CN115113562A - Control method for remote vehicle moving and remote vehicle moving system - Google Patents

Abstract

The invention provides a control method and a remote car moving system for remote car moving. The control method for remote car moving includes: establishing a communication connection between a terminal and a vehicle; the terminal starts the vehicle remotely; the terminal receives the environmental information around the vehicle sent by the vehicle and displays it. environment information to the user; the terminal receives the car-moving command selected by the user and sends the car-moving command to the vehicle, so that the vehicle executes the car-moving command. The control method for remote car-moving of the present invention solves the problem in the prior art that the remote car-moving beyond the line of sight cannot be realized.

Description

Control method for remote car moving and remote car moving system

technical field

The invention relates to the field of automatic driving of automobiles, and in particular, to a control method for remote car moving and a remote car moving system.

Background technique

In an environment where parking spaces are tight and the drivable area is narrow, other people's parking spaces may be occupied by mistake and the vehicle may obstruct other vehicles. At this time, the user is often required to quickly return to the vicinity of the vehicle to move the car to prevent other traffic participants from being blocked. This happens frequently, and often results in many constants for multiple users. At present, the L2-level autonomous driving technology equipped on some vehicles often requires the user to be near the vehicle and cannot cover this working condition. However, L4-level autonomous driving technology requires high-precision map positioning and is limited by the development level of autonomous driving technology. It has not yet been popularized. Therefore, there is an urgent need for a system that does not require high autonomous driving technology but can realize remote car movement beyond the line of sight. and methods.

SUMMARY OF THE INVENTION

The main purpose of the present invention is to provide a control method and a remote car moving system for remote car moving, so as to solve the problem of inability to realize over-the-horizon remote car moving in the prior art.

In order to achieve the above object, according to one aspect of the present invention, a control method for remote car moving is provided, comprising:

The terminal establishes a communication connection with the vehicle;

The terminal starts the vehicle remotely;

The terminal receives the environmental information around the vehicle sent by the vehicle and displays the environmental information to the user;

The terminal receives the manoeuvring instruction selected by the user and sends the manoeuvring instruction to the vehicle, so that the vehicle executes the manoeuvring instruction.

Further, the environmental information includes image information around the vehicle captured by the vehicle and distance information between the vehicle and the obstacle detected by the vehicle; wherein the distance information includes at least one of text information, sound information and image information.

Further, the terminal receives the car-moving command selected by the user and sends the car-moving command to the vehicle, so that the vehicle executes the car-moving command, including:

The terminal receives the parking space instruction selected by the user and sends the parking space instruction to the vehicle, so that the vehicle is parked out of the parking space; wherein, the car moving instruction includes a parking space instruction.

Further, the method for the terminal to receive the parking space instruction selected by the user and send the parking space instruction to the vehicle, so as to make the vehicle park the parking space, includes:

The terminal receives the vehicle parking direction selected by the user and sends the vehicle parking direction to the vehicle, so that the vehicle is parked out of the parking space from the vehicle parking direction; wherein, the vehicle parking direction includes horizontal left, horizontal right, vertical forward, At least one of vertical backward, vertical left forward, vertical right forward, vertical left rear, and vertical right rear.

Further, the terminal receives the car-moving command selected by the user and sends the car-moving command to the vehicle, so that the vehicle executes the car-moving command, including:

The terminal receives the parking space instruction selected by the user and sends the parking space instruction to the vehicle, so that the vehicle is parked in the parking space; wherein, the car moving instruction includes the parking space instruction.

Further, before the terminal receives the parking space instruction selected by the user and sends the parking space instruction to the vehicle, so that the vehicle is parked in the parking space, the control method for remotely moving the car includes:

The terminal receives the target parking space selected by the user and sends the target parking space to the vehicle, so that the vehicle can park in the target parking space after receiving the parking space instruction.

Further, before the terminal receives the parking space instruction selected by the user and sends the parking space instruction to the vehicle, so that the vehicle is parked in the parking space, the control method for remotely moving the car includes:

The terminal receives the automatic parking space search instruction selected by the user and sends the automatic parking space search instruction to the vehicle, so that the vehicle automatically searches for the parking space;

The terminal receives the target parking space searched by the vehicle and displays the target parking space to the user;

The terminal receives the confirmation instruction from the user to confirm the target parking space and sends the confirmation instruction to the vehicle, so that the vehicle can park in the target parking space after receiving the confirmation instruction and the parking space instruction.

Further, the method for enabling a vehicle to automatically search for a parking space includes:

The terminal receives the first vehicle driving instruction selected by the user, and sends the first vehicle driving instruction to the vehicle, so that the vehicle travels according to the first vehicle driving instruction, and the vehicle detects a parking space during the driving process;

The first vehicle driving instruction includes at least one of a target gear instruction for shifting the vehicle into a target gear and a first steering instruction for steering the vehicle.

Further, the method for causing the vehicle to execute the maneuvering instruction includes:

Make the vehicle plan a parking path according to the environmental information and the target parking space, and make the vehicle park into the target parking space along the planned parking path.

Further, when an emergency situation is encountered during the movement of the vehicle, the control method for remote moving the vehicle includes:

Turn off the vehicle and lock it;

The terminal receives the information sent by the vehicle that the vehicle is turned off and locked.

Further, the control method of the remote moving car includes:

The terminal receives the stop moving instruction selected by the user, and sends the stop moving instruction to the vehicle, so that the vehicle stops moving;

The terminal receives the second vehicle driving instruction selected by the user, and sends the second vehicle driving instruction to the vehicle, so that the vehicle travels according to the second vehicle driving instruction;

Wherein, the second vehicle driving command includes at least one of a forward command for driving the vehicle forward, a backward command for driving the vehicle backward, and a second steering command for steering the vehicle.

According to another aspect of the present invention, a remote car moving system is provided, which is applicable to the above-mentioned control method for remote car moving, and the remote car moving system includes:

terminal;

Vehicle terminal, connected to the terminal for communication;

The vehicle parking controller is connected to the vehicle terminal for communication, and the vehicle parking controller is used to control the vehicle parking;

The vehicle perception device is connected to the vehicle parking controller in communication, and the vehicle perception device is used to detect the environmental information around the vehicle.

The control method for remote car moving of the present invention first establishes a communication connection between the terminal and the vehicle, and through the communication connection between the terminal and the vehicle, the terminal can be used to remotely start the vehicle, and the information of the surrounding environment collected by the vehicle can be sent to the terminal, and the terminal receives the vehicle. After the surrounding environmental information is displayed to the user, the user selects the car-moving command on the terminal according to the environmental information, and the terminal receives the car-moving command selected by the user and sends the car-moving command to the vehicle, so that the vehicle executes the car-moving command, Finally, the user's remote car-moving is realized. Using this control method for remote car moving, the vehicle-end environment information is transmitted back to the terminal in real time, which can realize the remote control of the car beyond the line of sight only on the basis of the L2 level automatic driving technology, which solves the problem that the existing technology cannot realize the remote control of the beyond line of sight. The problem of moving the car.

Description of drawings

The accompanying drawings forming a part of the present application are used to provide further understanding of the present invention, and the exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the attached image:

1 shows a partial flow chart of an embodiment of a method for controlling a remote car moving according to the present invention;

Fig. 2 shows the overall flow chart of an embodiment of the control method for remote car moving according to the present invention;

Fig. 3 shows the flow chart of the vehicle parking according to the control method of the remote moving vehicle of the present invention;

Fig. 4 shows the flow chart of the user manually selecting the target parking space according to the control method of the remote car moving of the present invention;

Fig. 5 shows the flow chart of the vehicle automatically searching for the target parking space according to the control method of the remote car moving of the present invention;

Figure 6 shows a schematic diagram of an embodiment of a remote car moving system according to the present invention.

Wherein, the above-mentioned drawings include the following reference signs:

10, terminal; 20, vehicle terminal; 30, vehicle parking controller; 50, camera; 60, ultrasonic radar; 70, steering system; 80, driving system; 90, braking system.

Detailed ways

It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

It should be noted that the following detailed description is exemplary and intended to provide further explanation of the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural as well, furthermore, it is to be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates that There are features, steps, operations, devices, components and/or combinations thereof.

The present invention provides a control method for remote car moving, please refer to FIG. 1 to FIG. 5, including:

Step S110, the terminal establishes a communication connection with the vehicle;

Step S120, the terminal remotely starts the vehicle;

Step S130, the terminal receives the environmental information around the vehicle sent by the vehicle and displays the environmental information to the user;

Step S140, the terminal receives the car-moving command selected by the user and sends the car-moving command to the vehicle, so that the vehicle executes the car-moving command.

The control method for remote car moving of the present invention first establishes a communication connection between the terminal and the vehicle, and through the communication connection between the terminal and the vehicle, the terminal can be used to remotely start the vehicle, and the information of the surrounding environment collected by the vehicle can be sent to the terminal, and the terminal receives the vehicle. After the surrounding environmental information is displayed to the user, the user selects the car-moving command on the terminal according to the environmental information, and the terminal receives the car-moving command selected by the user and sends the car-moving command to the vehicle, so that the vehicle executes the car-moving command, Finally, the user's remote car-moving is realized. Using this control method for remote car moving, the vehicle-end environment information is transmitted back to the terminal in real time, which can realize the remote control of the car beyond the line of sight only on the basis of the L2 level automatic driving technology, which solves the problem that the existing technology cannot realize the remote control of the beyond line of sight. The problem of moving the car.

It should be noted that the over-the-horizon distance is the distance at which the target cannot be seen visually.

It should be noted that the L0-L5 level of automatic driving technology corresponds to different levels of automatic driving. L0 is human driving; L1 is driving support, which is mainly operated by the driver, and provides support for one of the steering wheel and deceleration operations according to the driving environment. ; L2 is partially automated driving. According to changes in the driving environment, the driver can take a short rest, but still need to concentrate on the road traffic conditions while driving, and the vehicle is always ready to accept manual driving; L3 is conditional automated driving, under certain conditions All driving operations are completed by the system, and the driver provides an adaptive response according to the system request; L4 is highly automated driving, the system can complete all driving operations, and the driver can completely free his hands when driving on conditional roads; L5 is fully automated , the system can complete all driving operations and can integrate into all road environments.

Specifically, the terminal is a mobile terminal such as a mobile phone; in some embodiments, when the terminal is a mobile phone, a communication connection is established with the vehicle through an app on the terminal, and a series of operations of moving the car are implemented through user operations on the app.

During specific implementation, the method for establishing a communication connection between the terminal and the vehicle includes: the terminal sends a connection request to the vehicle; after the terminal establishes the communication connection with the vehicle, the terminal displays a successful connection information.

Specifically, the terminal establishes a communication connection with the on-board terminal 20 of the vehicle through 5G, that is, the terminal sends a connection request to the on-board terminal 20. After the terminal establishes a communication connection with the on-board terminal 20, the on-board terminal 20 feeds back the connection success information to the terminal, and the terminal displays Connection success message.

Specifically, the method for remotely starting the vehicle by the terminal includes: the terminal sends a starting instruction to the vehicle; the vehicle starts after receiving the starting instruction, and feeds back the successful starting information to the terminal to remind the user that the vehicle starts successfully.

In this embodiment, the environmental information includes image information around the vehicle captured by the vehicle and distance information between the vehicle and the obstacle detected by the vehicle; wherein the distance information includes at least one of text information, sound information, and image information .

In specific implementation, after the terminal establishes a communication connection with the vehicle, the environmental information of the vehicle is synchronized to the mobile phone (ie, the terminal) through the vehicle-mounted terminal 20 of the vehicle. The user can judge the specific orientation of the surrounding vehicles by observing the image information around the vehicle, and receive The distance information between the arriving vehicle and the obstacle is used to determine whether to perform a manoeuvre or to determine the manoeuvring distance to avoid collision with surrounding vehicles.

Specifically, the spliced and distorted images captured by the vehicle's panoramic surround view system are spliced and synchronized to the terminal. During the moving process, the vehicle's ultrasonic radar will also detect the distance between obstacles around the vehicle and the vehicle in real time, and pass the distance information through Text, voice or image prompts are synchronized to the terminal.

In this embodiment, the terminal receives the car-moving instruction selected by the user and sends the car-moving instruction to the vehicle, so that the vehicle executes the car-moving instruction, including: the terminal receives the parking space instruction selected by the user and sends the parking space instruction to the The vehicle is used to park the vehicle out of the parking space; wherein, the car-moving instruction includes an instruction to park out of the parking space.

In the specific implementation, the user sends a parking space instruction to the vehicle through the terminal, so that the user can perform the operation of remotely parking the parking space when the user occupies the parking space of others by mistake, so that the user does not need to return to the vehicle for parking in person, which is for the user's use brought convenience.

In this embodiment, the method for the terminal to receive the parking space instruction selected by the user and send the parking space instruction to the vehicle, so as to make the vehicle park the parking space, includes: Step S150, the terminal receives the vehicle parking direction selected by the user and sends the instruction to the vehicle. The vehicle parking direction is sent to the vehicle, so that the vehicle can be parked out of the parking space from the vehicle parking direction; wherein, the vehicle parking direction includes horizontal left, horizontal right, vertical forward, vertical backward, vertical left forward, and vertical right forward , at least one of vertical left rear and vertical right rear.

It should be noted that the horizontal is the left-right direction of the vehicle, and the vertical is the front-rear direction of the vehicle.

In specific implementation, after the user selects the parking space instruction on the terminal, the process proceeds to step S150, and the terminal displays a variety of vehicle parking directions for the user to choose. After the user selects a vehicle parking direction, the vehicle parking The vehicle controller 30 controls the vehicle to park out of the parking space in the direction in which the vehicle is parked; if an emergency situation occurs during the parking process and the parking operation cannot be completed, the process proceeds to step S200.

In addition, the selection of various vehicle parking directions enables the user to issue different instructions for the positions and distances of surrounding vehicles after judging the environmental information, so as to avoid vehicles unable to park normally due to too few optional parking directions. Or the user parks the vehicle in one of the imprecise directions, causing a collision with surrounding vehicles.

In this embodiment, the terminal receives the car-moving command selected by the user and sends the car-moving command to the vehicle, so that the vehicle executes the car-moving command, including: step S160, the terminal receives the parking space instruction selected by the user and parks in the parking space The instruction is sent to the vehicle to make the vehicle park in the parking space; wherein, the moving vehicle instruction includes a parking space instruction.

In specific implementation, after the vehicle is parked out of the parking space, it needs to select a new parking space to park in. At this time, the user selects the instruction to park in the parking space at the terminal, and the terminal controls the vehicle to park in the new space after receiving the instruction, and finally completes the parking process. If an emergency situation occurs during the berthing process and the berthing operation cannot be completed, step S200 is entered.

In some embodiments, before the terminal receives the parking space instruction selected by the user and sends the parking space instruction to the vehicle, so that the vehicle is parked in the parking space, the control method for remotely moving the vehicle includes: step S170, the terminal receives the user-selected parking space instruction Target parking space and send the target parking space to the vehicle, so that the vehicle can park in the target parking space after receiving the parking space instruction.

In specific implementation, the user can manually select the parking space to be parked, that is, the user remotely selects the target parking space on the terminal, and after the user selects the target parking space, enter step S160, and the vehicle receives the target parking space and the parking space instruction and parks in the target parking space.

In some embodiments, before the terminal receives the parking space instruction selected by the user and sends the parking space instruction to the vehicle, so that the vehicle is parked in the parking space, the control method for remotely moving the vehicle includes: Step S180, the terminal receives the user-selected parking space instruction Automatically search the parking space instruction and send the automatic parking space search instruction to the vehicle, so that the vehicle automatically searches for the parking space; the terminal receives the target parking space searched by the vehicle and displays the target parking space to the user; the terminal receives the confirmation instruction from the user to confirm the target parking space and sends the confirmation instruction to the vehicle, so that the vehicle can park in the target parking space after receiving the confirmation instruction and the parking space instruction.

In the specific implementation, the user can select the automatic parking space search command on the terminal, so that the vehicle automatically searches for the parking space. After the target parking space is searched and confirmed by the user, the target parking space is parked. This control method greatly reduces the user's own search for parking spaces. time, making it easier and more convenient for users to park after issuing an instruction to automatically search for a parking space. Specifically, the method for enabling a vehicle to automatically search for a parking space includes the terminal receiving a first vehicle driving instruction selected by a user, and sending the first vehicle driving instruction to the vehicle, so that the vehicle is driven according to the first vehicle driving instruction, and the vehicle is driven during the driving process. The first vehicle driving instruction includes at least one of a target gear instruction for shifting the vehicle into a target gear and a first steering instruction for steering the vehicle.

During specific implementation, the vehicle will provide a screen (ie image information) on the terminal to facilitate the user to perform horizontal and vertical control and observe the driving situation of the vehicle. The user can control the running route of the vehicle by sending the first vehicle driving command, so that the vehicle can drive to the appropriate In the process of driving, the vehicle can automatically detect the parking space at any time, and the user can choose whether to park in the detected parking space, which improves the freedom of parking space selection.

The step S160 is entered after the user confirms that the third target parking space searched by the vehicle can be parked, and the vehicle parks in the target parking space after receiving the target parking space and the parking space instruction. In the process of searching for a parking space, if an emergency occurs and the action of searching for a parking space cannot be completed, step S200 is entered.

Specifically, the target gear positions of the vehicle are the parking gear position, the reverse gear position, the neutral gear position and the forward gear position; the first steering commands are left-turn commands and right-turn commands.

Specifically, the method for making the vehicle execute a car-moving instruction includes: making the vehicle plan a parking path according to environmental information and a target parking space, and making the vehicle park into the target parking space along the planned parking path.

During specific implementation, the path planning of the vehicle ensures that the vehicle will not collide with surrounding vehicles during the process of entering the target parking space along the planned parking path, thereby avoiding unnecessary losses.

In specific implementation, before the terminal receives the parking space instruction selected by the user and sends the parking space instruction to the vehicle, so that the vehicle is parked in the parking space, the control method for remote car moving includes: the terminal receives the user-selected search parking space instruction; After the terminal receives the parking space search instruction selected by the user, step S170 or step S180 is performed, that is, after the terminal receives the parking space search instruction selected by the user, the terminal receives the target parking space selected by the user or receives the automatic parking space search instruction selected by the user.

In this embodiment, when an emergency is encountered during the movement of the vehicle, the control method for remotely moving the vehicle includes: step S200, turning off the vehicle and locking the vehicle; the terminal receives the information sent by the vehicle that the vehicle is turned off and locked to remind the user. The shutdown command of the vehicle prevents the vehicle from continuing to drive and colliding with surrounding obstacles in an emergency. In addition, in the process of moving the car, in order to solve the problem of asynchronous transmission of image information to the terminal caused by time delay, the vehicle parking controller will perform collision avoidance control according to the surrounding obstacle information to prevent the vehicle from scratching.

In specific implementation, the emergencies include: when the user issues a parking space instruction, and the vehicle encounters an emergency during the process of parking the parking space, the vehicle will turn off and lock the car; when the user issues a parking space instruction, the vehicle will be parked in In the process of the target parking space encountering an emergency, the vehicle will turn off and lock the car; when the vehicle encounters an emergency during other moving processes, such as hitting an obstacle, the vehicle will turn off and lock the car. This ensures that the vehicle is in a safe state at any step.

In this embodiment, the control method for remote car moving includes: the terminal receives a stop moving instruction selected by the user, and sends the stop moving instruction to the vehicle, so that the vehicle stops moving; the terminal receives the second vehicle driving instruction selected by the user , and send the second vehicle driving instruction to the vehicle, so that the vehicle runs according to the second vehicle driving instruction; wherein, the second vehicle driving instruction includes a forward instruction for making the vehicle move forward, a backward instruction for making the vehicle backward, and a steering instruction for the vehicle at least one of the second steering commands. With such a setting, the user can interrupt the parking process at any time and take over the operation of the vehicle at any time during the process of moving the car by using the control method for remote car moving.

In the specific implementation, in case of emergencies or when the user does not need to move the vehicle, the user can select a stop moving instruction on the terminal to control the vehicle to stop moving, and when the user needs to continue to move the vehicle, a second vehicle driving instruction can be issued Control the vehicle at any time to make the vehicle move again for manoeuvring.

The remote car moving control method realizes the real-time synchronization of the car terminal information to the mobile terminal. Specifically, during the entire activation period of the function, the vehicle can transmit the surround view splicing picture (ie image information) around the vehicle to the mobile phone in real time. During the parking process, the distance information of the obstacles detected by the ultrasonic radar is superimposed in real time. The screen of the mobile app is convenient for users to know the information of obstacles around the vehicle in real time.

According to another aspect of the present invention, a remote car moving system is provided. Please refer to FIG. 6 , which is applicable to the control method of the remote car moving in the above-mentioned embodiment. The remote car moving system includes: a terminal 10; a vehicle-mounted terminal 20, and The terminal 10 is communicatively connected; the vehicle parking controller 30 is communicatively connected to the vehicle-mounted terminal 20, and the vehicle parking controller 30 is used to control the parking of the vehicle. The vehicle sensing device is connected in communication with the vehicle parking controller 30, and the vehicle sensing device is used to detect the environmental information around the vehicle.

Specifically, the vehicle perception device includes: a panoramic surround view system, including a plurality of cameras 50, and the plurality of cameras 50 are connected to the vehicle parking controller 30 in communication, and the cameras 50 are used to capture images around the vehicle; The vehicle controller 30 is connected in communication, and the ultrasonic radar 60 is used to detect the distance between the vehicle and the obstacle.

Specifically, the terminal 10 is a mobile phone, and the user can conveniently move the car remotely through the app in the mobile phone; the in-vehicle terminal 20 is a T-box, and the T-box is a car networking system, which provides data collection, remote query, control and monitoring for the vehicle faults and other services.

Specifically, the remote moving system further includes a steering system 70 , a driving system 80 and a braking system 90 of the vehicle. The steering system, the driving system and the braking system are all connected in communication with the vehicle parking controller 30 to enable the vehicle parking control The controller 30 controls the operation of the steering system, the driving system and the braking system, thereby realizing the steering, driving and braking of the vehicle.

From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects:

The control method for remote car moving of the present invention first establishes a communication connection between the terminal and the vehicle, and through the communication connection between the terminal and the vehicle, the terminal can be used to remotely start the vehicle, and the information of the surrounding environment collected by the vehicle can be sent to the terminal, and the terminal receives the vehicle. After the surrounding environmental information is displayed to the user, the user selects the car-moving command on the terminal according to the environmental information, and the terminal receives the car-moving command selected by the user and sends the car-moving command to the vehicle, so that the vehicle executes the car-moving command, Finally, the user's remote car-moving is realized. Using this control method for remote car moving, the vehicle-end environment information is transmitted back to the terminal in real time, which can realize the remote control of the car beyond the line of sight only on the basis of the L2 level automatic driving technology, which solves the problem that the existing technology cannot realize the remote control of the beyond line of sight. The problem of moving the car.

It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that data so used may be interchanged under appropriate circumstances such that the embodiments of the application described herein can, for example, be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having" and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those expressly listed Rather, those steps or units may include other steps or units not expressly listed or inherent to these processes, methods, products or devices.

For ease of description, spatially relative terms, such as "on", "over", "on the surface", "above", etc., may be used herein to describe what is shown in the figures. The spatial positional relationship of one device or feature shown to other devices or features. It should be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or features would then be oriented "below" or "over" the other devices or features under other devices or constructions". Thus, the exemplary term "above" can encompass both an orientation of "above" and "below." The device may also be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (12)

1. A control method for remotely moving a vehicle is characterized by comprising the following steps:

the terminal establishes communication connection with the vehicle;

the terminal remotely starts the vehicle;

the terminal receives environmental information around the vehicle sent by the vehicle and displays the environmental information to a user;

the terminal receives a vehicle moving instruction selected by a user and sends the vehicle moving instruction to the vehicle so that the vehicle can execute the vehicle moving instruction.

2. The remote vehicle moving control method according to claim 1, wherein the environmental information includes image information of the surroundings of the vehicle photographed by the vehicle and distance information between the vehicle and an obstacle detected by the vehicle; wherein the distance information includes at least one of character information, sound information, and image information.

3. The remote vehicle moving control method according to claim 1, wherein the terminal receives a vehicle moving instruction selected by a user and sends the vehicle moving instruction to the vehicle, so that the vehicle executes the vehicle moving instruction, and the method comprises the following steps:

the terminal receives a parking and leaving position instruction selected by a user and sends the parking and leaving position instruction to the vehicle so as to enable the vehicle to park and leave a parking space; wherein the vehicle moving instruction comprises the parking position instruction.

4. The remote vehicle moving control method as claimed in claim 3, wherein the method for the terminal to receive a parking and leaving position instruction selected by a user and send the parking and leaving position instruction to the vehicle so as to enable the vehicle to park and leave a parking space comprises the following steps:

the terminal receives a vehicle parking-out direction selected by a user and sends the vehicle parking-out direction to the vehicle so that the vehicle can be parked out of a parking space from the vehicle parking-out direction; wherein the vehicle parking-out direction comprises at least one of horizontal left, horizontal right, vertical forward, vertical backward, vertical left-front, vertical right-front, vertical left-back and vertical right-back.

5. The remote vehicle moving control method according to claim 1, wherein the terminal receives a vehicle moving instruction selected by a user and sends the vehicle moving instruction to the vehicle so that the vehicle executes the vehicle moving instruction, and the method comprises the following steps:

the terminal receives a parking space instruction selected by a user and sends the parking space instruction to the vehicle so as to enable the vehicle to park in a parking space; wherein the vehicle moving instruction comprises the parking space instruction.

6. The remote vehicle moving control method as claimed in claim 5, wherein before the terminal receives a parking space instruction selected by a user and sends the parking space instruction to the vehicle so that the vehicle can park in a space, the remote vehicle moving control method comprises:

and the terminal receives a target parking space selected by a user and sends the target parking space to the vehicle so that the vehicle can park in the target parking space after receiving the parking space instruction.

7. The remote vehicle moving control method as claimed in claim 5, wherein before the terminal receives a parking space instruction selected by a user and sends the parking space instruction to the vehicle so that the vehicle can park in a space, the remote vehicle moving control method comprises:

the terminal receives an automatic parking space searching instruction selected by a user and sends the automatic parking space searching instruction to the vehicle so that the vehicle can automatically search a parking space;

the terminal receives a target parking space searched by the vehicle and displays the target parking space to a user;

and the terminal receives a confirmation instruction of confirming the target parking space by the user and sends the confirmation instruction to the vehicle, so that the vehicle can park in the target parking space after receiving the confirmation instruction and the parking space instruction.

8. The remote vehicle moving control method as claimed in claim 7, wherein the method for enabling the vehicle to automatically search for the parking space comprises:

the terminal receives a first vehicle running instruction selected by a user, and sends the first vehicle running instruction to the vehicle, so that the vehicle runs according to the first vehicle running instruction, and the vehicle detects a parking space in the running process;

wherein the first vehicle travel command comprises at least one of a target gear command to engage the vehicle in a target gear and a first steering command to steer the vehicle.

9. The remote vehicle moving control method according to claim 6 or 7, wherein the method for causing the vehicle to execute the vehicle moving instruction includes:

and enabling the vehicle to plan a parking path according to the environment information and the target parking space, and enabling the vehicle to park in the target parking space along the planned parking path.

10. The remote vehicle moving control method as claimed in any one of claims 1 to 8, wherein the remote vehicle moving control method comprises, when an emergency is encountered during movement of the vehicle:

the vehicle is flamed out and locked;

and the terminal receives the information that the vehicle is flamed out and locked and sent by the vehicle.

11. The remote vehicle moving control method as claimed in any one of claims 1 to 8, characterized in that the remote vehicle moving control method comprises:

the terminal receives a vehicle moving stopping instruction selected by a user and sends the vehicle moving stopping instruction to the vehicle so as to stop the vehicle;

the terminal receives a second vehicle running instruction selected by a user and sends the second vehicle running instruction to the vehicle so that the vehicle runs according to the second vehicle running instruction;

wherein the second vehicle running instruction includes at least one of a forward instruction to advance the vehicle, a reverse instruction to reverse the vehicle, and a second steering instruction to steer the vehicle.

12. A remote vehicle moving system, which is applied to the control method for remote vehicle moving according to any one of claims 1 to 11, the remote vehicle moving system comprising:

a terminal (10);

the vehicle-mounted terminal (20) is in communication connection with the terminal (10);

the vehicle parking controller (30) is in communication connection with the vehicle-mounted terminal (20), and the vehicle parking controller (30) is used for controlling the vehicle to park;

and the vehicle sensing device is in communication connection with the vehicle parking controller (30) and is used for detecting environmental information around the vehicle.

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