Method and device for moving vehicle remotely and vehicle

Abstract

The invention relates to the technical field of intelligent driving, and discloses a remote vehicle moving method and device and a vehicle, and the method comprises the steps: obtaining the vehicle state information of each vehicle around a vehicle under the condition that a user triggers a temporary parking scene of the vehicle; according to the vehicle state information, carrying out departure intention analysis on each vehicle, and determining a target vehicle and a target vehicle moving area; the target vehicle is a vehicle with a driving-away intention, and the target vehicle moving area is an initial parking area of the target vehicle; determining a predicted departure route of the target vehicle according to the vehicle information of the target vehicle and the surrounding environment; and controlling the own vehicle to be away from the predicted departure route, and controlling the own vehicle to drive into the target vehicle moving area after the target vehicle is departed. In the temporary parking scene of the self-vehicle, the self-vehicle system can automatically complete identification of the target vehicle with the driving-away intention and vehicle moving operation of the self-vehicle, more convenient, safer and more efficient temporary parking experience is provided, and more intelligent remote active vehicle moving is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, for example, to a method and device for remote vehicle moving and a vehicle. BACKGROUND

[0002] With the vigorous development of the automobile industry, new energy vehicles are rapidly penetrating, and the problems of parking space shortage and parking difficulty in cities and other areas have brought about more and more users who can only temporarily park when they cannot find a parking space. However, after the user temporarily parks and leaves the parking space, the temporarily parked vehicle may hinder traffic.

[0003] In related technologies, a vehicle moving request of a user terminal is received, surrounding environment information is obtained by using a vehicle environment sensor, a positional relationship between a vehicle to be moved and a blocked vehicle is identified, the vehicle to be moved is controlled to drive into a safe area, the blocked vehicle is controlled to drive out of a target parking space and park in the target parking space when the vehicle types match.

[0004] However, at least the following problems exist in the related technologies:

[0005] In the related technologies, vehicle moving is only performed when the vehicle to be moved blocks other vehicles, and intelligent active vehicle moving cannot be achieved.

[0006] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present application, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0007] To have a basic understanding of some aspects of the disclosed embodiments, a brief overview is given below. The overview is not a comprehensive review of the embodiments, nor is it intended to determine key / important elements or delineate the scope of the embodiments, but to serve as a prelude to the detailed description below.

[0008] The embodiments of the present disclosure provide a method and device for remote vehicle moving and a vehicle to achieve more intelligent remote active vehicle moving.

[0009] In some embodiments, the method for remote vehicle moving comprises: in the case that a user triggers a temporary parking scenario of a vehicle, obtaining vehicle state information of each vehicle around the vehicle; performing driving-off intention analysis on each vehicle according to the vehicle state information, and determining a target vehicle and a target moving area; the target vehicle is a vehicle with a driving-off intention, and the target moving area is an initial parking area of the target vehicle; determining a predicted driving-off route of the target vehicle according to vehicle information of the target vehicle and surrounding environment; controlling the vehicle to move away from the predicted driving-off route, and after the target vehicle drives off, controlling the vehicle to drive into the target moving area.

[0010] Optionally, the vehicle state information of each vehicle around the ego vehicle is acquired, including one or more of the following: acquiring a start signal of the vehicle; the start signal includes an engine start signal, a vehicle door unlocking signal, and a vehicle light signal; acquiring a movement signal of the vehicle; the movement signal includes a change in vehicle position and a change in vehicle speed; acquiring a communication system signal of the vehicle; the communication system signal includes a vehicle remote control signal and a vehicle broadcast signal.

[0011] Optionally, the departure intention of each vehicle is analyzed according to the vehicle state information, including: assigning a weight to each signal in the vehicle state information and determining a Boolean value of each signal; determining an intention score of each vehicle according to the Boolean value of each signal and the weight; in the case where the intention score exceeds a score threshold, determining that the vehicle is a candidate vehicle.

[0012] Optionally, the target vehicle and the target parking area are determined, including: prioritizing all candidate vehicles according to the intention score; performing legality analysis and safety analysis on the initial parking area of each candidate vehicle according to the priority order; wherein the legality analysis includes determining whether the initial parking area is a legal parking space according to the road markings; the safety analysis includes determining whether the ego vehicle can enter the initial parking area according to the road surface conditions of the initial parking area; the initial parking area that passes both the legality analysis and the safety analysis is taken as the target parking area, and the candidate vehicle corresponding to the initial parking area is taken as the target vehicle.

[0013] Optionally, the predicted departure route of the target vehicle is determined according to the vehicle information of the target vehicle and the surrounding environment, including: modeling the surrounding environment of the target vehicle to generate a route prediction model; in the route prediction model, planning an initial departure route of the vehicle according to the departure direction of the target vehicle; adjusting the initial departure route according to the body parameters of the target vehicle to generate the predicted departure route.

[0014] Optionally, the route prediction model is generated by modeling the surrounding environment of the target vehicle, including: generating corresponding obstacles and road boundaries in the route prediction model according to obstacle information and road boundary information in the surrounding environment of the target vehicle; dividing the surrounding environment of the target vehicle into grid cells in the route prediction model; marking each grid cell as passable, obstacle, or boundary according to the obstacles and road boundaries in the route prediction model.

[0015] Optionally, the ego vehicle is controlled to move away from the predicted departure route, including: determining a safety distance between the ego vehicle and the predicted departure route according to the body parameters of the ego vehicle and the target vehicle; controlling the distance between the ego vehicle and the predicted departure route to exceed the safety distance.

[0016] Optionally, the method for remote car moving further comprises: during the process of remote car moving by the ego vehicle, sending a panoramic video of the surrounding environment of the ego vehicle to the user terminal.

[0017] In some embodiments, the device for remote car moving comprises a processor and a memory storing program instructions, the processor is configured to execute the method for remote car moving as described above when running the program instructions.

[0018] In some embodiments, the vehicle comprises: a vehicle body; a device for remote car moving as described above, which is installed on the vehicle body.

[0019] The method and device for remote car moving, and the vehicle provided by the embodiments of the present disclosure can achieve the following technical effects:

[0020] In the embodiments of the present disclosure, after the user drives the ego vehicle to temporarily stop and triggers the temporary stop scene, the ego vehicle can perceive the vehicle state information of each vehicle around the ego vehicle in real time, and analyze the intention of each vehicle to drive away, so as to intelligently determine the target vehicle with the intention to drive away and the target car moving area thereof, and further predict the predicted driving away route of the target vehicle, realize the active avoidance of the ego vehicle and timely driving into the target car moving area. In the temporary stop scene of the ego vehicle, without sending a car moving request by the user terminal, the ego vehicle system can automatically complete the identification of the target vehicle with the intention to drive away and the car moving operation of the ego vehicle. This process does not require manual intervention, not only improves the car moving efficiency, but also effectively reduces the collision risk, provides the user with a more convenient, safe and efficient temporary stop experience, and realizes more intelligent remote active car moving.

[0021] The foregoing general description and the following description are only exemplary and explanatory, and are not used to limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0022] One or more embodiments are exemplarily illustrated by corresponding drawings, which do not constitute limitation on the embodiments, elements with the same reference numerals in the drawings are shown as similar elements, the drawings do not constitute proportional limitation, and wherein:

[0023] Figure 1 is a schematic diagram of a method for remote car moving provided by the embodiments of the present disclosure;

[0024] Figure 2 is a schematic diagram of a scene of remote car moving provided by the embodiments of the present disclosure;

[0025] Figure 3 is a schematic diagram of another method for remote car moving provided by the embodiments of the present disclosure;

[0026] Figure 4is a schematic diagram of another method for remotely moving a vehicle provided by an embodiment of the present disclosure;

[0027] Figure 5 is a schematic diagram of a system for remotely moving a vehicle provided by an embodiment of the present disclosure;

[0028] Figure 6 is a schematic diagram of a device for remotely moving a vehicle provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0029] In order to enable a person skilled in the art to more fully understand the features and technical contents of the embodiments of the present disclosure, the implementation of the embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings, which are used only for reference and are not intended to limit the embodiments of the present disclosure. In the following technical description, in order to facilitate explanation, a plurality of details are provided to provide a full understanding of the disclosed embodiments. However, one or more embodiments can still be implemented without these details. In other cases, well-known structures and devices can be simplified to facilitate the drawings.

[0030] The terms "first", "second", and the like in the technical solutions described in the present application are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present disclosure described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion.

[0031] Unless otherwise specified, the term "a plurality of" means two or more.

[0032] In the embodiments of the present disclosure, the character " / " represents an "or" relationship between the objects before and after it. For example, A / B represents: A or B.

[0033] The term "and / or" is a description of the association between objects, which means that there can be three relationships. For example, A and / or B means: A or B, or, A and B, the three relationships.

[0034] The term "corresponding" can refer to an association or binding relationship. A and B correspond to each other means that there is an association or binding relationship between A and B.

[0035] In combination Figure 1 As shown, the present disclosure provides a method for remotely moving a vehicle, the execution subject of the method can be a processor, and the method comprises:

[0036] S101, the processor acquires vehicle state information of each vehicle around the vehicle in the case that the user triggers a temporary parking scene of the vehicle.

[0037] S102, the processor analyzes the departure intention of each vehicle according to the vehicle state information, and determines the target vehicle and the target parking area.

[0038] The target vehicle is a vehicle with a departure intention, and the target parking area is the initial parking area of the target vehicle.

[0039] S103, the processor determines the predicted departure route of the target vehicle according to the vehicle information of the target vehicle and the surrounding environment.

[0040] S104, the processor controls the ego vehicle to move away from the predicted departure route, and controls the ego vehicle to enter the target parking area after the target vehicle departs.

[0041] In the embodiments of the present disclosure, after the user drives the ego vehicle to temporarily park and triggers the temporary parking scene, the ego vehicle can perceive the vehicle state information of each vehicle around the ego vehicle in real time, and analyze the departure intention of each vehicle, so as to intelligently determine the target vehicle with a departure intention and the target parking area thereof, and then predict the predicted departure route of the target vehicle, realize the active avoidance of the ego vehicle, and timely enter the target parking area. In the temporary parking scene of the ego vehicle, the user terminal does not need to send a parking request, and the ego vehicle system can automatically complete the identification of the target vehicle with a departure intention and the parking operation of the ego vehicle. This process does not require human intervention, not only improves the parking efficiency, but also effectively reduces the collision risk, provides the user with a more convenient, safe and efficient temporary parking experience, and realizes a more intelligent remote active parking.

[0042] As shown in FIG. 1, Figure 2 In a parking scene, there are three vehicles around the ego vehicle, including vehicle A, vehicle B and vehicle C. By obtaining the vehicle state information of the three vehicles, the departure intention of each vehicle can be analyzed. If it is detected that vehicle B has a departure intention, vehicle B is marked as a target vehicle, and the area where vehicle B initially parks is marked as a target parking area. By obtaining detailed vehicle state information and analyzing the departure intention, this scheme can accurately identify the target vehicle with a departure intention, avoiding misjudgment and omission. This accurate identification capability enables the ego vehicle to quickly lock the target vehicle, providing an accurate basis for subsequent parking operations, and improving the operation efficiency and safety of the entire remote parking system.

[0043] Optionally, a plurality of sensors are installed on the ego vehicle, such as ultrasonic sensors, cameras, millimeter wave radars, etc., for collecting the state information of each vehicle around the ego vehicle. For example, the camera can capture the appearance features of the vehicle (such as license plate number, vehicle model, etc.), the millimeter wave radar can detect the motion state of the vehicle (such as speed, acceleration, etc.), and the ultrasonic sensor can measure the distance between the vehicle and the surrounding objects.

[0044] Optionally, vehicle state information of each vehicle around the ego vehicle is acquired, including one or more of the following: acquiring a start signal of the vehicle; the start signal includes an engine start signal, a vehicle door unlocking signal, and a vehicle light signal; acquiring a movement signal of the vehicle; the movement signal includes a change in vehicle position and a change in vehicle speed; acquiring a communication system signal of the vehicle; the communication system signal includes a vehicle remote control signal and a vehicle broadcast signal.

[0045] In this embodiment, by acquiring the start signal, movement signal, and communication system signal of the vehicle, the state of the vehicle can be comprehensively perceived from multiple dimensions. For example, by detecting the engine start signal and the vehicle door unlocking signal, it can be determined whether the vehicle is in a state ready to drive; by monitoring the change in vehicle position and speed, the movement of the vehicle can be understood in real time; by receiving the vehicle remote control signal and the broadcast signal, the remote operation information of the vehicle and the interaction information with other vehicles or infrastructure can be acquired. The comprehensive use of multiple signals can verify and supplement each other, thereby improving the accuracy of the perception of the vehicle state. For example, when the engine start signal and the vehicle door unlocking signal of the vehicle appear at the same time, it can be more accurately determined that the vehicle is about to leave. This multi-dimensional perception method can effectively avoid misjudgment that may be caused by a single signal, ensuring accurate identification of the vehicle state by the system. By acquiring rich vehicle state information, more intelligent decisions can be made based on these data. For example, when the remote control signal and the speed change signal of the vehicle are detected, it can be determined that the vehicle is being remotely controlled and is starting to move, so that corresponding avoidance or moving decisions can be made in advance.

[0046] Optionally, based on the vehicle state information, a departure intention analysis is performed on each vehicle, including: assigning a weight to each signal in the vehicle state information and determining a Boolean value for each signal; determining an intention score for each vehicle based on the Boolean value and the weight of each signal; and determining that the vehicle is a candidate vehicle if the intention score exceeds a score threshold.

[0047] In this embodiment, by comprehensively considering multiple signals (such as engine start, vehicle door unlocking, speed change, etc.) and performing weighted calculation according to the weights, the departure intention of the vehicle can be more comprehensively evaluated, avoiding misjudgment caused by a single signal. The weight of each signal and the score threshold can be dynamically adjusted according to the actual scene, thereby adapting to different environments and vehicle behavior patterns. Based on real-time data of the vehicle state signal, intention judgment can also automatically learn and adapt to different vehicle behavior patterns, improving the level of intelligence. Automated intention judgment reduces the complexity of manual operation and improves operational efficiency.

[0048] Optionally, the weight of each signal in the vehicle state information is assigned, including assigning the weight according to the importance of the signal to the vehicle's intention to drive off. For example, the engine start signal is generally more critical to the judgment of the intention to drive off, so it can be assigned a higher weight; while the car door unlocking signal can also provide some information, but the relative importance is lower, and the weight can be appropriately reduced.

[0049] Optionally, the weight is determined by expert experience, historical data analysis or machine learning algorithm. For example, a model is trained using historical data, and the contribution of different signals to the intention to drive off is evaluated through the output of the model to determine the weight.

[0050] Optionally, the Boolean value of each signal is determined, including converting the state of each signal into a Boolean value according to whether the signal exists or meets certain conditions. For example, if the engine start signal detects that the engine speed changes from 0 to non-0, the Boolean value is 1; otherwise, it is 0.

[0051] Optionally, the intention score is calculated by weighted sum of the Boolean value of each signal and the weight. For example, assuming the engine start signal weight is 0.5, the car door unlocking signal weight is 0.3, and the vehicle speed change signal weight is 0.2. If the engine start signal of a certain vehicle is 1, the car door unlocking signal is 1, and the speed change signal is 0, then its intention score is: 0.5x1+0.3x1+0.2x0=0.8.

[0052] Optionally, the score threshold can be set according to the actual application scenario and safety requirements. For example, if the score threshold is set to 0.7, then in the above example, the vehicle with an intention score of 0.8 will be determined to have the intention to drive off and will be determined as a candidate vehicle.

[0053] Optionally, the score threshold can be dynamically adjusted according to environmental conditions and system performance. For example, the score threshold can be appropriately increased in a busy parking lot to reduce false positives.

[0054] Optionally, the target vehicle and the target parking area are determined, including prioritizing all candidate vehicles according to the intention score; performing legality analysis and safety analysis on the initial parking area of each candidate vehicle according to the priority order; wherein the legality analysis includes determining whether the initial parking area is a legal parking space according to the road markings; the safety analysis includes determining whether the ego vehicle can enter the initial parking area according to the road surface conditions of the initial parking area; the initial parking area that passes both the legality analysis and the safety analysis is taken as the target parking area, and the candidate vehicle corresponding to the initial parking area is taken as the target vehicle.

[0055] In this embodiment, the initial parking area of each candidate vehicle is analyzed for legality and safety according to the priority order, which can ensure that the target parking area is suitable for the ego vehicle to park. The legality analysis can determine whether the parking area is a legal parking space by combining road signs and markings. In addition, it can also check whether the parking area has a parking time limit, for example, whether the time-limited parking space allows vehicles to park. The safety analysis can detect obstacles in the parking area by radar and camera to ensure that the vehicle can safely enter and park, and also evaluate the road surface conditions of the parking area, such as whether there are potholes, water accumulation, etc., to ensure the safety of the vehicle parking. In addition, it can also ensure that the parking area complies with traffic rules, for example, the vehicle cannot be parked in a no-parking area or a fire access.

[0056] Optionally, the target parking area is dynamically adjusted according to real-time traffic conditions and dynamic behavior of the vehicle. For example, if the target parking area is occupied by other vehicles, the system can reselect a suitable parking area.

[0057] Optionally, according to the vehicle information of the target vehicle and the surrounding environment, a predicted departure route of the target vehicle is determined, including: modeling the surrounding environment of the target vehicle to generate a route prediction model; in the route prediction model, planning an initial departure route of the vehicle according to the departure direction of the target vehicle; adjusting the initial departure route according to the vehicle body parameters of the target vehicle to generate the predicted departure route.

[0058] In combination Figure 3 As shown in FIG. 1, the embodiment of the present disclosure provides another method for remote parking, which includes:

[0059] S301, the processor acquires vehicle state information of each vehicle around the ego vehicle in the case that the user triggers a temporary parking scenario of the ego vehicle.

[0060] S302, the processor analyzes the departure intention of each vehicle according to the vehicle state information to determine a target vehicle and a target parking area.

[0061] S303, the processor models the surrounding environment of the target vehicle to generate a route prediction model.

[0062] S304, the processor plans an initial departure route of the vehicle in the route prediction model according to the departure direction of the target vehicle.

[0063] S305, the processor adjusts the initial departure route according to the vehicle body parameters of the target vehicle to generate a predicted departure route.

[0064] S306, the processor controls the ego vehicle to move away from the predicted departure route, and controls the ego vehicle to enter the target parking area after the target vehicle departs.

[0065] In this embodiment, by combining the surrounding environment, dynamics characteristics and body parameters of the target vehicle, the generated prediction departure route is more accurate, can adapt to different parking scenarios and vehicle behavior patterns, and improves the robustness of trajectory prediction. Based on real-time environmental data and vehicle state information, trajectory prediction can automatically adapt to environmental changes and make more reasonable decisions. By accurately predicting the prediction departure route of the target vehicle, the ego vehicle can take evasive measures in advance to reduce the risk of collision and improve the safety of the car moving process.

[0066] Optionally, the route prediction model is generated based on the surrounding environment of the target vehicle, including: generating corresponding obstacles and road boundaries in the route prediction model according to obstacle information and road boundary information in the surrounding environment of the target vehicle; dividing the surrounding environment of the target vehicle into grid cells in the route prediction model; and marking each grid cell as passable, obstacle or boundary according to the obstacles and road boundaries in the route prediction model.

[0067] In this embodiment, by dividing the surrounding environment of the target vehicle into grid cells and marking the state of each cell, the environmental information can be represented in more detail. For example, it can be clearly seen which areas are passable, which areas have obstacles, and which areas are road boundaries. By marking obstacles and boundaries, trajectories can be planned more accurately to avoid collisions. For example, when planning a trajectory, grid cells marked as obstacles can be avoided to ensure the safety of the trajectory. By marking passable areas, the optimal path can be selected. For example, the shortest path or the smoothest path can be selected to improve the efficiency of trajectory planning.

[0068] Optionally, sensors such as lidar, millimeter wave radar, camera, etc. are used to detect obstacles in the surrounding environment of the target vehicle. For example, lidar can determine the position and distance of obstacles by emitting laser beams and measuring the reflection time.

[0069] Optionally, the road boundary is detected by high-precision map data or sensors. High-precision maps can provide detailed lane lines, road edges, etc. information, while sensors such as cameras can detect road boundaries through image recognition technology.

[0070] Optionally, the position information of obstacles and road boundaries is represented in the route prediction model. For example, a two-dimensional or three-dimensional grid map can be used to represent the environment, and the positions of obstacles and road boundaries are marked on the map.

[0071] Optionally, the environment around the target vehicle is divided into a plurality of grid cells. The size of the grid cells can be selected according to actual needs and calculation accuracy. For example, a grid cell of 1 meter x 1 meter can be selected. A two-dimensional array or matrix is used to represent the grid cells, and each cell corresponds to a grid cell. For example, a two-dimensional array can be used, where each element represents the state of a grid cell.

[0072] Optionally, each grid cell is labeled as passable, obstacle, or boundary according to the obstacles and road boundaries in the route prediction model, including: if there is no obstacle in the grid cell and it is within the road boundary, it is labeled as passable; if there is an obstacle in the grid cell, it is labeled as an obstacle; if the grid cell is located on the road boundary, it is labeled as a boundary. The labeling can be achieved by traversing the grid cells and checking their positions relative to obstacles and road boundaries. For example, a two-dimensional array is used, where the value of each element represents the state of the grid cell, 0 represents passable, 1 represents obstacle, and 2 represents boundary.

[0073] Optionally, the driving-off direction of the target vehicle is determined by analyzing its historical trajectory and current state (such as heading angle, speed, etc.). For example, when the heading angle of the target vehicle at a plurality of consecutive coordinate points is greater than the heading angle at the previous coordinate point and the distance from the lane line is less than a threshold value, it can be determined that the target vehicle is driving off the lane.

[0074] Optionally, the driving-off direction of the target vehicle is determined according to the turn signal of the target vehicle and the steering angle of the wheels. For example, the right turn signal of the target vehicle is on, and the wheels are steered to the right, then the driving-off direction of the target vehicle is determined to be the right side.

[0075] Optionally, according to the driving-off direction, an appropriate trajectory planning algorithm (such as a quintic polynomial model) is used to plan an initial driving-off route.

[0076] Optionally, the ego vehicle is controlled to move away from the predicted driving-off route, including: determining a safety distance between the ego vehicle and the predicted driving-off route according to the body parameters of the ego vehicle and the target vehicle; controlling the distance between the ego vehicle and the predicted driving-off route to exceed the safety distance.

[0077] In this embodiment, by comprehensively considering the motion state and body parameters of the ego vehicle and the target vehicle, the safety distance can be accurately calculated, and the risk of collision can be effectively avoided. According to the real-time environment and safety distance requirements, the avoidance path of the ego vehicle is dynamically adjusted to ensure that the ego vehicle can safely avoid when the target vehicle drives off.

[0078] Optionally, the safety distance is calculated according to the following formula:

[0079] D = L s + L t + 2max(R s , Rt )+d

[0080] wherein D is the safety distance, L s is the length of the ego vehicle, L t is the length of the target vehicle, R s is the minimum turning radius of the ego vehicle, R t is the minimum turning radius of the target vehicle, and d is the additional safety buffer distance. d can be 1m to 2m.

[0081] Optionally, the method further comprises: adjusting the local path planning of the ego vehicle according to the calculated safety distance, so as to control the distance between the ego vehicle and the predicted departure route to exceed the safety distance. For example, the Cartesian coordinates of the ego vehicle are converted into the progress and perpendicular distance along the predicted departure route using the Frenet frame, and a new avoidance path is generated. The avoidance path can be generated by a spline curve to ensure the smoothness and safety of the path. For example, a quintic polynomial is used to describe the candidate path of the vehicle, and the path parameters are solved according to the boundary conditions.

[0082] Optionally, the method for remote towing further comprises: during the process of remote towing of the ego vehicle, sending a panoramic video of the surrounding environment of the ego vehicle to the user terminal.

[0083] In combination with Figure 4 , the embodiments of the present disclosure provide another method for remote towing, comprising:

[0084] S401, the processor acquires vehicle state information of each vehicle around the ego vehicle in the case that the user triggers a temporary parking scenario of the ego vehicle.

[0085] S402, the processor analyzes the departure intention of each vehicle according to the vehicle state information, and determines a target vehicle and a target towing area.

[0086] S403, the processor determines a predicted departure route of the target vehicle according to the vehicle information and the surrounding environment of the target vehicle.

[0087] S404, the processor controls the ego vehicle to move away from the predicted departure route, and controls the ego vehicle to enter the target towing area after the target vehicle departs.

[0088] S405, the processor sends a panoramic video of the surrounding environment of the ego vehicle to the user terminal during the process of remote towing of the ego vehicle.

[0089] In this embodiment, the user can monitor the vehicle's surroundings in real time through the panoramic video and discover potential obstacles or dangerous situations in a timely manner, thereby making safer decisions when moving the vehicle. The panoramic video allows the user to intuitively see the situation around the vehicle, making the operation more convenient and natural. The user does not need to rely on complex sensor data or abstract images, but can directly make judgments and operations through the video. The user terminal displays the panoramic video and the moving state in real time, so the user can always know the dynamic state of the vehicle and the changes in the surrounding environment. By collecting and transmitting the panoramic video in real time, accurate environmental information is provided to the user, reducing the dependence on other sensors and reducing the complexity and cost of the system.

[0090] Optionally, the method for remote moving also includes: after the ego vehicle enters the target moving area, sending a moving notification and the location of the target moving area to the user terminal. In this way, the user can know the moving situation of the ego vehicle in a timely manner and quickly find the vehicle when needed.

[0091] In combination Figure 5 As shown in the figure, the embodiment of the present disclosure provides a system for remote moving, which includes a user terminal APP 51, a telematics service module 52, an intelligent driving domain controller 53, a cloud platform 54, and a vehicle machine module 55. The user can issue a remote moving instruction through the user terminal APP 51, and the remote moving instruction is sent to the intelligent driving domain controller 53 through the telematics service module 52. The intelligent driving domain controller 53 can control the vehicle machine module 55 to perform remote moving when detecting a target vehicle, and return the moving information of the vehicle machine module 55 to the user terminal APP 51 through the telematics service module 52. The vehicle machine module 55 can also upload the panoramic video of the environment around the vehicle to the cloud platform 54, and the cloud platform 54 sends the panoramic video to the user terminal APP 51.

[0092] In combination Figure 6 As shown in the figure, the embodiment of the present disclosure provides a device 600 for remote moving, which includes a processor 601 and a memory 602. Optionally, the device can also include a communication interface 603 and a bus 604. The processor 601, the communication interface 603, and the memory 602 can communicate with each other through the bus 604. The communication interface 603 can be used for information transmission. The processor 601 can call the logical instructions in the memory 602 to execute the method for remote moving of the above-mentioned embodiments.

[0093] In addition, the logical instructions in the memory 602 described above can be implemented in the form of a software functional unit and sold or used as an independent product, which can be stored in a computer readable storage medium.

[0094] The memory 602 can be used to store software programs, computer executable programs, such as program instructions / modules corresponding to the method in the embodiments of the present disclosure. The processor 601 executes the function application and data processing by running the program instructions / modules stored in the memory 602, that is, implements the method for remote moving of a vehicle in the above embodiments.

[0095] The memory 602 can include a program storage area and a data storage area. The program storage area can store an operating system and at least one application required by a function. The data storage area can store data created according to the use of the terminal device. In addition, the memory 602 can include a high-speed random access memory and can also include a non-volatile memory.

[0096] The embodiments of the present disclosure provide a vehicle, which includes a vehicle body and the device for remote moving of a vehicle described above. The device for remote moving of a vehicle is installed on the vehicle body. The installation relationship described herein is not limited to being placed in the vehicle, but also includes installation connection with other components of the vehicle, including but not limited to physical connection, electrical connection or signal transmission connection, etc. Those skilled in the art can understand that the device for remote moving of a vehicle can be adapted to a feasible vehicle body, and thus other feasible embodiments can be realized.

[0097] The embodiments of the present disclosure provide a computer readable storage medium, which stores computer executable instructions, and the computer executable instructions are configured to execute the method for remote moving of a vehicle.

[0098] The embodiments of the present disclosure provide a computer program product, which includes a computer program stored on a computer readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the method for remote moving of a vehicle.

[0099] The computer readable storage medium described above can be a transitory computer readable storage medium or a non-transitory computer readable storage medium.

[0100] The technical solutions of the embodiments of the present disclosure can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes one or more instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiments of the present disclosure. The aforementioned storage medium can be a non-transitory storage medium, including a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes, or can be a transitory storage medium.

[0101] The above description and drawings are illustrative of embodiments of the present disclosure and are not intended to be limiting. Other embodiments can include structural, logical, electrical, process, and other changes. Embodiments are illustrative of the many possible variations that are readily undertaken. Individual components and functions are optional unless explicitly required, and the order of operations can be varied. Portions and features of some embodiments can be included in, or substituted for, those of other embodiments. The scope of the present disclosure encompasses the entire scope of the following claims, and all available equivalents of the claims. When used in this application, the terms "first," "second," and the like, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without changing the meaning of the description, so long as all occurrences of the "first element" are renamed consistently and all occurrences of the "second element" are renamed consistently. The first element and the second element are both elements, but they are not necessarily the same element. Also, the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. As used in the description of the embodiments and the claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Similarly, the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items. In addition, the term "comprises" and variations thereof, when used in this application, do not exclude the presence of elements other than those listed in the statement of the features, integers, steps, operations, elements, and / or components. The term "comprises" and variations thereof, when used in this application, do not exclude the presence of additional elements, integers, steps, operations, elements, components, and / or groups thereof. Where an indefinite or definite article is used when referring to a singular noun entity, e.g., "the compound", it is intended to cover a single entity or plural entities. Where an embodiment is disclosed involving "comprising," "containing" or "including" one or more steps, integers, features, elements, components or a combination thereof, it is intended to also disclose the embodiment "consisting of" or "consisting essentially of" the one or more steps, integers, features, elements, components or combination thereof. Where reference is made to an embodiment, the disclosure of the embodiment can be incorporated into any other embodiment unless clearly indicated otherwise. Where reference is made to a method, the disclosure of the method can be incorporated into any other method unless clearly indicated otherwise.

[0102] Those skilled in the art can understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods for each specific application to realize the described functions, but such implementation should not be considered beyond the scope of the embodiments of the present disclosure. The skilled person can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0103] In the embodiments disclosed herein, the disclosed methods, products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the above-described device embodiments are only schematic, for example, the division of the units can only be a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms. The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to implement the embodiments. In addition, each functional unit in the embodiments of the present disclosure can be integrated in one processing unit, or each unit can be a physically independent unit, or two or more units can be integrated in one unit.

[0104] The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other processing device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other processing device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

Claims

1. A method for remote vehicle relocation, characterized by, The method comprises the following steps: In the case of user triggering the temporary parking of the vehicle, obtaining the vehicle state information of each vehicle around the vehicle; According to the vehicle state information, analyze the intention of each vehicle to drive away, determine the target vehicle and the target parking area; the target vehicle is the vehicle with the intention to drive away, and the target parking area is the initial parking area of the target vehicle; According to the vehicle information and the surrounding environment of the target vehicle, determine the predicted driving-off route of the target vehicle; Control the vehicle to move away from the predicted driving-off route, and after the target vehicle drives off, control the vehicle to enter the target parking area.

2. The method of claim 1, wherein, Obtaining the vehicle state information of each vehicle around the vehicle includes one or more of the following: Obtain the start signal of the vehicle; the start signal includes the engine start signal, the vehicle door unlocking signal and the vehicle light signal; Obtain the movement signal of the vehicle; the movement signal includes the change of vehicle position and the change of vehicle speed; Obtain the communication system signal of the vehicle; the communication system signal includes the vehicle remote control signal and the vehicle broadcast signal.

3. The method of claim 1, wherein, According to the vehicle state information, analyze the intention of each vehicle to drive away, including: Assign a weight to each signal in the vehicle state information and determine the Boolean value of each signal; According to the Boolean value of each signal and the weight, determine the intention score of each vehicle; If the intention score exceeds the score threshold, the vehicle is determined to be a candidate vehicle.

4. The method of claim 3, wherein, Determine the target vehicle and the target parking area, including: Prioritize all candidate vehicles according to the intention score; According to the priority order, analyze the legality and safety of the initial parking area of each candidate vehicle; wherein, the legality analysis includes determining whether the initial parking area is a legal parking space according to the road sign; the safety analysis includes determining whether the vehicle can enter the initial parking area according to the road surface condition of the initial parking area; The initial parking area that passes the legality analysis and safety analysis is taken as the target parking area, and the candidate vehicle corresponding to the initial parking area is taken as the target vehicle.

5. The method of claim 1, wherein, According to the vehicle information and the surrounding environment of the target vehicle, determine the predicted driving-off route of the target vehicle, including: Model the surrounding environment of the target vehicle to generate a route prediction model; In the route prediction model, plan the initial driving-off route of the vehicle according to the driving-off direction of the target vehicle; Adjust the initial driving-off route according to the vehicle body parameters of the target vehicle to generate the predicted driving-off route.

6. The method of claim 5, wherein, Model the surrounding environment of the target vehicle to generate a route prediction model, including: According to the obstacle information and road boundary information in the surrounding environment of the target vehicle, generate corresponding obstacles and road boundaries in the route prediction model; Divide the surrounding environment of the target vehicle into grid cells in the route prediction model; According to the obstacles and road boundaries in the route prediction model, mark each grid cell as passable, obstacle or boundary.

7. The method of claim 1, wherein, Control the vehicle to move away from the predicted driving-off route, including: According to the vehicle body parameters of the vehicle and the target vehicle, determine the safety distance between the vehicle and the predicted driving-off route; Control the distance between the vehicle and the predicted driving-off route to exceed the safety distance.

8. The method according to any one of claims 1 to 7, characterized in that, Further comprising: During the process of remote parking of the vehicle, send the panoramic video of the surrounding environment of the vehicle to the user end.

9. An apparatus for remote vehicle relocation comprising a processor and a memory having stored therein program instructions, the apparatus characterized by: The processor is configured to execute, when running the program instructions, a method for remote vehicle removal as claimed in any of claims 1 to 8.

10. A vehicle characterized by comprising: Comprising: a vehicle body; a device for remote vehicle removal as claimed in claim 9, mounted to the vehicle body.

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