Remote vehicle moving control method, device, equipment, medium and program

Abstract

The invention relates to the technical field of vehicles, in particular to a remote vehicle moving control method, device and equipment, a medium and a program.The method comprises the steps that a remote vehicle moving request instruction issued by a user terminal is recognized; activating an environment sensing system of the vehicle according to the remote vehicle moving request instruction to obtain environment sensing data around the vehicle; according to the vehicle surrounding environment sensing data, whether the current moment meets the vehicle moving condition or not is judged, if the current moment meets the vehicle moving condition, a corresponding vehicle moving path is generated according to the vehicle surrounding environment sensing data, and the vehicle is controlled to execute the vehicle moving action according to the vehicle moving path. Therefore, the problem of poor user experience and the like due to the fact that most of vehicles contact with vehicle owners to move the vehicles when the vehicles block others in the prior art is solved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a remote vehicle relocation control method, device, equipment, medium, and program. Background Technology

[0002] With the continuous growth of urban motor vehicle ownership, parking resources are becoming increasingly scarce, and parking difficulties have become a common problem troubling car owners and urban management. Especially in narrow or dense parking lot environments, improper parking often obstructs neighboring vehicles from leaving, causing serious inconvenience and even disputes if the car owner is not present. Summary of the Invention

[0003] This application provides a remote vehicle relocation control method, device, equipment, medium, and program to solve the problem that in related technologies, when a vehicle is blocking others, the user experience is often poor because the owner is contacted to move the vehicle.

[0004] The first aspect of this application provides a remote vehicle relocation control method, comprising the following steps: identifying a remote vehicle relocation request command issued by a user terminal; activating the vehicle's environmental perception system according to the remote vehicle relocation request command to obtain environmental perception data around the vehicle; determining whether the current time meets the vehicle relocation conditions based on the environmental perception data around the vehicle; if the current time meets the vehicle relocation conditions, generating a corresponding vehicle relocation path based on the environmental perception data around the vehicle, and controlling the vehicle to perform a vehicle relocation action according to the vehicle relocation path.

[0005] Optionally, generating a corresponding relocation path based on the vehicle's surrounding environment perception data includes: acquiring the vehicle's surrounding environment perception data and the target relocation position at the current time; determining the distance and position of the vehicle and at least one obstacle within the target range based on the vehicle's surrounding environment perception data and the target relocation position; and generating a corresponding relocation path based on the distance and position of the vehicle and at least one obstacle within the target range.

[0006] Optionally, generating a corresponding relocation path based on the distance and position of the vehicle and at least one obstacle within the target range includes: identifying the distance and position of the vehicle and static and dynamic obstacles within the target range; generating a continuous motion trajectory from the vehicle's current position to the target relocation position based on the distance and position of the static obstacle, the motion trajectory of the dynamic obstacle, and the obstacle type, wherein the continuous motion trajectory is constrained by the vehicle's kinematics and avoiding all identified obstacles.

[0007] Optionally, after controlling the vehicle to perform a relocation action according to the relocation path, the method includes: when a dynamic obstacle is detected to be less than a preset threshold away from the vehicle, a target operation is triggered based on the position of the dynamic obstacle and the vehicle, wherein the target operation includes deceleration, stopping, or pulling over to give way.

[0008] Optionally, after controlling the vehicle to perform the relocation action according to the relocation path, the following steps are included: if the relocation task is not completed within a preset time, or if the vehicle self-check detects a fault, the relocation action is automatically terminated and an alarm notification is sent to the user terminal.

[0009] Optionally, the conditions for moving the vehicle include: the vehicle has started, the vehicle is in park or neutral and the speed is zero, and the vehicle's steering system, power system, braking system and environmental perception system have performed normal self-checks.

[0010] A second aspect of this application provides a remote automatic vehicle relocation system, comprising: an onboard communication module for communicating with a user terminal and a vehicle server to receive remote vehicle relocation request commands; an environmental perception module for real-time acquisition of environmental perception data around the vehicle; a control module electrically connected to the onboard communication module and the environmental perception module, for recognizing the remote vehicle relocation request command issued by the user terminal; activating the vehicle's environmental perception system according to the remote vehicle relocation request command to acquire environmental perception data around the vehicle; determining whether the current time meets the vehicle relocation conditions based on the environmental perception data around the vehicle; if the current time meets the vehicle relocation conditions, generating a corresponding vehicle relocation path based on the environmental perception data around the vehicle, and generating a corresponding vehicle control command based on the vehicle relocation path; and a vehicle control execution module, including a steering controller, a power controller, and a brake controller, connected to the control module, for responding to the vehicle control command and coordinating the execution of the vehicle relocation path to complete the automatic vehicle relocation action.

[0011] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to perform the remote vehicle relocation control method as described in the above embodiments.

[0012] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to perform the remote vehicle relocation control method as described in the above embodiments.

[0013] A fifth aspect of this application provides a computer program product, including a computer program or instructions, which, when executed, implement the remote vehicle relocation control method as described in the above embodiments.

[0014] Therefore, this application has at least the following beneficial effects: This application embodiment can recognize remote vehicle relocation request commands issued by user terminals. The system can respond to vehicle relocation requests in a timely manner when the vehicle owner is not present. It activates the vehicle's environmental perception system to obtain surrounding environmental data in real time, thereby comprehensively grasping the safety status of the vehicle's location. Based on this environmental perception data, it makes a comprehensive judgment on the relocation conditions, effectively avoiding blindly performing relocation operations when there are pedestrians, obstacles or other unsafe factors. It generates the optimal relocation path and controls the vehicle to accurately perform the relocation action only when safety is confirmed. The entire process does not require manual intervention, which not only ensures the safety and reliability of the relocation process, but also significantly improves the user's convenience in emergency or temporary scenarios.

[0015] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0016] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a flowchart of a remote vehicle relocation control method provided according to an embodiment of this application; Figure 2 This is an example diagram of an automatic vehicle relocation method provided according to an embodiment of this application; Figure 3 This is a schematic diagram of the entire vehicle relocation process provided according to an embodiment of this application; Figure 4 This is a schematic diagram of a remote vehicle relocation control system provided according to an embodiment of this application; Figure 5 This is a block diagram of a remote vehicle relocation control system provided according to an embodiment of this application; Figure 6 This is a topology diagram of the remote communication network between a user terminal and a vehicle control system according to an embodiment of this application; Figure 7 This is a schematic diagram of the architecture of an intelligent connected vehicle in-vehicle communication and control system according to an embodiment of this application; Figure 8 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of this application. Detailed Implementation

[0017] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0018] This application primarily aims to help solve the challenges of emergency parking space adjustments and choosing the best vehicle location. The method utilizes an intelligent driving assistance system, allowing users to easily and remotely move their vehicles in emergency situations, saving considerable hassle.

[0019] To achieve automated vehicle relocation, a vehicle intelligent driving assistance and control system is used, integrating high-precision sensors, real-time environmental perception capabilities, artificial intelligence decision-making algorithms, and a vehicle communication system. When the system detects that a vehicle is blocking a nearby parked vehicle from leaving its parking space, the owner of the blocked vehicle can be contacted via SMS, app notification, or other means to request assistance in moving their car. Upon receiving the request, the owner of the blocking vehicle simply activates the relocation system, and the artificial intelligence algorithm determines whether the blocking vehicle should be moved to a location where the blocked vehicle can exit or returned to its original parking space.

[0020] First, the vehicle automatically unlocks and starts, using its sensing unit to accurately perceive the surrounding environment, including obstacles, other vehicles, and pedestrians. Ensuring safety, it slowly moves out of its original parking space, making room for the obstructed vehicle. Simultaneously, the system plans the optimal route in real time, ensuring no collisions occur during movement and maintaining a high level of safety and stability. After completing the relocation task, the vehicle determines if the new location is the best parking space. If it is, the vehicle automatically parks in that space; otherwise, it returns to its original position. This entire process relies on high-precision maps, real-time positioning, and environmental awareness to ensure successful parking.

[0021] In future smart city transportation systems, technologies that enable vehicles to autonomously return to their original location and find better parking spaces are gradually solving the problem of users being unable to move their cars immediately. As these technologies mature and are widely applied, they are expected to become a revolutionary force in urban traffic management and be integrated into the construction of smart cities.

[0022] The following description, with reference to the accompanying drawings, describes a remote vehicle relocation control method, apparatus, device, medium, and program according to embodiments of this application.

[0023] Specifically, Figure 1 This is a flowchart illustrating a remote vehicle relocation control method provided in an embodiment of this application.

[0024] like Figure 1 As shown, the remote vehicle relocation control method includes the following steps: In step S101, the remote vehicle relocation request command issued by the user terminal is identified. It is understood that, by recognizing the remote vehicle relocation request command issued by the user terminal, the system can respond to the user's vehicle relocation needs in a timely manner, and can start the vehicle relocation process no matter where the user is, which greatly improves the convenience and flexibility of use.

[0025] It should be noted that this application utilizes modern communication technology to achieve remote control, ensuring effective management of vehicle movement even when the owner is unable to be present. This is particularly suitable for emergency situations or scenarios with limited parking space. It not only reduces parking problems caused by the absence of the owner but also improves parking space utilization, making urban parking more efficient and orderly.

[0026] In step S102, the vehicle's environmental perception system is activated according to the remote vehicle relocation request command to obtain environmental perception data around the vehicle. It is understood that the embodiments of this application can activate the vehicle's environmental perception system according to the remote vehicle relocation request command, and can obtain accurate environmental perception data around the vehicle in real time before the vehicle relocation operation is initiated, including obstacle positions, pedestrian dynamics, adjacent vehicle status and road boundary information, thereby providing a reliable basis for subsequent safety decisions.

[0027] It should be noted that this application avoids the collision risk that may be caused by blindly performing vehicle relocation actions in unknown or complex environments. By activating the perception system only after receiving a valid instruction, it balances functional responsiveness and system energy efficiency. Since environmental perception is a prerequisite for safe automatic vehicle relocation, this design ensures that the vehicle only enters the execution phase when it confirms that the surrounding environment meets safety conditions, significantly improving the reliability and safety of remote vehicle relocation, while reducing resource waste caused by false triggers or invalid operations.

[0028] In step S103, it is determined whether the conditions for moving the vehicle are met at the current time based on the vehicle's surrounding environment perception data. If the conditions for moving the vehicle are met at the current time, a corresponding moving path is generated based on the vehicle's surrounding environment perception data, and the vehicle is controlled to perform the moving action based on the moving path. The conditions for moving a vehicle include: the vehicle is started, the vehicle is in park or neutral and the speed is zero, and the vehicle's steering system, power system, braking system and environmental perception system are functioning normally.

[0029] It is understood that the embodiments of this application can determine whether the conditions for relocation are met at the current moment based on the vehicle's surrounding environment perception data. The system can comprehensively confirm the safety of the vehicle's status and the external environment before executing automatic relocation. The relocation conditions include the vehicle being started, the gear being in parking or neutral and the vehicle speed being zero, and the steering system, power system, braking system and environmental perception system self-checking normally, thereby ensuring that the vehicle is only allowed to enter the automatic control process when the mechanical, electrical and perception functions are all in a reliable state. This solution, by deeply integrating environmental perception and the vehicle's underlying status for joint judgment, effectively prevents unexpected movement caused by system failure, misoperation or interference from dynamic obstacles, significantly improving the controllability and safety of the remote relocation process. The relocation path generated on this basis closely matches the real-time environmental information and is precisely executed by the control system, enabling the vehicle to complete the relocation action autonomously, smoothly and safely, ensuring the safety of people and property, and realizing truly unmanned intelligent relocation.

[0030] In this embodiment of the application, generating a corresponding vehicle relocation path based on vehicle surrounding environment perception data includes: acquiring vehicle surrounding environment perception data and target vehicle relocation position at the current time; determining the distance and position of the vehicle and at least one obstacle within the target range based on the vehicle surrounding environment perception data and target vehicle relocation position; and generating a corresponding vehicle relocation path based on the distance and position of the vehicle and at least one obstacle within the target range. It is understood that, by acquiring the current environmental perception data of the vehicle's surroundings and the target vehicle relocation location, the system can accurately grasp the local spatial state of the vehicle and the relocation endpoint requirements. Based on the relative distance and positional relationship between the vehicle and at least one obstacle within the target range, a driving path that meets safety constraints and movement feasibility is constructed. The resulting relocation path not only avoids static and dynamic obstacles but also fully considers the vehicle's geometry, steering characteristics, and passage margin. This scheme utilizes real-time perception information and target location fusion calculations to give path planning a high degree of environmental adaptability and dynamic response capability. It avoids collisions or jamming problems that may occur in complex or unstructured parking scenarios due to preset paths, thereby ensuring that the vehicle can efficiently, smoothly, and safely complete the automatic relocation action from the current position to the target position, significantly improving the system's practicality and reliability in real parking environments.

[0031] In this embodiment of the application, a corresponding relocation path is generated based on the distance and position of the vehicle and at least one obstacle within the target range. This includes: identifying the distance and position of the vehicle and static and dynamic obstacles within the target range; and generating a continuous motion trajectory from the current position of the vehicle to the target relocation position based on the distance and position of the static obstacle, the motion trajectory of the dynamic obstacle, and the obstacle type. The continuous motion trajectory is constrained by the vehicle's kinematics and avoiding all identified obstacles.

[0032] It is understood that the embodiments of this application can identify the distance and position of vehicles and static and dynamic obstacles within the target range, and combine the movement trajectory and obstacle type of dynamic obstacles to construct a comprehensive spatiotemporal understanding of the surrounding environment. This allows the system to consider not only the space occupied by fixed objects but also the future position of moving objects during the path planning stage, effectively avoiding potential collision risks. Based on this, using the vehicle's own kinematic characteristics as constraints, including minimum turning radius, speed and acceleration limits, and vehicle geometry, a continuous, smooth, and feasible trajectory from the current position to the target relocation position is generated. This ensures that the vehicle can strictly avoid all identified obstacles while meeting the physical limitations of its own dynamic capabilities during actual execution. This solution deeply integrates environmental perception, obstacle classification, trajectory prediction, and vehicle kinematics models, making the generated relocation path safe, real-time, and executable, significantly improving the adaptability and operational reliability of the automatic relocation system in complex and dynamic parking scenarios.

[0033] In this embodiment of the application, after controlling the vehicle to perform a relocation action according to the relocation path, the method includes: when a dynamic obstacle is detected to be less than a preset threshold away from the vehicle, a target operation is triggered according to the position of the dynamic obstacle and the vehicle, wherein the target operation includes deceleration, stopping, or pulling over to give way.

[0034] The preset threshold can be set according to actual needs, for example, 1m, without specific limitation.

[0035] It is understood that, in the embodiments of this application, during the process of controlling the vehicle to perform a relocation action according to the relocation path, the system continuously monitors the surrounding environment. When the distance between the vehicle and a dynamic obstacle is detected to be less than a preset safety threshold, the system can quickly trigger corresponding safety operations based on their real-time relative positions, including deceleration, stopping, or pulling over to let the vehicle pass. This mechanism is based on real-time perception and risk assessment of the behavior of dynamic obstacles, and actively intervenes in the vehicle's movement state before the obstacle approaches a critical point that may endanger safety, avoiding collisions or emergency braking due to response lag. Since the selection of the target operation combines the obstacle type, direction of movement, and the vehicle's current driving state, the system can ensure safety while taking into account traffic efficiency, effectively improving the robustness and reliability of the automatic relocation process in complex mixed pedestrian and vehicle environments, thereby achieving a truly safe and controllable unattended relocation function.

[0036] According to the remote vehicle relocation control method proposed in this application, by recognizing the remote vehicle relocation request command issued by the user terminal, the system can respond to the vehicle relocation request in a timely manner when the vehicle owner is not present. It activates the vehicle's environmental perception system to obtain surrounding environmental data in real time, thereby comprehensively grasping the safety status of the vehicle's location. Based on the environmental perception data, it makes a comprehensive judgment on the relocation conditions, effectively avoiding blindly performing relocation operations when there are pedestrians, obstacles or other unsafe factors. It generates the optimal relocation path and controls the vehicle to accurately perform the relocation action only when safety is confirmed. The entire process does not require manual intervention, which not only ensures the safety and reliability of the relocation process, but also significantly improves the user's convenience in emergency or temporary scenarios.

[0037] The following will combine Figure 2-3 This application provides a detailed description of the remote vehicle relocation control method. Firstly, it involves overall environmental perception. Based on data collected by radar and cameras, the vehicle relocation system makes intelligent decisions and initiates relocation when the conditions for relocation are met. Throughout the relocation and parking process, the camera, radar, and other sensing systems operate continuously to ensure safety monitoring. The specific steps are as follows: Step 1, Data Acquisition: When a car owner receives a notification to move their vehicle, they can initiate an automatic relocation process via a mobile app. The user uploads the relocation information to a cloud server through the app, sending a command to a T-BOX to activate the vehicle's environmental perception system. Using high-definition cameras, LiDAR, microwave radar, ultrasonic sensors, and infrared sensors, the system captures and processes data about the vehicle's surroundings in real time, accurately obtaining the vehicle's location, size, parking angle, and the status of nearby pedestrians and dynamic obstacles. The perception system then sends this real-time information to the central processor for data analysis.

[0038] Step 2, Car Relocation Decision: When the vehicle relocation system acquires real-time data, it performs data analysis. If the relocation conditions are not met, the relocation action ends. If the analysis results meet the relocation conditions, the vehicle begins the relocation process. The entire data processing involves: evaluating the feasibility, safety standards, and efficiency of the relocation path. The central controller optimizes decisions based on the vehicle's power performance, road condition limitations, and potential risks. After completing comprehensive calculations, the central control module selects an optimal relocation path based on integrated data analysis. This path can be adjusted according to current real-time data to effectively avoid all obstacles and ensure the vehicle's safe movement. Simultaneously, the relocation process must minimize the impact on surrounding traffic flow and avoid interfering with normally moving vehicles or pedestrians.

[0039] Step 3, Implementation of the Plan: Once the vehicle relocation system has processed the acquired sensor data and the relocation conditions are met, it activates the control system, steering, power, and braking systems to issue a relocation command. During the relocation process, the steering system is first activated, adjusting the wheel angles according to the instructions from the central control module to ensure the vehicle can smoothly steer along the predetermined path. Simultaneously, the power system adjusts the output power of the engine or electric motor according to instructions to provide power for vehicle movement. The braking system is responsible for decelerating or stopping the vehicle when necessary, ensuring obstacle avoidance and responding to emergencies.

[0040] Step 4, Real-time monitoring of the entire process: During the automatic vehicle relocation process, the sensing system continuously monitors the surrounding environment to ensure the smooth and safe relocation. The vehicle's monitoring function uses cameras, lidar, and ultrasonic radar to capture obstacles, including pedestrian movements, newly appearing vehicles, changes in road conditions, and traffic information. If a pedestrian suddenly enters the driving path, an obstacle suddenly appears, or road conditions drastically change, forcing the automatic relocation to be interrupted, the car will pull over to the side of the road to allow other vehicles to pass, ensuring the safety of the entire relocation process.

[0041] Example 1: Temporary car relocation scenario in the underground parking lot of a residential community User A parked their vehicle in the underground parking lot of the residential complex. Due to the slightly off-center parking position, User B, who was in a neighboring parking space, was unable to drive out. User B initiated a vehicle relocation request through the property management platform or a vehicle relocation app. This request was forwarded by the vehicle server to User A's vehicle communication module 100. After the control module 300 recognized the legitimate remote vehicle relocation request command, it activated the environmental perception module 200, and started the surround-view camera, ultrasonic radar, and millimeter-wave radar to collect information on obstacles around the vehicle in real time. The system detected that the vehicle was in park, the speed was zero, all execution systems were functioning normally, and there were no pedestrians or moving obstacles nearby, thus determining that the relocation conditions were met. Subsequently, the control module 300, based on the target relocation position (e.g., moving forward 1.5 meters) and the perception data, planned a continuous movement trajectory that avoided the pillars on both sides and adjacent vehicles, and generated corresponding steering angle, motor output torque, and braking pressure commands. The steering controller, power controller, and brake controller in the vehicle control execution module 400 worked together to smoothly move the vehicle forward to the designated position, making way for User B. After the car is moved, the system automatically engages the parking gear and locks the door, without requiring user A to be present during the entire process.

[0042] Example 2: Automatic Car Positioning and Relocation Scenario in Complex Garages with Multiple Obstacles A user's vehicle, parked in a mechanical automated parking garage, needs to be temporarily moved to a nearby empty space due to system scheduling requirements. The cloud-based scheduling center sends an automatic vehicle relocation command to the vehicle communication module 100 via the vehicle server. After verifying the command's validity, the control module 300 activates the environmental perception module 200, fusing LiDAR point clouds and surround-view images to construct a local high-precision map. The system identifies a stationary vehicle ahead, a lift track to the left, and a slow-moving cleaning robot to the right. Based on the target vehicle's relocation location (an empty space 2 meters diagonally behind), the control module 300 generates a continuous trajectory including reversing, left turns, and fine adjustments, taking into account the vehicle's minimum turning radius and obstacle types. During execution, the power controller outputs smooth torque in low-speed mode, the steering controller adjusts the front wheel angle in real time according to the trajectory curvature, and the braking controller maintains the ability to intervene at any time. When the cleaning robot accelerates closer, the system dynamically adjusts the trajectory and slightly moves inward to ensure that the lateral distance is always greater than the safety threshold. Finally, the vehicle is accurately parked in the new parking space, completing the system scheduling task.

[0043] Next, the remote automatic vehicle relocation system proposed according to the embodiments of this application is described with reference to the accompanying drawings.

[0044] Figure 4 This is a block diagram of a remote automatic vehicle relocation system according to an embodiment of this application.

[0045] like Figure 4 As shown, the remote automatic vehicle relocation system 10 includes: an on-board communication module 100, an environmental perception module 200, a control module 300, and a vehicle control execution module 400.

[0046] The vehicle communication module 100 communicates with the user terminal and the vehicle server to receive remote vehicle relocation request commands; the environmental perception module 200 collects environmental perception data around the vehicle in real time; the control module 300 is electrically connected to the vehicle communication module 100 and the environmental perception module 200 respectively, and is used to identify the remote vehicle relocation request commands issued by the user terminal; activate the vehicle's environmental perception system according to the remote vehicle relocation request commands to obtain environmental perception data around the vehicle; determine whether the vehicle relocation conditions are met at the current time based on the environmental perception data around the vehicle; if the vehicle relocation conditions are met at the current time, generate the corresponding vehicle relocation path based on the environmental perception data around the vehicle, and generate the corresponding vehicle control command based on the vehicle relocation path; the vehicle control execution module 400 includes a steering controller, a power controller and a brake controller, and is connected to the control module 300 to respond to the vehicle control commands and coordinate the execution of the vehicle relocation path to complete the automatic vehicle relocation action.

[0047] It should be noted that, as Figure 5-7 As shown, the challenge of automated parking lies in how a vehicle can automatically find a suitable route and avoid obstacles without any control. Currently, the solution for finding a suitable parking location involves the vehicle searching for locations while driving within the parking lot. Once a usable location is found, it stops and waits for any obstructions before planning a new route. This process involves functions such as path planning, parking space recognition, obstacle avoidance, and character recognition. Path planning, where the vehicle autonomously plans its route to a parking location, is similar to manually setting a driving route; it requires considering the surrounding environment and planning as it moves forward.

[0048] The system allows vehicles to autonomously navigate parking lots and search for available parking spaces. Once a space is detected, the vehicle pauses and waits for any vehicles that might be obstructing its entry to leave before replanning its route to the space. This process involves several key technologies: route planning, where the vehicle dynamically designs its route to potential parking spaces based on the surrounding environment, similar to route selection in manual driving, requiring continuous adjustments based on changing circumstances; parking space recognition, used to accurately identify available parking spaces; obstacle avoidance, ensuring the vehicle safely avoids obstacles during its journey; and character recognition technology, potentially used to identify parking lot signs or space numbers. The integrated use of these technologies is crucial for enabling vehicles to autonomously find and safely park in parking spaces.

[0049] Environmental perception plays a crucial role in automated vehicle repositioning technology. To achieve this, various types of perception sensors are employed, such as cameras (including forward-looking, side-looking, and surround-view cameras), millimeter-wave radar, lidar, and ultrasonic radar. However, each sensor has its unique advantages and limitations. Therefore, fusing their perception results to achieve complementary strengths is key to improving perception accuracy and precision. By integrating data from multiple cameras and radars, vehicles can more accurately identify their surroundings and reconstruct the scene, providing a solid foundation for automated vehicle repositioning.

[0050] In the context of automated vehicle relocation, path planning specifically refers to the route a vehicle takes to find a parking space. This process is a complex planning problem encompassing multiple aspects, such as predicting the movement trajectories of obstacles and vehicles, selecting drivable areas, performing local trajectory planning, and implementing vehicle control. By fusing the perception results from multiple sensors, the effectiveness of environmental recognition can be significantly enhanced, thereby providing more accurate and comprehensive information support for path planning.

[0051] Specifically, the remote automatic vehicle relocation system includes the following key control modules: central controller, T-BOX vehicle communication module, instrument cluster, braking system, transmission system, and electronic shifting system.

[0052] The central controller is the core decision-making unit of the system, responsible for overall task scheduling and logic control. It receives remote vehicle relocation request commands from the T-BOX vehicle communication module, verifies the legality of the command, activates the environmental perception system to acquire surrounding scene data, and makes a safety judgment based on preset vehicle relocation conditions (such as gear position, vehicle speed, system self-check status, etc.). If the conditions are met, it integrates the perception information to generate an obstacle avoidance path and outputs control commands such as steering, acceleration, and braking to the execution system.

[0053] The T-BOX vehicle communication module serves as the interface between the vehicle and the external network, undertaking remote communication functions. It establishes a connection with the user terminal and cloud server via a cellular network (such as 4G / 5G), receives encrypted and authenticated remote vehicle relocation requests, and reliably transmits the instructions to the central controller. It can also upload vehicle status information for remote monitoring or log recording.

[0054] The instrument cluster is primarily used for human-machine interaction and status feedback. During remote vehicle relocation, the instrument cluster displays the current system status (such as "Remote vehicle relocation initiated," "Obstacle avoidance in progress," "Vehicle relocation completed," etc.) and issues audible and visual warnings when an anomaly is detected or manual intervention is required, enhancing the user's perception and trust in the unmanned operation process.

[0055] The braking system, transmission system, and electronic shift system together constitute the vehicle's underlying actuators. The central controller generates precise braking pressure, driving torque, and gear shifting commands based on the planned path: the braking system is responsible for deceleration and stopping control, ensuring timely response when approaching obstacles or in emergencies; the transmission system coordinates power output to achieve smooth starts and speed regulation; and the electronic shift system confirms that the vehicle is in parking or neutral before moving, and automatically shifts to forward or reverse gear when necessary, providing the correct transmission state for path execution.

[0056] The overall process is as follows: After the user initiates a remote vehicle relocation request through the terminal, the T-BOX vehicle communication module receives the instruction and forwards it to the central controller. The central controller first authenticates the user's identity and verifies permissions. After confirming its legitimacy, it activates the vehicle's environmental perception system to acquire real-time perception data of surrounding obstacles, lane boundaries, and dynamic traffic participants. Subsequently, the central controller integrates the perception information with the vehicle's own status, including gear position, speed, braking system, steering system, and powertrain operation, to determine whether the preset relocation conditions are met. If all conditions are met, the system will plan a safe and feasible relocation path based on a high-precision environmental model and generate corresponding control instructions accordingly. The electronic shift system automatically switches to forward or reverse gear according to the path requirements, while the braking system and transmission system coordinate to adjust vehicle speed and braking force, precisely executing operations such as acceleration, constant speed driving, deceleration, or emergency stopping. Throughout the process, the instrument cluster continuously provides feedback to the user on the system's operating status, such as key node information like vehicle relocation initiation, obstacle avoidance, pause waiting, or task completion. Ultimately, the vehicle autonomously completes the relocation action along the planned path. The entire process forms a closed-loop, safe, and traceable automated control link, ensuring efficient and reliable remote automatic vehicle relocation without any human intervention.

[0057] In summary, the system should possess the ability to remotely start, stop, and control vehicle movement. Remote operation should respond rapidly with no significant delay. It should develop response strategies based on the complexity of the scene; if the other vehicle fails to move within 5 minutes, the relocation operation should cease. The system should accurately identify various types of parking spaces, including parallel, perpendicular, and angled spaces. In complex environments, the system should exhibit high flexibility and adaptability. The system can monitor the surrounding environment in real time using radar and sensors, effectively avoiding obstacles such as vehicles, pedestrians, and concrete posts. In emergency situations, the system should have an automatic emergency braking function to prevent collisions.

[0058] The automatic vehicle relocation system can operate stably under the required relocation conditions. The system features self-diagnosis and alarm functions to promptly detect and address problems. For users, data transmission and storage are secure, preventing data leaks or malicious attacks. The system complies with relevant national or regional laws and regulations, such as vehicle safety standards and data protection regulations.

[0059] The entire car relocation process is highly automated, eliminating the need for users to monitor the process continuously. It boasts a high level of intelligence, automatically adjusting its relocation strategy based on user needs and vehicle status. Personalized settings options are available for different scenarios and users to meet their specific requirements. Algorithm improvements can be achieved through over-the-air (OTA) updates to optimize the automatic car relocation system, ensuring continuous improvement and optimization.

[0060] The remote automatic vehicle relocation system proposed in this application receives remote vehicle relocation request commands from user terminals via an onboard communication module. After the control module recognizes the command, it activates the environmental perception module. The system can initiate real-time perception of the vehicle's surroundings even when the owner is not present. Based on the acquired environmental data, it comprehensively judges whether the relocation conditions, including vehicle status and external safety, are met. Only when the conditions are met does it generate a relocation path that conforms to the vehicle's kinematic characteristics and obstacle avoidance requirements, and converts it into precise steering, power, and braking control commands, which are then executed collaboratively by the vehicle control execution module. This achieves closed-loop control of the entire process from remote triggering to safe completion of the relocation action. This solution organically integrates four functional modules: communication, perception, decision-making, and execution. It not only ensures the safety and reliability of the relocation process but also significantly improves the system's autonomous adaptability and user experience in complex parking scenarios.

[0061] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include: The memory 801, the processor 802, and the computer program stored on the memory 801 and capable of running on the processor 802.

[0062] When processor 802 executes the program, it implements the remote vehicle relocation control method provided in the above embodiments.

[0063] Furthermore, electronic devices also include: Communication interface 803 is used for communication between memory 801 and processor 802.

[0064] The memory 801 is used to store computer programs that can run on the processor 802.

[0065] The memory 801 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0066] If the memory 801, processor 802, and communication interface 803 are implemented independently, then the communication interface 803, memory 801, and processor 802 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized into address buses, data buses, control buses, etc. For ease of representation, Figure 8 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0067] Optionally, in a specific implementation, if the memory 801, processor 802, and communication interface 803 are integrated on a single chip, then the memory 801, processor 802, and communication interface 803 can communicate with each other through an internal interface.

[0068] The processor 802 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0069] This application also provides a computer-readable storage medium storing a computer program or instructions thereon, which, when executed by a processor, implements the remote vehicle relocation control method described above.

[0070] This application also provides a computer program product, including a computer program or instructions, which, when executed, implement the remote vehicle relocation control method described above.

[0071] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0072] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0073] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0074] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or more of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0075] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it includes one or a combination of the steps of the method embodiments.

Claims

1. A remote vehicle relocation control method, characterized in that, Includes the following steps: Recognize remote vehicle relocation request commands issued by the user terminal; The vehicle's environmental perception system is activated according to the remote vehicle relocation request command to obtain environmental perception data around the vehicle. Based on the vehicle's surrounding environment perception data, it is determined whether the conditions for moving the vehicle are met at the current moment. If the conditions for moving the vehicle are met at the current moment, a corresponding moving path is generated based on the vehicle's surrounding environment perception data, and the vehicle is controlled to perform the moving action based on the moving path.

2. The remote vehicle relocation control method according to claim 1, characterized in that, The step of generating a corresponding relocation path based on the vehicle's surrounding environment perception data includes: Acquire current environmental perception data of the vehicle's surroundings and the target vehicle's location; Based on the vehicle's surrounding environment perception data and the target vehicle relocation location, determine the distance and position of the vehicle and at least one obstacle within the target range; Generate a corresponding vehicle relocation path based on the distance and position of the vehicle and at least one obstacle within the target area.

3. The remote vehicle relocation control method according to claim 2, characterized in that, The step of generating a corresponding vehicle relocation path based on the distance and position of the vehicle and at least one obstacle within the target range includes: Identify the distance and position of vehicles and static and dynamic obstacles within the target area; Based on the distance and position of the static obstacles, the motion trajectory of the dynamic obstacles, and the obstacle type, a continuous motion trajectory is generated from the vehicle's current position to the target moving position. The continuous motion trajectory is constrained by the vehicle's kinematics and the avoidance of all identified obstacles.

4. The remote vehicle relocation control method according to claim 3, characterized in that, After the vehicle is controlled to perform a relocation action according to the relocation path, the following steps are included: When a dynamic obstacle is detected that is less than a preset threshold away from the vehicle, a target operation is triggered based on the position of the dynamic obstacle and the vehicle. The target operation includes deceleration, stopping, or pulling over to give way.

5. The remote vehicle relocation control method according to claim 1, characterized in that, After the vehicle is controlled to perform a relocation action according to the relocation path, the following steps are included: If the vehicle relocation task is not completed within the preset time, or if the vehicle self-check detects a fault, the relocation action will be automatically terminated and an alarm notification will be sent to the user terminal.

6. The remote vehicle relocation control method according to claim 1, characterized in that, The conditions for moving a vehicle include: the vehicle is started, the vehicle is in park or neutral and the speed is zero, and the vehicle's steering system, power system, braking system and environmental perception system are functioning normally.

7. A remote automatic vehicle relocation system, characterized in that, include: The vehicle communication module communicates with the user terminal and the vehicle server to receive remote vehicle relocation request commands. The environmental perception module is used to collect real-time environmental perception data around the vehicle. The control module is electrically connected to the vehicle communication module and the environmental perception module, respectively, and is used to identify the remote vehicle relocation request command issued by the user terminal; activate the vehicle's environmental perception system according to the remote vehicle relocation request command to obtain the vehicle's surrounding environment perception data; determine whether the vehicle relocation conditions are met at the current time according to the vehicle's surrounding environment perception data; if the vehicle relocation conditions are met at the current time, generate the corresponding vehicle relocation path according to the vehicle's surrounding environment perception data, and generate the corresponding vehicle control command according to the vehicle relocation path. The vehicle control execution module includes a steering controller, a power controller, and a brake controller, which are connected to the control module and are used to respond to the vehicle control command and coordinate the execution of the vehicle relocation path to complete the automatic vehicle relocation action.

8. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the remote vehicle relocation control method as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed by the processor, they are used to implement the remote vehicle relocation control method as described in any one of claims 1-6.

10. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or instructions are executed, they implement the remote vehicle relocation control method as described in any one of claims 1-6.

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