Method and device for remotely controlling vehicle and storage medium

Abstract

The invention discloses a method and device for remotely controlling a vehicle and a storage medium, and belongs to the technical field of vehicle control. The method comprises the steps that in response to received activation information sent by a remote control end, a detection result of matching verification is obtained, and the activation information comprises remote control end permission information; obtaining positioning information of the vehicle in response to the obtained detection result that the remote control terminal permission information is matched with the vehicle identity information; acquiring a detection result of a remote control condition based on the positioning information of the vehicle; in response to the obtained detection result that the distance between the remote control terminal and the vehicle meets the remote control condition, receiving selection information of a target parking space sent by the remote control terminal; generating a first planning path based on the positioning information of the vehicle and the selection information of the target parking space; and in response to the received information that the user confirms the first planned path, controlling the vehicle to run along the first planned path according to the preset driving parameters. The universality of the remote control function is improved, and the preparation operation of the remote control vehicle is simplified.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of vehicle control, and in particular, to a method and device for remotely controlling a vehicle and a storage medium. BACKGROUND

[0002] With the development of intelligent control technology of vehicles, the remote control of vehicles can be realized in the case that the driver does not get on the vehicle through the RPA (Remote Parking Assist) function. For example, when the driver is at the entrance of a parking lot, the vehicle can be summoned to the vicinity through remote calling. In the related art, the vehicle needs to memorize the route from the parking space to the entrance. In the related art, the vehicle needs to be driven in the manner from the entrance to the parking space and memorize the route in advance, and relies on a large computing power hardware platform, and there are great limitations in adaptability and popularization for various scenarios. Therefore, how to improve the universality of the remote control function and simplify the preparation operation of remotely controlling the vehicle is a problem to be solved. SUMMARY

[0003] Embodiments of the present application provide a method and device for remotely controlling a vehicle and a storage medium, which can be used to improve the universality of the remote control function and simplify the preparation operation of remotely controlling the vehicle. The technical solution is as follows:

[0004] In one aspect, the present application provides a method for remotely controlling a vehicle, the method comprising:

[0005] In response to receiving activation information sent by a remote control end, obtaining a matching verification detection result, the matching verification detection result being used to indicate whether the remote control end permission information and the vehicle identity information match, and the activation information comprising the remote control end permission information;

[0006] In response to obtaining a detection result that the remote control end permission information and the vehicle identity information match, obtaining positioning information of the vehicle;

[0007] Based on the positioning information of the vehicle, obtaining a detection result of a remote control condition, the detection result of the remote control condition being used to indicate whether the distance between the remote control end and the vehicle satisfies the remote control condition;

[0008] In response to obtaining a detection result that the distance between the remote control end and the vehicle satisfies the remote control condition, receiving selection information of a target parking space sent by the remote control end, the target parking space comprising the current location of the user or the remaining locations selected by the user and satisfying the remote control condition;

[0009] Based on the positioning information of the vehicle and the selection information of the target parking space, generating a first planning path;

[0010] In response to receiving information that the user confirms the first planning path, the vehicle is controlled to travel along the first planning path at preset driving parameters.

[0011] In another aspect, a device for remotely controlling a vehicle is provided, and the device comprises:

[0012] A first obtaining module is configured to, in response to receiving activation information sent by a remote control terminal, obtain a matching verification detection result, the matching verification detection result being used to indicate whether remote control terminal permission information and vehicle identity information match, and the activation information including the remote control terminal permission information.

[0013] A second obtaining module is configured to, in response to obtaining a detection result that the remote control terminal permission information and the vehicle identity information match, obtain positioning information of the vehicle.

[0014] A third obtaining module is configured to, based on the positioning information of the vehicle, obtain a detection result of a remote control condition, the detection result of the remote control condition being used to indicate whether a distance between the remote control terminal and the vehicle satisfies the remote control condition.

[0015] A receiving module is configured to, in response to obtaining a detection result that the distance between the remote control terminal and the vehicle satisfies the remote control condition, receive selection information of a target parking space sent by the remote control terminal, the target parking space including a current location of the user or a remaining location selected by the user and satisfying the remote control condition.

[0016] A first generating module is configured to, based on the positioning information of the vehicle and the selection information of the target parking space, generate a first planning path.

[0017] A first control module is configured to, in response to receiving information that the user confirms the first planning path, control the vehicle to travel along the first planning path at preset driving parameters.

[0018] In another aspect, a non-transitory computer-readable storage medium is also provided, and the computer-readable storage medium stores a computer program, the computer program is loaded and executed by a processor to implement the method for remotely controlling a vehicle according to any of the above aspects.

[0019] In another aspect, a computer program product is also provided, and the computer program product includes computer instructions, and the computer instructions are executed by a processor to implement the steps of the method for remotely controlling a vehicle according to any of the above aspects.

[0020] The technical solutions provided in the present application at least have the following beneficial effects:

[0021] The application prevents a user without activation authorization from remotely controlling the vehicle by judging whether the remote control terminal permission information and the vehicle identity information match; after determining that the remote control terminal permission information and the vehicle identity information match, the positioning information of the vehicle is acquired; whether the distance between the remote control terminal and the vehicle satisfies the remote control condition is judged based on the positioning information of the vehicle, so as to avoid the problem that the user cannot arrive in time when the vehicle needs to be taken over due to too long distance in the case of parking failure; after determining that the distance between the remote control terminal and the vehicle satisfies the remote control condition, the selection information of the target parking space sent by the remote control terminal is received; the first planning path is generated based on the positioning information of the vehicle and the selection information of the target parking space, and the vehicle is controlled to travel along the first planning path with preset driving parameters, so as to remotely control the vehicle without memorizing the route, improve the universality of the remote control function, and simplify the preparation operation of remotely controlling the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0023] Figure 1 is a schematic diagram of an implementation environment provided by an embodiment of the application;

[0024] Figure 2 is a method flowchart of remotely controlling a vehicle provided by an embodiment of the application;

[0025] Figure 3 is a structural schematic diagram of a device for remotely controlling a vehicle provided by an embodiment of the application. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the application more clear, the embodiments of the application will be further described in detail below with reference to the drawings.

[0027] The embodiment of the application provides a method for remotely controlling a vehicle, please refer to Figure 1 which shows a schematic diagram of an implementation environment of the method provided by an embodiment of the application. The implementation environment can include: an ECU (Electronic Control Unit) 11, a mobile phone 12, a high-definition surround view camera 13, an ultrasonic radar 14, an electric power-assisted pump 15, an IPB (Integrated Power Brake) 16 and a PTS (Power Train System) 17.

[0028] Optionally, the mobile phone 12 is configured to receive and send to the ECU 11 the activation information of the user, the selection information of the target parking space, the information of the user confirming the first planned path, the information of the user confirming the second planned path, and the information of the user instructing the vehicle to go to the preset destination; display the panoramic image of the surroundings of the vehicle; prompt that the target parking space selected by the user cannot be remotely controlled and the user needs to go to the current location of the vehicle for control; and display the progress of the vehicle going to the target parking space by marking the current location of the vehicle and the location of the target parking space on the global navigation map.

[0029] Exemplarily, the high-definition surround view camera 13 is installed around the vehicle to obtain the video of the surroundings of the vehicle; the ultrasonic radar 14 is located at the front and rear of the vehicle to detect the surroundings of the vehicle; the electric power steering pump 15 is configured to control the steering angle of the steering wheel of the vehicle according to the preset driving parameter; the IPB 16 is configured to control the braking of the vehicle according to the preset driving parameter; and the PTS 17 is configured to control the driving speed and gear shifting of the vehicle according to the preset driving parameter. The ECU 11, the mobile phone 12, the high-definition surround view camera 13, the ultrasonic radar 14, the electric power steering pump 15, the IPB 16, and the PTS 17.

[0030] Based on the above Figure 1 As shown in the implementation environment, the embodiment of the present application provides a method for remotely controlling a vehicle, as shown in the method, the method is applied to the ECU as an example, and the method comprises steps 201-206. Figure 2

[0031] In step 201, in response to receiving the activation information sent by the remote control end, the ECU obtains a matching verification detection result, the matching verification detection result is used to indicate whether the remote control end permission information and the vehicle identity information match, and the activation information comprises the remote control end permission information.

[0032] In a possible implementation manner, when the user has the demand for remotely controlling the vehicle, the user presses the activation button of the remote control end, and the remote control end sends the activation information to the vehicle. Optionally, the activation information comprises the remote control end permission information, i.e., the vehicle identity information allowed to be remotely controlled by the remote control end, which can be stored in the remote control end after being authorized in advance. The remote control end can be the mobile phone APP (Application Program) of the user.

[0033] Exemplarily, when the activation information sent by the remote control end is received, the ECU wakes up the vehicle from the sleep state, and obtains a matching verification detection result, wherein the matching verification detection result is used to indicate whether the remote control end permission information and the vehicle identity information match. The ECU obtains the matching verification detection result, comprising: in response to the remote control end permission information containing the vehicle identity information, obtaining the detection result that the remote control end permission information and the vehicle identity information match. ​

[0034] Optionally, when receiving the activation information sent by the remote control terminal, the ECU reads the vehicle identity information stored by the vehicle, and compares the remote control terminal permission information contained in the activation information with the vehicle identity information. If the remote control terminal permission information contains the vehicle identity information, the ECU obtains a detection result that the remote control terminal permission information and the vehicle identity information match; if the remote control terminal permission information does not contain the vehicle identity information, the ECU obtains a detection result that the remote control terminal permission information and the vehicle identity information do not match.

[0035] In step 202, in response to obtaining the detection result that the remote control terminal permission information and the vehicle identity information match, the ECU obtains the positioning information of the vehicle.

[0036] In a possible implementation, if the detection result that the remote control terminal permission information and the vehicle identity information match is obtained, the ECU obtains the positioning information of the vehicle, including: the ECU obtains the positioning information of the vehicle through the vehicle-mounted navigation device.

[0037] In step 203, the ECU obtains a detection result of a remote control condition based on the positioning information of the vehicle, the detection result of the remote control condition being used to indicate whether a distance between the remote control terminal and the vehicle satisfies the remote control condition.

[0038] Exemplarily, after obtaining the positioning information of the vehicle, the ECU obtains the detection result of the remote control condition based on the positioning information of the vehicle, wherein the detection result of the remote control condition is used to indicate whether a distance between the remote control terminal and the vehicle satisfies the remote control condition.

[0039] Optionally, the ECU obtains the detection result of the remote control condition based on the positioning information of the vehicle, including: the ECU calculates the distance between the remote control terminal and the vehicle based on the positioning information of the vehicle; in response to the distance between the remote control terminal and the vehicle being less than a distance threshold, the ECU obtains a detection result that the distance between the remote control terminal and the vehicle satisfies the remote control condition.

[0040] In a possible implementation, the ECU calculates the distance between the remote control terminal and the vehicle based on the positioning information of the vehicle, including: the ECU receives the positioning information of the remote control terminal, maps the positioning information of the remote control terminal and the positioning information of the vehicle into a same preset coordinate system, calculates the distance between the remote control terminal and the vehicle according to the positioning information of the remote control terminal and the positioning information of the vehicle, and compares the distance between the remote control terminal and the vehicle with the distance threshold. The preset coordinate system takes the remote control terminal as a coordinate origin and can be established in advance.

[0041] Optionally, if the distance between the remote control end and the vehicle is less than the distance threshold, the ECU obtains a detection result that the distance between the remote control end and the vehicle satisfies the remote control condition; if the distance between the remote control end and the vehicle is greater than or equal to the distance threshold, the ECU obtains a detection result that the distance between the remote control end and the vehicle does not satisfy the remote control condition. Exemplarily, the distance threshold can be set according to the control distance of the remote control end, for example, can be set to 3 kilometers.

[0042] In step 204, in response to obtaining the detection result that the distance between the remote control end and the vehicle satisfies the remote control condition, the ECU receives the selection information of the target parking space sent by the remote control end, and the target parking space includes the current position of the user or the remaining position selected by the user and satisfying the remote control condition.

[0043] In one possible implementation, if the detection result that the distance between the remote control end and the vehicle satisfies the remote control condition is obtained, the video information, radar detection information and navigation information around the vehicle are obtained; the video information, radar detection information and navigation information are fused to construct a panoramic image around the vehicle, and the panoramic image contains lane line information, obstacle position and obstacle type around the vehicle; and the panoramic image around the vehicle is sent to the remote control end.

[0044] Exemplarily, the ECU obtains the video information, radar detection information and navigation information around the vehicle, including: the ECU obtains the video around the vehicle through a high-definition surround-view camera, and obtains the video information around the vehicle by performing distortion removal and splicing on the video and then performing visual recognition; the radar detection information around the vehicle is obtained by detecting the surroundings of the vehicle through an ultrasonic radar; and the navigation information around the vehicle is obtained by reading the navigation information around the vehicle through a vehicle-mounted navigation device. Optionally, the high-definition surround-view camera can be four, which are respectively installed around the vehicle, and one ultrasonic radar can be installed on the front and rear sides of the vehicle.

[0045] Optionally, the video information, radar detection information and navigation information are fused to construct a panoramic image around the vehicle, including: the video information, radar detection information and navigation information are fused to perform SLAM (Simultaneous Localization and Mapping) mapping, and the video information, radar detection information and navigation information are mapped to a preset coordinate system to construct a panoramic image around the vehicle, wherein the panoramic image contains lane line information, obstacle position, obstacle shape and obstacle type around the vehicle.

[0046] In one possible implementation, after constructing the panoramic image around the vehicle, the ECU transmits the panoramic image to the vehicle communication network system via Ethernet, and then transmits it to the remote control terminal via a wireless network for the user to view the panoramic image around the vehicle in real time. Optionally, after sending the panoramic image around the vehicle to the remote control terminal, the ECU receives the target parking space selection information sent by the remote control terminal. The target parking space includes the user's current location or other locations selected by the user that meet the remote control conditions, and the target parking space selection information includes the location information of the target parking space.

[0047] For example, if the target parking space selected by the user is a location other than the user's current location, it is necessary to verify whether the target parking space selected by the user meets the remote control conditions, including: the ECU maps the positioning information of the target parking space selected by the user to a preset coordinate system, calculates the distance between the positioning information of the vehicle and the positioning information of the target parking space selected by the user, and compares the distance between the positioning information of the vehicle and the positioning information of the target parking space selected by the user with a distance threshold.

[0048] Optionally, if the distance between the vehicle's location information and the location information of the target parking space selected by the user is less than a distance threshold, the target parking space selected by the user is confirmed to meet the remote control conditions; if the distance between the vehicle's location information and the location information of the target parking space selected by the user is greater than or equal to the distance threshold, the user is prompted through the remote control terminal that the target parking space selected cannot be remotely controlled.

[0049] In step 205, the ECU generates a first planned path based on the vehicle's location information and the target parking space selection information.

[0050] In one possible implementation, after obtaining the target parking space selection information, the ECU generates a first planned path based on the vehicle's positioning information and the target parking space selection information. This includes: the ECU using the vehicle's positioning information and the target parking space's positioning information in a preset coordinate system to generate the first planned path according to a pre-trained path planning model. For example, the path planning model can be pre-trained based on images labeled with the start point, end point, lane line information, obstacle locations, obstacle shapes, obstacle types, and the optimal path.

[0051] In step 206, in response to receiving information confirming the first planned path from the user, the ECU controls the vehicle to travel along the first planned path with preset driving parameters.

[0052] Optionally, after the first planning path is generated, the ECU transmits the first planning path to the remote end through the vehicle body communication network system for the user to confirm whether to control the vehicle to travel along the first planning path. Alternatively, after the first planning path is transmitted to the remote end, the ECU receives information that the user confirms the first planning path, and controls the vehicle to travel along the first planning path at preset driving parameters, including: the ECU controls the electric power steering pump to control the steering wheel angle of the vehicle at the preset driving parameters; controls the IPB to control the braking of the vehicle at the preset driving parameters; and controls the PTS to control the driving speed and gear shifting of the vehicle at the preset driving parameters, so as to control the vehicle to travel along the first planning path.

[0053] In a possible implementation, after the vehicle travels along the first planning path, the remaining to-be-traveled route in the first planning path is adjusted based on the position of the newly added obstacle and the type of the newly added obstacle in response to the newly added obstacle appearing within the first distance around the vehicle.

[0054] Optionally, after the vehicle travels along the first planning path, the ECU continuously monitors the panoramic image around the vehicle. If a newly added obstacle appears within the first distance around the vehicle, the remaining to-be-traveled route in the first planning path is adjusted based on the position of the newly added obstacle and the type of the newly added obstacle, and the adjusted remaining to-be-traveled route is transmitted to the remote end through the vehicle body communication network system. If the to-be-traveled route cannot be adjusted due to special circumstances, a prompt information is transmitted to the remote end to prompt the user to go to the current location of the vehicle for control.

[0055] In a possible implementation, during the driving of the vehicle along the first planning path or the second planning path, the user can remotely view the panoramic image around the vehicle and the progress of the vehicle to the target parking space through the mobile phone APP. The progress of the vehicle to the target parking space can be displayed by marking the current position of the vehicle and the position of the target parking space on the global navigation map. If the ECU receives an indication information that the user suspends or exits the remote control, the ECU controls the vehicle to suspend or exit the remote control, and controls the vehicle to travel along the remaining to-be-traveled route again after receiving an indication information that the user starts again.

[0056] Optionally, in response to receiving information that the user indicates the vehicle to go to a preset destination, the ECU reads the stored positioning information of the preset destination, generates a second planning path based on the positioning information of the vehicle and the positioning information of the preset destination, and controls the vehicle to travel along the second planning path at preset driving parameters in response to receiving information that the user confirms the second planning path.

[0057] In a possible implementation, the positioning information of the destination can be pre-stored in the vehicle-mounted navigation device. When the user indicates the vehicle to go to the preset destination through text or voice input, the remote end sends information indicating the vehicle to go to the preset destination to the ECU through the vehicle body communication network. If the information indicating the vehicle to go to the preset destination is received, the ECU reads the stored positioning information of the preset destination, maps the positioning information of the preset destination to a preset coordinate system, and generates a second planning path based on the positioning information of the vehicle and the positioning information of the preset destination through the pre-trained path planning model.

[0058] Illustratively, after the second planning path is generated, the ECU transmits the second planning path to the remote end through the vehicle body communication network system for the user to confirm whether to control the vehicle to travel along the second planning path. Alternatively, after the second planning path is sent to the remote end, if information confirming the second planning path is received, the ECU controls the vehicle to travel along the second planning path with preset driving parameters.

[0059] In a possible implementation, if the information of user authorization is received, the ECU uploads the panoramic image information collected in the process of remote control of the vehicle to the big data platform after denoising and sensitive data removal, for reference when the remaining vehicles establish panoramic images subsequently.

[0060] The embodiments of the present application prevent the user who has not activated authorization from remotely controlling the vehicle by judging whether the remote end permission information and the vehicle identity information match. After determining that the remote end permission information and the vehicle identity information match, the positioning information of the vehicle is obtained. Whether the distance between the remote end and the vehicle satisfies the remote control condition is judged based on the positioning information of the vehicle, so as to avoid the problem that the user cannot arrive in time when the vehicle needs to be taken over due to too long distance in the process of moving the vehicle. After determining that the distance between the remote end and the vehicle satisfies the remote control condition, the selection information of the target parking space sent by the remote end is received. The first planning path is generated based on the positioning information of the vehicle and the selection information of the target parking space, and the vehicle is controlled to travel along the first planning path with preset driving parameters, so as to remotely control the vehicle without memorizing the route, improve the universality of the remote control function, and simplify the preparation operation of remotely controlling the vehicle.

[0061] Referring to Figure 3 The embodiments of the present application provide a device for remotely controlling a vehicle, which comprises:

[0062] The first acquisition module 301 is configured to, in response to receiving the activation information sent by the remote end, acquire a matching verification detection result, the matching verification detection result being used to indicate whether the remote end permission information and the vehicle identity information match, and the activation information comprising the remote end permission information.

[0063] The second obtaining module 302 is configured to obtain positioning information of the vehicle in response to obtaining a detection result that the remote control terminal permission information matches the vehicle identity information.

[0064] The third obtaining module 303 is configured to obtain a detection result of a remote control condition based on the positioning information of the vehicle, the detection result of the remote control condition being used to indicate whether a distance between the remote control terminal and the vehicle satisfies the remote control condition.

[0065] The receiving module 304 is configured to receive selection information of a target parking space sent by the remote control terminal in response to obtaining the detection result that the distance between the remote control terminal and the vehicle satisfies the remote control condition, the target parking space including a current location of the user or a remaining location selected by the user and satisfying the remote control condition.

[0066] The first generating module 305 is configured to generate a first planning path based on the positioning information of the vehicle and the selection information of the target parking space.

[0067] The first control module 306 is configured to control the vehicle to travel along the first planning path with preset driving parameters in response to receiving information that the user confirms the first planning path.

[0068] In a possible implementation, the first obtaining module 301 is configured to obtain a detection result that the remote control terminal permission information matches the vehicle identity information in response to the remote control terminal permission information containing the vehicle identity information.

[0069] In a possible implementation, the third obtaining module 303 is configured to calculate the distance between the remote control terminal and the vehicle based on the positioning information of the vehicle, and obtain the detection result that the distance between the remote control terminal and the vehicle satisfies the remote control condition in response to the distance between the remote control terminal and the vehicle being less than a distance threshold.

[0070] In a possible implementation, the receiving module 304 is further configured to obtain video information, radar detection information, and navigation information around the vehicle, fuse the video information, the radar detection information, and the navigation information to construct a panoramic image around the vehicle, the panoramic image containing lane line information, a location of an obstacle, and a type of the obstacle around the vehicle, and send the panoramic image around the vehicle to the remote control terminal.

[0071] In a possible implementation, the first control module 306 is further configured to adjust a remaining to-be-traveled route in the first planning path based on a location of a newly added obstacle and a type of the newly added obstacle in response to the newly added obstacle appearing within a first distance around the vehicle.

[0072] In a possible implementation, the apparatus further includes: a reading module, configured to read the stored positioning information of the preset destination in response to receiving information indicating that the user instructs the vehicle to go to the preset destination; a second generation module, configured to generate a second planning path based on the positioning information of the vehicle and the positioning information of the preset destination; and a second control module, configured to control the vehicle to travel along the second planning path with preset driving parameters in response to receiving information confirming the second planning path by the user.

[0073] The apparatus determines whether the remote control end permission information and the vehicle identity information match, to prevent a user without activated authorization from remotely controlling the vehicle. After determining that the remote control end permission information and the vehicle identity information match, the positioning information of the vehicle is acquired. Whether the distance between the remote control end and the vehicle satisfies the remote control condition is determined based on the positioning information of the vehicle, to avoid the problem that the user cannot arrive in time when the vehicle needs to be taken over due to a too long distance. After determining that the distance between the remote control end and the vehicle satisfies the remote control condition, the selection information of the target parking space sent by the remote control end is received. The first planning path is generated based on the positioning information of the vehicle and the selection information of the target parking space, and the vehicle is controlled to travel along the first planning path with preset driving parameters, to remotely control the vehicle without memorizing the route, improve the universality of the remote control function, and simplify the preparation operation of remotely controlling the vehicle.

[0074] It should be noted that the apparatus provided in the above embodiments is only used as an example to illustrate the division of the above functional modules, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above described functions. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process is detailed in the method embodiments, which will not be described here.

[0075] In the example embodiments, a computer readable storage medium is also provided, and the computer readable storage medium stores at least one computer program, which is loaded and executed by a processor of a computer device to enable the computer to implement any one of the above methods for remotely controlling a vehicle.

[0076] In a possible implementation, the above computer readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0077] In an example embodiment, a computer program product or computer program including computer instructions stored in a computer readable storage medium is also provided. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to cause the computer device to perform any of the above methods of remotely controlling a vehicle.

[0078] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data for analysis, stored data, displayed data, etc.) and signals involved in the present application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards of relevant countries and regions. For example, the matching verification detection result, the positioning information of the vehicle, the detection result of the remote control condition, the selection information of the target parking space, the first planning path and the second planning path involved in the present application are all obtained under sufficient authorization.

[0079] It should be understood that "multiple" referred to herein refers to two or more. "And / or", which describes the association relationship of the associated objects, means that there can be three relationships, for example, A and / or B can represent: A exists alone, A and B exist together, and B exists alone. The character " / " generally represents that the associated objects before and after it are in an "or" relationship.

[0080] It should be noted that the terms "first", "second", etc. (if any) in the specification and claims of the present application are used to distinguish similar objects, and do not necessarily describe a specific order or chronological order. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following example embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0081] The above only describes the example embodiments of the present application, and does not limit the present application. Any modification, equivalent replacement, improvement, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method of remotely controlling a vehicle, characterized by, The method comprises: in response to receiving the activation information sent by the remote control end, obtaining the matching check detection result, the matching check detection result being used to indicate whether the remote control end permission information and the vehicle identity information match, and the activation information comprising the remote control end permission information; in response to obtaining the detection result that the remote control end permission information and the vehicle identity information match, obtaining the positioning information of the vehicle; based on the positioning information of the vehicle, obtaining the detection result of the remote control condition, the detection result of the remote control condition being used to indicate whether the distance between the remote control end and the vehicle satisfies the remote control condition; in response to obtaining the detection result that the distance between the remote control end and the vehicle satisfies the remote control condition, receiving the selection information of the target parking space sent by the remote control end, the target parking space comprising the current position of the user or the remaining position selected by the user and satisfying the remote control condition; based on the positioning information of the vehicle and the selection information of the target parking space, generating a first planning path; in response to receiving the information that the user confirms the first planning path, controlling the vehicle to travel along the first planning path at a preset driving parameter.

2. The method of claim 1, wherein, The method comprises: in response to the remote control end permission information containing the vehicle identity information, obtaining the detection result that the remote control end permission information and the vehicle identity information match.

3. The method of claim 1, wherein, The method comprises: based on the positioning information of the vehicle, calculating the distance between the remote control end and the vehicle; in response to the distance between the remote control end and the vehicle being less than a distance threshold, obtaining the detection result that the distance between the remote control end and the vehicle satisfies the remote control condition.

4. The method of claim 1, wherein, Before the method comprises: obtaining video information, radar detection information and navigation information around the vehicle; fusing the video information, the radar detection information and the navigation information to construct a panoramic image around the vehicle, the panoramic image containing lane line information, obstacle position and obstacle type around the vehicle; sending the panoramic image around the vehicle to the remote control end.

5. The method of claim 4, wherein, After the method comprises: in response to the appearance of a new obstacle within a first distance around the vehicle, adjusting the remaining travel route in the first planning path based on the position of the new obstacle and the type of the new obstacle.

6. The method of claim 1, wherein, The method further comprises: in response to receiving the information that the user indicates the vehicle to go to a preset destination, reading the stored positioning information of the preset destination; based on the positioning information of the vehicle and the positioning information of the preset destination, generating a second planning path; in response to receiving the information that the user confirms the second planning path, controlling the vehicle to travel along the second planning path at the preset driving parameter.

7. An apparatus for remotely controlling a vehicle, characterized by The device comprises: The first obtaining module is configured to, in response to receiving activation information sent by the remote control terminal, obtain a detection result of a matching check, the detection result of the matching check being used to indicate whether the remote control terminal permission information and the vehicle identity information match, and the activation information including the remote control terminal permission information. The second obtaining module is configured to, in response to obtaining the detection result that the remote control terminal permission information and the vehicle identity information match, obtain positioning information of the vehicle. The third obtaining module is configured to obtain a detection result of a remote control condition based on the positioning information of the vehicle, the detection result of the remote control condition being used to indicate whether a distance between the remote control terminal and the vehicle satisfies the remote control condition. The receiving module is configured to, in response to obtaining the detection result that the distance between the remote control terminal and the vehicle satisfies the remote control condition, receive selection information of a target parking space sent by the remote control terminal, the target parking space including a current location of the user or a remaining location selected by the user and satisfying the remote control condition. The first generating module is configured to generate a first planned path based on the positioning information of the vehicle and the selection information of the target parking space. The first control module is configured to, in response to receiving information that the user confirms the first planned path, control the vehicle to travel along the first planned path at preset driving parameters.

8. The apparatus of claim 7, wherein, The first obtaining module is configured to, in response to the remote control terminal permission information including the vehicle identity information, obtain the detection result that the remote control terminal permission information and the vehicle identity information match.

9. A computer program product, the computer program product including computer instructions, the computer instructions being executed by a processor to implement steps of the method for remotely controlling a vehicle according to any one of claims 1 to 6.

10. A non-transitory computer-readable storage medium, comprising: The computer readable storage medium stores a computer program, the computer program is loaded and executed by the processor to implement the method for remotely controlling a vehicle according to any one of claims 1 to 6.

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