagram of the physical structure of an electronic device provided in an embodiment of the present application, such as Fig.11 As shown, the electronic device may include: a processor 1110, a communication interface 1120, a memory 1130 and a communication bus 1140, wherein the processor 1110, the communication interface 1120 and the memory 1130 communicate with each other via the communication bus 1140. The processor 1110 may execute executable data instructions stored in the memory 1130 to implement some or all steps of the remote parking control method provided in the above embodiments.

[0158] In addition, the executable data instructions stored in the above-mentioned memory 1130 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the embodiment of the present application can be essentially or partly reflected in the form of a software product that contributes to the relevant technology. The software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0159] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, some or all of the steps in the remote parking control method provided in the above embodiments are implemented.

[0160] An embodiment of the present application further provides a computer program product, which includes a computer program or instructions. When the computer program or instructions are executed by a processor, some or all of the steps in the remote control parking control method provided in the above embodiments are implemented.

[0161] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0162] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the embodiments of the present application may adopt the form of hardware embodiments, software embodiments, or embodiments in combination with software and hardware. Moreover, the embodiments of the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0163] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0164] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0165] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0166] The above description is merely an optional embodiment of the present application and is not intended to limit the protection scope of the present application.

Claims

1. A remote parking control method, characterized in that: An advanced driver assistance system (ADS) applied to a vehicle, the method comprising: receiving a remote control parking instruction for the vehicle; In response to the remote parking instruction, when it is determined that there is no one in the main driving seat of the vehicle, all doors of the vehicle are closed, a Bluetooth key connected to the vehicle is located outside the vehicle, and the distance between the Bluetooth key and the vehicle is greater than a preset distance, the vehicle is controlled to perform a parking task, and parking information of the vehicle performing the parking task is sent to a user terminal of the user to whom the vehicle belongs; During the process of the vehicle executing the parking task, in response to a parking pause instruction triggered by the user through the Bluetooth key and / or the user terminal, the vehicle is controlled to pause executing the parking task.

2. The remote control parking control method according to claim 1, characterized in that: Sending the parking information of the vehicle executing the parking task to the user terminal of the user to which the vehicle belongs includes: The parking information of the vehicle executing the parking task is sent to the vehicle's telematics processor T-BOX, so that the T-BOX forwards the parking information to the user terminal through a cloud server.

3. The remote control parking control method according to claim 1, characterized in that: In response to the remote parking instruction, when it is determined that there is no one in the main driving seat of the vehicle, all doors of the vehicle are closed, a Bluetooth key connected to the vehicle is located outside the vehicle, and the distance between the Bluetooth key and the vehicle is greater than a preset distance, the vehicle is controlled to perform a parking task, and parking information of the vehicle performing the parking task is sent to a user terminal of the user to whom the vehicle belongs, including: In response to the remote parking instruction, when it is determined that no one is in the main driving seat of the vehicle and all doors of the vehicle are closed, obtaining target information from a body control module (BCM) of the vehicle; When it is determined that the target information indicates that the Bluetooth key connected to the vehicle is located outside the vehicle and the distance between the Bluetooth key and the vehicle is greater than a preset distance, the vehicle is controlled to perform a parking task, and parking information of the vehicle performing the parking task is sent to a user terminal of the user to which the vehicle belongs.

4. The remote control parking control method according to claim 1, characterized in that: The method further comprises: When the vehicle is performing the parking task, if an abnormal behavior inconsistent with a normal parking process is detected, the vehicle is controlled to suspend the parking task and an alarm message is sent to the user terminal.

5. The remote control parking control method according to any one of claims 1 to 4, characterized in that: The controlling the vehicle to perform a parking task includes: Sending a first request signal to a vehicle control unit VCU of the vehicle; the first request signal is used to request the VCU to set the state of the vehicle to a Ready state; When a feedback signal sent by the VCU in response to the first request signal is received, the vehicle is controlled to perform a parking task.

6. The remote control parking control method according to claim 5, characterized in that: The method further comprises: After controlling the vehicle to suspend the parking task, a second request signal is sent to the vehicle control unit VCU; the second request signal is used to request the VCU to convert the state of the vehicle from the Ready state to the Non-Ready state, and to set the gear position of the vehicle to the parking gear.

7. The remote control parking control method according to claim 5, characterized in that: The method further comprises: When it is determined that the vehicle has completed the parking task, a third request signal is sent to the vehicle control unit VCU, and a fourth request signal is sent to the body control module BCM of the vehicle; the third request signal is used to request the VCU to convert the state of the vehicle from the Ready state to the Non-Ready state, and the fourth request signal is used to request the BCM to perform a vehicle power-off operation.

8. A remote parking control device, characterized in that: An advanced driver assistance system ADS applied to a vehicle, the device comprising: A receiving module, used for receiving a remote control parking instruction for the vehicle; a first response module, configured to respond to the remote control parking instruction, control the vehicle to perform a parking task, and send parking information of the vehicle performing the parking task to a user terminal of the user to which the vehicle belongs, when it is determined that no one is in the main driving seat of the vehicle, all doors of the vehicle are closed, a Bluetooth key connected to the vehicle is located outside the vehicle, and a distance between the Bluetooth key and the vehicle is greater than a preset distance; The second response module is used to control the vehicle to pause the parking task in response to a parking pause instruction triggered by the user through the Bluetooth key and / or the user terminal during the process of the vehicle performing the parking task.

9. An electronic device, characterized in that: include: A memory for storing executable data instructions; The processor is configured to implement the steps of the remote control parking control method according to any one of claims 1 to 7 when executing the executable data instructions stored in the memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the remote parking control method according to any one of claims 1 to 7 are implemented.

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