A processing method and device for remote parking and a vehicle

Abstract

The application discloses a kind of processing method, device and vehicle of remote parking, belong to intelligent driving technical field.The specific embodiment of the method includes: in the process of executing remote parking to vehicle, the environment around vehicle is obtained using vehicle sensor, obstacle is identified, and the first position information of obstacle is obtained;Second position information transmitted by remote control personnel handheld device is obtained, and target position information is generated according to first position information and second position information;In response to the distance between target position information and vehicle being equal to or less than a preset distance threshold, control the vehicle to execute speed reduction or parking.The method can more accurately identify the position of remote control personnel outside the vehicle performing remote control, and reduce the collision risk of remote parking on remote control personnel.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving technology, and in particular to a method, device and vehicle for remote parking. Background Technology

[0002] Currently, remote parking requires corresponding operations based on the vehicle's position and the position of the person remotely controlling the vehicle from outside the vehicle. However, existing technologies cannot accurately determine the positional relationship between the vehicle and the person remotely controlling the vehicle from outside the vehicle, which leads to a risk of collision for the person remotely controlling the vehicle during remote parking. Summary of the Invention

[0003] In view of this, the present invention provides a method, apparatus and vehicle for remote parking, which can achieve more accurate identification of the location of the remote control user and reduce the risk of collision to the remote control user during remote parking.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution: In a first aspect, the present invention provides a method for remote parking, comprising: during the process of remotely parking a vehicle, identifying obstacles based on the vehicle's surrounding environment obtained by vehicle sensors, and obtaining first location information of the obstacles; obtaining second location information transmitted by a handheld device of the remote controller, and generating target location information based on the first location information and the second location information; and controlling the vehicle to decelerate or stop in response to the distance between the target location information and the vehicle being equal to or less than a preset distance threshold.

[0005] Optionally, the method further includes: during the process of remotely parking the vehicle, identifying multiple obstacles based on the vehicle's surrounding environment obtained by the vehicle's sensors, and obtaining the position information of each obstacle; obtaining the second position information transmitted by the remote operator's handheld device, and obtaining the first position information from the position information of all obstacles using the second position information; generating the target position information based on the first position information and the second position information; and controlling the vehicle to decelerate or stop in response to the distance between the target position information and the vehicle being equal to or less than a preset distance threshold.

[0006] Optionally, after obtaining the location information of each obstacle, the process includes: obtaining the second location information transmitted by the remote control personnel's handheld device; performing clustering processing on the second location information and the location information of all obstacles; using the location information belonging to the same cluster as the second location information as the first location information; calculating the center position of the cluster based on the first location information and the second location information; and using the center position as the target location information.

[0007] Optionally, after obtaining the location information of each obstacle, the process includes: obtaining the second location information transmitted by the remote control personnel's handheld device; calculating the similarity between the second location information and the location information of each obstacle; and taking the location information of the obstacle with the highest similarity as the first location information; calculating the first distance and the second distance between the current position of the vehicle and the first location information and the second location information; obtaining the smaller distance between the first distance and the second distance as the target distance; and controlling the vehicle to decelerate or stop in response to the target distance being equal to or less than a preset distance threshold.

[0008] Optionally, it further includes: controlling speed reduction in response to the distance between the target location information and the vehicle being equal to or less than a preset first distance threshold; or controlling stopping in response to the distance between the target location information and the vehicle being equal to or less than a preset second distance threshold; wherein the second distance threshold is less than the first distance threshold.

[0009] Optionally, the vehicle sensors include an ultrasonic radar installed at a preset location on the vehicle and surround-view cameras installed around the vehicle.

[0010] Optionally, it includes: receiving second location information transmitted by the remote control personnel's handheld device using a preset wireless communication method.

[0011] Optionally, after controlling the vehicle to decelerate or stop, the method further includes: using the vehicle sensors and the remote control handheld device to update the first location information and the second location information in real time, respectively, to generate updated target location information; and in response to the updated target location information being greater than a preset distance threshold, controlling the vehicle to accelerate or start.

[0012] Optionally, in response to the distance between the target location information and the vehicle being equal to or less than a preset distance threshold, the method includes: generating alarm information; acquiring image data of the position between the vehicle and the obstacle using the vehicle sensors; and sending the alarm information and the image data to the remote control handheld device.

[0013] Secondly, embodiments of the present invention provide a remote parking processing device, comprising: an acquisition unit, a processing unit, and a control unit, wherein the acquisition unit is used to acquire the surrounding environment of the vehicle using vehicle sensors, identify obstacles, and acquire first position information of the obstacles; the processing unit is used to acquire second position information transmitted by a handheld device of a remote controller, and generate target position information based on the first position information and the second position information; the control unit is used to control the vehicle to decelerate or stop in response to the distance between the target position information and the vehicle being equal to or less than a preset distance threshold.

[0014] Thirdly, embodiments of the present invention provide a vehicle including a processor, a memory, and a display, wherein the processor is configured to acquire and execute code in the memory to perform the method provided in the first aspect embodiments described above.

[0015] Fourthly, embodiments of the present invention provide an on-board electronic device for remote parking processing, comprising: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement a remote parking processing method as described in the above embodiments of the present invention.

[0016] Fifthly, embodiments of the present invention provide a computer-readable storage medium for processing remote parking, having stored thereon a computer program for implementing remote parking processing, wherein the computer program, when executed by an on-board processor, implements a remote parking processing method according to embodiments of the present invention.

[0017] The technical solution of the above invention has the following advantages or beneficial effects: During the process of remotely parking a vehicle, the invention can identify obstacles and obtain the first location information of the obstacles based on the surrounding environment obtained by the vehicle's sensors; obtain the second location information transmitted by the remote controller's handheld device; and generate target location information based on the first and second location information; in response to the distance between the target location information and the vehicle being equal to or less than a preset distance threshold, control the vehicle to decelerate or stop; the invention can more accurately obtain the location of the remote controller outside the vehicle, reducing the risk of collision between the vehicle and the remote controller when the remote controller is using remote parking outside the vehicle. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the main steps in a first remote-controlled parking scenario provided by an embodiment of the present invention; Figure 2 This is a schematic diagram of the main steps in a second remote-controlled parking scenario provided by an embodiment of the present invention; Figure 3 This is a schematic diagram of the main steps in a third type of remote-controlled parking processing scenario provided by an embodiment of the present invention; Figure 4 This is a schematic diagram of the main steps in the processing scenario of the fourth type of remote-controlled parking provided by the embodiments of the present invention; Figure 5 This is a schematic diagram of the main steps in the processing scenario of the fifth type of remote-controlled parking provided by the embodiments of the present invention; Figure 6This is a schematic diagram of the main steps in the sixth remote-controlled parking scenario provided by an embodiment of the present invention; Figure 7 This is a schematic diagram of the main steps in the seventh remote-controlled parking scenario provided by an embodiment of the present invention; Figure 8 This is a schematic diagram of the main steps in the eighth remote-controlled parking scenario provided by an embodiment of the present invention; Figure 9 This is a schematic diagram of the main units of a remote parking processing device according to an embodiment of the present invention; Figure 10 This is a schematic diagram of the structure of a vehicle according to an embodiment of the present invention; Figure 11 This is an exemplary vehicle system architecture diagram to which embodiments of the present invention can be applied; Figure 12 This is a schematic diagram of the structure of a computer system suitable for implementing embodiments of the present invention. Detailed Implementation

[0019] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of the present invention, including various details to aid understanding. These details should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0020] It should be noted that, unless otherwise specified, the embodiments of the present invention and the technical features thereof can be combined with each other.

[0021] Furthermore, the terms "first," "second," and "third," etc., included in the terminology of this invention are used to distinguish similar objects and are not necessarily used to describe a specific number or order. It should be understood that such terms can be used interchangeably where appropriate; this is merely a distinguishing method used in the embodiments of this invention when describing objects with the same attributes.

[0022] Furthermore, the vehicles involved in the embodiments of the present invention may be internal combustion engine vehicles that use an engine as a power source, hybrid vehicles that use an engine and an electric motor as power sources, electric vehicles that use an electric motor as a power source, etc.

[0023] Figure 1 This is a schematic diagram illustrating the main steps of a first remote-controlled parking processing method according to an embodiment of the present invention. Figure 1 As shown, the remote parking method mainly includes the following steps: Step S101: During the process of remote parking the vehicle, based on the vehicle's surrounding environment obtained by the vehicle's sensors, obstacles are identified and the first position information of the obstacles is obtained.

[0024] In an embodiment, the vehicle sensor of the present invention includes an ultrasonic radar installed at a preset position on the vehicle and surround-view cameras installed around the vehicle, thereby enabling the acquisition of the vehicle's surrounding environment and the identification of one or more obstacles. In a further embodiment of the present invention, step S101 identifies multiple obstacles based on the vehicle's surrounding environment acquired by the vehicle sensor and obtains the location information of each obstacle. It is worth noting that when an obstacle is identified, the first location information is directly obtained.

[0025] Step S102: Obtain the second location information transmitted by the remote control personnel's handheld device, and generate target location information based on the first location information and the second location information.

[0026] In this embodiment, the present invention establishes a connection between a remote control personnel's handheld device and the vehicle, and uses the handheld device to transmit the second location information of the remote control personnel (e.g., a remote control personnel performing remote parking outside the vehicle). The handheld device and the vehicle can transmit data via a preset wireless communication method, such as, but not limited to, Bluetooth, infrared communication, wireless LAN, ZigBee, or ultra-wideband.

[0027] In a further embodiment of the present invention, step S102 is for a scenario with multiple obstacles, and can obtain the second location information transmitted by the remote control personnel's handheld device. The first location information is obtained from the location information of all obstacles through the second location information, and then the remote control personnel can be located among multiple obstacles.

[0028] In a further embodiment of the present invention, step S102 can obtain the first location information from the location information of all obstacles in various ways. Specifically, this involves: obtaining the second location information transmitted by the remote control operator's handheld device; performing clustering processing on the second location information and the location information of all obstacles; and using the location information belonging to the same cluster as the second location information as the first location information. Alternatively, this involves: obtaining the second location information transmitted by the remote control operator's handheld device; calculating the similarity between the second location information and the location information of each obstacle; and using the location information of the obstacle with the highest similarity as the first location information.

[0029] In a noteworthy embodiment, step S102, in determining the final target location information of the remotely controlled person outside the vehicle using the first location information and the second location information, can be implemented in various ways. Specific embodiments include: calculating the center position of the cluster based on the first location information and the second location information, and using the center position as the target location information. Alternatively, a specific embodiment includes: calculating the first distance and the second distance between the current vehicle position and the first location information and the second location information, respectively; obtaining the smaller distance between the first distance and the second distance as the target distance, so that step S103 responds to the target distance being equal to or less than a preset distance threshold by controlling the vehicle to slow down or stop.

[0030] Step S103: In response to the distance between the target location information and the vehicle being equal to or less than a preset distance threshold, control the vehicle to slow down or stop.

[0031] In this embodiment of the invention, step S103 can employ different control methods for different response situations. Specifically, the implementation process includes: controlling speed reduction in response to the distance between the target location information and the vehicle being equal to or less than a preset first distance threshold. Alternatively, the implementation process includes: controlling stopping in response to the distance between the target location information and the vehicle being equal to or less than a preset second distance threshold; wherein the second distance threshold is less than the first distance threshold.

[0032] In another further embodiment of the present invention, after controlling the vehicle to slow down or stop, step S103 can also monitor the positional relationship between the remotely parked vehicle and the remote control personnel outside the vehicle in real time, thereby performing various operation controls on the vehicle. The specific implementation process includes: using vehicle sensors and the remote control personnel's handheld device to update the first position information and the second position information in real time, respectively, to generate updated target position information, and in response to the updated target position information being greater than a preset distance threshold, controlling the vehicle to accelerate or start the vehicle.

[0033] Furthermore, in a further embodiment of the present invention, while performing different vehicle controls based on the positional relationship between the vehicle and the remote control operator outside the vehicle in step S103, alarm information can be generated and transmitted to the remote control operator's handheld device, thereby reminding the remote control operator outside the vehicle to avoid or react, ensuring the safety of remote parking. The specific implementation process includes: generating alarm information, and using vehicle sensors to obtain image data of the position between the vehicle and the obstacle, and then sending the alarm information and the image data to the remote control operator's handheld device.

[0034] Regarding the remote parking processing method provided in the embodiments of the present invention, such as Figure 2The diagram illustrates the main steps of a second type of remote parking scenario, which, in this embodiment of the invention, includes the following steps: Step S201: Use vehicle sensors to acquire the surrounding environment of the vehicle, identify multiple obstacles, and obtain the location information of each obstacle.

[0035] Step S202: Obtain the second location information transmitted by the remote control personnel's handheld device, and perform clustering processing on the second location information and the location information of all obstacles.

[0036] Step S203: The location information that belongs to the same cluster as the second location information is taken as the first location information.

[0037] Step S204: Calculate the center position of the cluster based on the first position information and the second position information, and use the center position as the target position information.

[0038] Step S205: In response to the distance between the target location information and the vehicle being equal to or less than a preset distance threshold, control the vehicle to slow down or stop.

[0039] As can be seen, by processing the position information of obstacles around the vehicle and the position information of the remote control operator, the present invention can obtain more accurate target position information (i.e., the position of the remote control operator performing remote control operation outside the vehicle), and dynamically control the vehicle in response to the change in the distance between the target position information and the vehicle, thereby minimizing the collision risk of the remote control operator when using remote parking outside the vehicle.

[0040] like Figure 3 The diagram illustrates the main steps of a third type of remote parking scenario, which, in this embodiment of the invention, includes the following steps: Step S301: Use vehicle sensors to acquire the surrounding environment of the vehicle, identify multiple obstacles, and obtain the location information of each obstacle.

[0041] Step S302: Obtain the second location information transmitted by the remote control personnel's handheld device, and calculate the similarity between the second location information and the location information of each obstacle.

[0042] Step S303: Use the location information of the obstacle with the highest similarity as the first location information.

[0043] Step S304: Calculate the first distance and the second distance between the current vehicle position and the first position information and the second position information, respectively.

[0044] Step S305: Obtain the smaller of the first spacing and the second spacing as the target spacing.

[0045] Step S306: In response to the target distance being equal to or less than a preset distance threshold, control the vehicle to slow down or stop.

[0046] As can be seen, this invention determines a more precise target distance by the relationship between the current vehicle position, the position of obstacles around the vehicle, and the position of the remote controller, thereby achieving efficient dynamic vehicle control and reducing the risk of collision between the vehicle and the remote controller when the remote controller is using remote parking outside the vehicle.

[0047] like Figure 4 The diagram illustrates the main steps of a fourth type of remote parking scenario, which, in this embodiment of the invention, includes the following steps: Step S401: Use vehicle sensors to acquire the surrounding environment of the vehicle, identify obstacles, and acquire the first location information of the obstacles.

[0048] Step S402: Obtain the second location information transmitted by the remote control personnel's handheld device, and generate target location information based on the first location information and the second location information.

[0049] Step S403: In response to the distance between the target location information and the vehicle being equal to or less than a preset first distance threshold, control the speed reduction.

[0050] As can be seen, by processing the position information of obstacles around the vehicle and the position information of the remote controller, the present invention can obtain more accurate target position information, thereby achieving efficient vehicle deceleration control based on the distance between the target position and the vehicle, and thus reducing the risk of collision between the vehicle and the remote controller when the remote controller uses remote parking outside the vehicle.

[0051] like Figure 5 The diagram illustrates the main steps of the fifth type of remote parking scenario, which, in this embodiment of the invention, includes the following steps: Step S501: Use vehicle sensors to acquire the surrounding environment of the vehicle, identify obstacles, and acquire the first location information of the obstacles.

[0052] Step S502: Obtain the second location information transmitted by the remote control personnel's handheld device, and generate target location information based on the first location information and the second location information.

[0053] Step S503: In response to the distance between the target location information and the vehicle being equal to or less than a preset second distance threshold, control the vehicle to stop.

[0054] Wherein, the second distance threshold is less than the first distance threshold.

[0055] As can be seen, by processing the position information of obstacles around the vehicle and the position information of the remote controller, the present invention can obtain more accurate target position information, thereby achieving efficient parking control based on the distance between the target position and the vehicle, while reducing the risk of collision between the vehicle and the remote controller when the remote controller uses remote parking outside the vehicle.

[0056] like Figure 6 The diagram illustrates the main steps of the sixth type of remote parking scenario, which, in this embodiment of the invention, includes the following steps: Step S601: Using ultrasonic radar installed at a preset position on the vehicle and surround-view cameras installed around the vehicle, identify multiple obstacles and obtain the location information of each obstacle.

[0057] Step S602: Receive the second location information transmitted by the remote control personnel's handheld device using a preset wireless communication method.

[0058] In this embodiment, the remote control personnel's handheld device and the vehicle can transmit data through a preset wireless communication method. Examples of such wireless communication methods include, but are not limited to, Bluetooth, infrared communication, wireless local area network, ZigBee, or ultra-wideband.

[0059] Step S603: Based on the second location information, obtain the first location information from the location information of all obstacles.

[0060] Step S604: Generate target location information based on the first location information and the second location information.

[0061] Step S605: In response to the distance between the target location information and the vehicle being equal to or less than a preset distance threshold, control the vehicle to slow down or stop.

[0062] As can be seen, this invention can locate the position information of the remote controller by transmitting data between the remote controller's handheld device and the vehicle. Combined with the position information of obstacles around the vehicle, it can achieve more accurate determination of the target position information. In response to the change in the distance between the target position information and the vehicle, it can dynamically control the vehicle to slow down or stop, thereby reducing the risk of collision between the vehicle and the remote controller when the remote controller uses remote parking outside the vehicle.

[0063] like Figure 7 The diagram illustrates the main steps of the seventh remote-controlled parking scenario, which, in this embodiment of the invention, includes the following steps: Step S701: Use vehicle sensors to acquire the surrounding environment of the vehicle, identify multiple obstacles, and obtain the location information of each obstacle.

[0064] Step S702: Obtain the second location information transmitted by the remote control personnel's handheld device, and obtain the first location information from the location information of all obstacles through the second location information.

[0065] Step S703: Generate target location information based on the first location information and the second location information.

[0066] Step S704: In response to the distance between the target location information and the vehicle being equal to or less than a preset distance threshold, control the vehicle to slow down or stop.

[0067] Step S705: Using vehicle sensors and remote control handheld devices, update the first location information and the second location information in real time to generate updated target location information.

[0068] Step S706: In response to the updated target location information being greater than a preset distance threshold, control the vehicle to accelerate or start.

[0069] As can be seen, this invention accurately locates the target position by using the position information of obstacles around the vehicle and the position information of the remote control operator. It dynamically controls the vehicle to slow down or stop in response to changes in the distance between the target position and the vehicle. At the same time, it updates the target position information and then controls the vehicle to accelerate or start, thus achieving more comprehensive vehicle control.

[0070] like Figure 8 The diagram illustrates the main steps of the eighth remote-controlled parking scenario, which, in this embodiment of the invention, includes the following steps: Step S801: Use vehicle sensors to acquire the surrounding environment of the vehicle, identify multiple obstacles, and obtain the location information of each obstacle.

[0071] Step S802: Obtain the second location information transmitted by the remote control personnel's handheld device, and obtain the first location information from the location information of all obstacles through the second location information.

[0072] Step S803: Generate target location information based on the first location information and the second location information.

[0073] Step S804: In response to the distance between the target location information and the vehicle being equal to or less than a preset distance threshold, control the vehicle to slow down or stop.

[0074] Step S805: Generate alarm information.

[0075] Step S806: Use vehicle sensors to acquire image data of the position between the vehicle and the obstacle.

[0076] Step S807: Send the alarm information and the image data to the remote control personnel's handheld device.

[0077] As can be seen, this invention accurately locates the target position by using the position information of obstacles around the vehicle and the position information of the remote controller. It dynamically controls the vehicle to slow down or stop in response to changes in the distance between the target position and the vehicle, and triggers an alarm mechanism at the same time, so that the remote controller can monitor the remote parking situation through a handheld device.

[0078] The above steps are provided only to help understand the method, structure, and core ideas of this invention. Those skilled in the art can make various improvements and modifications to this invention without departing from its principles, and these improvements and modifications also fall within the scope of protection of the claims.

[0079] Figure 9 This is a schematic diagram of the main unit of a remote parking processing device according to an embodiment of the present invention. Figure 9 As shown, a remote parking processing device 900 according to an embodiment of the present invention includes: an acquisition unit 901, a processing unit 902, and a control unit 903, wherein, The acquisition unit 901 is used to acquire the surrounding environment of the vehicle using vehicle sensors, identify obstacles, and acquire the first location information of the obstacles. The processing unit 902 is used to acquire second location information transmitted by the remote control personnel's handheld device, and generate target location information based on the first location information and the second location information; The control unit 903 is used to control the vehicle to slow down or stop in response to the distance between the target location information and the vehicle being equal to or less than a preset distance threshold.

[0080] In this embodiment of the invention, the acquisition unit 901 is used to acquire the surrounding environment of the vehicle using vehicle sensors, identify multiple obstacles, and acquire the location information of each obstacle; The processing unit 902 is used to acquire second location information transmitted by the remote control personnel's handheld device, obtain first location information from the location information of all obstacles using the second location information, and generate target location information based on the first location information and the second location information. The control unit 903 is used to control the vehicle to slow down or stop in response to the distance between the target location information and the vehicle being equal to or less than a preset distance threshold.

[0081] In this embodiment of the invention, the processing unit 902 is used to acquire second location information transmitted by a remote control person's handheld device, perform clustering processing on the second location information and the location information of all obstacles; take the location information that belongs to the same cluster as the second location information as the first location information; calculate the center position of the cluster based on the first location information and the second location information, and take the center position as the target location information.

[0082] In this embodiment of the invention, the processing unit 902 is used to acquire second location information transmitted by a remote control handheld device, calculate the similarity between the second location information and the location information of each obstacle, and take the location information of the obstacle with the highest similarity as the first location information; calculate the first distance and the second distance between the current vehicle position and the first location information and the second location information, and take the smaller distance between the first distance and the second distance as the target distance; The control unit 903 is used to control the vehicle to slow down or stop in response to the target distance being equal to or less than a preset distance threshold.

[0083] In this embodiment of the invention, the control unit 903 is configured to control the speed reduction in response to the distance between the target location information and the vehicle being equal to or less than a preset first distance threshold; or

[0084] The control unit 903 is configured to control parking in response to the distance between the target location information and the vehicle being equal to or less than a preset second distance threshold; wherein the second distance threshold is less than the first distance threshold.

[0085] In this embodiment of the invention, the vehicle sensor includes an ultrasonic radar installed at a preset location on the vehicle and a surround-view camera installed around the vehicle.

[0086] In this embodiment of the invention, the processing unit 902 is used to receive the second location information transmitted by the remote control personnel's handheld device using a preset wireless communication method.

[0087] In this embodiment of the invention, the acquisition unit 901 is used to utilize vehicle sensors and a remote control handheld device; the processing unit 902 is used to update the first location information and the second location information in real time to generate updated target location information; and the control unit 903 is used to control the vehicle to accelerate or start the vehicle in response to the updated target location information being greater than a preset distance threshold.

[0088] In this embodiment of the invention, the control unit 903 is used to generate alarm information; acquire image data of the position between the vehicle and the obstacle using vehicle sensors; and send the alarm information and the image data to a remote control handheld device.

[0089] like Figure 10 As shown, an embodiment of the present invention provides a vehicle 1000, which may include the remote parking processing device 900 provided in the above embodiments.

[0090] Figure 11 An exemplary vehicle system architecture 1100 is shown, to which the remote parking processing method or remote parking processing device of embodiments of the present invention can be applied.

[0091] like Figure 11 As shown, the vehicle system architecture 1100 may include various systems, such as an intelligent driving system 1101, a powertrain system 1102, a sensor system 1103, a control system 1104, one or more peripheral devices 1105, a power supply 1106, a computer system 1107, and a user interface 1108. Optionally, the vehicle system architecture 1100 may include more or fewer systems, and each system may include multiple components. Furthermore, each system and component of the vehicle system architecture 1100 can be interconnected via wired or wireless means.

[0092] The vehicle system architecture 1100 includes an intelligent driving system 1101, which can be in a fully or partially autonomous driving mode. For example, the intelligent driving system 1101 can automatically control the vehicle's movement without human interaction; the intelligent driving system 1101 can also control the vehicle's autonomous driving while in autonomous driving mode, and can also adjust its autonomous driving behavior through human interaction. Specifically, the intelligent driving system 1101 can also use vehicle sensors to acquire the surrounding environment of the vehicle, identify obstacles, and acquire first location information of the obstacles; acquire second location information transmitted by a remote control operator's handheld device, and generate target location information based on the first and second location information; in response to the distance between the target location information and the vehicle being equal to or less than a preset distance threshold, control the vehicle to slow down or stop.

[0093] The powertrain 1102 may include components that provide power for the vehicle's motion. For example, the powertrain 1102 may include an engine, an energy source, a transmission, wheels, tires, etc. The engine may be an internal combustion engine, an electric motor, an air-compressed engine, or other combinations of engines, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air-compressed engine. The engine converts the energy source into mechanical energy to supply the transmission. Examples of energy sources may include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other electrical sources. The energy source may also provide energy to other systems in the vehicle. Furthermore, the transmission may include a gearbox, a differential, a drive shaft, and a clutch, etc.

[0094] Sensor system 1103 may include sensors for sensing the vehicle's surrounding environment. Examples include a positioning system (which may be a Global Positioning System (GPS), BeiDou Navigation Satellite System, or other positioning systems), radar, a laser rangefinder, an inertial measurement unit (IMU), and a camera. The positioning system can be used to determine the vehicle's geographical location. The IMU is used to sense changes in the vehicle's position and orientation based on inertial acceleration. In one embodiment, the IMU may be a combination of an accelerometer and a gyroscope. Radar can use radio signals to sense objects in the vehicle's surrounding environment. In some embodiments, in addition to sensing objects, radar can also be used to sense the speed and / or direction of travel of objects.

[0095] To monitor environmental information and objects located in front of, behind, or to the sides of the vehicle, radar, cameras, and other devices can be configured at appropriate locations on the exterior of the vehicle. For example, to acquire an image of the front of the vehicle, a camera can be configured inside the vehicle and close to the windshield. Alternatively, the camera can be configured around the front bumper or radiator grille. Similarly, to acquire an image of the rear of the vehicle, a camera can be configured inside the vehicle and close to the rear window. Alternatively, the camera can be configured around the rear bumper, trunk, or tailgate. To acquire images of the sides of the vehicle, a camera can be configured inside the vehicle and close to at least one of the side windows. Alternatively, the camera can be configured around the side mirrors, fenders, or doors.

[0096] Laser rangefinders use lasers to sense objects in the environment in which a vehicle is located.

[0097] A camera can be used to capture multiple images of the vehicle's surroundings. The camera can be a still camera or a video camera.

[0098] The control system 1104 may include software systems for implementing autonomous driving, such as a route planning system, an obstacle avoidance system, and a vision system for image analysis. The control system 1104 may also include hardware systems such as an accelerator and steering wheel system. Furthermore, the control system 1104 may add or replace components other than those shown and described. Alternatively, some of the components shown above may be omitted.

[0099] The control system 1104 interacts with external sensors, other autonomous driving devices, other computer systems, or users via peripheral devices 1105. Peripheral devices 1105 may include wireless communication systems, on-board computers, microphones, and / or speakers.

[0100] In some embodiments, peripheral device 1105 provides a means for user interaction with the control system 1104 via a user interface. For example, an onboard computer may provide information to a user of the vehicle. The user interface may also operate the onboard computer to receive user input. The onboard computer may be operated via a touchscreen. In other cases, peripheral device may provide a means for communicating with other devices located within the vehicle. For example, a microphone may receive audio (e.g., voice commands or other audio input) from a user of the control system 1104. Similarly, a speaker may output audio to a user of the control system 1104.

[0101] Wireless communication systems can communicate wirelessly with one or more devices, either directly or via a communication network. For example, wireless communication systems can use networks such as cellular networks, WiFi, and wireless local area networks (WLANs), or they can use infrared links, Bluetooth, or ZigBee to communicate directly with devices. Other wireless protocols include those used in various autonomous driving communication systems.

[0102] The power source 1106 can provide power to various components of the vehicle. The power source 1106 can be a rechargeable lithium-ion or lead-acid battery.

[0103] The computer system 1107 controls some or all of the functions enabling autonomous driving. The computer system 1107 may include at least one processor that executes instructions stored in a non-transitory computer-readable medium such as memory. The computer system 1107 provides the aforementioned intelligent driving system with execution code to enable autonomous driving.

[0104] The processor can be any conventional processor, such as a commercially available central processing unit (CPU). Alternatively, the processor can be a dedicated device such as an application-specific integrated circuit (ASIC) or other hardware-based processor. Those skilled in the art will understand that the processor, computer, or memory can actually include multiple processors, computers, or memories that may or may not be stored in the same physical housing. For example, memory can be a hard disk drive or other storage media located in a housing different from that of a computer. Therefore, references to processors or computers will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Unlike using a single processor to perform the steps described herein, some components, such as steering and deceleration components, may each have their own processor that performs calculations only related to the component's specific function.

[0105] User interface 1108 is used to provide information to or receive information from users of the vehicle. Optionally, user interface 1108 may include one or more input / output devices within a set of peripheral devices 1105, such as wireless communication systems, on-board computers, microphones, and speakers.

[0106] It should be understood that the components described above are merely an example. In actual applications, components in the various modules or systems mentioned above may be added or removed as needed. Figure 11 This should not be construed as a limitation on the embodiments of this application.

[0107] The following is for reference. Figure 12 It shows a schematic diagram of the structure of a computer system 1200 suitable for implementing embodiments of the present invention. Figure 12 The computer system shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0108] like Figure 12 As shown, the computer system 1200 includes a central processing unit (CPU) 1201, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 1202 or programs loaded from storage section 1208 into random access memory (RAM) 1203. The RAM 1203 also stores various programs and data required for the operation of the system 1200. The CPU 1201, ROM 1202, and RAM 1203 are interconnected via a bus 1204. An input / output (I / O) interface 1205 is also connected to the bus 1204.

[0109] The following components are connected to I / O interface 1205: an input section 1206; an output section 1207 including devices such as cathode ray tubes (CRTs), liquid crystal displays (LCDs), and speakers; a storage section 1208 including devices such as hard disks; and a communication section 1209 including network interface cards such as LAN cards and modems. The communication section 1209 performs communication processing via a network such as the Internet. A drive 1210 is also connected to I / O interface 1205 as needed. Removable media 1211, such as disks, optical disks, magneto-optical disks, semiconductor memories, etc., are installed on drive 1210 as needed so that computer programs read from them can be installed into storage section 1208 as needed.

[0110] In particular, according to the embodiments disclosed in this invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1209, and / or installed from removable medium 1211. When the computer program is executed by central processing unit (CPU) 1201, it performs the functions defined above in the system of this invention.

[0111] It should be noted that the computer-readable medium shown in this invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this invention, a readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0112] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0113] The modules described in the embodiments of the present invention can be implemented in software or hardware. The described modules can also be housed in a processor; for example, a processor can be described as including an acquisition unit, a processing unit, and a control unit. The names of these units do not necessarily limit the module itself; for example, the acquisition unit can also be described as "a module that uses vehicle sensors to acquire the surrounding environment of the vehicle, identifies obstacles, and acquires the first position information of the obstacles."

[0114] In another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiments; or it may exist independently and not assembled into the device. The computer-readable medium carries one or more programs that, when executed by the device, cause the device to: acquire the vehicle's surrounding environment using vehicle sensors, identify obstacles, and acquire first location information of the obstacles; acquire second location information transmitted by a remote-controlled handheld device, and generate target location information based on the first location information and the second location information; and control the vehicle to decelerate or stop in response to a distance between the target location information and the vehicle being equal to or less than a preset distance threshold.

[0115] According to the technical solution of the present invention, it is possible to more accurately locate the position of the remote control user outside the vehicle and reduce the risk of collision between the vehicle and the remote control user during remote parking.

[0116] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for handling remote-controlled parking, characterized in that, include: During the process of remote parking the vehicle, obstacles are identified and the first position information of the obstacles is obtained based on the vehicle's surrounding environment obtained by the vehicle's sensors. Acquire the second location information transmitted by the remote control operator's handheld device, and generate target location information based on the first location information and the second location information; In response to the distance between the target location information and the vehicle being equal to or less than a preset distance threshold, the vehicle is controlled to decelerate or stop.

2. The remote-controlled parking processing method according to claim 1, characterized in that, Also includes: During the remote parking process of the vehicle, multiple obstacles are identified and the location information of each obstacle is obtained based on the vehicle's surrounding environment acquired by the vehicle's sensors. The second location information transmitted by the remote control personnel's handheld device is obtained, and the first location information is obtained from the location information of all obstacles through the second location information; The target location information is generated based on the first location information and the second location information; In response to the distance between the target location information and the vehicle being equal to or less than a preset distance threshold, the vehicle is controlled to decelerate or stop.

3. The remote-controlled parking processing method according to claim 2, characterized in that, After obtaining the location information of each obstacle, the process includes: The second location information transmitted by the remote-controlled handheld device is obtained, and the second location information and the location information of all obstacles are clustered. The location information that is grouped into the same cluster as the second location information is used as the first location information; The center position of the cluster is calculated based on the first location information and the second location information, and the center position is used as the target location information.

4. The remote-controlled parking processing method according to claim 2, characterized in that, After obtaining the location information of each obstacle, the process includes: The second location information transmitted by the remote control personnel's handheld device is obtained, and the similarity between the second location information and the location information of each obstacle is calculated. The location information of the obstacle with the highest similarity is taken as the first location information. Calculate the first distance and the second distance between the current position of the vehicle and the first position information and the second position information, respectively; The smaller of the first spacing and the second spacing is taken as the target spacing; In response to the target distance being equal to or less than a preset distance threshold, the vehicle is controlled to decelerate or stop.

5. The remote-controlled parking processing method according to claim 1, characterized in that, Also includes: In response to the distance between the target location information and the vehicle being equal to or less than a preset first distance threshold, the vehicle speed is controlled to decrease. or In response to the distance between the target location information and the vehicle being equal to or less than a preset second distance threshold, the vehicle is controlled to stop; wherein the second distance threshold is less than the first distance threshold.

6. The remote-controlled parking processing method according to claim 1, characterized in that, The vehicle sensors include ultrasonic radar installed at preset locations on the vehicle and surround-view cameras installed around the vehicle.

7. The remote-controlled parking processing method according to claim 1, characterized in that, include: The second location information transmitted by the remote control personnel's handheld device is received using a preset wireless communication method.

8. The remote-controlled parking processing method according to claim 1, characterized in that, After controlling the vehicle to decelerate or stop, the method further includes: Using the vehicle sensors and the remote-controlled handheld device, the first location information and the second location information are updated in real time to generate updated target location information; In response to the updated target location information being greater than a preset distance threshold, the vehicle is controlled to accelerate or start.

9. The remote-controlled parking processing method according to any one of claims 1-8, characterized in that, In response to the distance between the target location information and the vehicle being equal to or less than a preset distance threshold, the following steps are included: Generate alarm information; The vehicle sensors are used to acquire image data showing the position between the vehicle and the obstacle. The alarm information and the image data are sent to the remote control personnel's handheld device.

10. A remote-controlled parking processing device, characterized in that, include: The acquisition unit, processing unit, and control unit, wherein, The acquisition unit is used to identify obstacles and acquire the first location information of the obstacles based on the vehicle's surrounding environment acquired by the vehicle's sensors during the process of remotely parking the vehicle. The processing unit is used to acquire the second location information transmitted by the remote control personnel's handheld device, and generate target location information based on the first location information and the second location information; The control unit is configured to control the vehicle to decelerate or stop in response to the distance between the target location information and the vehicle being equal to or less than a preset distance threshold.

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