Remote control parking method and vehicle-mounted terminal

Abstract

The invention provides a remote control parking method and a vehicle-mounted terminal, and the method comprises the steps that a wireless communication module receives a first parking instruction and a heartbeat packet sent by a mobile terminal, and forwards the first parking instruction and the heartbeat packet to a parking module at a higher frequency; and the parking module controls the vehicle to start parking in the parking mode. In the parking process, if wireless communication is disconnected, the wireless communication module continuously sends heartbeat packets to the parking module at a low frequency, and the parking mode of the parking module is maintained. And if the communication is recovered within the preset time, the wireless communication module receives the second parking instruction and the heartbeat packet of the mobile terminal again and forwards the second parking instruction and the heartbeat packet at high frequency. The parking module continues to perform the parking operation based on the new instruction and the current parking state. According to the method, the parking state of the target vehicle can be maintained when the wireless communication is interrupted, and the parking process can be continued when the wireless communication is established again, so that the parking experience of a user is improved, and the parking safety is improved.

Description

Technical Field

[0001] The present application relates to the technical field of remote control parking, and in particular to a remote control parking method and a vehicle-mounted terminal. Background Art

[0002] Remote Parking Assist (RPA) is an intelligent technology that allows a vehicle to automatically park in or out of a parking space via a mobile phone app or remote key. It is particularly suitable for scenarios where getting on and off the vehicle is difficult or in a narrow space.

[0003] Mobile phone apps or remote control keys typically connect to vehicle terminals via wireless communication, which can be interrupted during parking. Conventional technology terminates the remote parking process when wireless communication is interrupted, impacting user experience and posing security concerns. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a remote control parking method and a vehicle-mounted terminal to overcome the problems in the prior art.

[0005] In a first aspect, embodiments of the present application provide a remote parking method, which operates on an in-vehicle terminal that is wirelessly connected to a mobile terminal; the in-vehicle terminal includes a wireless communication module and a parking module, and the method includes:

[0006] receiving, via the wireless communication module, a first parking instruction and a heartbeat packet sent by the mobile terminal, and transmitting the first parking instruction and the heartbeat packet to the parking module at a preset first transmission frequency; wherein the heartbeat packet is used to indicate that the parking module is in parking mode; and the first parking instruction and the heartbeat packet are generated by the mobile terminal in response to a first touch operation on the parking control;

[0007] controlling the target vehicle to park based on the first parking instruction in a parking mode by the parking module;

[0008] During the parking process, the parking module records the real-time parking status of the target vehicle, and transmits the real-time parking status to the mobile terminal through the wireless communication module, so that the mobile terminal displays the real-time parking status through the graphical user interface;

[0009] If wireless communication disconnection is detected, sending the heartbeat packet to the parking module via the wireless communication module at a preset second sending frequency to maintain the parking mode of the parking module; wherein the second sending frequency is lower than the first sending frequency;

[0010] If wireless communication is re-established within a preset time, receiving a second parking instruction and a heartbeat packet sent by the mobile terminal through the wireless communication module, and sending the second parking instruction and the heartbeat packet to the parking module according to a preset first sending frequency;

[0011] The parking module continues parking based on the second parking instruction on the basis of the current parking state; wherein the current parking state is the parking state of the target vehicle when the wireless communication is disconnected.

[0012] In some technical solutions of the present application, the above method further includes:

[0013] If wireless communication is not re-established within a preset time, the parking mode is exited and the parking process is terminated through the parking module.

[0014] In some technical solutions of the present application, the above method further includes:

[0015] receiving, via the wireless communication module, a third parking instruction and a heartbeat packet sent by the mobile terminal, and transmitting the third parking instruction and the heartbeat packet to the parking module at a preset first transmission frequency; the third parking instruction and the heartbeat packet being generated by the mobile terminal in response to a third touch operation on the parking control;

[0016] The target vehicle is controlled to park based on the third parking instruction in a parking mode by the parking module.

[0017] In some technical solutions of the present application, the above method further includes:

[0018] When parking completion is detected, generating a parking completion signal by the parking module;

[0019] sending the parking completion signal to the wireless communication module through the parking module;

[0020] The parking completion signal is sent to the mobile terminal through the wireless communication module, so that the mobile terminal displays a parking completion prompt.

[0021] In some technical solutions of the present application, controlling the target vehicle to park based on the first parking instruction in the parking mode by the parking module includes:

[0022] When the parking module receives the first parking instruction, the parking module obtains first environmental information around the target vehicle and generates a first parking route based on the first environmental information; wherein the first environmental information includes first sub-environmental information and second sub-environmental information, and the first parking route includes a first sub-route corresponding to the first sub-environmental information and a second sub-route corresponding to the second sub-environmental information;

[0023] Controlling the target vehicle to park according to the first parking route by the parking module;

[0024] When the target vehicle travels the first sub-route of the first parking route, wireless communication is disconnected;

[0025] Continuing to park the vehicle based on the current parking state by the parking module based on the second parking instruction includes:

[0026] When the parking module receives the second parking instruction, the parking module obtains second environmental information around the target vehicle. If the second environmental information is the same as the second sub-environmental information, the target vehicle is controlled to continue parking according to the second sub-route.

[0027] In some technical solutions of the present application, the above method further includes:

[0028] If the second environmental information is different from the second sub-environmental information, generating a second parking route based on the second environmental information;

[0029] The target vehicle is controlled to continue parking according to the second parking route.

[0030] In some technical solutions of the present application, the above method further includes:

[0031] During parking, when fault information is detected, a fault signal is generated by the parking module and sent to the wireless communication module;

[0032] The fault signal is sent to the mobile terminal through the wireless communication module, so that the mobile terminal displays a fault prompt.

[0033] In a second aspect, an embodiment of the present application provides an in-vehicle terminal for remote parking, wherein the in-vehicle terminal is wirelessly connected to a mobile terminal; the in-vehicle terminal includes a wireless communication module and a parking module, and the in-vehicle terminal includes:

[0034] The wireless communication module is configured to receive a first parking instruction and a heartbeat packet sent by the mobile terminal, and transmit the first parking instruction and the heartbeat packet to the parking module at a preset first transmission frequency; wherein the heartbeat packet is used to indicate that the parking module is in parking mode; and the first parking instruction and the heartbeat packet are generated by the mobile terminal in response to a first touch operation on the parking control.

[0035] The parking module is configured to control the target vehicle to park based on the first parking instruction in a parking mode;

[0036] During the parking process, the parking module is used to record the real-time parking status of the target vehicle and send the real-time parking status to the mobile terminal through the wireless communication module, so that the mobile terminal displays the real-time parking status through the graphical user interface;

[0037] If wireless communication disconnection is detected, the wireless communication module is configured to send the heartbeat packet to the parking module at a preset second sending frequency to maintain the parking mode of the parking module; wherein the second sending frequency is lower than the first sending frequency;

[0038] If wireless communication is re-established within a preset time, the wireless communication module is configured to receive a second parking instruction and a heartbeat packet sent by the mobile terminal, and send the second parking instruction and the heartbeat packet to the parking module according to a preset first sending frequency;

[0039] The parking module is configured to continue parking based on the current parking state of the target according to the second parking instruction.

[0040] In a third aspect, an embodiment of the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned remote control parking method when executing the computer program.

[0041] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned remote control parking method are executed.

[0042] The technical solutions provided by the embodiments of the present application may have the following beneficial effects:

[0043] The present application provides a remote control parking method, which acts on an on-board terminal, and the on-board terminal is wirelessly connected to a mobile terminal; the on-board terminal includes a wireless communication module and a parking module, and the method includes: receiving a first parking instruction and a heartbeat packet sent by the mobile terminal through the wireless communication module, and sending the first parking instruction and the heartbeat packet to the parking module according to a preset first sending frequency; wherein the heartbeat packet is used to indicate that the parking module is in parking mode; the first parking instruction and the heartbeat packet are generated by the mobile terminal in response to a first touch operation on the parking control; controlling the target vehicle to park based on the first parking instruction in the parking mode through the parking module; during the parking process, recording the real-time parking status of the target vehicle through the parking module, and recording the real-time parking status of the target vehicle through the wireless communication module The real-time parking status is transmitted to the mobile terminal so that the mobile terminal displays the real-time parking status through the graphical user interface. If wireless communication is detected to be disconnected, the heartbeat packet is transmitted to the parking module via the wireless communication module at a preset second transmission frequency to maintain the parking mode of the parking module. The second transmission frequency is less than the first transmission frequency. If wireless communication is reestablished within a preset time, a second parking instruction and heartbeat packet transmitted by the mobile terminal are received via the wireless communication module, and the second parking instruction and heartbeat packet are transmitted to the parking module at a preset first transmission frequency. The parking module continues parking based on the current parking status based on the second parking instruction. The current parking status is the parking status of the target vehicle when wireless communication is disconnected.

[0044] The method in the present application can maintain the parking state of the target vehicle when wireless communication is interrupted, and can continue the parking process when wireless communication is re-established, thereby improving the user's parking experience and improving parking safety.

[0045] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0047] Figure 1 A schematic diagram showing a flow chart of a remote control parking method provided in an embodiment of the present application is shown;

[0048] Figure 2 A schematic diagram of a parking route provided in an embodiment of the present application is shown;

[0049] Figure 3 A schematic diagram showing a first specific implementation method provided in the examples of the present application is shown;

[0050] Figure 4 A schematic diagram showing a second specific implementation method provided in the examples of the present application is shown;

[0051] Figure 5 A schematic diagram of a vehicle-mounted terminal for remote parking provided in an embodiment of the present application is shown;

[0052] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions 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. It should be understood that the drawings in the present application only serve the purpose of illustration and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowcharts can be implemented out of sequence, and steps without logical context can be reversed or implemented simultaneously. In addition, those skilled in the art, under the guidance of the contents of this application, can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.

[0054] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0055] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0056] Remote Parking Assist (RPA) is an intelligent technology that allows a vehicle to automatically park in or out of a parking space via a mobile phone app or remote key. It is particularly suitable for scenarios where getting on and off the vehicle is difficult or in a narrow space.

[0057] Mobile phone APP or remote control key and vehicle terminal are generally connected by wireless communication, such as Bluetooth connection, and wireless communication may be interrupted during the parking process. For example, during the parking process, the user needs to long press the parking button to park. Bluetooth communication is an unreliable connection, so it is often the case that the remote parking is interrupted due to abnormal Bluetooth communication during the parking process. Therefore, there are the following problems: Unstable Bluetooth signal transmission: The communication link is susceptible to distance attenuation (effective control radius ≤ 10 meters), physical obstruction and other electromagnetic environment interference. When Bluetooth is disconnected: Vehicle operations (such as parking) are usually forced to terminate, and the user needs to re-trigger the operation, affecting the user experience. Lack of Bluetooth disconnection recovery mechanism: The existing solution lacks a quick recovery mechanism after disconnection, resulting in a high functional interruption rate and insufficient security.

[0058] Based on this, an embodiment of the present application provides a remote control parking method and a vehicle-mounted terminal, which are described below through embodiments.

[0059] Figure 1 A flowchart of a remote parking method provided by an embodiment of the present application is shown. The method operates on an in-vehicle terminal that is wirelessly connected to a mobile terminal. The in-vehicle terminal includes a wireless communication module and a parking module. The method includes steps S101-S106. Specifically:

[0060] S101. Receiving, via the wireless communication module, a first parking instruction and a heartbeat packet sent by the mobile terminal, and sending the first parking instruction and the heartbeat packet to the parking module at a preset first sending frequency; wherein the heartbeat packet is used to indicate that the parking module is in parking mode; and the first parking instruction and the heartbeat packet are generated by the mobile terminal in response to a first touch operation on the parking control.

[0061] S102: controlling the target vehicle to park based on the first parking instruction in a parking mode by the parking module;

[0062] S103. During the parking process, the parking module records the real-time parking status of the target vehicle, and transmits the real-time parking status to the mobile terminal via the wireless communication module, so that the mobile terminal displays the real-time parking status via the graphical user interface.

[0063] S104: If wireless communication disconnection is detected, sending the heartbeat packet to the parking module via the wireless communication module at a preset second sending frequency to maintain the parking mode of the parking module; wherein the second sending frequency is lower than the first sending frequency;

[0064] S105. If wireless communication is re-established within the preset time, receiving a second parking instruction and a heartbeat packet sent by the mobile terminal via the wireless communication module, and sending the second parking instruction and the heartbeat packet to the parking module according to a preset first sending frequency;

[0065] S106 , continuing parking based on the current parking state by the parking module based on the second parking instruction; wherein the current parking state is the parking state of the target vehicle when wireless communication is disconnected.

[0066] The method in the present application can maintain the parking state of the target vehicle when wireless communication is interrupted, and can continue the parking process when wireless communication is re-established, thereby improving the user's parking experience and improving parking safety.

[0067] The following describes some embodiments of the present application in detail. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0068] The embodiment of the present application provides a remote control parking method, which acts on a remote control parking system. The remote control parking system here includes a mobile terminal and an on-board terminal, and the on-board terminal is wirelessly connected to the mobile terminal; the on-board terminal includes a wireless communication module and a parking module. The on-board terminal is a device with functions such as data transmission and processing, such as a mobile phone with a corresponding function APP installed. The wireless communication module is a module that can transmit data wirelessly, such as a WiFi module, a Bluetooth module, etc. In actual scenarios, Bluetooth modules are generally used on vehicles. The parking module is a device that can control the target vehicle to move forward and backward and switch left and right. It should be noted that the embodiment of the present application does not care about the specific models and content structures of the mobile terminal, wireless communication module and parking module, as long as the above functions can be achieved. The target vehicle here includes at least parking mode and non-parking mode, and there is no specific limitation on the specific model and vehicle type of the target vehicle (including fuel vehicles and new energy vehicles, etc.).

[0069] In an embodiment of the present application, a mobile terminal includes a graphical user interface that displays a parking interface; wherein the parking interface displays parking controls. A user can park the vehicle by performing touch operations on the parking controls. The touch operations herein may be clicks, long presses, double clicks, slides, and the like. Preferably, to improve the user's operational experience, different touch operations can be performed on the parking controls to generate different instructions. For example, a click on the parking control generates a start parking instruction, and a long press on the parking control generates a first parking instruction. The start parking instruction is used to instruct the parking module to begin scanning for parking spaces. After finding a suitable parking space, the parking module begins parking based on the first parking instruction.

[0070] Furthermore, in order to more accurately indicate that the user needs to perform a parking operation, the first parking touch operation on the parking control can be performed only after the parking mode is entered on the mobile terminal. Alternatively, the mobile terminal displays the parking interface only in the parking mode, and the parking interface displays the parking control. At this time: after the user performs the first touch operation on the parking control on the mobile terminal, the mobile terminal generates a first parking instruction corresponding to the first touch operation, and also generates a heartbeat packet. The parking instruction here includes the parameters required by the parking module to control the movement of the vehicle. The specific generation method and content of the parking instruction can refer to the relevant methods in the prior art. The embodiment of the present application does not limit the specific generation method and content of parking management. The specific generation method and content of the heartbeat packet here can refer to the relevant methods in the prior art. The embodiment of the present application does not limit the specific generation method and content of the heartbeat packet.

[0071] After generating the first parking instruction and heartbeat packet, the vehicle-mounted terminal transmits the first parking instruction and heartbeat packet to the wireless communication module, which then transmits the first parking instruction and heartbeat packet to the parking module. In this embodiment of the present application, the heartbeat packet serves to maintain the target vehicle in parking mode. To distinguish it from the subsequent transmission of the heartbeat packet, the wireless communication module uses a first transmission frequency when transmitting the heartbeat packet to the parking module. The specific value of the first transmission frequency can be set by the user according to needs.

[0072] After receiving the heartbeat packet, the parking module also enters parking mode. If the parking module does not receive a heartbeat packet (or does not receive it within a preset waiting time), the parking module exits parking mode. In parking mode, the parking module controls the target vehicle to park according to the first parking instruction. Specifically, the parking module can obtain the target vehicle's surrounding environment information when receiving the start parking instruction, or obtain the target vehicle's surrounding environment information in real time, and determine a candidate route for parking by analyzing the surrounding environment information. For example, by obtaining information about surrounding parking spaces, a route that can reach an empty parking space is determined. After receiving the first parking instruction, a preferred target route is selected from these candidate routes for parking, or a target route is selected for parking according to the first parking instruction. Since the embodiment of the present application is aimed at parking after communication is interrupted and reconnected, that is, the parking process is performed twice, for the purpose of distinction, the embodiment of the present application refers to the target vehicle's surrounding environment information obtained by the parking module after receiving the first parking instruction as the first environment information, and the parking route generated based on the first environment information as the first parking route. Furthermore, the first parking route needs to be divided into a first sub-route and a second sub-route, wherein the first sub-route represents the route that the target vehicle moves under the control of the parking module before the communication is interrupted, and the second sub-route represents the route that the target vehicle moves under the control of the parking module after the communication is reestablished. On the other hand, the embodiment of the present application also needs to compare the first environmental information obtained before the communication of the parking module is interrupted with the second environmental information obtained after the communication is reestablished, so the embodiment of the present application also needs to distinguish the environmental information of the first sub-route and the second sub-route, and refer to the surrounding environmental information corresponding to the first sub-route as the first sub-environmental information, and refer to the surrounding environmental information corresponding to the second sub-route as the second sub-environmental information. Figure 2 As shown, the entire route encompassing points A, B, and C is the route where parking can be completed. Point A is the starting point for parking, and point B is the point where communication is interrupted. When the entire route is the first parking route, AB is the first sub-route, and BC is the second sub-route. (If there is only one communication interruption, point B is the end point of the parking route. If there are multiple communication interruptions during the parking process, point B is a non-end point of the parking route.)

[0073] While controlling the target vehicle to park, the parking module needs to record the target vehicle's real-time parking status to ensure continued parking after communication is reestablished. This real-time parking status includes information such as vehicle location, parking progress, and obstacles. After recording this real-time parking status, the parking module transmits it to the wireless communication module. The wireless communication module then transmits this real-time parking status to the mobile terminal. To facilitate user understanding of the parking progress, the mobile terminal displays the received real-time parking status on a graphical user interface.

[0074] When wireless communication is disconnected, the data transmission between the mobile terminal and the vehicle terminal is cut off. When the mobile terminal or the vehicle terminal detects data transmission abnormality (this embodiment of the application does not consider other data transmission abnormalities), it determines that the wireless communication is disconnected.

[0075] When wireless communication is disconnected, the mobile terminal displays a parking interruption prompt (which can be a specific image, sound, or other prompt) on the graphical user interface for user convenience. To allow the current parking process to continue, the mobile terminal also records the target vehicle's current parking status (the last parking status received before the communication interruption). After wireless communication is disconnected, wireless communication is reestablished according to a preset reconnection mechanism. The reconnection mechanism can be configured by the user on the mobile terminal's app as needed. The specific configuration method can refer to existing technologies in the relevant field, and this application does not limit the specific implementation of the reconnection mechanism. To protect the user's parking experience, the mobile terminal sets a time threshold when reestablishing wireless communication. If wireless communication with the vehicle-mounted terminal is reestablished within a preset time, the parking process continues as it was before the wireless communication was disconnected. If wireless communication with the vehicle-mounted terminal is not reestablished within the preset time, a new parking process must be restarted. If the parking process continues as it was before the wireless communication was disconnected, the mobile terminal displays the current parking status. If the parking process cannot continue as it was before the wireless communication was disconnected, the mobile terminal displays a parking termination prompt. It should be noted that the agent "parking reminder" mentioned in the embodiment of the present application is only information that starts the reminder function, which can be an interface, picture, video, sound, etc. The embodiment of the present application does not specifically limit the specific form of the parking reminder.

[0076] Furthermore, to improve the user's parking experience, the embodiment of the present application displays the current parking status and the parking termination prompt as if the parking is incomplete. Therefore, the embodiment of the present application also displays the parking controls. For the parking controls displayed during the current parking status, if the user performs a second touch operation on the parking controls, the mobile terminal generates a second parking instruction and a heartbeat packet, and transmits the second parking instruction and the heartbeat packet to the vehicle-mounted terminal at a preset first transmission frequency, so that the vehicle-mounted terminal controls the target vehicle to continue parking based on the current parking status according to the second parking instruction. For the parking controls displayed during the parking termination prompt, if the user performs a third touch operation on the parking controls, the mobile terminal generates a third parking instruction and a heartbeat packet, and transmits the third parking instruction and the heartbeat packet to the vehicle-mounted terminal at a preset first transmission frequency, so that the vehicle-mounted terminal controls the target vehicle to park based on the third parking instruction in parking mode.

[0077] When the vehicle terminal detects wireless communication disconnection, the wireless communication module continues to send heartbeat packets to the parking module to maintain parking mode. To distinguish this from the aforementioned transmission process, the wireless communication module uses a second transmission frequency to send heartbeat packets to the parking module. To reduce power consumption, this second transmission frequency is set lower than the first transmission frequency.

[0078] If the wireless communication module receives the second parking instruction and heartbeat packet sent by the mobile terminal again, it means that the wireless communication has been re-established. The parking module continues to park based on the current parking state based on the second parking instruction; wherein, the current parking state is the parking state of the target vehicle when the wireless communication is disconnected. As mentioned above, in order to ensure the smoothness of parking, the embodiment of the present application sets a reconnection time limit for the mobile terminal. If the wireless communication module fails to receive the second parking instruction and heartbeat packet sent by the mobile terminal within the preset time, the parking module exits the parking mode and terminates the parking process. The mobile terminal displays a prompt to terminate parking. After parking is terminated, the target vehicle is still in an uncompleted parking state. At this time, the on-board terminal will receive the third parking instruction and heartbeat packet sent by the mobile terminal, and the parking module controls the target vehicle to park based on the third parking instruction in the parking mode.

[0079] It should be noted that after the wireless communication was interrupted, the parking module performed parking based on the second parking instruction and the third parking instruction respectively, but the two parking processes were different. For the parking process based on the second parking instruction, the parking module remained in the parking mode unchanged, which was a continuation of the parking process before the wireless communication was interrupted. For the parking process based on the third parking instruction, the parking module exited the parking mode and then entered the parking mode again. This is a completely new parking process that is the same as the parking process based on the first parking instruction. Figure 2 In the parking process (where C is the end point), if the parking process is based on the second parking instruction, the parking module enters parking mode at point A and does not exit parking mode until point C. If the parking process is based on the third parking instruction, the parking module enters parking mode at point A, exits parking mode at point B, and then re-enters parking mode at point B until reaching point C.

[0080] On the other hand, the difference between the parking process based on the second parking instruction and the parking process based on the third parking instruction is also reflected in the choice of route. Figure 2 The second environmental information is obtained at point B in the figure. Since the parking process based on the second parking instruction is a continuation of the parking process based on the first parking instruction, this embodiment of the application needs to compare the second environmental information with the second sub-environmental information. If the second environmental information and the second sub-environmental information are the same, the target vehicle is controlled to continue parking along the second sub-route. If the second environmental information and the second sub-environmental information are different, a second parking route is generated based on the second environmental information; and the target vehicle is controlled to continue parking along the second parking route. As for the parking process based on the third parking instruction, it is a new parking process. After the third environmental information is obtained at point B, no comparison is required. The third parking route can be directly generated based on the third environmental information. The generation process of the second and third parking routes here is the same as the generation process of the first parking route described above and will not be repeated here.

[0081] When parking completion is detected, a parking completion signal is generated by the parking module; the parking completion signal is sent to the wireless communication module by the parking module; and the parking completion signal is sent to the mobile terminal by the wireless communication module, so that the mobile terminal displays a parking completion prompt.

[0082] In an optional embodiment, the parking module may generate a fault during the parking process, such as a sensor malfunction. To ensure normal parking, the parking module needs to perform fault detection during the parking process. When a fault is detected, the parking module generates a fault signal and sends the fault signal to the wireless communication module. The wireless communication module then sends the fault signal to the mobile terminal, causing the mobile terminal to display a fault prompt.

[0083] In an optional embodiment, when implementing it, you can refer to Figure 3 The process is as shown below: A1: System starts and system detection is completed; A2: System shuts down; A3: User manually starts remote parking; A4: Active or passive exits remote parking; A5: After completing Searching, the user long-presses the parking button to trigger parking; A6: Parking is completed; A7: Interruption is triggered during parking (such as Bluetooth disconnection); A8: Timeout wait, time TBD; A9: Timeout exit, time TBD; A10: Parking system self-test fault; A11: Timeout exit, time TBD; A12: Interruption recovery within 30 seconds (such as Bluetooth connection).

[0084] In an optional embodiment, when implementing it, you can refer to Figure 4The method shown is as follows: the user starts remote parking, operation trigger: the user clicks the "remote parking" button through the mobile phone APP. Command issuance: the mobile phone APP sends the "parking request" command to the Bluetooth module (BTM) through the Bluetooth channel. The BTM forwards the command to the parking module, triggering the parking process. Parking space search and status feedback: after receiving the command, the parking module starts searching for parking spaces and reports the search status (such as success / failure reason) to the mobile phone APP in real time through the BTM. Parking operation: operation trigger: the user clicks and presses the "remote parking" button through the mobile phone APP. The parking module executes the parking action according to the parking request and continuously reports the operation status (such as progress, obstacle detection, etc.) to the mobile phone APP. Parking status viewing: the user can view the parking progress and completion interface in real time on the mobile phone. Bluetooth interruption processing, Bluetooth interruption detection: mobile phone APP: if the Bluetooth connection is detected to be disconnected, it will immediately enter the "Bluetooth interruption" interface and record the current parking status (such as progress, operation stage). If the BTM detects a Bluetooth connection loss, it immediately stops sending parking requests, changes the Bluetooth status to disconnected, and reduces the parking heartbeat frequency. The parking module suspends execution and waits for Bluetooth to resume. The ADCU (Assisted Driving Control Unit) detects a change in the Bluetooth heartbeat signal from high to low frequency and initiates a 30-second timeout. Bluetooth Recovery and Process Continuation: If the Bluetooth connection is restored within 30 seconds, the mobile app automatically returns to the parking interface prior to the interruption, allowing the user to continue operations (e.g., clicking the "Resume Parking" button). The BTM retransmits the command to the parking module, and the parking process continues from the point of interruption. Timeout Handling: If the connection is not restored within 30 seconds, the ADCU forcibly terminates the parking process, and the system exits parking mode. The mobile app displays a "Parking Timeout Interrupted" message, requiring the user to re-initiate the request. Normal Process Termination and Status Synchronization: After completing parking, the parking module reports the "Parking Completed" status to the mobile app, and the user interface displays the final result. Abnormal Termination: If a failure occurs during the parking process (e.g., a sensor malfunction), the parking module reports the cause of the failure, and the mobile app displays the specific error message. The embodiments of the present application solve the problem of remote parking interruption caused by unstable Bluetooth connection in the prior art, ensuring the continuity and reliability of the parking process.

[0085] In an optional embodiment, an embodiment of the present application provides a remote parking method, which operates on a mobile terminal wirelessly connected to an in-vehicle terminal, the mobile terminal including a graphical user interface displaying a parking interface; wherein the parking interface displays parking controls; the method includes:

[0086] In response to a first touch operation on the parking control, generating a first parking instruction and a heartbeat packet, and sending the first parking instruction and the heartbeat packet to the vehicle terminal, so that the vehicle terminal controls the target vehicle to park according to the first parking instruction; wherein the heartbeat packet is used to indicate that the parking module is in parking mode;

[0087] During the parking process, the real-time parking status fed back by the vehicle terminal is displayed; if wireless communication disconnection is detected, a parking interruption prompt is displayed on the graphical user interface, and the current parking status of the target vehicle is recorded;

[0088] reestablishing wireless communication according to a preset reconnection mechanism; and displaying the current parking status and parking controls of the target vehicle on the graphical user interface if wireless communication is reestablished within a preset time.

[0089] In response to a second touch operation on the parking control, a second parking instruction and a heartbeat packet are generated, and the second parking instruction and the heartbeat packet are sent to the vehicle terminal according to a preset first sending frequency, so that the vehicle terminal controls the target vehicle to continue parking based on the current parking status according to the second parking instruction.

[0090] In an optional embodiment, an embodiment of the present application provides a remote parking method for a parking system. The parking system includes a mobile terminal and an onboard terminal. The onboard terminal includes a wireless communication module and a parking module. The mobile terminal is wirelessly connected to the onboard terminal. The mobile terminal includes a graphical user interface that displays a parking interface. The parking interface displays parking controls. The method includes:

[0091] generating, by the mobile terminal, a first parking instruction and a heartbeat packet in response to a first touch operation on the parking control, and sending the first parking instruction and the heartbeat packet to the wireless communication module;

[0092] receiving, via the wireless communication module, a first parking instruction and a heartbeat packet sent by the mobile terminal, and sending the first parking instruction and the heartbeat packet to the parking module at a preset first sending frequency; wherein the heartbeat packet is used to indicate that the parking module is in parking mode;

[0093] controlling the target vehicle to park based on the first parking instruction in a parking mode by the parking module;

[0094] During the parking process, the parking module records the real-time parking status of the target vehicle, and transmits the real-time parking status to the mobile terminal through the wireless communication module;

[0095] Displaying the real-time parking status fed back by the vehicle-mounted terminal through the mobile terminal; if wireless communication disconnection is detected, displaying a parking interruption prompt on the graphical user interface and recording the current parking status of the target vehicle;

[0096] sending the heartbeat packet to the parking module via the wireless communication module at a preset second sending frequency to maintain the parking mode of the parking module; wherein the second sending frequency is lower than the first sending frequency;

[0097] reestablishing wireless communication via the mobile terminal according to a preset reconnection mechanism; and displaying the current parking status and parking controls of the target vehicle on the graphical user interface if wireless communication is reestablished within a preset time.

[0098] In response to a second touch operation on the parking control, generating a second parking instruction and a heartbeat packet, and sending the second parking instruction and the heartbeat packet to the wireless communication module according to a preset first sending frequency;

[0099] receiving, through the wireless communication module, a second parking instruction and a heartbeat packet sent by the mobile terminal, and sending the second parking instruction and the heartbeat packet to the parking module according to a preset first sending frequency;

[0100] Parking is continued based on the target's current parking state by the parking module according to the second parking instruction.

[0101] Figure 5 An embodiment of the present application provides a vehicle-mounted terminal for remote parking, wherein the vehicle-mounted terminal is wirelessly connected to a mobile terminal; the vehicle-mounted terminal includes a wireless communication module and a parking module, and includes:

[0102] The wireless communication module is configured to receive a first parking instruction and a heartbeat packet sent by the mobile terminal, and transmit the first parking instruction and the heartbeat packet to the parking module at a preset first transmission frequency; wherein the heartbeat packet is used to indicate that the parking module is in parking mode; and the first parking instruction and the heartbeat packet are generated by the mobile terminal in response to a first touch operation on the parking control.

[0103] The parking module is configured to control the target vehicle to park based on the first parking instruction in a parking mode;

[0104] During the parking process, the parking module is used to record the real-time parking status of the target vehicle and send the real-time parking status to the mobile terminal through the wireless communication module, so that the mobile terminal displays the real-time parking status through the graphical user interface;

[0105] If wireless communication disconnection is detected, the wireless communication module is configured to send the heartbeat packet to the parking module at a preset second sending frequency to maintain the parking mode of the parking module; wherein the second sending frequency is lower than the first sending frequency;

[0106] If wireless communication is re-established within a preset time, the wireless communication module is configured to receive a second parking instruction and a heartbeat packet sent by the mobile terminal, and send the second parking instruction and the heartbeat packet to the parking module according to a preset first sending frequency;

[0107] The parking module is configured to continue parking based on the current parking state of the target according to the second parking instruction.

[0108] If the parking module fails to re-establish wireless communication within a preset time, the parking module exits the parking mode and terminates the parking process.

[0109] the wireless communication module is configured to receive a third parking instruction and a heartbeat packet sent by the mobile terminal, and transmit the third parking instruction and the heartbeat packet to the parking module at a preset first transmission frequency; the third parking instruction and the heartbeat packet are generated by the mobile terminal in response to a third touch operation on the parking control;

[0110] The parking module is configured to control the target vehicle to park based on the third parking instruction in a parking mode.

[0111] The parking module is configured to generate a parking completion signal when parking completion is detected;

[0112] sending the parking completion signal to the wireless communication module;

[0113] The wireless communication module is used to send the parking completion signal to the mobile terminal, so that the mobile terminal displays a parking completion prompt.

[0114] The parking module controls the target vehicle to park based on the first parking instruction in the parking mode, including:

[0115] When the parking module receives the first parking instruction, the parking module obtains first environmental information around the target vehicle and generates a first parking route based on the first environmental information; wherein the first environmental information includes first sub-environmental information and second sub-environmental information, and the first parking route includes a first sub-route corresponding to the first sub-environmental information and a second sub-route corresponding to the second sub-environmental information;

[0116] The parking module controls the target vehicle to park according to the first parking route;

[0117] When the target vehicle travels the first sub-route of the first parking route, wireless communication is disconnected;

[0118] The parking module continues parking based on the current parking state of the target based on the second parking instruction, including:

[0119] When the parking module receives the second parking instruction, the parking module obtains second environmental information around the target vehicle. If the second environmental information is the same as the second sub-environmental information, the target vehicle is controlled to continue parking according to the second sub-route.

[0120] If the second environmental information is different from the second sub-environmental information, generating a second parking route based on the second environmental information;

[0121] The target vehicle is controlled to continue parking according to the second parking route.

[0122] During parking, when fault information is detected, the parking module generates a fault signal and sends the fault signal to the wireless communication module;

[0123] The fault signal is sent to the mobile terminal through the wireless communication module, so that the mobile terminal displays a fault prompt.

[0124] like Figure 6 As shown, an embodiment of the present application provides an electronic device for executing the remote control parking method in the present application. The device includes a memory, a processor, a bus, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the remote control parking method are implemented.

[0125] Specifically, the above-mentioned memory and processor may be general-purpose memory and processor, which are not specifically limited here. When the processor runs the computer program stored in the memory, the above-mentioned remote control parking method can be executed.

[0126] Corresponding to the remote control parking method in the present application, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the remote control parking method are executed.

[0127] Specifically, the storage medium can be a general storage medium, such as a mobile disk, a hard disk, etc. When the computer program on the storage medium is run, the above-mentioned remote control parking method can be executed.

[0128] In the embodiments provided in this application, it should be understood that the disclosed systems and methods can be implemented in other ways. The system embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, 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 communication interface, indirect coupling or communication connection of the system or unit, which can be electrical, mechanical or other forms.

[0129] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, and may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment as needed.

[0130] In addition, each functional unit in the embodiments provided in 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.

[0131] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0132] It should be noted that similar numbers and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and are not to be understood as indicating or implying relative importance.

[0133] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The scope of protection of the present application is not limited thereto. Although the present application has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed in the present application, or perform equivalent replacements for some of the technical features thereof. However, these modifications, changes, or replacements do not deviate from the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application. They should all be included in the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the scope of protection of the claims.

Claims

1. A remote control parking method, characterized in that: Acting on a vehicle-mounted terminal, the vehicle-mounted terminal is wirelessly connected to a mobile terminal; the vehicle-mounted terminal includes a wireless communication module and a parking module, and the method includes: receiving, via the wireless communication module, a first parking instruction and a heartbeat packet sent by the mobile terminal, and transmitting the first parking instruction and the heartbeat packet to the parking module at a preset first transmission frequency; wherein the heartbeat packet is used to indicate that the parking module is in parking mode; and the first parking instruction and the heartbeat packet are generated by the mobile terminal in response to a first touch operation on a parking control; controlling the target vehicle to park based on the first parking instruction in a parking mode by the parking module; During the parking process, the parking module records the real-time parking status of the target vehicle, and transmits the real-time parking status to the mobile terminal through the wireless communication module, so that the mobile terminal displays the real-time parking status through the graphical user interface; If wireless communication disconnection is detected, sending the heartbeat packet to the parking module via the wireless communication module at a preset second sending frequency to maintain the parking mode of the parking module; wherein the second sending frequency is lower than the first sending frequency; If wireless communication is re-established within a preset time, receiving a second parking instruction and a heartbeat packet sent by the mobile terminal through the wireless communication module, and sending the second parking instruction and the heartbeat packet to the parking module according to a preset first sending frequency; The parking module continues parking based on the second parking instruction on the basis of the current parking state; wherein the current parking state is the parking state of the target vehicle when the wireless communication is disconnected.

2. The method according to claim 1, characterized in that The method further comprises: If wireless communication is not re-established within a preset time, the parking mode is exited and the parking process is terminated through the parking module.

3. The method according to claim 2, characterized in that The method further comprises: receiving, via the wireless communication module, a third parking instruction and a heartbeat packet sent by the mobile terminal, and transmitting the third parking instruction and the heartbeat packet to the parking module at a preset first transmission frequency; the third parking instruction and the heartbeat packet being generated by the mobile terminal in response to a third touch operation on the parking control; The target vehicle is controlled to park based on the third parking instruction in a parking mode by the parking module.

4. The method according to claim 1, wherein The method further comprises: When parking completion is detected, generating a parking completion signal by the parking module; sending the parking completion signal to the wireless communication module through the parking module; The parking completion signal is sent to the mobile terminal through the wireless communication module, so that the mobile terminal displays a parking completion prompt.

5. The method according to claim 1, wherein The controlling the target vehicle to park based on the first parking instruction in the parking mode by the parking module includes: When the parking module receives the first parking instruction, the parking module obtains first environmental information around the target vehicle and generates a first parking route based on the first environmental information; wherein the first environmental information includes first sub-environmental information and second sub-environmental information, and the first parking route includes a first sub-route corresponding to the first sub-environmental information and a second sub-route corresponding to the second sub-environmental information; Controlling the target vehicle to park according to the first parking route by the parking module; When the target vehicle travels the first sub-route of the first parking route, wireless communication is disconnected; Continuing to park the vehicle based on the current parking state by the parking module based on the second parking instruction includes: When the parking module receives the second parking instruction, the parking module obtains second environmental information around the target vehicle. If the second environmental information is the same as the second sub-environmental information, the target vehicle is controlled to continue parking according to the second sub-route.

6. The method according to claim 5, characterized in that The method further comprises: If the second environmental information is different from the second sub-environmental information, generating a second parking route based on the second environmental information; The target vehicle is controlled to continue parking according to the second parking route.

7. The method according to claim 1, characterized in that The method further comprises: During parking, when fault information is detected, a fault signal is generated by the parking module and sent to the wireless communication module; The fault signal is sent to the mobile terminal through the wireless communication module, so that the mobile terminal displays a fault prompt.

8. A vehicle-mounted terminal for remote parking, characterized in that: The vehicle-mounted terminal is wirelessly connected to the mobile terminal; the vehicle-mounted terminal includes a wireless communication module and a parking module, and the vehicle-mounted terminal includes: The wireless communication module is configured to receive a first parking instruction and a heartbeat packet sent by the mobile terminal, and transmit the first parking instruction and the heartbeat packet to the parking module at a preset first transmission frequency; wherein the heartbeat packet is used to indicate that the parking module is in parking mode; and the first parking instruction and the heartbeat packet are generated by the mobile terminal in response to a first touch operation on the parking control. The parking module is configured to control the target vehicle to park based on the first parking instruction in a parking mode; During the parking process, the parking module is used to record the real-time parking status of the target vehicle and send the real-time parking status to the mobile terminal through the wireless communication module, so that the mobile terminal displays the real-time parking status through the graphical user interface; If wireless communication disconnection is detected, the wireless communication module is configured to send the heartbeat packet to the parking module at a preset second sending frequency to maintain the parking mode of the parking module; wherein the second sending frequency is lower than the first sending frequency; If wireless communication is re-established within a preset time, the wireless communication module is configured to receive a second parking instruction and a heartbeat packet sent by the mobile terminal, and send the second parking instruction and the heartbeat packet to the parking module according to a preset first sending frequency; The parking module is configured to continue parking based on the current parking state of the target according to the second parking instruction.

9. An electronic device, characterized in that: include: A processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate via the bus. When the machine-readable instructions are executed by the processor, the steps of the remote control parking method according to any one of claims 1 to 7 are performed.

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

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