Parking control method and device, vehicle and computer readable storage medium

Abstract

The invention relates to the field of vehicle control, in particular to a parking control method and device, a vehicle and a computer readable storage medium. The method comprises the steps that a remote control parking starting request sent for a vehicle is responded; the environment where the vehicle is located is detected, and whether a preset object exists in the environment where the vehicle is located or not is determined; the preset object comprises an object for monitoring the remote control parking process of the vehicle; performing parking control on the vehicle according to the detection result of the preset object in the environment where the vehicle is located; wherein if the preset object is not detected in the environment where the vehicle is located, the remote control parking function of the vehicle is stopped. According to the invention, the remote-control parking process of the vehicle can be effectively monitored, so that the safety and reliability of remote-control parking are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a parking control method, device, vehicle and computer-readable storage medium. Background Art

[0002] Remote parking is a common function in the field of parking assistance. Drivers and other users can remotely command vehicles to park in parking spaces through mobile phone applications. Currently, as an L2 level assisted driving function, remote parking is generally used to ensure the reliability and safety of remote parking by informing users and reminding them to supervise the remote parking process or to test the connection between the user's control device and the vehicle to ensure that the vehicle is under the user's supervision, thereby ensuring that users can actively intervene when the vehicle system is operating abnormally or in dangerous scenarios.

[0003] However, informing the user is relatively passive, and the degree of protection for the implementation of the user's supervision behavior is low. The connection between the user's control device and the vehicle generally has a certain degree of penetration, which can pass through walls, vehicles, etc. Therefore, maintaining the connection does not actually ensure that the driver can effectively monitor the vehicle. Therefore, if the remote parking operation is abnormal, the user cannot discover and take over in time, which affects the safety and reliability of remote parking. Summary of the invention

[0004] In view of this, embodiments of the present application provide a parking control method, device, vehicle, and computer-readable medium, which can solve the problem of insufficient safety and reliability of remote control parking in related technologies.

[0005] In a first aspect, an embodiment of the present application provides a parking control method, the parking control method comprising: In response to a remote parking start request sent to the vehicle; Detecting the environment in which the vehicle is located to determine whether there is a preset object in the environment in which the vehicle is located; the preset object includes an object for monitoring the remote control parking process of the vehicle; The vehicle is parked according to the detection result of the preset object in the environment where the vehicle is located; wherein, if the preset object is not detected in the environment where the vehicle is located, the remote control parking function of the vehicle is stopped.

[0006] By adopting the above technical solution, the parking action and status of the vehicle are collected mainly through visual perception by the driver and other users, so as to complete the monitoring of the remote parking process of the vehicle. Therefore, whether the environment in which the vehicle is located includes the visual features of the preset object that can monitor the remote parking process of the vehicle can intuitively and accurately represent whether the remote parking process of the vehicle is under monitoring. Therefore, it is different from the related art that determines whether the user is monitoring the parking of the vehicle by whether the connection between the control device such as the Bluetooth device used by the user and the vehicle is interrupted, and there is a problem that the connection cannot accurately represent that the user can effectively monitor the vehicle. The embodiment of the present invention controls the parking of the vehicle according to the detection result of the preset object, and when the preset object is not detected, the remote parking function of the vehicle is turned off, thereby avoiding reliability and / or safety problems when the vehicle is parked without monitoring.

[0007] In some embodiments, the method comprises: Acquiring the switch state of the remote control parking function and / or the parking state of the vehicle; Determine the target feature of the preset object according to the switch state and / or parking state; the target feature includes at least one of the position feature, time feature and visual feature of the appearance behavior of the preset object in the environment where the vehicle is located; The environment in which the vehicle is located is detected according to the target features to obtain a detection result of the preset object in the environment in which the vehicle is located.

[0008] In some embodiments, the parking control process of the vehicle further includes: if the preset object is detected in the environment where the vehicle is located, activating the remote control parking function of the vehicle; If the switch state indicates that the vehicle is turned on and the parking state indicates that the vehicle has stopped but has not entered the remote parking process, the target feature includes at least one of the following: The position feature includes the feature of the position within the first distance range of the vehicle; the time feature includes the feature of the time within a preset time period after the vehicle is parked; and the visual feature includes the first visual feature of an object with a preset monitoring capability.

[0009] In some embodiments, if the switch state representation is turned on and the parking state representation has entered the remote parking process, the target feature includes at least one of the following: The position feature includes the feature of the position within the second distance range of the vehicle; wherein the second distance is determined based on the visual perception range and / or control range of the preset object for the vehicle; and the visual feature includes the first visual feature whose occlusion degree is less than a preset threshold.

[0010] In some embodiments, if the switch state indicates that the remote parking is not completed and the parking state indicates that the remote parking is not completed, the target feature includes at least one of the following: The visual feature includes a second visual feature representing a preset action; the preset action is used to perform heartbeat verification of the preset object; the position feature includes a feature of a position within a third distance range of the vehicle; and the third distance is determined according to a detection range of the preset action.

[0011] In some embodiments, the visual features further include a third visual feature of an object having preset control authority over the vehicle.

[0012] In some embodiments, the method further comprises: Acquiring the switch state of the remote control parking function and / or the parking state of the vehicle; If the switch state indicates that the vehicle is off and the parking state indicates that the vehicle has been parked, the detection of the preset object is stopped and the vehicle is controlled to exit the remote control parking process.

[0013] In a second aspect, an embodiment of the present application further provides a parking control device, the parking control device comprising: A response module, configured to respond to a remote control parking start request sent to the vehicle; An identification module, used to detect the environment in which the vehicle is located, and determine whether there is a preset object in the environment in which the vehicle is located; the preset object includes an object for monitoring the remote control parking process of the vehicle; A control module is used to control the parking of the vehicle according to the detection result of the preset object in the environment where the vehicle is located; wherein, if the preset object is not detected in the environment where the vehicle is located, the remote control parking function of the vehicle is stopped.

[0014] In a third aspect, an embodiment of the present application further provides a vehicle, comprising a processor and a memory, wherein the memory is used to store instructions, and the processor is used to call the instructions in the memory so that the vehicle executes the parking control method as described in the first aspect.

[0015] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions. When the computer instructions are executed on a processor, the processor executes the parking control method as described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The present invention is a flowchart of a parking control method according to an embodiment of the present application.

[0017] Figure 2The present invention is a flowchart of a parking control method according to another embodiment of the present application.

[0018] Figure 3 The present invention is a flowchart of a parking control method according to another embodiment of the present application.

[0019] Figure 4 The present invention is a flowchart of a parking control method according to another embodiment of the present application.

[0020] Figure 5 The present invention is a flowchart of a parking control method according to another embodiment of the present application.

[0021] Figure 6 The present invention is a flowchart of a parking control method according to another embodiment of the present application.

[0022] Figure 7 The figure is a schematic diagram of the structure of a parking control device provided according to an embodiment of the present application.

[0023] Figure 8 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application is described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the implementation methods of the present application and the features in the implementation methods can be combined with each other without conflict.

[0025] In the following description, many specific details are set forth to facilitate a full understanding of the present application. The described implementations are only part of the implementations of the present application, rather than all the implementations.

[0026] 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 in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0027] It should be further noted that, in this article, the terms "comprises", "includes" 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 includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0028] In this application, "at least one" means one or more, and "more" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0029] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0030] In the related technology, the remote parking function belongs to the L2 driving assistance function, and the driver and other users are still required to be responsible for the safe operation of the system. In order to ensure that the driver and other users can monitor the remote parking function, users are usually informed and educated that they need to pay attention to the vehicle being in the visual range when using this system, monitor the remote parking process of the vehicle, and when the vehicle system operates abnormally or there is a dangerous scenario, the user can pause and intervene autonomously. The problem with this guarantee scheme is that the notification and reminder can only passively urge the user, and cannot effectively ensure that the user implements his supervision behavior. Therefore, its reliability in guaranteeing remote parking is low.

[0031] Optionally, there is also a solution in the related art that detects the communication connection (such as Bluetooth connection) between the control device (such as a mobile phone) held by the user and the vehicle, and when the communication connection signal becomes weak, actively suspends the remote parking process of the vehicle, thereby preventing the user from being too far away from the vehicle and unable to monitor the vehicle. However, considering that communication connections such as Bluetooth communication generally have a certain degree of penetration and can pass through walls, vehicles, etc., such as the communication distance of some mobile phone Bluetooth with better performance can even be up to 100 meters, there will be a situation where the driver is holding the mobile phone away from the vehicle or the driver is behind a wall and visually isolated from the vehicle, and the communication connection is still maintained. Therefore, this solution cannot ensure that the driver cannot really see the operation of the vehicle, nor can it effectively monitor the vehicle.

[0032] It can be seen from the above that the remote control parking in the related art cannot ensure that the vehicle is under the effective supervision of the user, resulting in the problem that the reliability and safety of the remote control parking are low.

[0033] In view of this, the embodiments of the present application provide a parking control method, device, vehicle and computer-readable storage medium, which can ensure that the remote parking process of the vehicle is under effective monitoring, thereby improving the safety and reliability of remote parking.

[0034] See also Figure 1 , is a flowchart of the steps of the parking control method provided in one embodiment of the present application. According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted. The embodiment of the present invention is based on a preset electronic device, which has certain data processing, data storage and communication capabilities. Specifically, the electronic device may include an auxiliary driving device, a vehicle controller, a driving computer, etc., which is not limited by the embodiment of the present invention.

[0035] See also Figure 1 As shown, the parking control method may include the following steps: Step 101: Responding to a remote control parking start request sent to a vehicle.

[0036] The remote parking start request may be sent by a user through a control device. The user represents an object with control authority over the vehicle, which may include the owner, driver, or person to whom the vehicle is loaned. The remote parking start request is used to request to activate the remote parking function of the vehicle. It is understood that after the remote parking function is activated, the vehicle performs a specific remote parking action until it is parked in a preset parking space. The user may send a remote parking start request through a preset control device. The control device is used to control the vehicle, and may include a mobile phone, a tablet computer, an electronic key device, a wearable device, and the like.

[0037] Step 102: Detect the environment in which the vehicle is located to determine whether there is a preset object in the environment in which the vehicle is located; the preset object includes an object for monitoring the remote control parking process of the vehicle.

[0038] Among them, the user in the aforementioned steps and the preset object here can be the same person, such as the person currently holding the control device. Optionally, the method of detecting the preset object can also be to detect the object holding the control device, and the object holding the control device is the preset object. Considering that the remote control parking process of the vehicle needs to be monitored, it is necessary to have the ability to monitor the remote control parking process of the vehicle, and the monitoring ability can include both subjective ability and objective ability. Among them, considering that in order to ensure that the remote control parking process of the vehicle can be intervened and managed in time when an abnormality occurs, the preset object should have the ability to obtain information about the remote control parking process of the vehicle and to determine whether intervention control is needed based on the information. Therefore, the preset object should have the objective ability to obtain the visual information required for remote parking management of the vehicle and the subjective ability to analyze and identify the visual information to control the vehicle.

[0039] In an embodiment of the present invention, the objective ability and subjective ability are converted into visual features that a preset object should have, so as to perform detection in the vehicle's environment based on the visual features to determine whether there is an object with the aforementioned objective ability and subjective ability in the vehicle's environment. If so, it is determined that there is a preset object in the vehicle's environment. Among them, the objective ability of visual information perception can be expressed as an area within a preset range of the vehicle, and the preset range represents the field of vision required for vehicle supervision, such as within 6 to 8 meters from the vehicle. The subjective ability to identify and analyze visual information can be expressed as having full behavioral capabilities, such as an adult. Therefore, the position feature information and appearance feature information of the preset object in the vehicle's environment can be determined, and the vehicle's environment is detected based on the position feature information and appearance feature information to determine whether there is a preset object in the vehicle's environment.

[0040] Considering that when the user supervises the remote parking process of the vehicle, the user mainly relies on the collection of visual information of the vehicle's movement process and the environment in which the vehicle is located, so as to perform control operations such as whether the remote parking process is abnormal, whether to intervene and suspend the remote parking process based on the collected visual information. Considering the reversibility of light propagation, that is, if the visual information of the vehicle is collectible to the user, the visual information of the user is also perceptible and collectible to the vehicle. Therefore, in the embodiment of the present invention, the environment in which the vehicle is located can be detected by the camera, ultrasonic radar, etc. on the vehicle. If the visual information of the preset object can be perceived in the environment in which the vehicle is located, it indicates that the preset object is perceptible to the visual information of the vehicle, thereby ensuring that the preset object can supervise and control the remote parking process of the vehicle based on the perceived visual information of the vehicle.

[0041] Step 103: Parking control of the vehicle is performed according to the detection result of the preset object in the environment where the vehicle is located; wherein, if the preset object is not detected in the environment where the vehicle is located, the remote control parking function of the vehicle is stopped.

[0042] Among them, if there is no preset object to monitor the remote parking process of the vehicle, an abnormality may occur during the remote parking process of the vehicle, such as when an obstacle suddenly appears on the parking path of the vehicle, which may affect the parking effect of the vehicle and / or the safety of the vehicle and objects in the environment where the vehicle is located. Therefore, in an embodiment of the present invention, if the preset object is not detected in the environment where the vehicle is located, the remote parking function of the vehicle is stopped, so that the vehicle stops the remote parking action to avoid accidents such as collisions. Correspondingly, if the preset object is detected in the environment where the vehicle is located, it indicates that the remote parking process of the vehicle is under effective monitoring, so the normal remote parking process can be entered.

[0043] In an optional embodiment, considering that under different remote parking conditions, the characteristics of the preset objects for remote parking monitoring of the vehicle may be different when they appear in the environment where the vehicle is located. Therefore, Figure 2 The parking control process includes: Step 201: Responding to a remote control parking start request sent to a vehicle.

[0044] Among them, step 201 is substantially the same as the aforementioned step 101 and will not be described again here.

[0045] Step 202: Acquire the switch status of the remote control parking function of the vehicle and / or the parking status of the vehicle.

[0046] Among them, the switch state is used to indicate whether the remote parking function of the vehicle is turned on, and the vehicle is turned on in response to the remote parking start request. The parking state of the vehicle is used to indicate the parking, parking and parking state of the vehicle. It can be understood that, unlike the usual manual parking process by the driver, the vehicle will not park until it drives to the parking space. In the remote parking scenario, the vehicle will stop first, and after the driver and passengers get off the vehicle, the vehicle will continue to move until it parks in the parking space.

[0047] Step 203: Determine the target feature of a preset object according to the switch state and / or parking state; the preset object includes an object for monitoring the remote control parking process of the vehicle; the target feature includes at least one of the position feature, time feature and visual feature of the appearance behavior of the preset object in the environment where the vehicle is located.

[0048] Among them, the remote control parking process under normal circumstances is explained. After the driver and other users park the vehicle, they get off the vehicle, start the remote control parking process of the vehicle outside the vehicle, and monitor the remote control parking process until the vehicle is successfully and correctly parked in a specific parking space. In order to complete and maintain the monitoring of remote control parking, the user generally appears at a specific location around the vehicle at a specific time, and has specific appearance characteristics to show its monitoring ability and / or monitoring action for the vehicle. For example, it has the facial features of the owner or the appearance features of an adult. After the remote control parking function of the vehicle is started, the preset object needs to be tracked and detected to ensure the effective monitoring of the remote control parking process of the vehicle by the preset object. Considering that the position of the preset object relative to the vehicle generally changes before the remote control parking function is started after parking and during the remote control parking process. Therefore, in an embodiment of the present invention, the remote control parking working condition of the vehicle is determined according to the switch state and / or parking state, and the working condition can characterize the remote control parking node of the vehicle, such as before parking, during parking, and after parking. According to the working condition under which the vehicle is to be parked, the position where the object needs to appear, the time of appearance and the visual features it should have are preset to determine the target features, thereby ensuring the effective monitoring of remote control parking under various parking conditions.

[0049] Step 204: Detect the environment in which the vehicle is located according to the target features to obtain a detection result of the preset object in the environment in which the vehicle is located.

[0050] Among them, the object with the target feature is the preset object, and target detection is performed in the vehicle environment according to the target feature. The detection result of the preset object in the vehicle environment is determined according to whether there is an object with the target feature in the vehicle environment.

[0051] Step 205: Controlling the on / off of the remote parking function according to the detection result of the preset object in the environment of the vehicle; wherein, if the preset object is not detected in the environment of the vehicle, stopping the remote parking function of the vehicle.

[0052] Among them, step 205 is substantially the same as the aforementioned step 103 and will not be described again here.

[0053] In an optional embodiment, considering that the remote parking supervisor of the vehicle generally stops the vehicle and gets off, and then requests to start the remote parking of the vehicle, the appearance position and appearance time of the preset object before the remote parking of the vehicle is started are relatively specific. Figure 3 As shown, the parking control process includes: Step 301: Responding to a remote control parking start request sent to a vehicle.

[0054] Among them, step 301 is substantially the same as the aforementioned step 101 and will not be described again here.

[0055] Step 302: Acquire the switch status of the remote control parking function of the vehicle and / or the parking status of the vehicle.

[0056] Among them, step 302 is substantially the same as the aforementioned step 202 and will not be described again here.

[0057] Step 303: If the switch state representation is turned on and the parking state representation is that the vehicle has been parked but has not entered the remote parking process, determining the target feature of a preset object includes at least one of the following: a time feature appearing in the vehicle's environment includes a feature of a time interval within a preset time period after the vehicle is parked; a position feature in the vehicle's environment includes a feature of an area within a first distance from the vehicle; a visual feature in the vehicle's environment includes a first visual feature of an object with a preset monitoring capability; and the preset object includes an object that monitors the remote parking process of the vehicle.

[0058] Among them, the preset duration is used to characterize the time generally required for the driver or other remote parking monitor to complete the parking and getting off, and can be set to be shorter, such as 1 to 3 minutes. Among them, the detection of the parking state of the vehicle can be to detect that the main driving door switches from closed to open and then switches to a closed state. The first distance is used to characterize the distance that the driver or other remote parking monitor generally moves relative to the vehicle after getting off the vehicle and before starting remote parking monitoring. Optionally, considering that the probability of the driver monitoring the remote parking is relatively high, and the driver generally gets off the main cab, the position feature may include, for example, within a range of 1m×1m outside the B-pillar of the vehicle. The preset monitoring capability characterizes the ability to analyze the parking control strategy based on the visual information of the vehicle, such as having full civil capacity. For example, the object with the preset monitoring capability may include an adult, so the first visual feature may be the appearance feature of an adult.

[0059] Optionally, considering that there may be other unrelated persons near the parking space, in order to improve the accuracy and safety of parking control, the visual features also include a third visual feature of an object with preset control authority over the vehicle. The object with preset control authority over the vehicle may include the owner, the driver, the object to which the vehicle is lent, etc. The third visual feature is used to specifically characterize the object with preset control authority, such as the facial features of the driver, etc.

[0060] Step 304: Detect the environment in which the vehicle is located according to the target features to obtain a detection result of the preset object in the environment in which the vehicle is located.

[0061] Among them, step 304 is substantially the same as the aforementioned step 204 and will not be described again here.

[0062] Step 305: According to the detection result of the preset object in the environment where the vehicle is located, the remote parking function is turned on and off; wherein, if the preset object is not detected in the environment where the vehicle is located, the remote parking function of the vehicle is stopped.

[0063] Among them, step 305 is substantially the same as the aforementioned step 103 and will not be described again here.

[0064] In an optional embodiment, considering that the monitoring of the vehicle by the preset object may be interrupted during the remote parking process, so that the vehicle is in an unmonitored state, the safety and reliability of the parking are difficult to ensure. Figure 4 As shown, the parking control process includes: Step 401: Responding to a remote control parking start request sent to a vehicle.

[0065] Among them, step 401 is substantially the same as the aforementioned step 101 and will not be described again here.

[0066] Step 402: Obtain the switch status of the remote control parking function and / or the parking status of the vehicle.

[0067] Among them, step 402 is substantially the same as the aforementioned step 202 and will not be described again here.

[0068] Step 403: If the switch state representation is turned on and the parking state representation is that the vehicle has been parked but has not entered the remote parking process, determining the target feature of a preset object includes at least one of the following: a time feature appearing in the vehicle's environment includes a feature of a time interval within a preset time period after the vehicle is parked; a position feature in the vehicle's environment includes a feature of an area within a first distance from the vehicle; a visual feature in the vehicle's environment includes a first visual feature of an object with a preset monitoring capability; and the preset object includes an object that monitors the remote parking process of the vehicle.

[0069] Among them, step 403 is substantially the same as the aforementioned step 303 and will not be described again here.

[0070] Step 404: If the switch state representation is turned on and the parking state representation has entered the remote parking process, determining that the target feature includes at least one of the following: the position feature includes a feature of a position within a second distance range of the vehicle; wherein the second distance is determined based on a visual perception range and / or control range of the preset object for the vehicle; and the visual feature includes the first visual feature whose occlusion degree is less than a preset threshold.

[0071] Among them, after the vehicle enters the remote parking process and before the vehicle parking is completed, it is necessary to track and detect the preset object to ensure the normal and safe remote parking. Different from the object of the driver and others who monitor the vehicle parking when the parking is completed and the remote parking function is not turned on, which is generally located near the main driver's door, when the remote parking function of the vehicle has been turned on and has entered the remote parking process, the driver and other preset objects will generally move to a certain range from the vehicle, so as to facilitate their observation of the parking of the vehicle and timely intervention and control when necessary. Therefore, in an embodiment of the present invention, after the vehicle has successfully turned on the remote parking function and entered the remote parking process, the position characteristics that the preset object should have are transformed into a second distance range from the vehicle. Among them, in order to ensure the effective monitoring of the remote parking process of the vehicle, the second distance can be determined according to the visual perception range of the preset object to the vehicle, so that when it is located within the second distance range of the vehicle, the preset object can have a good visual perception of the vehicle. Optionally, in order for the preset object to intervene in time when an abnormality occurs in the remote parking of the vehicle, the second distance can be determined according to the control range of the preset object on the vehicle, so that when the preset object is within the second distance range of the vehicle, the preset object can have a good visual perception of the vehicle. Optionally, considering that the preset object will generally move to a certain range from the vehicle after successfully starting the remote parking function of the vehicle, and it may be blocked by buildings or pedestrians during the movement, when the preset object is blocked, its monitoring of the vehicle will also be hindered. Therefore, during the remote parking process of the vehicle, the degree of blockage of the first visual feature is also required to be less than a preset threshold.

[0072] Optionally, considering that there may be other unrelated persons near the parking space, in order to improve the accuracy and safety of parking control, the visual features also include a third visual feature of an object with preset control authority over the vehicle. The object with preset control authority over the vehicle may include the owner, the driver, the object to which the vehicle is lent, etc. The third visual feature is used to specifically characterize the object with preset control authority, such as the facial features of the driver, etc.

[0073] Step 405: Detect the environment in which the vehicle is located according to the target features to obtain a detection result of the preset object in the environment in which the vehicle is located.

[0074] Among them, step 405 is substantially the same as the aforementioned step 204 and will not be described again here.

[0075] Step 406: Controlling the on / off of the remote parking function according to the detection result of the preset object in the environment of the vehicle; wherein, if the preset object is not detected in the environment of the vehicle, stopping the remote parking function of the vehicle.

[0076] Among them, step 405 is substantially the same as the aforementioned step 103 and will not be described again here.

[0077] In some embodiments, considering that the preset object may interrupt the remote parking process of the vehicle, in order to ensure the safety and reliability of the remote parking of the vehicle, Figure 5 As shown, the parking control process includes: Step 501: Responding to a remote control parking start request sent to a vehicle.

[0078] Among them, step 501 is substantially the same as the aforementioned step 101 and will not be described again here.

[0079] Step 502: Obtain the switch status of the remote control parking function and / or the parking status of the vehicle.

[0080] Among them, step 502 is substantially the same as the aforementioned step 202 and will not be described again here.

[0081] Step 503: If the switch state indicates that the remote parking is not completed and the parking state indicates that the remote parking is not completed, determining the target characteristics of the preset object includes at least one of the following: the visual characteristics in the environment where the vehicle is located include a second visual characteristic that indicates a preset action; the preset action is used to perform heartbeat verification of the preset object; the position characteristics in the environment where the vehicle is located include characteristics of the position within a third distance range of the vehicle; the third distance is determined according to the detection range of the preset action; the preset object includes an object that monitors the remote parking process of the vehicle.

[0082] Among them, if the preset object is not detected in the environment where the vehicle is located, the remote parking function of the vehicle will be turned off for parking safety considerations, and if the parking of the vehicle is not completed, it will affect the user's parking experience. Therefore, in an embodiment of the present invention, when the remote parking function of the vehicle is turned off and the remote parking of the vehicle is not completed, it indicates that the monitoring of the vehicle by the preset object may be interrupted, so it is necessary to re-detect whether the preset object exists, and based on the user's usage habits of the auxiliary driving system, the preset object can be performed by performing a preset action in a certain range in front of the vehicle to indicate that it is online, that is, to maintain its heartbeat for the monitoring process of the vehicle. Among them, the preset action can be an action that the user is informed of in advance, such as raising hands and waving hands, for heartbeat verification of the monitoring process. In order to improve the recognition accuracy of the action, the third distance is determined according to the detection range of the preset action. For example, considering that the front is the most accurate area of ​​the camera's observation field of view, it can more accurately identify specific actions. Therefore, the third distance can be 2 to 3 meters in front of the front of the vehicle.

[0083] Optionally, considering that there may be other unrelated persons near the parking space, in order to improve the accuracy and safety of parking control, the visual features also include a third visual feature of an object with preset control authority over the vehicle. The object with preset control authority over the vehicle may include the owner, the driver, the object to which the vehicle is lent, etc. The third visual feature is used to specifically characterize the object with preset control authority, such as the facial features of the driver, etc.

[0084] Step 504: Detect the environment in which the vehicle is located according to the target features to obtain a detection result of the preset object in the environment in which the vehicle is located.

[0085] Among them, step 504 is substantially the same as the aforementioned step 204 and will not be described again here.

[0086] Step 505: According to the detection result of the preset object in the environment where the vehicle is located, the remote parking function is turned on and off; wherein, if the preset object is not detected in the environment where the vehicle is located, the remote parking function of the vehicle is stopped.

[0087] Among them, step 505 is substantially the same as the aforementioned step 103 and will not be described again here.

[0088] In some embodiments, it is considered that when the remote control parking of the vehicle is completed, the preset object no longer needs to monitor the vehicle, such as Figure 6 As shown, the parking control process includes: Step 601: Responding to a remote control parking start request sent to a vehicle.

[0089] Among them, step 601 is substantially the same as the aforementioned step 101 and will not be described again here.

[0090] Step 602: Detect the environment in which the vehicle is located to determine whether there is a preset object in the environment in which the vehicle is located; the preset object includes an object for monitoring the remote control parking process of the vehicle.

[0091] Among them, step 602 is substantially the same as the aforementioned step 102 and will not be described again here.

[0092] Step 603: Obtain the switch status of the remote control parking function and / or the parking status of the vehicle.

[0093] Among them, step 603 is substantially the same as the aforementioned step 202 and will not be described again here.

[0094] Step 604: Parking control of the vehicle is performed based on the detection result of the preset object in the environment of the vehicle, the switch state and / or the parking state; wherein, if the preset object is not detected in the environment of the vehicle, the remote control parking function of the vehicle is stopped; if the switch state indicates that the vehicle is off and the parking state indicates that the parking is completed, the detection of the preset object is stopped and the vehicle is controlled to exit the remote control parking process.

[0095] Different from the remote control parking function being turned off due to the preset object accidentally going offline or being blocked during the remote control parking process, when the vehicle remote control parking is completed, the preset object no longer needs to monitor the vehicle. Therefore, even if the detection of the preset object is stopped and the vehicle is controlled to exit the remote control parking process, it will not affect the parking safety of the vehicle.

[0096] Please refer to Figure 7 , is a schematic diagram of the structure of the parking control device 70 provided in the embodiment of the present application. Figure 7 As shown, the parking control device 70 includes: A detection module 701, for responding to a remote parking start request sent to a vehicle; The identification module 702 is used to detect the environment in which the vehicle is located and determine whether there is a preset object in the environment in which the vehicle is located; the preset object includes an object for monitoring the remote control parking process of the vehicle; The control module 703 is used to control the parking of the vehicle according to the detection result of the preset object in the environment where the vehicle is located; wherein, if the preset object is not detected in the environment where the vehicle is located, the remote control parking function of the vehicle is stopped.

[0097] Please refer to Figure 8 , is a schematic diagram of the hardware structure of the vehicle 80 provided in the embodiment of the present application. Figure 8 As shown, the vehicle 80 may include a processor 801 and a memory 802. The memory 802 is used to store one or more computer programs 803. The one or more computer programs 803 are configured to be executed by the processor 801. The one or more computer programs 803 include instructions, and the above instructions can be used to implement the above parking control method in the vehicle 80.

[0098] It is understood that the structure shown in this embodiment does not constitute a specific limitation on the vehicle 80. In other embodiments, the vehicle 80 may include more or fewer components than shown, or combine some components, or separate some components, or arrange the components differently.

[0099] The processor 801 may include one or more processing units, for example, the processor 801 may include an application processor (AP), a modem, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0100] The processor 801 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 801 is a cache memory. The memory may store instructions or data that the processor 801 has just used or circulated. If the processor 801 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 801, and thus improves the efficiency of the system.

[0101] In some embodiments, the processor 801 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a SIM interface, and / or a USB interface, etc.

[0102] In some embodiments, the processor 801 is used to execute acceleration schemes such as single instruction multiple data (SIMD) and very long instruction word (VLIW).

[0103] In some embodiments, the memory 802 may include a high-speed random access memory and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0104] This embodiment further provides a computer-readable storage medium, in which computer instructions are stored. When the instructions are executed on a processor, the processor executes the above-mentioned related method steps to implement the parking control method in the above-mentioned embodiment.

[0105] Among them, the vehicle, device, and computer-readable storage medium provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0106] In practical applications, the above functions can be distributed to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0107] In several embodiments provided in the present application, the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are schematic. For example, the division of the modules or units is a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0108] The unit described as a separate component may or may not be physically separated, and the component shown as a unit may be one physical unit or multiple physical units, that is, it may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.

[0109] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0110] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute 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 (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program code.

[0111] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application.

Claims

1. A parking control method, characterized in that: The method comprises: In response to a remote parking start request sent to the vehicle; Identifying the environment in which the vehicle is located, and determining whether there is a preset object in the environment in which the vehicle is located; the preset object includes an object for monitoring the remote control parking process of the vehicle; The vehicle is parked according to the detection result of the preset object in the environment where the vehicle is located; wherein, if the preset object is not detected in the environment where the vehicle is located, the remote control parking function of the vehicle is stopped.

2. The parking control method according to claim 1, characterized in that: The process of determining the test result includes: Acquiring the switch state of the remote control parking function and / or the parking state of the vehicle; Determine the target feature of the preset object according to the switch state and / or parking state; the target feature includes at least one of the position feature, time feature and visual feature of the appearance behavior of the preset object in the environment where the vehicle is located; The environment in which the vehicle is located is detected according to the target features to obtain a detection result of the preset object in the environment in which the vehicle is located.

3. The parking control method according to claim 2, characterized in that: The parking control process of the vehicle further includes: if the preset object is detected in the environment where the vehicle is located, activating the remote control parking function of the vehicle; If the switch state indicates that the vehicle is turned on and the parking state indicates that the vehicle has stopped but has not entered the remote parking process, the target feature includes at least one of the following: The position feature includes the feature of the position within the first distance range of the vehicle; the time feature includes the feature of the time within a preset time period after the vehicle is parked; and the visual feature includes the first visual feature of an object with a preset monitoring capability.

4. The parking control method according to claim 3, characterized in that: If the switch state representation is turned on and the parking state representation has entered the remote control parking process, the target feature includes at least one of the following: The position feature includes the feature of the position within the second distance range of the vehicle; wherein the second distance is determined based on the visual perception range and / or control range of the preset object for the vehicle; and the visual feature includes the first visual feature whose occlusion degree is less than a preset threshold.

5. The parking control method according to claim 2, characterized in that: If the switch state indicates that the remote parking is not completed and the parking state indicates that the remote parking is not completed, the target feature includes at least one of the following: The visual feature includes a second visual feature representing a preset action; the preset action is used to perform heartbeat verification of the preset object; the position feature includes a feature of the position within a third distance range of the vehicle; The third distance is determined according to the detection range of the preset action.

6. The parking control method according to any one of claims 3 to 5, characterized in that: The visual features also include a third visual feature of an object having preset control authority over the vehicle.

7. The parking control method according to claim 1, characterized in that: The parking control process of the vehicle further includes: Acquiring the switch state of the remote control parking function and / or the parking state of the vehicle; If the switch state indicates that the vehicle is off and the parking state indicates that the vehicle has been parked, the detection of the preset object is stopped and the vehicle is controlled to exit the remote control parking process.

8. A parking control device, characterized in that: The parking control device comprises: A response module, configured to respond to a remote control parking start request sent to the vehicle; An identification module, used to detect the environment in which the vehicle is located, and determine whether there is a preset object in the environment in which the vehicle is located; the preset object includes an object for monitoring the remote control parking process of the vehicle; A control module is used to control the parking of the vehicle according to the detection result of the preset object in the environment where the vehicle is located; wherein, if the preset object is not detected in the environment where the vehicle is located, the remote control parking function of the vehicle is stopped.

9. A vehicle, comprising a processor and a memory, characterized in that: The memory is used to store instructions, and the processor is used to call the instructions in the memory so that the vehicle executes the parking control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a processor, the processor is caused to execute the parking control method according to any one of claims 1 to 7.

Images