Remote parking control method, system, vehicle, medium and product

Abstract

The application provides a remote parking control method, system, vehicle, medium and product. The method comprises the following steps: in response to a remote parking instruction initiated by a mobile terminal, performing a parking operation, wherein the parking operation is remote parking in or remote parking out; continuously monitoring the running state of a plurality of associated controllers and the state of a communication link between the mobile terminal and the vehicle through a heartbeat detection mechanism, and stopping the parking operation and issuing a prompt if any associated controller fails or the communication link is lost; obtaining the relative position of a remote controller and the vehicle, and stopping the parking operation if the relative position is not within a safe parking area; in the process of remote parking in or remote parking out, judging whether to stop the parking operation according to a preset interruption condition; after the vehicle completes remote parking in, automatically performing vehicle power-off and vehicle door locking and defense operation; when performing remote parking out, automatically releasing the vehicle door locking and defense state and switching the vehicle to a high-voltage power-on state before parking out.

Description

Technical Field

[0001] This invention relates to the field of vehicles, and more particularly to a remote parking control method, system, vehicle, medium, and product. Background Technology

[0002] In existing parking technologies, users must remain seated in the vehicle to manually initiate and monitor the entire automatic parking process. Only after the vehicle has completed the parking maneuver and is safely parked in the designated location can the user exit the vehicle. While this method reduces the driver's workload to some extent, it still has limitations. For example, in some narrow parking spaces, users may not be able to easily open the door to get out; or in some special parking scenarios, users need to observe the vehicle's parking status from outside, a need that current parking technologies cannot meet. Summary of the Invention

[0003] Based on the above problems, this invention proposes a remote parking control method, system, vehicle, medium, and product, solving the technical problems in existing technologies where users may be unable to easily open the car door and get out in some narrow parking spaces, and where users need to observe the vehicle's parking status from outside in some special parking scenarios. This embodiment achieves remote collaborative control of the parking process through pairing and binding between a mobile terminal and the vehicle, and bidirectional communication. By monitoring the operating status of the core parking control module and related subsystems in real time, and by using multi-sensor fusion to perceive the dynamics of obstacles around the vehicle, parking is immediately triggered upon detection of a fault or sudden obstacle intrusion, ensuring the safety of the vehicle and surrounding personnel.

[0004] This invention proposes a remote parking control method, comprising: In response to a remote parking command initiated by a mobile terminal, a parking operation is performed, which can be either remote parking in or remote parking out. The system continuously monitors the operating status of multiple associated controllers and the status of the communication link between the mobile terminal and the vehicle through a heartbeat detection mechanism. If any associated controller is detected to be faulty or the communication link is lost, the parking operation will be stopped and a prompt will be issued. Obtain the relative position between the remote controller and the vehicle. If the relative position is not within the safe parking area, stop the parking operation. During remote parking in or remote parking out, determine whether to stop the parking operation based on preset interruption conditions; After the vehicle completes remote parking, it automatically performs the vehicle power-off and door locking arming operations; when performing remote parking exit, it automatically de-locks the door locking arming state and switches the vehicle to high-voltage power-on state before the parking exit begins.

[0005] In addition, the heartbeat detection mechanism includes: continuously monitoring the status of the communication link and periodically receiving operating status feedback signals from each associated controller; when the communication link is lost or any associated controller fails to provide feedback within a preset time, a parking stop command is immediately triggered.

[0006] In addition, the preset interruption conditions include: obstacle intrusion, temporary system failure, and driver-initiated suspension; In the event of an obstacle intrusion, the duration of the obstacle's presence is recorded. If the duration is less than a preset threshold and the obstacle disappears, the parking operation is automatically resumed. If the duration reaches or exceeds the preset threshold, the parking operation is stopped.

[0007] In addition, when an obstacle intrudes, the type of obstacle is identified, and the waiting time is dynamically determined based on the type of obstacle. The parking operation will continue only after the waiting time has elapsed. For moving obstacles, estimate the time it takes for the moving obstacle's trajectory to overlap with the vehicle's parking path, and decide whether to wait or stop early based on the overlap time.

[0008] In addition, when parking is done remotely, the vehicle's hazard lights are turned on, the intelligent driving domain controller plans the parking path, requests the steering system to control the vehicle's steering, requests the braking system to control acceleration and deceleration, requests gear shifting when necessary, and requests the body domain controller to keep the hazard lights continuously illuminated. Once the vehicle is successfully parked in the target parking space, the intelligent driving domain controller disengages from the steering and braking systems, requests the braking system to engage the parking brake, turn off the hazard lights, and requests the vehicle body domain controller to power down and lock the vehicle for security, thus completing the remote parking.

[0009] In addition, when parking is done remotely, the T-Box wakes up all associated controllers to put them into a ready state and sends a parking request to the intelligent driving domain controller. After receiving the parking request, the intelligent driving domain controller sends a request to dearm the vehicle domain controller and a request to power on the vehicle high voltage to the HCU. The vehicle domain controller and the HCU respond respectively. After the vehicle domain controller and the HCU handshake each other to confirm that their respective actions have been completed, the vehicle enters the waiting to park state. The intelligent driving domain controller plans the parking exit path and requests the steering system to control the vehicle's steering, requests the braking system to control acceleration and deceleration, requests gear shifting when necessary, and requests the body domain controller to turn on the hazard lights. Once the vehicle has successfully parked out of the parking space, the intelligent driving domain controller disengages from the steering and braking systems, requests the braking system to engage the parking brake, turn off the hazard lights, and completes the remote parking maneuver.

[0010] In addition, it also includes: when a braking request is sent to the vehicle braking system, if no braking response confirmation is received within a preset time, the electronic parking brake, the motor negative torque braking and the vehicle high voltage power cut-off will be triggered in sequence.

[0011] In addition, it also includes: real-time monitoring of the vehicle's roll and pitch angle rates of change via an inertial measurement unit; When the roll angle exceeds the preset angle threshold, or the absolute value of the pitch angle change rate exceeds the preset change rate threshold, the parking operation will stop immediately and a warning will be issued.

[0012] In addition, it also includes: when the communication link is lost and parking stops, if the vehicle is not in the target parking space, the parking brake will be automatically engaged, the vehicle will be put into P gear and the hazard warning lights will be turned on. At the same time, an acoustic prompt will be issued through the vehicle's speakers and a reminder that parking is not completed will be sent to the mobile terminal.

[0013] In addition, it also includes: detecting the movement trajectory of dynamic targets around the vehicle using surround-view cameras, and predicting whether they will intersect with the vehicle's parking path within a preset time in the future; If a meeting is predicted and the meeting time is less than the safety threshold, then deceleration or parking suspension operations will be performed in advance.

[0014] In addition, it also includes: when the ultrasonic radar detects an obstacle but the surround-view camera does not identify the corresponding visual feature, it is judged as sensor interference; During the period of sensor interference, the obstacle detection confidence of the ultrasonic radar is reduced to avoid triggering parking pause, and the location of the interference is uploaded to the cloud for the purpose of building an interference map.

[0015] The present invention also proposes a system employing the remote parking control method described in any of the preceding claims, comprising: The layers are: perception layer, decision-making layer, execution layer, and interaction layer. The perception layer includes surround-view cameras and ultrasonic radar; The decision-making level includes the intelligent driving domain controller; The execution layer includes the steering system, braking system, body domain controller, and HCU; The interaction layer includes mobile terminals and cockpit systems.

[0016] The present invention also proposes a vehicle employing the remote parking control method described in any of the preceding claims.

[0017] The present invention also proposes a storage medium that stores computer instructions, which, when executed by a computer, are used to perform the remote parking control method as described in any of the preceding claims.

[0018] The present invention also proposes a computer program product, including a computer program / instructions that, when executed by a processor, implement the remote parking control method as described in any of the preceding claims.

[0019] This invention solves the technical problems in existing technologies where users may be unable to easily open the car door and get out in narrow parking spaces, and where users need to observe the vehicle's parking status from outside in certain special parking scenarios. This embodiment achieves remote collaborative control of the parking process through pairing and binding between a mobile terminal and the vehicle, and two-way communication. By monitoring the real-time operating status of the core parking control module and related subsystems, and by using multi-sensor fusion to perceive the dynamics of obstacles around the vehicle, parking is immediately triggered upon detection of a fault or sudden obstacle intrusion, ensuring the safety of the vehicle and surrounding personnel. Attached Figure Description

[0020] Figure 1 A flowchart of a remote parking control method provided in one embodiment of the present invention; Figure 2 This is a schematic diagram of a remote parking control system provided in one embodiment of the present invention. Detailed Implementation

[0021] The present invention will be further described in detail below with reference to specific embodiments and accompanying drawings. This description is intended only to illustrate specific embodiments of the invention and does not constitute any limitation on the invention. The scope of protection of the invention is defined by the claims.

[0022] Reference Figure 1 This invention proposes a remote parking control method, comprising: Step S001: In response to the remote parking command initiated by the mobile terminal, execute the parking operation, which is either remote parking in or remote parking out. Step S002: The operating status of multiple associated controllers and the status of the communication link between the mobile terminal and the vehicle are continuously monitored through the heartbeat detection mechanism. If any associated controller is detected to be faulty or the communication link is lost, the parking operation is stopped and a prompt is issued. Step S003: Obtain the relative position between the remote controller and the vehicle. If the relative position is not within the safe parking area, stop the parking operation. Step S004: During the remote parking in or remote parking out process, determine whether to stop the parking operation based on the preset interruption conditions; Step S005: After the vehicle completes remote parking, the vehicle power-off and door lock arming operations are automatically performed; when remote parking is performed, the door lock arming is automatically deactivated and the vehicle is switched to high-voltage power-on state before parking begins.

[0023] In step S001, in response to the remote parking command initiated by the mobile terminal, a parking operation is performed, which is either remote parking in or remote parking out. When the remote controller remotely parks the vehicle from outside, the remote controller uses a mobile terminal connected to the vehicle to remotely control it. The vehicle responds to the remote parking command initiated by the mobile terminal and performs the parking operation. This embodiment realizes remote parking in or remote parking out.

[0024] In step S002, the operating status of multiple associated controllers and the status of the communication link between the mobile terminal and the vehicle are continuously monitored through a heartbeat detection mechanism. If any associated controller is detected to be faulty or the communication link is lost, the parking operation is stopped and a prompt is issued. Optionally, the heartbeat detection mechanism includes: continuously monitoring the status of the communication link and periodically receiving operating status feedback signals from each associated controller; and immediately triggering a parking stop command when the communication link is lost or any associated controller fails to provide feedback within a preset time.

[0025] In this embodiment, by continuously monitoring the operating status of multiple associated controllers and the status of the communication link between the mobile terminal and the vehicle throughout the entire parking process, continuous and full-link monitoring of the operating status of all controllers and the entire process of communication link monitoring are achieved. This solves the technical problem that the center jump detection in the prior art mainly serves authentication and authorization, rather than full-process status monitoring.

[0026] In step S003, the relative position between the remote controller and the vehicle is obtained. If the relative position is not within the safe parking area, the parking operation is stopped. First, ensure the safety of the remote controller. Detect the relative position between the remote controller and the vehicle. If the relative position is not in a safe area, stop the parking operation. Optionally, issue a reminder to the remote controller.

[0027] In step S004, during the remote parking in or remote parking out process, it is determined whether to stop the parking operation based on the preset interruption condition; Optionally, the preset interruption conditions include: obstacle intrusion, temporary system failure, and driver-initiated suspension; In the event of an obstacle intrusion, the duration of the obstacle's presence is recorded. If the duration is less than a preset threshold and the obstacle disappears, the parking operation is automatically resumed. If the duration reaches or exceeds the preset threshold, the parking operation is stopped.

[0028] The preset threshold is, for example, 10 seconds. Obstacles include stationary objects, people, or other vehicles. This embodiment addresses the shortcomings of existing technologies that lack sophisticated judgment based on obstacle type and duration, as the interruption handling mechanism is simplistic.

[0029] In step S005, after the vehicle completes remote parking, the system automatically powers off the vehicle and locks and arms the doors. When remotely parking out, the system automatically disarms the doors and switches the vehicle to high-voltage power-on state before parking begins. This achieves a closed-loop power management system, eliminating the need for manual operation by the remote controller and enabling fully automated operation.

[0030] This embodiment addresses the technical challenges in existing technologies where users may be unable to easily open car doors and exit in narrow parking spaces, and where users need to observe the vehicle's parking status from outside in certain parking scenarios. This embodiment achieves remote collaborative control of the parking process through pairing and two-way communication between a mobile terminal and the vehicle. By monitoring the real-time operating status of the core parking control module and related subsystems, and by using multi-sensor fusion to perceive the dynamics of obstacles around the vehicle, parking is immediately triggered upon detecting a malfunction or sudden obstacle intrusion, ensuring the safety of the vehicle and surrounding personnel. Throughout the remote-controlled parking process, the vehicle's power management strategy can be intelligently executed, waking up or putting into sleep mode relevant controllers as needed, and simultaneously completing the automatic opening and closing of the door locks, significantly reducing the driver's operational complexity and providing a more efficient and convenient user experience.

[0031] In one embodiment, the heartbeat detection mechanism includes: continuously monitoring the status of the communication link and periodically receiving operating status feedback signals from each associated controller; and immediately triggering a parking stop command when the communication link is lost or any associated controller fails to provide feedback within a preset time.

[0032] In this embodiment, the heartbeat detection mechanism is used to ensure the integrity of the communication links between the vehicle's associated controllers and the mobile terminal and the normal operation of each associated controller during remote parking.

[0033] Optionally, the T-Box and the mobile terminal establish a two-way communication link via Bluetooth. The T-Box continuously sends a heartbeat request signal to the mobile terminal at a first preset period (e.g., 200ms), and the mobile terminal immediately returns a heartbeat response signal upon receiving it. If the T-Box fails to receive a heartbeat response twice consecutively, the communication link is considered lost.

[0034] Simultaneously, the intelligent driving domain controller broadcasts status query commands to all associated controllers (including the body domain controller, HCU, steering system, braking system, ultrasonic radar, surround view camera, etc.) via the CAN bus at a second preset period (e.g., 100ms). Upon receiving the query command, each associated controller replies with its operating status code to the intelligent driving domain controller within a preset time window (e.g., 50ms). Status codes include "Ready," "Fault," and "Busy." If the intelligent driving domain controller does not receive feedback from a particular associated controller within three consecutive query periods, or receives a "Fault" status code, it determines that the controller is malfunctioning.

[0035] In the event of a communication link loss or any controller malfunction, the intelligent driving domain controller immediately performs the following actions: sends an emergency braking command to the braking system to engage the parking brake; pushes a fault notification to the mobile terminal via the T-Box, prompting "System malfunction, please take over the vehicle"; terminates the current parking operation and records the vehicle status parameters (vehicle speed, gear, distance to obstacles, etc.) at the time of the fault.

[0036] The Telematics Box (T-Box) is the core hardware of the vehicle-to-everything (V2X) system. It integrates 4G / 5G communication, GPS / BeiDou positioning, Bluetooth and other functions, and is responsible for data interaction between the vehicle and the cloud and mobile terminals. It supports remote control, OTA upgrades, emergency calls and other functions.

[0037] The Hybrid Control Unit (HCU) is the core controller of a hybrid electric vehicle, responsible for the coordinated management of the vehicle's powertrain.

[0038] This embodiment achieves full-link status monitoring of the entire remote parking process through bidirectional, periodic heartbeat detection, effectively avoiding safety risks caused by communication interruption or controller failure.

[0039] In one embodiment, the preset interruption conditions include: obstacle intrusion, temporary system failure, and driver-initiated pause; In the event of an obstacle intrusion, the duration of the obstacle's presence is recorded. If the duration is less than a preset threshold and the obstacle disappears, the parking operation is automatically resumed. If the duration reaches or exceeds the preset threshold, the parking operation is stopped.

[0040] The interruption conditions in this embodiment mainly consider three situations: an obstacle suddenly appears near the vehicle, the system itself malfunctions, or the user actively stops remote parking because they no longer wish to continue.

[0041] Obstacle intrusion detection: During parking, ultrasonic radar and surround-view cameras continuously monitor the vehicle's surroundings. If an obstacle suddenly appears, such as a car door opening, someone walking by, or a box on the ground, the system first determines if the obstacle's position is related to the planned parking path. If so, parking is paused, the car remains stationary with its hazard lights on, and a timer begins. If the obstacle moves within 10 seconds (e.g., a pedestrian walks past, or a neighboring car door closes), and the area around the car becomes safe again, parking automatically resumes, and the system continues with the next steps. If the obstacle remains after 10 seconds (e.g., the box remains unmoved), parking is terminated immediately, and a message "Parking terminated, obstacle not removed" is displayed on the mobile app, allowing the user to handle the situation.

[0042] This embodiment takes into account more interruption scenarios, making automatic parking safer.

[0043] In one embodiment, when an obstacle intrudes, the type of obstacle is identified, and a waiting time is dynamically determined based on the type of obstacle. The parking operation continues only after the waiting time has elapsed. For moving obstacles, estimate the time it takes for the moving obstacle's trajectory to overlap with the vehicle's parking path, and decide whether to wait or stop early based on the overlap time.

[0044] In this embodiment, the type of obstacle is first identified, and different waiting times are given according to whether it is a pedestrian or a vehicle.

[0045] Estimate the trajectory of the obstacle target: Fit a straight line or curve using the detection results of several consecutive frames, and then determine its intersection with the parking path planned by the intelligent driving domain controller. If the predicted trajectory and the parking path do not intersect within a certain period of time (e.g., 3 seconds), or if the intersection occurs behind the vehicle (without affecting forward movement), the obstacle is ignored. If an intersection is predicted, calculate when the intersection will occur. For example, if the intersection point is 1 second later and the obstacle is still relatively far away (e.g., more than 2 meters), then decelerate normally and observe. If the intersection point is less than 0.5 seconds and the distance is very close, then immediately pause. This embodiment provides different waiting strategies based on different situations, achieving a balance between efficiency and security.

[0046] In one embodiment, when parking is done remotely, the vehicle's hazard lights are turned on, the intelligent driving domain controller plans the parking path, requests the steering system to control the vehicle's steering, requests the braking system to control acceleration and deceleration, requests gear shifting when necessary, and requests the body domain controller to keep the hazard lights continuously illuminated. Once the vehicle is successfully parked in the target parking space, the intelligent driving domain controller disengages from the steering and braking systems, requests the braking system to engage the parking brake, turn off the hazard lights, and requests the vehicle body domain controller to power down and lock the vehicle for security, thus completing the remote parking.

[0047] Parking Operation: Step 1: Selecting a Parking Space and Performing Remote Parking: The user selects the desired parking space using the parking system in the cockpit system and chooses remote parking. After the user gets out of the car and closes all doors, they pair the vehicle with their mobile phone. On the remote parking interface, the intelligent driving domain controller will assess the status of all related systems. When there are no inhibiting conditions and the related components are in a ready state, the "Start Parking" button on the APP interface will light up. The user clicks "Start Parking," the vehicle's hazard lights will flash continuously, and parking will begin. Step 2: Execution of Remote Parking: After receiving the "Start Parking" command from the APP, the intelligent driving domain controller begins planning the parking path. After planning is complete, the intelligent driving domain controller requests the steering system to control the vehicle's steering, requests the braking system to control the vehicle's acceleration and deceleration, and requests gear shifting at appropriate times. Throughout the parking process, the vehicle's hazard lights are continuously flashed by the vehicle's domain controller to alert the user and other pedestrians nearby. Step 3: Remote Parking Completed. After the intelligent driving domain controller successfully parks the vehicle in the user-selected parking space, it disengages from the steering and braking systems and requests the braking system to engage the parking brake. At this point, the hazard lights stop. The intelligent driving domain controller then requests the vehicle body domain controller to power down the entire vehicle and to lock and arm the vehicle. Remote parking is now complete.

[0048] In this embodiment, from the moment the user clicks "Start Parking" until parking is complete, the vehicle's hazard lights remain illuminated. This allows pedestrians, drivers of adjacent vehicles, and the user to clearly recognize that the vehicle is in automatic parking mode, enabling them to anticipate and avoid collisions and effectively reducing the risk of collisions caused by others being unaware of the parking process. The intelligent driving domain controller uniformly plans the path and sends control requests to the steering, braking, and shifting systems respectively. Each execution system acts according to the instructions, avoiding potential command conflicts from multiple controllers. Simultaneously, the handshake control mechanism ensures clear interaction between the intelligent driving domain controller and the execution systems. After the vehicle successfully parks in the target space, the parking brake is engaged to prevent rolling, the hazard lights are turned off, the vehicle is requested to be powered down, and the doors are locked and armed. The user no longer needs to return to the vehicle to turn off the engine, engage the handbrake, or lock the doors; they can leave directly after exiting the vehicle, completely solving the technical problems of being unable to exit the vehicle after parking in narrow spaces and forgetting to lock the car after exiting.

[0049] In one embodiment, when the parking operation is remote parking, the T-Box wakes up each associated controller to put it into a ready state and sends a parking request to the intelligent driving domain controller; After receiving the parking request, the intelligent driving domain controller sends a request to dearm the vehicle domain controller and a request to power on the vehicle high voltage to the HCU. The vehicle domain controller and the HCU respond respectively. After the vehicle domain controller and the HCU handshake each other to confirm that their respective actions have been completed, the vehicle enters the waiting to park state. The intelligent driving domain controller plans the parking exit path and requests the steering system to control the vehicle's steering, requests the braking system to control acceleration and deceleration, requests gear shifting when necessary, and requests the body domain controller to turn on the hazard lights. Once the vehicle has successfully parked out of the parking space, the intelligent driving domain controller disengages from the steering and braking systems, requests the braking system to engage the parking brake, turn off the hazard lights, and completes the remote parking maneuver.

[0050] Parking operation: Step 1: The user performs remote parking.

[0051] After a user successfully pairs their phone with the vehicle in the vicinity, they can press the remote parking button. At this point, the T-Box will first wake up the corresponding controller, putting it into a ready state, and then send a parking request to the intelligent driving domain controller. Upon receiving the request signal, the intelligent driving domain controller simultaneously sends requests to the body domain controller and HCU to disarm the vehicle and connect the vehicle to high voltage. After receiving the signal from the intelligent driving domain controller, the body domain controller and HCU will perform a handshake to confirm receipt of the intelligent driving domain controller's request. Once confirmed, the vehicle is disarmed and high voltage is connected. At this point, the intelligent driving domain controller enters the parking execution state.

[0052] Step Two: Remote Parking Execution. After receiving the parking command from the app, the intelligent driving domain controller begins planning the parking path. Once planning is complete, the intelligent driving domain controller requests the steering system to control the vehicle's direction, requests the braking system to control acceleration and deceleration, and requests gear shifting at appropriate times. Throughout the parking process, the vehicle's hazard lights are continuously activated by the vehicle's domain controller to alert the user and other pedestrians nearby.

[0053] Step 3: Remote parking ends. After the intelligent driving domain controller successfully parks the vehicle out of the parking space, it disengages from the steering and braking systems and requests the braking system to engage the parking brake. At this point, the hazard lights stop. Remote parking is complete.

[0054] Optionally, during parking, if a system malfunction occurs, the intelligent driving domain controller will immediately engage the parking brake and notify the user of the system malfunction via the APP, requesting the user to take over. If there is an intruding obstacle around the vehicle, parking will be paused. If the obstacle exists for less than 10 seconds, parking will continue after the obstacle disappears. If the obstacle exists for 10 seconds or more, parking will terminate, and the user will be notified of the system malfunction via the APP, requesting the user to take over. Throughout the process, the T-Box constantly monitors the APP's communication connection status via Bluetooth. If communication is lost, parking will immediately terminate, and the user will be notified of the system malfunction via the APP, requesting the user to take over.

[0055] In this embodiment, the intelligent driving domain controller sends a disarming request to the body domain controller and a high-voltage power-on request to the HCU. Both requests are executed independently, and then a handshake confirms the completion of each action. This design avoids the problem of the doors remaining locked even after high voltage is applied due to disarming, or the risk of attempting to park without properly applying high voltage. The handshake confirmation mechanism ensures that the vehicle is in a definite and safe ready-to-depart state before parking begins.

[0056] During the parking maneuver, the intelligent driving domain controller autonomously plans the parking path and sends control commands to the steering, braking, and gear shifting systems in real time, while simultaneously activating hazard lights to warn surrounding pedestrians and vehicles. The entire parking maneuver requires no user input of the steering wheel, accelerator, brake, or gear shift. Compared to traditional remote parking maneuvers that require users to press and hold directional keys or perform step-by-step controls, this implementation is far more convenient.

[0057] In one embodiment, the method further includes: if a braking response confirmation is not received within a preset time after a braking request is sent to the vehicle braking system, the electronic parking brake, the motor negative torque braking, and the vehicle high-voltage power cut-off are triggered sequentially.

[0058] During parking, the system relies on the braking system to decelerate and stop. However, in actual operation, the braking system itself may malfunction, such as controller crashes, communication interruptions, or insufficient brake fluid pressure. If an emergency stop is required at this time, relying solely on the main braking system is insufficient; a backup plan is needed. This embodiment designs a tiered braking redundancy protection mechanism: The intelligent driving domain controller sends braking commands to the main braking system (usually ESC or IPB) via the CAN bus, requesting the application of a certain braking pressure. Simultaneously, a timer is started, for example, for 200ms. Under normal circumstances, the braking system will reply with an acknowledgment signal within the time frame of one CAN message (e.g., 50ms), indicating "command received, in progress".

[0059] If the intelligent driving domain controller does not receive a confirmation signal after 200ms, or if it receives a signal but does not provide brake pressure feedback, it determines that the main braking system has failed. At this point, the backup plan is immediately executed: requesting the electronic parking brake (EPB) to engage. The EPB typically has an independent controller and power supply, operating through separate physical channels from the main braking system, making it more reliable.

[0060] At the same time, it requests the motor controller (MCU) to perform negative torque braking. Negative torque in motors means that the motor rotates in reverse, so that the motor does not output power but consumes kinetic energy, thus slowing down the car.

[0061] Simultaneously, the high-voltage power to the entire vehicle is cut off. The high-voltage relay is disconnected directly through the BMS (Battery Management System), instantly cutting off the vehicle's power and de-energizing all high-voltage components. After losing power, the vehicle will gradually come to a stop due to inertia and friction.

[0062] Optionally, this redundancy mechanism is triggered primarily in two situations: first, when the intelligent driving domain controller actively issues a braking request during parking (e.g., detecting a collision risk or receiving a user's pause command); and second, when the system detects an anomaly requiring an emergency stop (e.g., loss of heartbeat or sensor malfunction). Pulling the handbrake at the end of a normal parking maneuver does not trigger this mechanism, as it is an expected operation.

[0063] This embodiment makes the braking process safer by sequentially triggering the electronic parking brake, the motor negative torque braking, and the vehicle high-voltage power cut-off.

[0064] In one embodiment, the method further includes: real-time monitoring of the vehicle's roll angle and pitch angle change rate via an inertial measurement unit; When the roll angle exceeds a preset angle threshold (e.g., 5 degrees), or the absolute value of the pitch angle change rate exceeds a preset change rate threshold (e.g., 6 degrees), the parking operation will stop immediately and a warning will be issued.

[0065] During remote parking, if one side of the vehicle gets stuck in a drainage ditch or a tire suddenly leaks air, causing the vehicle to tilt, the vehicle's posture will be abnormal. Continuing to park may damage the vehicle.

[0066] This embodiment solves the problem by real-time monitoring of the vehicle's roll angle and pitch angle. If the roll angle exceeds the threshold (e.g., 5°) or the pitch angle change rate is abnormal during parking, parking is immediately terminated, the parking brake is engaged, and a message "Vehicle posture is abnormal, please check the tires and road surface" is displayed via a mobile terminal APP.

[0067] At the same time, if the wheel speed on one side is continuously 0, but the other wheels are rotating, it is determined that the wheel speed sensor is faulty or the tire is stuck, and parking will also be terminated.

[0068] This embodiment solves the dangerous problem caused by continuing to park when one side of the vehicle is stuck in a dented area or the wheel malfunctions, which is a problem in the prior art.

[0069] In one embodiment, the system further includes: when a communication link is lost and parking stops, if the vehicle is not in the target parking space, the system automatically engages the parking brake, shifts into Park (P) gear, and illuminates the hazard warning lights. Simultaneously, it emits an acoustic alert through the vehicle's speakers and sends a reminder to the mobile terminal that parking is not completed.

[0070] When a vehicle fails to park in a parking space (such as being parked in a passageway) due to a loss of communication link, the parking brake is engaged, the vehicle is put into Park (P) gear, the four corner lights are turned on, and a text message / push notification is sent to the user's mobile phone via the cloud (4G communication is still possible even if Bluetooth is disconnected).

[0071] The process of identifying whether the vehicle has entered the parking space: After the intelligent driving domain controller triggers parking termination due to a communication link loss, it immediately uses surround-view cameras and ultrasonic radar to determine whether the vehicle is within the user's pre-selected target parking space range. If the vehicle has not entered the parking space, it records the vehicle's position and status at the time of termination and issues a prompt: "Parking incomplete, vehicle located at XXX position, please handle manually."

[0072] In this embodiment, when the communication link is lost, the vehicle may stop in a passageway, intersection, or other unsafe location. By automatically engaging EPB, shifting to P gear, and activating hazard lights, the vehicle is brought into the safest static parking state, preventing it from moving on its own or being collided with by other vehicles without instruction.

[0073] In one embodiment, the method further includes: detecting the motion trajectory of dynamic targets around the vehicle using a surround-view camera, and predicting whether the targets will intersect with the vehicle's parking path within a preset time period in the future; If a meeting is predicted and the meeting time is less than the safety threshold, then deceleration or parking suspension operations will be performed in advance.

[0074] For example, when the vehicle was remotely parked into a right-hand parking space, the surround-view camera detected a pedestrian pushing a stroller walking towards the rear of the vehicle from the left. The system tracked the pedestrian's movement for three consecutive frames, predicting that the pedestrian would meet the vehicle near the right rear bumper in 1.8 seconds. The system automatically reduced the vehicle speed from 2 km / h to 0.5 km / h and sounded the horn to alert the pedestrian. The pedestrian noticed the vehicle and stopped to let the pedestrian pass. The system detected that the target had stopped moving and the risk of meeting had been eliminated, automatically resuming the original speed to continue parking. The entire process did not trigger a parking interruption, providing a smooth user experience.

[0075] The preset time is, for example, 2 seconds.

[0076] In one embodiment, the method further includes: when the ultrasonic radar detects an obstacle but the surround-view camera does not identify the corresponding visual feature, it is determined to be sensor interference; During the period of sensor interference, the obstacle detection confidence of the ultrasonic radar is reduced to avoid triggering parking pause, and the location of the interference is uploaded to the cloud for the purpose of building an interference map.

[0077] Sometimes, metal drains, speed bumps, or electromagnetic induction coils on the parking garage floor can cause the ultrasonic radar to falsely report obstacles, leading to parking pauses and forcing users to terminate or repeatedly retry the parking process. In this embodiment, when a suspected interference signal is detected, if the surround-view camera confirms there are no obstacles, the confidence level of the ultrasonic sensor is reduced, and other sensors are temporarily relied upon. If the interference persists for more than 5 seconds, the sensor is marked as interfered with and will only be used as a reference and will not be used to trigger a parking pause until the interference is eliminated. Optionally, the confidence level of the surround-view camera can be increased.

[0078] This embodiment eliminates a large number of false triggers caused by sensor false alarms due to metal, improving parking smoothness. This solution effectively distinguishes real obstacles from ground metal features through visual verification, avoiding invalid pauses and terminations caused by false obstacles, and significantly improving the success rate of remote parking on the first attempt.

[0079] This embodiment does not add any sensors; it only utilizes existing surround-view cameras to verify the reliability of ultrasonic radar results, achieving perceptual redundancy and error correction. Simultaneously, the interference locations encountered by individual vehicles are shared to the cloud, forming a priori knowledge base. Vehicles entering the same parking space later can learn the interference characteristics in advance, eliminating the need for repeated judgments and further reducing false alarms. This is a "learning" capability that existing remote parking systems lack.

[0080] In one embodiment, a perception reliability enhancement step is also included: performing a sensor self-test before remote parking begins, and prohibiting parking if the self-test fails; and adopting a conservative fusion strategy when obstacle detection results from different sensors conflict during the parking process.

[0081] It also includes a dynamic speed control procedure: dynamically adjusting the maximum permissible speed for remote parking based on the minimum distance to obstacles around the vehicle.

[0082] It also includes adaptive control of road surface adhesion coefficient: estimating the current road surface adhesion coefficient and dynamically adjusting the maximum allowable vehicle speed, acceleration, and path curvature constraints based on the adhesion coefficient.

[0083] It also includes parking quality assessment and automatic fine-tuning: after remote parking is completed, the vehicle's centering within the parking space is assessed, and if it does not meet the standard, the user is asked whether to perform automatic fine-tuning.

[0084] It also includes fault diagnosis and recording: when a system fault interruption is triggered, a fault record containing the fault type, fault code and vehicle status parameters is generated, the fault cause and handling suggestions are displayed on the mobile terminal, and uploaded to the cloud server.

[0085] It also includes user behavior intent verification: requiring users to complete randomly generated trajectory drawing or biometric verification on their mobile devices before responding to remote parking commands.

[0086] It also includes privacy protection: before transmitting the images captured by the surround-view camera to the mobile terminal, the faces and license plate information in the images are blurred in real time, and the cached images are automatically deleted after parking is completed.

[0087] It also includes multi-vehicle collaborative scheduling: receiving remote parking requests from multiple vehicles through a cloud server, detecting spatiotemporal conflicts between requesting vehicles; when a conflict is detected, prioritizing according to the request time order, and sending waiting suggestions to the mobile terminals of the vehicles that request later.

[0088] Reference Figure 2 The present invention also proposes a system employing the remote parking control method described in any of the preceding claims, comprising: The layers are: perception layer, decision-making layer, execution layer, and interaction layer. The perception layer includes surround-view cameras and ultrasonic radar; The decision-making level includes the intelligent driving domain controller; The execution layer includes the steering system, braking system, body domain controller, and HCU; The interaction layer includes mobile terminals and cockpit systems.

[0089] This embodiment addresses the technical challenges in existing technologies where users may be unable to easily open car doors and exit in narrow parking spaces, and where users need to observe the vehicle's parking status from outside in certain parking scenarios. This embodiment achieves remote collaborative control of the parking process through pairing and two-way communication between a mobile terminal and the vehicle. By monitoring the real-time operating status of the core parking control module and related subsystems, and by using multi-sensor fusion to perceive the dynamics of obstacles around the vehicle, parking is immediately triggered upon detecting a malfunction or sudden obstacle intrusion, ensuring the safety of the vehicle and surrounding personnel. Throughout the remote-controlled parking process, the vehicle's power management strategy can be intelligently executed, waking up or putting into sleep mode relevant controllers as needed, and simultaneously completing the automatic opening and closing of the door locks, significantly reducing the driver's operational complexity and providing a more efficient and convenient user experience.

[0090] The present invention also proposes a vehicle employing the remote parking control method described in any of the preceding claims.

[0091] This embodiment addresses the technical challenges in existing technologies where users may be unable to easily open car doors and exit in narrow parking spaces, and where users need to observe the vehicle's parking status from outside in certain parking scenarios. This embodiment achieves remote collaborative control of the parking process through pairing and two-way communication between a mobile terminal and the vehicle. By monitoring the real-time operating status of the core parking control module and related subsystems, and by using multi-sensor fusion to perceive the dynamics of obstacles around the vehicle, parking is immediately triggered upon detecting a malfunction or sudden obstacle intrusion, ensuring the safety of the vehicle and surrounding personnel. Throughout the remote-controlled parking process, the vehicle's power management strategy can be intelligently executed, waking up or putting into sleep mode relevant controllers as needed, and simultaneously completing the automatic opening and closing of the door locks, significantly reducing the driver's operational complexity and providing a more efficient and convenient user experience.

[0092] The present invention also proposes a storage medium that stores computer instructions, which, when executed by a computer, are used to perform the remote parking control method as described in any of the preceding claims.

[0093] This embodiment addresses the technical challenges in existing technologies where users may be unable to easily open car doors and exit in narrow parking spaces, and where users need to observe the vehicle's parking status from outside in certain parking scenarios. This embodiment achieves remote collaborative control of the parking process through pairing and two-way communication between a mobile terminal and the vehicle. By monitoring the real-time operating status of the core parking control module and related subsystems, and by using multi-sensor fusion to perceive the dynamics of obstacles around the vehicle, parking is immediately triggered upon detecting a malfunction or sudden obstacle intrusion, ensuring the safety of the vehicle and surrounding personnel. Throughout the remote-controlled parking process, the vehicle's power management strategy can be intelligently executed, waking up or putting into sleep mode relevant controllers as needed, and simultaneously completing the automatic opening and closing of the door locks, significantly reducing the driver's operational complexity and providing a more efficient and convenient user experience.

[0094] The present invention also proposes a computer program product, including a computer program / instructions that, when executed by a processor, implement the remote parking control method as described in any of the preceding claims.

[0095] This embodiment addresses the technical challenges in existing technologies where users may be unable to easily open car doors and exit in narrow parking spaces, and where users need to observe the vehicle's parking status from outside in certain parking scenarios. This embodiment achieves remote collaborative control of the parking process through pairing and two-way communication between a mobile terminal and the vehicle. By monitoring the real-time operating status of the core parking control module and related subsystems, and by using multi-sensor fusion to perceive the dynamics of obstacles around the vehicle, parking is immediately triggered upon detecting a malfunction or sudden obstacle intrusion, ensuring the safety of the vehicle and surrounding personnel. Throughout the remote-controlled parking process, the vehicle's power management strategy can be intelligently executed, waking up or putting into sleep mode relevant controllers as needed, and simultaneously completing the automatic opening and closing of the door locks, significantly reducing the driver's operational complexity and providing a more efficient and convenient user experience.

[0096] As needed, the above technical solutions can be combined to achieve the best technical effect.

[0097] The above description is merely the principle and preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several other modifications can be made based on the principle of the present invention, and these modifications should also be considered within the scope of protection of the present invention.

Claims

1. A remote parking control method, characterized in that, include: In response to a remote parking command initiated by a mobile terminal, a parking operation is performed, which can be either remote parking in or remote parking out. The system continuously monitors the operating status of multiple associated controllers and the status of the communication link between the mobile terminal and the vehicle through a heartbeat detection mechanism. If any associated controller is detected to be faulty or the communication link is lost, the parking operation will be stopped and a prompt will be issued. Obtain the relative position between the remote controller and the vehicle. If the relative position is not within the safe parking area, stop the parking operation. During remote parking in or remote parking out, determine whether to stop the parking operation based on preset interruption conditions; After the vehicle completes remote parking, it automatically performs the vehicle power-off and door locking arming operations; when performing remote parking exit, it automatically de-locks the door locking arming state and switches the vehicle to high-voltage power-on state before the parking exit begins.

2. The remote parking control method according to claim 1, characterized in that, The heartbeat detection mechanism includes: continuously monitoring the status of the communication link and periodically receiving operating status feedback signals from each associated controller; when the communication link is lost or any associated controller fails to provide feedback within a preset time, a parking stop command is immediately triggered.

3. The remote parking control method according to claim 1, characterized in that, The preset interruption conditions include: obstacle intrusion, temporary system failure, and driver-initiated suspension; In the event of an obstacle intrusion, the duration of the obstacle's presence is recorded. If the duration is less than a preset threshold and the obstacle disappears, the parking operation is automatically resumed. If the duration reaches or exceeds the preset threshold, the parking operation is stopped.

4. The remote parking control method according to claim 3, characterized in that, When an obstacle intrudes, the type of obstacle is identified, and the waiting time is dynamically determined based on the type of obstacle. The parking operation is then continued only after the waiting time has elapsed. For moving obstacles, estimate the time it takes for the moving obstacle's trajectory to overlap with the vehicle's parking path, and decide whether to wait or stop early based on the overlap time.

5. The remote parking control method according to claim 1, characterized in that, When parking is done remotely, the vehicle's hazard lights are turned on, the intelligent driving domain controller plans the parking path, requests the steering system to control the vehicle's steering, requests the braking system to control acceleration and deceleration, requests gear shifting when necessary, and requests the body domain controller to keep the hazard lights continuously illuminated. Once the vehicle is successfully parked in the target parking space, the intelligent driving domain controller disengages from the steering and braking systems, requests the braking system to engage the parking brake, turn off the hazard lights, and requests the vehicle body domain controller to power down and lock the vehicle for security, thus completing the remote parking.

6. The remote parking control method according to claim 1, characterized in that, When parking is remotely exited, the T-Box wakes up all associated controllers to put them into a ready state and sends a parking exit request to the intelligent driving domain controller; After receiving the parking request, the intelligent driving domain controller sends a request to dearm the vehicle domain controller and a request to power on the vehicle high voltage to the HCU. The vehicle domain controller and the HCU respond respectively. After the vehicle domain controller and the HCU handshake each other to confirm that their respective actions have been completed, the vehicle enters the waiting to park state. The intelligent driving domain controller plans the parking exit path and requests the steering system to control the vehicle's steering, requests the braking system to control acceleration and deceleration, requests gear shifting when necessary, and requests the body domain controller to turn on the hazard lights. Once the vehicle has successfully parked out of the parking space, the intelligent driving domain controller disengages from the steering and braking systems, requests the braking system to engage the parking brake, turn off the hazard lights, and completes the remote parking maneuver.

7. The remote parking control method according to claim 1, characterized in that, It also includes: when a braking request is sent to the vehicle braking system, if no braking response confirmation is received within a preset time, the electronic parking brake, the motor negative torque braking, and the vehicle high-voltage power cut-off will be triggered in sequence.

8. The remote parking control method according to claim 1, characterized in that, It also includes: real-time monitoring of the vehicle's roll and pitch angle rates of change via an inertial measurement unit; When the roll angle exceeds the preset angle threshold, or the absolute value of the pitch angle change rate exceeds the preset change rate threshold, the parking operation will stop immediately and a warning will be issued.

9. The remote parking control method according to claim 1, characterized in that, It also includes: when the communication link is lost and parking stops, if the vehicle is not in the target parking space, the parking brake will be automatically engaged, the vehicle will be put into P gear and the hazard warning lights will be turned on. At the same time, an acoustic prompt will be issued through the vehicle's speakers and a reminder that parking is not completed will be sent to the mobile terminal.

10. The remote parking control method according to claim 1, characterized in that, It also includes: detecting the movement trajectory of dynamic targets around the vehicle using surround-view cameras, and predicting whether they will intersect with the vehicle's parking path within a preset time in the future; If a meeting is predicted and the meeting time is less than the safety threshold, then deceleration or parking suspension operations will be performed in advance.

11. The remote parking control method according to claim 1, characterized in that, It also includes: when the ultrasonic radar detects an obstacle but the surround-view camera does not identify the corresponding visual feature, it is judged as sensor interference; During the period of sensor interference, the obstacle detection confidence of the ultrasonic radar is reduced to avoid triggering parking pause, and the location of the interference is uploaded to the cloud for the purpose of building an interference map.

12. A system employing the remote parking control method as described in any one of claims 1-11, characterized in that, include: The layers are: perception layer, decision-making layer, execution layer, and interaction layer. The perception layer includes surround-view cameras and ultrasonic radar; The decision-making level includes the intelligent driving domain controller; The execution layer includes the steering system, braking system, body domain controller, and HCU; The interaction layer includes mobile terminals and cockpit systems.

13. A vehicle, characterized in that, The remote parking control method as described in any one of claims 1 to 11 is adopted.

14. A storage medium, characterized in that, The storage medium stores computer instructions, which, when executed by the computer, are used to perform the remote parking control method as described in any one of claims 1 to 11.

15. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the remote parking control method as described in any one of claims 1 to 11.

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