CN109177970A - A kind of method of automatic parking - Google Patents
A kind of method of automatic parking Download PDFInfo
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- CN109177970A CN109177970A CN201811316763.1A CN201811316763A CN109177970A CN 109177970 A CN109177970 A CN 109177970A CN 201811316763 A CN201811316763 A CN 201811316763A CN 109177970 A CN109177970 A CN 109177970A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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Abstract
The present invention relates to a kind of methods of automatic parking, including vertically parking method and side parking stall is parked method, using the central point of parking stall as origin, using parking stall cross central line as x-axis, it is y-axis or using parking stall cross central line as y-axis using parking stall longitudinal centre line, using parking stall longitudinal centre line as x-axis, establish rectangular coordinate system, it is realized by automatic parking auxiliary system, the touch display module that the automatic parking auxiliary system is connected by processor module and respectively with processor module, police instruction module, radar detected module and high-definition camera module composition, processor module includes Data Analysis Services module and control module of parking, parameters used in method of parking are calculated by control module of parking and are generated.Design science of the present invention, planning rationally, can realize automatic parking in a short period of time, save the time of parking, and have very high flexibility, convenience and safety, can meet the needs of practical application well.
Description
Technical field
The invention belongs to Vehicle Engineering technical fields, and in particular to a kind of method of automatic parking.
Background technique
With the development of economy and social progress, automobile application is more more and more universal, becomes people's daily life not
The a part that can or lack.People are higher and higher for flexibility, the requirement of convenience and safety of car steering.It is automatic at present
Parking assisting system also prematurity, step is more in the process of backing up for existing automated parking system, and step cannot upset it is suitable
Sequence, and need object of reference, if the vehicle that side has been stopped without other, automatic parking will fail, flexibility, convenience and
Safety is far from satisfying the needs of practical application.
Summary of the invention
For above-mentioned problems of the prior art, it can avoid above-mentioned skill occur the purpose of the present invention is to provide one kind
The method of the automatic parking of art defect.
In order to achieve the above-mentioned object of the invention, technical solution provided by the invention is as follows:
A kind of method of automatic parking, using the central point of parking stall as origin, using parking stall cross central line as x-axis, with parking stall
Longitudinal centre line be y-axis or using parking stall cross central line as y-axis, using parking stall longitudinal centre line as x-axis, establish rectangular co-ordinate
System.
Further, the method for the automatic parking is realized by automatic parking auxiliary system, automatic parking auxiliary
Touch display module that system is connected by processor module and respectively with processor module, police instruction module, radar are visited
Module and high-definition camera module composition are surveyed, processor module includes Data Analysis Services module and control module of parking.
Further, the method for the automatic parking includes vertically parking method and side parking stall is parked method, the side of parking
Parameters used in method are calculated by control module of parking and are generated.
Further, vertically the method for parking includes: to park control module in the vertical of the selected parking stall of display module dynamic description
To center line W1, cross central line W2, the central point D1 for marking parking stall.
Further, it vertically parks method further include:
It will be denoted as D3 for the point of L with D1 distance on W1, wherein L is longitudinal minimum range that can park, straight line C1 passing point
D3 and parallel with W2, the point that will be S with D3 distance on C1 be denoted as D2, and wherein S is the lateral minimum range that can park；By automobile i.e.
When central point be denoted as D5；The longitudinal centre line of display automobile, cross central line, the central point for marking automobile on the display module
D5；Using D1 as coordinate origin, using straight line where W1 as y-axis, rectangular coordinate system is established using straight line where W2 as x-axis, then each point is sat
Mark is respectively as follows: D1 (0,0), D2 (S, L), D3 (0, L)；D5 coordinate is denoted as (x1, y1)；The folder of automobile longitudinal center line and y-axis
Angle is denoted as θ；Radar detected module and high-definition camera module real time monitoring vehicle location state are simultaneously aobvious in touch by its status information
Show and is shown in module；
As 0≤x1 < S, y1=L and automobile tail direction point D3, it is unsatisfactory for the condition of parking, not can be carried out automatic parking,
Control automobile laterally moves forward and is overlapped to point D5 with point D2, and operating range is | S-x1 |；
As x1 > S, y1=L and automobile tail direction point D3, it is unsatisfactory for the condition of parking, not can be carried out automatic parking, is controlled
Laterally traveling is overlapped with point D2 to point D5 automobile backward, and operating range is | x1-S |；
As x1=0 and y1 > L and automobile tail direction point D1, it is unsatisfactory for the condition of parking, not can be carried out automatic parking, is controlled
Automobile longitudinal processed is travelled backward to point D5 and is overlapped with point D3, and operating range is | L-y1 |.
Further, it vertically parks method further include:
As x1=S, y1=L and when automobile tail is towards point D3, control module of parking is from vertical parking manoeuvres parameter true value
Table finds parking stall longitudinal direction minimum range L required for minimal transverse distance S and parking manoeuvres required for parking manoeuvres, vertical to moor
Vehicle control module executes vertical duction reversing standard operation by processor module, is vertically parked, until running car arrives
Point D5 is overlapped with point D1, completes to park；
As x1=0, y1≤L and when automobile tail is towards point D1, satisfaction is parked condition, control automobile longitudinal retreat to D5 and
Point D1 is overlapped, and completes to park, and operating range is | y1 |.
Further, the side parking stall method of parking includes:
Control module of parking describes the longitudinal centre line W1, cross central line W2, mark of selected parking stall in display module dynamic
The central point D1 of parking stall out；The instant central point of automobile is denoted as D5；The longitudinal centre line of display automobile, cross on the display module
To center line, mark the central point D5 of automobile；.
Further, side parking stall is parked method further include:
The equation of straight line C1 is y=S；Using D1 as coordinate origin, using straight line where W1 as x-axis, using straight line where W2 as y-axis
Rectangular coordinate system is established, then each point coordinate is respectively as follows: D1 (0,0), D2 (L, S)；D5 coordinate is denoted as (x2, y2)；S and L difference
Y-axis required for parking manoeuvres is represented to minimum range and x-axis to minimum range；Point D0 (a, 0) is parking stall longitudinal centre line W1
On anchor point, lateral coordinates a according to the profile of every trolley determine；Line F1 be passing point D0 and with parking stall longitudinal centre line W1
At the auxiliary line of angle theta；Point D3 is the intersection point of straight line F1 Yu straight line C1.
Further, side parking stall is parked method further include: if the y of the central point D1 of the central point D5 and parking stall of automobile
Axial distance is less than S, then the condition of parking is unsatisfactory for, and not can be carried out automatic parking, the position of vehicle is adjusted, so that the central point of automobile
The y-axis of D5 and the central point D1 of parking stall are not less than S to distance；
If the x-axis of the central point D1 of the central point D5 and parking stall of automobile is less than L to distance, the condition of parking is unsatisfactory for,
It not can be carried out automatic parking, adjust the position of vehicle, so that the x-axis of the central point D1 of the central point D5 and parking stall of automobile is not to apart from
Less than L；
If the x-axis of the central point D5 (x2, y2) of automobile and the central point D1 of parking stall are greater than L to distance, park and control mould
Block executes longitudinal straight line car-backing standard operation by processor module, and backing distance is | x2-L |.
Further, side parking stall is parked method further include:
Control module of parking executes standard operation of laterally parking by processor module, is laterally parked, executes completion
Later, if S=S1=y4 and L=L1=x4, control module of parking is the third place state automobile position status indication；
If L is greater than L1, control module is parked by processor module execution straight line car-backing standard operation, in side parking stall
Along vehicle body longitudinal centre line, backing distance is * (L-L1) in vehicle direction, executes straight line car-backing operation, executes after completing, side vehicle
Position park control module automobile position status indication be the third place state；
When automobile is in the third place state, control module of parking executes direction adjustment reversing standard operation, carries out direction
Adjustment；
The third place state are as follows: automobile longitudinal center line is overlapped with straight line F1, between central point D5 and y-axis and D3
Point D4 (x4, y4) is overlapped, and head direction sails out of the direction of parking stall.
The method of automatic parking provided by the invention, design science, rationally, operating procedure is flexible, needs not refer to for planning
Object can be achieved with parking, and can realize automatic parking in a short period of time, save the time of parking, and have very high flexible
Property, convenience and safety, can meet the needs of practical application well.
Detailed description of the invention
Fig. 1 is the schematic diagram of embodiment 1；
Fig. 2 is the schematic diagram of embodiment 2；
Fig. 3 is the schematic diagram of interpolation method.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawing and specific implementation
The present invention will be further described for example.It should be appreciated that described herein, specific examples are only used to explain the present invention, and does not have to
It is of the invention in limiting.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
A kind of method of automatic parking, is realized by automatic parking auxiliary system, the automatic parking auxiliary system by
Reason device module and be connected respectively with processor module touch display module, police instruction module, radar detected module and
High-definition camera module composition, processor module include Data Analysis Services module and control module of parking.Control module of parking control
System carries out automatic parking control operation to parking position, and display module shows the state of parking.
Embodiment 1
When parking stall is vertical parking stall relative to automobile, method of vertically parking is executed, the method is as follows:
Control module of parking describes the longitudinal centre line W1, cross central line W2, mark of selected parking stall in display module dynamic
The central point D1 of parking stall out will be denoted as D3 with D1 distance on W1 for the point of L, and wherein L is longitudinal minimum range that can park, straight line
C1 passing point D3 and parallel with W2, the point that will be S with D3 distance on C1 be denoted as D2, and wherein S is the lateral minimum range that can park；It will
The instant central point of automobile is denoted as D5；On the display module the longitudinal centre line of display automobile, cross central line, mark automobile
Central point D5.As shown in Figure 1, using straight line where W1 as y-axis, establishing right angle using straight line where W2 as x-axis using D1 as coordinate origin
Coordinate system, then each point coordinate is respectively as follows: D1 (0,0), D2 (S, L), D3 (0, L).D5 coordinate is denoted as (x1, y1).Automobile longitudinal
Center line and the angle of y-axis are denoted as θ.
Radar detected module and high-definition camera module real time monitoring vehicle location state are simultaneously aobvious in touch by its status information
Show and is shown in module.
By test test establish vertical parking stall park standard operation vertical parking manoeuvres parameter truth table it is as follows:
If the required precision to calculated result is higher, interpolation method can be used, data are modified, interpolation calculation is public
Formula are as follows: L=L1+[(L2-L1)/(θ2-θ1)]*(θ-θ1), interpolation method schematic diagram is as shown in Figure 3.
As 0≤x1 < S, y1=L and automobile tail direction point D3, it is unsatisfactory for the condition of parking, not can be carried out automatic parking,
Control automobile laterally moves forward and is overlapped to point D5 with point D2, and operating range is | S-x1 |；
As x1 > S, y1=L and automobile tail direction point D3, it is unsatisfactory for the condition of parking, not can be carried out automatic parking, is controlled
Laterally traveling is overlapped with point D2 to point D5 automobile backward, and operating range is | x1-S |；
As x1=0 and y1 > L and automobile tail direction point D1, it is unsatisfactory for the condition of parking, not can be carried out automatic parking, is controlled
Automobile longitudinal processed is travelled backward to point D5 and is overlapped with point D3, and operating range is | L-y1 |；
As x1=S, y1=L and when automobile tail is towards point D3, control module of parking is from vertical parking manoeuvres parameter true value
Table finds parking stall longitudinal direction minimum range L required for minimal transverse distance S and parking manoeuvres required for parking manoeuvres, vertical to moor
Vehicle control module executes vertical duction reversing standard operation by processor module, is vertically parked, is parked used in method
Controlling steering angle parameter, brake control parameter, speed control parameter etc., which are all calculated by control module of parking, to be generated, these parameters
By recorder each execution unit is issued by CAN bus in real time, does not need manually to participate in or operate, until running car to point
D5 is overlapped with point D1, completes to park；
As x1=0, y1≤L and when automobile tail is towards point D1, satisfaction is parked condition, control automobile longitudinal retreat to D5 and
Point D1 is overlapped, and completes to park, and operating range is | y1 |.
Embodiment 2
When parking stall is side parking stall relative to automobile, executes side parking stall and parks method, the method is as follows:
Control module of parking describes the longitudinal centre line W1, cross central line W2, mark of selected parking stall in display module dynamic
The central point D1 of parking stall out；The instant central point of automobile is denoted as D5；The longitudinal centre line of display automobile, cross on the display module
To center line, mark the central point D5 of automobile.The equation of straight line C1 is y=S.As shown in Fig. 2, using D1 as coordinate origin, with W1
Place straight line is x-axis, establishes rectangular coordinate system using straight line where W2 as y-axis, then each point coordinate is respectively as follows: D1 (0,0), D2 (L,
S).D5 coordinate is denoted as (x2, y2).S and L respectively represents y-axis required for parking manoeuvres to minimum range and x-axis to most narrow spacing
From.Point D2 is can parking manoeuvres critical point.The angle of automobile longitudinal center line and W1 are θ.
Point D0 (a, 0) is the anchor point on the longitudinal centre line W1 of parking stall, and lateral coordinates a is according to the profile of every trolley itself
It determines；
Line F1 is passing point D0 and the auxiliary line with parking stall longitudinal centre line W1 at θ angle；Line F1 and automobile longitudinal center
Line is parallel；
Point D3 is the intersection point of straight line F1 Yu straight line C1.
Calculate the distance between D2 and D3；
Automobile position state 1: automobile longitudinal center line is overlapped with straight line C1, and autocentre point D5 is overlapped with point D2, automobile
Tail portion is towards D3；
Automobile position state 2: automobile longitudinal center line is overlapped with straight line C1, and x2 > L, and head is towards D2；
Automobile position state 3: automobile longitudinal center line is overlapped with straight line F1, the point D4 between central point D5 and y-axis and D3
(x4, y4) is overlapped, and head direction sails out of the direction of parking stall；
Automobile position state 4: automobile longitudinal center line is overlapped with straight line W1, and central point D5 is overlapped with D1, and automobile tail exists
At point D0, that is, completion status of parking.
" coincidence " mentioned in the present invention refers to being overlapped in coordinate plane.
By test test establish side parking stall park standard operation side parking stall parking manoeuvres parameter truth table it is as follows:
If the required precision to calculated result is higher, interpolation method can be used, data are modified.
Required for control module of parking finds parking manoeuvres from side parking stall parking manoeuvres parameter truth table according to the value of θ
The explicit value of S and L.
If the y-axis of the central point D1 of the central point D5 and parking stall of automobile is less than S to distance, the condition of parking is unsatisfactory for,
It not can be carried out automatic parking, adjust the position of vehicle, so that the y-axis of the central point D1 of the central point D5 and parking stall of automobile is not to apart from
Less than S；
If the x-axis of the central point D1 of the central point D5 and parking stall of automobile is less than L to distance, the condition of parking is unsatisfactory for,
It not can be carried out automatic parking, adjust the position of vehicle, so that the x-axis of the central point D1 of the central point D5 and parking stall of automobile is not to apart from
Less than L；
Automobile is become another location status from a location status by control module of parking, and control module of parking is needed for
The continuous operation wanted is packaged into the continuous operation command sequence of the standard executed by processor module.
If the x-axis of the central point D5 (x2, y2) of automobile and the central point D1 of parking stall are greater than L to distance, park and control mould
Block executes longitudinal straight line car-backing standard operation by processor module, and backing distance is | x2-L |；
Control module of parking is according to the value of θ, and from side parking stall, parking manoeuvres parameter truth table is found required for parking manoeuvres
Y-axis to x-axis required for minimum range S and parking manoeuvres to minimum range L；
Control module of parking executes standard operation of laterally parking by processor module, is laterally parked, method of parking
Controlling steering angle parameter used, brake control parameter, speed control parameter etc., which are all calculated by control module of parking, to be generated, this
A little parameters issue each execution unit by CAN bus by recorder in real time, do not need manually to participate in or operate, execute completion
Afterwards, if S=S1=y4 and L are equal to L1=x4, control module of parking is location status 3 automobile position status indication；
If L is greater than L1, control module of parking executes straight line car-backing standard operation, astern direction edge by processor module
Vehicle body longitudinal centre line, backing distance areStraight line car-backing operation is executed, is executed after completing, side parking stall
Control module of parking is location status 3 automobile position status indication；
When automobile is in location status 3, control module of parking executes direction adjustment reversing standard operation, carries out direction tune
Whole, controlling steering angle parameter used in method of parking, brake control parameter, speed control parameter etc. are all by control module of parking
It calculates and generates, these parameters issue each execution unit by CAN bus by recorder in real time, do not need manually participation or behaviour
Make,
It executes after completing, if x2=0 and y2=0, control module of parking is position automobile position status indication
State 4, completion of parking.
The method of automatic parking provided by the invention, design science, rationally, operating procedure is flexible, needs not refer to for planning
Object can be achieved with parking, and can realize automatic parking in a short period of time, save the time of parking, and have very high flexible
Property, convenience and safety, can meet the needs of practical application well.
Embodiments of the present invention above described embodiment only expresses, the description thereof is more specific and detailed, but can not
Therefore limitations on the scope of the patent of the present invention are interpreted as.It should be pointed out that for those of ordinary skill in the art,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection model of the invention
It encloses.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of method of automatic parking, which is characterized in that be x with parking stall cross central line using the central point of parking stall as origin
Axis, be using parking stall longitudinal centre line y-axis or using parking stall cross central line as y-axis, using parking stall longitudinal centre line as x-axis, establish
Rectangular coordinate system.
2. automatic parking method according to claim 1, which is characterized in that the method for the automatic parking by mooring automatically
Vehicle auxiliary system realizes, touching which is connected by processor module and respectively with processor module
Display module, police instruction module, radar detected module and high-definition camera module composition are touched, processor module includes data analysis
Processing module and control module of parking.
3. automatic parking method according to claim 1 to 2, which is characterized in that the method for the automatic parking includes vertical
Method of parking and side parking stall are parked method, and parameters used in method of parking are calculated by control module of parking and generated.
4. automatic parking method according to claim 1 to 3, which is characterized in that the vertical method of parking includes: control of parking
Module describes longitudinal centre line W1, the cross central line W2, the central point D1 for marking parking stall of selected parking stall in display module dynamic.
5. automatic parking method described in -4 according to claim 1, which is characterized in that method of vertically parking further include:
The point that will be L with D1 distance on W1 be denoted as D3, and wherein L is that can park longitudinal minimum range, straight line C1 passing point D3 and
It is parallel with W2, it will be denoted as D2 for the point of S with D3 distance on C1, wherein S is the lateral minimum range that can park；By automobile it is instant in
Heart point is denoted as D5；The longitudinal centre line of display automobile, cross central line, the central point D5 for marking automobile on the display module；With
D1 is coordinate origin, using straight line where W1 as y-axis, establishes rectangular coordinate system using straight line where W2 as x-axis, then each point coordinate is distinguished
Are as follows: D1 (0,0), D2 (S, L), D3 (0, L)；D5 coordinate is denoted as (x1, y1)；Automobile longitudinal center line and the angle of y-axis are denoted as
θ；Radar detected module and high-definition camera module monitor vehicle location state in real time and by its status information in touch display module
On show；
As 0≤x1 < S, y1=L and automobile tail direction point D3, it is unsatisfactory for the condition of parking, not can be carried out automatic parking, is controlled
Automobile, which laterally moves forward, to be overlapped to point D5 with point D2, and operating range is | S-x1 |；
As x1 > S, y1=L and automobile tail direction point D3, it is unsatisfactory for the condition of parking, not can be carried out automatic parking, controls automobile
Laterally traveling is overlapped to point D5 with point D2 backward, and operating range is | x1-S |；
As x1=0 and y1 > L and automobile tail direction point D1, it is unsatisfactory for the condition of parking, not can be carried out automatic parking, controls vapour
Vehicle is travelled longitudinally rearward to point D5 and is overlapped with point D3, and operating range is | L-y1 |.
6. the method for automatic parking described in -5 according to claim 1, which is characterized in that method of vertically parking further include:
As x1=S, y1=L and automobile tail direction point D3, control module of parking is looked into from vertical parking manoeuvres parameter truth table
Parking stall longitudinal direction minimum range L required for minimal transverse distance S and parking manoeuvres required for parking manoeuvres out, control of vertically parking
Molding block executes vertical duction reversing standard operation by processor module, is vertically parked, until running car to point D5
It is overlapped with point D1, completes to park；
As x1=0, y1≤L and automobile tail direction point D1, meet condition of parking, control automobile longitudinal is retreated to D5 and point D1
It is overlapped, completes to park, operating range is | y1 |.
7. the method for automatic parking according to claim 1 to 3, which is characterized in that the side parking stall method of parking includes:
The longitudinal centre line W1 of control module of parking parking stall selected by display module dynamic description, cross central line W2, vehicle is marked
The central point D1 of position；The instant central point of automobile is denoted as D5；On the display module the longitudinal centre line of display automobile, in transverse direction
Heart line, the central point D5 for marking automobile；.
8. the method for automatic parking described in -7 according to claim 1, which is characterized in that park method side parking stall further include:
The equation of straight line C1 is y=S；Using D1 as coordinate origin, using straight line where W1 as x-axis, established by y-axis of straight line where W2
Rectangular coordinate system, then each point coordinate is respectively as follows: D1 (0,0), D2 (L, S)；D5 coordinate is denoted as (x2, y2)；S and L are respectively represented
Y-axis required for parking manoeuvres is to minimum range and x-axis to minimum range；Point D0 (a, 0) is on the longitudinal centre line W1 of parking stall
Anchor point, lateral coordinates a are determined according to the profile of every trolley；Line F1 be passing point D0 and with parking stall longitudinal centre line W1 at folder
The auxiliary line of angle θ；Point D3 is the intersection point of straight line F1 Yu straight line C1.
9. the method for automatic parking described in -8 according to claim 1, which is characterized in that park method side parking stall further include:
If the y-axis of the central point D1 of the central point D5 and parking stall of automobile is less than S to distance, the condition of parking is unsatisfactory for, not can be carried out
Automatic parking adjusts the position of vehicle, so that the y-axis of the central point D1 of the central point D5 and parking stall of automobile is not less than S to distance；
If the x-axis of the central point D1 of the central point D5 and parking stall of automobile is less than L to distance, the condition of parking is unsatisfactory for, cannot
Automatic parking is carried out, the position of vehicle is adjusted, so that the x-axis of the central point D1 of the central point D5 and parking stall of automobile is not less than to distance
L；
If the x-axis of the central point D5 (x2, y2) of automobile and the central point D1 of parking stall are greater than L to distance, control module of parking is logical
Cross processor module and execute longitudinal straight line car-backing standard operation, backing distance is | x2-L |.
10. the method for automatic parking described in -9 according to claim 1, which is characterized in that park method side parking stall further include:
Control module of parking executes standard operation of laterally parking by processor module, is laterally parked, and executes after completing,
If S=S1=y4 and L=L1=x4, control module of parking is the third place state automobile position status indication；
If L be greater than L1, side parking stall park control module by processor module execution straight line car-backing standard operation, reversing side
To along vehicle body longitudinal centre line, backing distance isStraight line car-backing operation is executed, is executed after completing, side
Parking stall park control module automobile position status indication be the third place state；
When automobile is in the third place state, control module of parking executes direction adjustment reversing standard operation, carries out direction adjustment；
The third place state are as follows: automobile longitudinal center line is overlapped with straight line F1, the point D4 between central point D5 and y-axis and D3
(x4, y4) is overlapped, and head direction sails out of the direction of parking stall.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110271537A (en) * | 2019-06-04 | 2019-09-24 | 浙江吉利控股集团有限公司 | A kind of automatic parking method, device and equipment |
| CN111754809A (en) * | 2020-06-22 | 2020-10-09 | 重庆长安汽车股份有限公司 | Mobile phone APP remote control parking dynamic display method and system, vehicle and storage medium |
| CN112590772A (en) * | 2020-12-15 | 2021-04-02 | 北京百度网讯科技有限公司 | Vehicle state monitoring method, device, equipment and storage medium |
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