Method and vehicle terminal for remote parking

Abstract

The application provides a remote parking method and a vehicle terminal, and the method comprises the following steps: 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 high frequency. The parking module controls a vehicle to start parking in a parking mode according to the first parking instruction and the heartbeat packet. During the parking process, if the wireless communication is disconnected, the wireless communication module continuously sends the heartbeat packet to the parking module at a low frequency, so as to maintain the parking mode of the parking module. If the communication is recovered within a preset time, the wireless communication module receives a second parking instruction and a heartbeat packet sent by the mobile terminal again, and forwards the second parking instruction and the heartbeat packet at a high frequency. The parking module continues to perform the parking operation based on the new instruction and a current parking state. The method in the application can maintain the parking state of the target vehicle when the wireless communication is interrupted, and can continue the parking process when the wireless communication is recovered again, so that the parking experience of the user is improved, and the safety of parking is improved.

Description

Technical Field

[0001] This application relates to the field of remote parking technology, and more specifically, to a method for remote parking and an on-board terminal. Background Technology

[0002] Remote Parking Assist (RPA) is a smart technology that allows vehicles to automatically park or drive out of parking spaces via a mobile app or remote key. It is particularly suitable for narrow spaces or scenarios where getting in and out of the car is difficult.

[0003] Mobile apps or remote keys typically connect to in-vehicle terminals via wireless communication, which can be interrupted during parking. Current technology terminates the remote parking process upon interruption, impacting user experience and posing security risks. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a method for remote parking and an on-board terminal to overcome the problems in the prior art.

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

[0006] The wireless communication module receives a first parking instruction and a heartbeat packet sent by the mobile terminal, and sends the first parking instruction and heartbeat packet to the parking module according to a preset first transmission 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;

[0007] The parking module controls the target vehicle to park in parking mode based on the first parking command;

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

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

[0010] If wireless communication is re-established within a preset time, the wireless communication module receives the second parking instruction and heartbeat packet sent by the mobile terminal, and sends the second parking instruction and heartbeat packet to the parking module according to a preset first transmission frequency.

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

[0012] In some technical solutions of this application, the above method also includes:

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

[0014] In some technical solutions of this application, the above method also includes:

[0015] The wireless communication module receives the third parking instruction and heartbeat packet sent by the mobile terminal, and sends the third parking instruction and heartbeat packet to the parking module according to a preset first transmission frequency; the third parking instruction and the heartbeat packet are generated by the mobile terminal in response to the third touch operation on the parking control;

[0016] The parking module controls the target vehicle to park in parking mode based on the third parking command.

[0017] In some technical solutions of this application, the above method also includes:

[0018] When parking is detected as complete, a parking completion signal is generated by the parking module.

[0019] The parking module sends the parking completion signal to the wireless communication module.

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

[0021] In some technical solutions of this application, the above-mentioned control of the target vehicle to park based on the first parking command in parking mode by the parking module includes:

[0022] When the parking module receives the first parking instruction, it obtains the 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] The parking module controls the target vehicle to park according to the first parking route;

[0024] The wireless communication is disconnected when the target vehicle travels through the first sub-route of the first parking route.

[0025] The step of continuing parking based on the second parking instruction by the parking module on the current parking status includes:

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

[0027] In some technical solutions of this application, the above method also includes:

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

[0029] Control the target vehicle to continue parking according to the second parking route.

[0030] In some technical solutions of this application, the above method also includes:

[0031] 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.

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

[0033] Secondly, embodiments of this application provide 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 the vehicle-mounted terminal includes:

[0034] The wireless communication module is used to receive a first parking instruction and a heartbeat packet sent by the mobile terminal, and send the first parking instruction and the heartbeat packet to the parking module according to a preset first transmission 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;

[0035] The parking module is used to control the target vehicle to park in parking mode based on the first parking command;

[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 can display the real-time parking status through the graphical user interface.

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

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

[0039] The parking module is used to continue parking based on the target's current parking state, according to the second parking instruction.

[0040] Thirdly, embodiments of this application provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the remote parking method described above.

[0041] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the remote parking method described above.

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

[0043] This application provides a remote parking method for an in-vehicle terminal, which is wirelessly connected to a mobile terminal. The in-vehicle terminal includes a wireless communication module and a parking module. 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 heartbeat packet to the parking module according to a preset first transmission 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 through the parking module in parking mode; during the parking process, recording the real-time parking status of the target vehicle through the parking module and transmitting the data through the wireless communication module. The real-time parking status is sent to the mobile terminal so that the mobile terminal can display the real-time parking status through the graphical user interface; if a wireless communication disconnection is detected, the wireless communication module sends the heartbeat packet to the parking module at a preset second transmission frequency to maintain the parking mode of the parking module; wherein, the second transmission frequency is less than the first transmission frequency; if the wireless communication is re-established within a preset time, the wireless communication module receives the second parking instruction and heartbeat packet sent by the mobile terminal, and sends the second parking instruction and heartbeat packet to the parking module at a preset first transmission frequency; the parking module continues parking based on the second parking instruction and the current parking status; wherein, the current parking status is the parking status of the target vehicle when the wireless communication was disconnected.

[0044] The method in this application can maintain the parking status 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 enhancing parking safety.

[0045] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0046] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 A flowchart illustrating a remote parking method provided in an embodiment of this application is shown;

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

[0049] Figure 3 A schematic diagram of the first specific embodiment provided in this application is shown;

[0050] Figure 4 A schematic diagram of a second specific embodiment provided in this application is shown;

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

[0052] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0054] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

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

[0056] Remote Parking Assist (RPA) is a smart technology that allows vehicles to automatically park or drive out of parking spaces via a mobile app or remote key. It is particularly suitable for narrow spaces or scenarios where getting in and out of the car is difficult.

[0057] Mobile apps or remote keys typically connect to in-vehicle terminals via wireless communication, such as Bluetooth. However, wireless communication can be interrupted during parking. For example, users may need to press and hold the parking button to park. Since Bluetooth communication is unreliable, remote parking often fails due to Bluetooth communication issues. This leads to several problems: Unstable Bluetooth signal transmission: The communication link is susceptible to distance attenuation (effective control radius ≤ 10 meters), physical obstructions, and other electromagnetic interference. When Bluetooth disconnects: Vehicle operations (such as parking) are usually forcibly terminated, requiring the user to re-trigger the operation, impacting user experience. Lack of Bluetooth disconnection recovery mechanism: Existing solutions lack a rapid recovery mechanism after disconnection, resulting in a high interruption rate and insufficient security.

[0058] Based on this, this application provides a method for remote parking and an in-vehicle terminal, which will be described below through embodiments.

[0059] Figure 1 This illustration shows a flowchart of a remote parking method according to an embodiment of this application, which operates on an in-vehicle terminal. The in-vehicle terminal 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. The wireless communication module receives the first parking instruction and heartbeat packet sent by the mobile terminal, and sends the first parking instruction and heartbeat packet to the parking module according to a preset first transmission 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 the first touch operation on the parking control;

[0061] S102. The parking module controls the target vehicle to park in parking mode based on the first parking command;

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

[0063] S104. If a wireless communication disconnection is detected, the heartbeat packet is sent to the parking module through the wireless communication module at a preset second transmission frequency to maintain the parking mode of the parking module; wherein, the second transmission frequency is less than the first transmission frequency;

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

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

[0066] The method in this application can maintain the parking status 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 enhancing parking safety.

[0067] The following describes some embodiments of this application in detail. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0068] This application provides a method for remote parking, applied to a remote parking system. The remote parking system includes a mobile terminal and an in-vehicle terminal, with the in-vehicle terminal wirelessly connected to the mobile terminal. The in-vehicle terminal includes a wireless communication module and a parking module. The in-vehicle terminal is a device with data transmission and processing functions, such as a mobile phone with a corresponding app installed. The wireless communication module is a module capable of wireless data transmission, such as a Wi-Fi module or Bluetooth module. In practical scenarios, Bluetooth modules are generally used in vehicles. The parking module is a device that can control the target vehicle to move forward and backward, and to switch left and right. It should be noted that this application does not concern itself with the specific models and internal structures of the mobile terminal, wireless communication module, and parking module, as long as they can achieve the aforementioned functions. The target vehicle includes at least parking and non-parking modes, and there are no specific limitations on the specific model and type of the target vehicle (including fuel vehicles and new energy vehicles).

[0069] In this embodiment, the mobile terminal includes a graphical user interface (GUI) displaying a parking interface, which includes parking controls. Users can park by touching the parking controls. These touch operations can include clicking, long-pressing, double-clicking, and swiping. Preferably, to improve the user experience, different touch operations on the parking controls can generate different commands. For example, clicking the parking control generates a "start parking" command, and long-pressing the parking control generates a "first parking" command. The "start parking" command instructs 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" command.

[0070] Furthermore, to more accurately indicate that the user needs to perform a parking operation, the first parking touch operation on the parking controls can be performed only after the user has entered parking mode on the mobile device. Alternatively, the parking interface, which displays parking controls, can be displayed only when the mobile terminal is in parking mode. In this case: after the user performs the first touch operation on the parking controls on the mobile terminal, the mobile terminal generates a first parking instruction corresponding to the first touch operation, and also generates a heartbeat packet. Here, the parking instruction includes the parameters necessary for the parking module to control the movement of the vehicle. The specific generation method and content of the parking instruction can refer to relevant methods in the prior art. This application embodiment does not limit the specific generation method and content of the parking instruction. The specific generation method and content of the heartbeat packet can refer to relevant methods in the prior art. This application embodiment does not limit the specific generation method and content of the heartbeat packet.

[0071] After generating the first parking command and heartbeat packet, the vehicle terminal sends them to the wireless communication module, which then forwards them to the parking module. In this embodiment, the heartbeat packet serves to maintain the target vehicle in parking mode. To distinguish it from subsequent heartbeat packet transmissions, the wireless communication module uses a first transmission frequency when sending the heartbeat packet to the parking module. The specific value of the first transmission frequency can be set by the user according to their needs.

[0072] Upon receiving a heartbeat packet, the parking module also enters parking mode. If the parking module does not receive a heartbeat packet (or does not receive one within a preset waiting time), it exits parking mode. In parking mode, the parking module controls the target vehicle to park according to the first parking command. Specifically, the parking module may acquire the surrounding environment information of the target vehicle when it receives the start parking command, or acquire the surrounding environment information of the target vehicle in real time. By analyzing the surrounding environment information, it determines the candidate routes for parking. For example, by acquiring surrounding parking space information, it determines the routes that can reach empty parking spaces. After receiving the first parking command, it selects a better target route from these candidate routes for parking, or selects a target route for parking according to the first parking command. Since this application embodiment addresses the parking situation after communication interruption and reconnection, i.e., the parking process involves two steps, for distinction, this application embodiment refers to the surrounding environment information of the target vehicle acquired by the parking module after receiving the first parking command 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. The first sub-route represents the route the target vehicle took under the control of the parking module before the communication interruption, and the second sub-route represents the route the target vehicle took under the control of the parking module after communication was re-established. On the other hand, this embodiment also needs to compare the first environmental information obtained before the parking module's communication interruption with the second environmental information obtained after communication was re-established. Therefore, this embodiment also needs to distinguish the environmental information of the first sub-route and the second sub-route, referring to the surrounding environmental information corresponding to the first sub-route as the first sub-environmental information, and the surrounding environmental information corresponding to the second sub-route as the second sub-environmental information. For example... Figure 2 As shown, the entire route containing points A, B, and C is the route that can complete parking. 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 (when there is only one communication interruption, point B is the end point of the parking route; when there are multiple communication interruptions during the parking process, point B is a non-end point of the parking route).

[0073] During the parking process, to ensure continued parking after communication is re-established, the parking module needs to record the real-time parking status of the target vehicle. This real-time parking status includes information such as vehicle position, parking progress, and obstacles. After recording the real-time parking status, the parking module sends it to the wireless communication module. The wireless communication module then sends the real-time parking status to the mobile terminal. To allow the user to understand the parking progress, the mobile terminal displays the received real-time parking status on a graphical user interface.

[0074] When wireless communication is interrupted, data transmission between the mobile terminal and the vehicle terminal is cut off. When the mobile terminal or the vehicle terminal detects abnormal data transmission (other abnormal data transmission situations are not considered in this embodiment), it determines that wireless communication is interrupted.

[0075] When wireless communication is interrupted, the mobile terminal displays an interrupted parking prompt (which can be a specific image, sound, or other prompt) on the graphical user interface for easy observation by the user. To continue the parking process, the mobile terminal also records the current parking status of the target vehicle (the last parking status received before the communication interruption). Simultaneously, after the wireless communication is interrupted, the wireless communication is re-established according to a preset reconnection mechanism. This reconnection mechanism can be configured by the user on the mobile terminal's app side according to their needs. Specific configuration methods can refer to existing related technologies; this application does not limit the specific method of the reconnection mechanism. To ensure a smooth parking experience for the user, this embodiment sets a time threshold when the mobile terminal re-establishes wireless communication. If the wireless communication with the vehicle terminal is re-established within a preset time, the parking process before the wireless communication interruption continues. If the wireless communication with the vehicle terminal cannot be re-established within the preset time, a new parking process needs to be restarted. If the parking process before the wireless communication interruption continues, the mobile terminal displays the current parking status; if the parking process before the wireless communication interruption cannot be continued, the mobile terminal displays a parking termination prompt. It should be noted that the "parking reminder" mentioned in this application embodiment is only information that enables the reminder function, and can be an interface, image, video, sound, etc. This application embodiment does not specifically limit the specific form of the parking reminder.

[0076] Furthermore, to improve the smoothness of parking completion for users, this embodiment displays both the current parking status and the parking termination prompt as an incomplete parking state. Therefore, this embodiment also displays parking controls while displaying the current parking status and the parking termination prompt. For the parking controls displayed in the current parking status, the user performs a second touch operation on the parking controls. The mobile terminal generates a second parking command and a heartbeat packet, and sends the second parking command and the heartbeat packet to the vehicle terminal at 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 command. For the parking controls displayed with the parking termination prompt, the user performs a third touch operation on the parking controls. The mobile terminal generates a third parking command and a heartbeat packet, and sends the third parking command and the heartbeat packet to the vehicle terminal at a preset first sending frequency, so that the vehicle terminal controls the target vehicle to park based on the third parking command in parking mode.

[0077] For the vehicle terminal, when a wireless communication disconnection is detected, the wireless communication module continues to send heartbeat packets to the parking module in order to maintain the parking module's 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 at this time. To reduce power consumption, the second transmission frequency is set to be lower than the first transmission frequency.

[0078] If the wireless communication module receives the second parking instruction and heartbeat packet from the mobile terminal again, it indicates that the wireless communication has been re-established. The parking module continues parking based on the second parking instruction and the current parking state; where the current parking state is the parking state of the target vehicle when the wireless communication was disconnected. As mentioned above, to ensure smooth parking, this embodiment sets a reconnection time limit for the mobile terminal. If the wireless communication module fails to receive the second parking instruction and heartbeat packet from the mobile terminal within the preset time, the parking module exits the parking mode and terminates the parking process. The mobile terminal displays a parking termination prompt. After parking is terminated, the target vehicle is still in an incomplete parking state. At this time, the vehicle terminal receives a third parking instruction and heartbeat packet from the mobile terminal, and the parking module controls the target vehicle to park based on the third parking instruction in parking mode.

[0079] It should be noted that after the wireless communication interruption, the parking module performed parking based on both the second and third parking commands, but these two parking processes were different. For the parking process based on the second parking command, the parking module remained in parking mode, continuing the parking process from before the wireless communication interruption. For the parking process based on the third parking command, the parking module exited parking mode and then re-entered parking mode, resulting in a completely new parking procedure identical to the one based on the first parking command. Figure 2 The parking process (with C as the endpoint) is as follows: If the parking process is based on the second parking instruction, it proceeds as follows: After the parking module enters parking mode at point A, it remains in parking mode until point C. If the parking process is based on the third parking instruction, it proceeds as follows: 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 point C.

[0080] On the other hand, the difference between parking procedures based on a second parking instruction and those based on a third parking instruction also lies in the route selection. For parking procedures based on a second parking instruction, to ensure parking safety, in... Figure 2 Point B in the diagram obtains the second environmental information. 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 according to 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; the target vehicle is controlled to continue parking according to the second parking route. For the parking process of the third parking instruction, it is a new parking process. After obtaining the third environmental information at point B, no comparison is needed; the third parking route can be directly generated based on the third environmental information. The generation process of the second and third parking routes is the same as the generation process of the first parking route described above, and will not be repeated here.

[0081] When parking is detected as complete, the parking module generates a parking completion signal; the parking module sends the parking completion signal to the wireless communication module; the wireless communication module sends the parking completion signal to the mobile terminal so that the mobile terminal displays a parking completion notification.

[0082] In an optional implementation, the parking module may generate faults during the parking process, such as sensor malfunctions. To ensure normal parking, the parking module also needs to perform fault detection during parking. When fault information is detected, the parking module generates a fault signal and sends it 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 implementation, reference may be made to the following in specific implementation: Figure 3 The process is as follows: A1: System starts and completes system check; A2: System stops; A3: User manually starts remote parking; A4: Active / passive exit of remote parking; A5: After Searching is completed, the user presses and holds the parking button to trigger parking; A6: Parking complete; A7: Interruption triggered during parking (e.g., Bluetooth disconnection); A8: Timeout wait, time TBD; A9: Timeout exit, time TBD; A10: Parking system self-check fault; A11: Timeout exit, time TBD; A12: Interruption resumes within 30 seconds (e.g., Bluetooth connection).

[0084] In an optional implementation, reference may be made to the following in specific implementation: Figure 4The process is as follows: The user initiates remote parking. Operation trigger: The user clicks the "Remote Parking" button on the mobile app. Command issuance: The mobile app sends the "Parking Request" command to the Bluetooth module (BTM) via Bluetooth. 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 begins searching for a parking space and reports the search status (e.g., success / failure reason) to the mobile app in real time via the BTM. Parking operation: Operation trigger: The user clicks and holds the "Remote Parking" button on the mobile app. The parking module executes the parking action according to the parking request and continuously reports the operation status (e.g., progress, obstacle detection, etc.) to the mobile app. Parking status viewing: The user can view the parking progress and completion interface in real time on their mobile phone. Bluetooth interruption handling and Bluetooth interruption detection: Mobile app: If a Bluetooth connection loss is detected, it immediately enters the "Bluetooth Interruption" interface and records the current parking status (e.g., progress, operation stage). BTM: If a Bluetooth connection is detected to be lost, parking requests will be immediately stopped, and the Bluetooth status will be changed to disconnected. Parking heartbeat frequency reduction parking module: The parking module will pause execution and wait for Bluetooth to recover. ADCU (Advanced Driver Assistance Control Unit) detects that the Bluetooth heartbeat signal has changed from high frequency to low frequency and starts a 30-second timeout. Bluetooth recovery and process continuation Reconnection within 30 seconds: If the Bluetooth connection is restored within 30 seconds: The mobile APP will automatically return to the parking interface before the interruption, and the user can continue to operate (such as clicking the button to resume parking). BTM will re-forward the command to the parking module, and the parking process will continue from the pause point. Timeout handling: If the connection is not restored within 30 seconds: ADCU will forcibly terminate the parking process, and the system will exit parking mode. The mobile APP will display "Parking timeout interrupted", and the user needs to re-initiate the request. Process termination and status synchronization Normal completion: After the parking module completes parking, it will report the "Parking completed" status to the mobile APP, and the user interface will display the final result. Abnormal termination: If a fault occurs during the parking process (such as sensor malfunction), the parking module will report the reason for the failure, and the mobile APP will display the specific error information. This application addresses 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, this application provides a remote parking method, which operates on a mobile terminal. The mobile terminal is wirelessly connected to an in-vehicle terminal. The mobile terminal includes a graphical user interface (GUI) that displays 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, a first parking instruction and a heartbeat packet are generated, and the first parking instruction and the heartbeat packet are sent 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 a wireless communication disconnection is detected, an interrupted parking prompt is displayed on the graphical user interface, and the current parking status of the target vehicle is recorded.

[0088] According to the preset reconnection mechanism, the wireless communication is re-established; if the wireless communication is re-established within a preset time, the current parking status of the target vehicle and the parking control are displayed on the graphical user interface.

[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 at a preset first sending frequency, so that the vehicle terminal controls the target vehicle to continue parking based on the current parking state according to the second parking instruction.

[0090] In an optional embodiment, this application provides a remote parking method for a parking system. The parking system includes a mobile terminal and an in-vehicle terminal. The in-vehicle terminal includes a wireless communication module and a parking module. The mobile terminal is wirelessly connected to the in-vehicle terminal. The mobile terminal includes a graphical user interface (GUI) that displays a parking interface. The parking interface displays parking controls. The method includes:

[0091] In response to a first touch operation on the parking control via a mobile terminal, a first parking instruction and a heartbeat packet are generated, and the first parking instruction and the heartbeat packet are sent to the wireless communication module.

[0092] The wireless communication module receives a first parking instruction and a heartbeat packet sent by the mobile terminal, and sends the first parking instruction and heartbeat packet to the parking module according to a preset first transmission frequency; wherein, the heartbeat packet is used to indicate that the parking module is in parking mode;

[0093] The parking module controls the target vehicle to park in parking mode based on the first parking command;

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

[0095] The real-time parking status fed back by the vehicle terminal is displayed via a mobile terminal; if a wireless communication disconnection is detected, an interrupted parking prompt is displayed on the graphical user interface, and the current parking status of the target vehicle is recorded.

[0096] The wireless communication module sends the heartbeat packet to the parking module at a preset second transmission frequency to maintain the parking mode of the parking module; wherein the second transmission frequency is less than the first transmission frequency;

[0097] According to the preset reconnection mechanism, the wireless communication is re-established through the mobile terminal; if the wireless communication is re-established within a preset time, the current parking status of the target vehicle and the parking control are displayed on the graphical user interface.

[0098] 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 wireless communication module at a preset first transmission frequency;

[0099] The wireless communication module receives the second parking instruction and heartbeat packet sent by the mobile terminal, and sends the second parking instruction and heartbeat packet to the parking module according to the preset first transmission frequency.

[0100] The parking module continues parking based on the second parking instruction, building upon the target's current parking state.

[0101] Figure 5 This application illustrates a vehicle-mounted terminal for remote parking, which is wirelessly connected to a mobile terminal. The vehicle-mounted terminal includes a wireless communication module and a parking module.

[0102] The wireless communication module is used to receive a first parking instruction and a heartbeat packet sent by the mobile terminal, and send the first parking instruction and the heartbeat packet to the parking module according to a preset first transmission 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;

[0103] The parking module is used to control the target vehicle to park in parking mode based on the first parking command;

[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 can display the real-time parking status through the graphical user interface.

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

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

[0107] The parking module is used to continue parking based on the target's current parking state, according to the second parking instruction.

[0108] If the parking module fails to re-establish wireless communication within a preset time, it will exit the parking mode and terminate the parking process.

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

[0110] The parking module is used to control the target vehicle to park in parking mode based on the third parking command.

[0111] The parking module is used to generate a parking completion signal when parking is detected as complete.

[0112] The parking completion signal is sent 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, in parking mode, controls the target vehicle to park based on the first parking command, including:

[0115] When the parking module receives the first parking instruction, it obtains the 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] The wireless communication is disconnected when the target vehicle travels the first sub-route of the first parking route.

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

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

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

[0121] Control the target vehicle to continue parking according to the second parking route.

[0122] When a fault is detected during parking, 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 via the wireless communication module, so that the mobile terminal displays a fault message.

[0124] like Figure 6 As shown, this application provides an electronic device for executing the remote parking method described in this 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, it implements the steps of the remote parking method described above.

[0125] Specifically, the aforementioned memory and processor can be general-purpose memory and processor, without any specific limitations. When the processor runs the computer program stored in the memory, it can execute the aforementioned remote parking method.

[0126] Corresponding to the remote parking method in this application, this application embodiment also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the aforementioned remote parking method.

[0127] Specifically, the storage medium can be a general-purpose storage medium, such as a removable disk or hard disk. When the computer program on the storage medium is run, it can execute the aforementioned remote parking method.

[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 illustrative. For example, the division of units is only a logical functional division, and there may be other division methods in actual implementation. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interface; the indirect coupling or communication connection between systems or units may be electrical, mechanical, or other forms.

[0129] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0130] In addition, the functional units in the embodiments provided in this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0131] If the aforementioned functions are implemented as 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 this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0132] It should be noted that similar labels and letters in the following figures indicate similar items. 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 used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0133] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application. All should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A method for remote-controlled parking, characterized in that, The method applies to an in-vehicle terminal, which is wirelessly connected to a mobile terminal; the in-vehicle terminal includes a wireless communication module and a parking module; the method includes: The wireless communication module receives a first parking instruction and a heartbeat packet sent by the mobile terminal, and sends the first parking instruction and heartbeat packet to the parking module according to a preset first transmission 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; The parking module controls the target vehicle to park based on the first parking command in parking mode. During the parking process, the parking module records the real-time parking status of the target vehicle and sends the real-time parking status to the mobile terminal through the wireless communication module, so that the mobile terminal can display the real-time parking status through a graphical user interface. If a wireless communication disconnection is detected, the heartbeat packet is sent to the parking module via the wireless communication module at a preset second transmission frequency to maintain the parking mode of the parking module; wherein, the second transmission frequency is less than the first transmission frequency; If wireless communication is re-established within a preset time, the wireless communication module receives the second parking instruction and heartbeat packet sent by the mobile terminal, and sends the second parking instruction and heartbeat packet to the parking module according to a preset first transmission frequency. The parking module continues parking based on the second parking instruction, continuing the parking process from the current parking state; wherein, the current parking state is the parking state of the target vehicle when wireless communication is disconnected.

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

3. The method according to claim 2, characterized in that, The method further includes: The wireless communication module receives the third parking instruction and heartbeat packet sent by the mobile terminal, and sends the third parking instruction and heartbeat packet to the parking module according to a preset first transmission frequency; the third parking instruction and the heartbeat packet are generated by the mobile terminal in response to the third touch operation on the parking control; The parking module controls the target vehicle to park in parking mode based on the third parking command.

4. The method according to claim 1, characterized in that, The method further includes: When parking is detected as complete, a parking completion signal is generated by the parking module. The parking module sends the parking completion signal to the wireless communication module. The parking completion signal is sent to the mobile terminal via the wireless communication module, so that the mobile terminal displays a parking completion notification.

5. The method according to claim 1, characterized in that, The step of controlling the target vehicle to park in parking mode via the parking module based on the first parking command includes: When the parking module receives the first parking instruction, it obtains the 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; The parking module controls the target vehicle to park according to the first parking route; The wireless communication is disconnected when the target vehicle travels the first sub-route of the first parking route. The step of continuing parking based on the second parking instruction by the parking module on the current parking status includes: When the parking module receives the second parking instruction, it obtains the second environmental information around the target vehicle. If the second environmental information is the same as the second sub-environmental information, it controls the target vehicle to continue parking according to the second sub-route.

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

7. The method according to claim 1, characterized in that, The method further includes: During the parking process, if a fault is detected, the parking module generates a fault signal and sends the fault signal to the wireless communication module. The fault signal is sent to the mobile terminal via the wireless communication module, so that the mobile terminal displays a fault message.

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 used to receive a first parking instruction and a heartbeat packet sent by the mobile terminal, and to send the first parking instruction and the heartbeat packet to the parking module according to a preset first transmission 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; The parking module is used to control the target vehicle to park based on the first parking command in 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 can display the real-time parking status through a graphical user interface. If a wireless communication disconnection is detected, the wireless communication module is used to send the heartbeat packet to the parking module at a preset second transmission frequency to maintain the parking mode of the parking module; wherein, the second transmission frequency is less than the first transmission frequency; If wireless communication is re-established within a preset time, the wireless communication module is used to receive the second parking instruction and heartbeat packet sent by the mobile terminal, and send the second parking instruction and heartbeat packet to the parking module according to a preset first transmission frequency; The parking module is used to continue parking based on the target's current parking state, according to the second parking instruction.

9. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, the steps of the remote parking method as described in 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 that, when executed by a processor, performs the steps of the remote parking method as described in any one of claims 1 to 7.

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