CN109552317A - Automatic parking method, equipment and readable storage medium storing program for executing - Google Patents
Automatic parking method, equipment and readable storage medium storing program for executing Download PDFInfo
- Publication number
- CN109552317A CN109552317A CN201811598738.7A CN201811598738A CN109552317A CN 109552317 A CN109552317 A CN 109552317A CN 201811598738 A CN201811598738 A CN 201811598738A CN 109552317 A CN109552317 A CN 109552317A
- Authority
- CN
- China
- Prior art keywords
- parking
- target
- automatic parking
- information
- automatic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 81
- 230000008569 process Effects 0.000 claims description 33
- 230000004888 barrier function Effects 0.000 claims description 7
- 238000004891 communication Methods 0.000 description 31
- 230000006870 function Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 6
- 238000004590 computer program Methods 0.000 description 4
- 241000736199 Paeonia Species 0.000 description 2
- 235000006484 Paeonia officinalis Nutrition 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/12—Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of automatic parking method, equipment and computer readable storage medium, automatic parking method includes: that the target license plate information of target vehicle is obtained based on the scan instruction when receiving scan instruction；Obtain target parking position information；The instruction of parking of user is received, the target license plate information and the target parking position information are based on, the instruction of parking is sent to the autopilot facility of the target vehicle, so that the autopilot facility carries out automatic parking.Solves the not high technical problem of the convenience of automatic parking in the prior art.
Description
Technical field
The present invention relates to automobile technical field more particularly to a kind of automatic parking method, equipment and computer-readable deposit
Storage media.
Background technique
Over year, with being continuously increased for domestic automobile quantity, congested problem of stopping is big as perplex numerous car owners one
Problem, some new hand's stopping technicals are immature, and often resulting in vehicle can not stop although to stop into parking stall into parking stall or vehicle, but
The accident scraped with other vehicles or a vehicle is caused to occupy two parking stalls.To solve the difficulty, a kind of method is
On the other hand the new parking stall of Accelerating The Construction is then the resource utilization for improving existing parking stall, so if automobile can be certainly
Main identification parking stall simultaneously carries out automatic parking, will can solve current problem.Currently, although many vehicles all release automatic parking
Function, but in the automatic parking scene of automatic driving vehicle, the starting of automatic parking function is needed through interior touch screen, is pressed
Button or car key are just able to achieve, moreover, because driver also needs to carry out part operation in the car during parking, therefore into
When parking of the relatively narrow vertical parking stall of row, the driver for completing to park under automated parking system auxiliary, which is faced with not opening the door, to get off
Situation.Therefore, the convenience for how improving automatic parking becomes a technical problem to be solved urgently.
Summary of the invention
The main purpose of the present invention is to provide a kind of automatic parking method, equipment and computer storage mediums, it is intended to solve
The technical issues of certainly how allowing user that vehicle can be allowed to realize automatic parking function outside vehicle.
To achieve the above object, the present invention provides a kind of automatic parking method, and the automatic parking method includes:
When receiving scan instruction, the target license plate information of target vehicle is obtained based on the scan instruction；
Obtain target parking position information；
The instruction of parking of user is received, the target license plate information and the target parking position information are based on, by the pool
Vehicle instructs the autopilot facility for being sent to the target vehicle, so that the autopilot facility carries out automatic parking.
Optionally, the instruction of parking for receiving user, is sent to the autopilot facility for the instruction of parking, with
Before the step of carrying out automatic parking for the autopilot facility, comprising:
The driving condition for obtaining the target vehicle determines whether the driving condition is unmanned state；
If the driving condition is not unmanned state, user is forbidden to trigger the automatic parking instruction, and automatic
It sends a warning；
If the driving condition is unmanned state, thens follow the steps: receiving the instruction of parking of user, park described
Instruction is sent to the corresponding autopilot facility of the target license plate information, for the autopilot facility automatic parking.
Optionally, the step of acquisition target parking position information, comprising:
The first parking space information stored in the cloud platform of parking lot is obtained, and is stopped using first parking space information as target
Parking space information.
Optionally, the step of acquisition target parking position information, further includes:
The second parking space information set in advance in target vehicle is obtained, and using second parking space information as mesh
Mark parking space information.
Optionally, the step of acquisition target parking position information, further includes:
Obtain the third parking space information of the target vehicle neighbouring position；
Target parking position information is determined in each third parking space information.
Optionally, the instruction of parking for receiving user, is sent to the autopilot facility for the instruction of parking, with
After the step of carrying out automatic parking for the autopilot facility, comprising:
Obtain the automatic parking process picture of the target vehicle；
The automatic parking process picture is analyzed, determine on the travel route in the automated session picture whether
There are barriers；
If there are barriers on the travel route in the automated session picture, sends command for stopping and driven automatically to described
Sail equipment.
Optionally, after the step of automatic parking process picture for obtaining the target vehicle, comprising:
Judge whether there is the second command for stopping for receiving user；
If receiving second command for stopping, second command for stopping is sent to the autopilot facility；
If being not received by second command for stopping, continue to obtain the automatic parking process picture.
Optionally, after the step of target license plate information that target vehicle is obtained based on the scan instruction, comprising:
The license board information that prestores in the target license plate information and mobile terminal is matched；
If the target license plate information is matched with license board information is prestored, the instruction of parking of user is received；
If the target license plate information and the license board information that prestores mismatch, the target vehicle and the movement are eventually
End is without carrying out information binding.
In addition, to achieve the above object, the present invention also provides a kind of automatic parking equipments；
The automatic parking equipment includes: memory, processor and is stored on the memory and can be in the processing
The computer program run on device, in which:
The computer program realizes the step of automatic parking method as described above when being executed by the processor.
In addition, to achieve the above object, the present invention also provides computer storage mediums；
Computer program, the realization when computer program is executed by processor are stored in the computer storage medium
Such as the step of above-mentioned automatic parking method.
The embodiment of the present invention proposes a kind of automatic parking method, equipment and computer readable storage medium, by when connecing
When receiving scan instruction, the target license plate information of target vehicle is obtained based on the scan instruction；Obtain target parking position information；
The instruction of parking of user is received, the target license plate information and the target parking position information are based on, by the instruction hair of parking
It send to the autopilot facility of the target vehicle, so that the autopilot facility carries out automatic parking.In the present solution, logical
The license board information for obtaining vehicle is crossed, and vehicle and mobile terminal are established according to license board information and communicated to connect, realizes mobile terminal
Control the function of vehicle automatic parking, and entirely find parking stall and the process of parking and do not need artificially to participate in, may be implemented it is complete from
It is dynamic to park, in this way, driver can first get off before automatic parking, vehicle is controlled by mobile terminal and carries out automatic parking,
When so as to avoid vehicle vehicle from driving into relatively narrow vertical, diagonal parking stall, driver occur can not open the door the case where getting off hair
It is raw, while improving the safety of automatic parking, user experience sense is also improved, solves automatic pool in the prior art
The not high technical problem of the convenience of vehicle.
Detailed description of the invention
Fig. 1 be the hardware running environment that the embodiment of the present invention is related to terminal apparatus structure schematic diagram；
Fig. 2 is the flow diagram of automatic parking method first embodiment of the present invention；
Fig. 3 is the flow diagram of automatic parking method second embodiment of the present invention；
Fig. 4 is the flow diagram of automatic parking method fourth embodiment of the present invention；
Fig. 5 is the flow diagram of the 5th embodiment of automatic parking method of the present invention.
The object of the invention is realized, the embodiments will be further described with reference to the accompanying drawings for functional characteristics and advantage.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
As shown in Figure 1, Fig. 1 is the terminal structure schematic diagram for the hardware running environment that the embodiment of the present invention is related to.
The terminal of that embodiment of the invention is automatic parking equipment.
As shown in Figure 1, the terminal may include: processor 1001, such as CPU, network interface 1004, user interface
1003, memory 1005, communication bus 1002.Wherein, communication bus 1002 is for realizing the connection communication between these components.
User interface 1003 may include display screen (Display), input unit such as keyboard (Keyboard), optional user interface
1003 can also include standard wireline interface and wireless interface.Network interface 1004 optionally may include that the wired of standard connects
Mouth, wireless interface (such as WI-FI interface).Memory 1005 can be high speed RAM memory, be also possible to stable memory
(non-volatile memory), such as magnetic disk storage.Memory 1005 optionally can also be independently of aforementioned processor
1001 storage device.
Optionally, terminal can also include camera, RF (Radio Frequency, radio frequency) circuit, sensor, audio
Circuit, WiFi module etc..Wherein, sensor such as optical sensor, motion sensor and other sensors.Specifically, light
Sensor may include ambient light sensor and proximity sensor, wherein ambient light sensor can according to the light and shade of ambient light come
The brightness of display screen is adjusted, proximity sensor can close display screen and/or backlight when terminal device is moved in one's ear.Certainly,
Terminal device can also configure the other sensors such as gyroscope, barometer, hygrometer, thermometer, infrared sensor, herein no longer
It repeats.
It will be understood by those skilled in the art that the restriction of the not structure paired terminal of terminal structure shown in Fig. 1, can wrap
It includes than illustrating more or fewer components, perhaps combines certain components or different component layouts.
As shown in Figure 1, as may include that operating system, network are logical in a kind of memory 1005 of computer storage medium
Believe module, Subscriber Interface Module SIM and automatic parking program.
In terminal shown in Fig. 1, network interface 1004 is mainly used for connecting background server, carries out with background server
Data communication；User interface 1003 is mainly used for connecting client (user terminal), carries out data communication with client；And processor
1001 can be used for calling the automatic parking program stored in memory 1005, and execute following operation:
When receiving scan instruction, the target license plate information of target vehicle is obtained based on the scan instruction；
Obtain target parking position information；
The instruction of parking of user is received, the target license plate information and the target parking position information are based on, by the pool
Vehicle instructs the autopilot facility for being sent to the target vehicle, so that the autopilot facility carries out automatic parking.
The present invention provides a kind of automatic parking method, automatic to moor referring to Fig. 2 in automatic parking method first embodiment
Vehicle method the following steps are included:
Step S10 obtains the target license plate letter of target vehicle based on the scan instruction when receiving scan instruction
Breath；
Target license plate information may include the license plate number of target vehicle；When that target vehicle is parked in parking stall is attached by user
After close, user needs to first pass through the target license plate information of this target vehicle of acquisition for mobile terminal before carrying out automatic parking, and
The mode for obtaining target license plate information can be in mobile terminal, receive the scan instruction of user, and based on this scan instruction come
Control mobile terminal is scanned the license plate of target vehicle, can also be with to get the target license plate information of target vehicle
It is that user when the APP of automatic parking, directly opens scanning function and sweep to the license plate of target vehicle in opening mobile terminal
It retouches, to get the target license plate information of target vehicle, judges the vehicle in target vehicle further according to this target license plate information
Whether the license plate number of autopilot facility and target vehicle is bound in advance with mobile terminal, when checking in the terminal
To the license plate number and after mobile terminal binding of Vehicular automatic driving equipment and target vehicle in mark vehicle, it is also necessary to judge
In current time, whether target vehicle with mobile terminal has been established communication connection, can normal communication, if in current time,
If it find that communication connection has been established in target vehicle and mobile terminal, then subsequent automatic parking operation can be executed, if hair
Existing target vehicle and mobile terminal do not establish communication connection, then need that target vehicle and mobile terminal are first established communication link
It connects, so as to normal communication, guarantees the automatic parking operation in later period, wherein the mode for establishing communication connection, which can be, passes through bluetooth
Vehicular automatic driving equipment in mobile terminal and target vehicle is established and is communicated to connect by function, is also possible to through WiFi heat
Point function, the Vehicular automatic driving equipment in mobile terminal and target vehicle is established and is communicated to connect, can also be and pass through movement
Vehicular automatic driving equipment in mobile terminal and target vehicle is established and is communicated to connect by network function.
Step S20 obtains target parking position information；
When discovery is in current slot, target vehicle and mobile terminal have built up communication connection, i.e. target vehicle can be with
After mobile terminal normal communication, it is also necessary to obtain the target parking position information for determining target parking position, then this target is stopped
Position information is transmitted in the Vehicular automatic driving equipment in target vehicle.Wherein, the method for determination of target parking position can be use
Family selects shown optional parking stall in lower Chinese herbaceous peony on the display screen of car-mounted terminal value navigation system, and shows on display screen
The optional parking stall shown is usually, rectangle vertical or parallel with vehicle parking direction near the vehicle location of car-mounted terminal acquisition
Standard parking stall, user need selected in these optional parking stalls, select target parking position, and when user gets off
Afterwards, after using mobile scanning terminal target license plate, and with after target vehicle foundation communication connection, user can automatically be obtained in mesh
The target parking position information selected in mark vehicle.The method of determination of target parking position is also possible to user after getting off, using shifting
After dynamic terminal scanning target license plate, each parking space information near target vehicle is directly automatically obtained, and by each parking
Position information shows that on the display interface of the mobile terminal user selects an optional parking stall letter in each parking space information
Breath, i.e. target parking position information, then this target parking position information is transmitted in the car-mounted terminal in target vehicle.Target parking
The method of determination of position can also be user after getting off, and using after mobile scanning terminal target license plate, and by this target license plate
Information is transmitted in the cloud platform of parking lot, parking lot cloud platform according to the location information of this target license plate acquisition of information target vehicle, and
Change information is occupied according to the geography information on each parking stall in the parking lot stored in the cloud platform of parking lot and/or real-time parking stall, is pressed
Preset target parking position selection rule automatically determines target parking position, and this target parking position information is sent to movement eventually
In the autopilot facility of end and target vehicle.
Step S30 receives the instruction of parking of user, and is based on the target license plate information and the target parking position information,
The instruction of parking is sent to the autopilot facility of the target vehicle, so that the autopilot facility is moored automatically
Vehicle；
When discovery is in current slot, target vehicle and mobile terminal have built up communication connection, i.e. target vehicle can be with
With mobile terminal normal communication, then needing the driving condition for judging current goal vehicle is in unmanned state or someone
Driving condition then can the current mesh of automatically prompting user in the terminal when finding that target vehicle is in manned state
The driving condition of mark vehicle be in manned state, can not normal use automatic parking function, and what mobile terminal was reminded
Mode can be by way of voice broadcast and remind user, be also possible to by way of text importing to remind user,
It can also be i.e. with voice broadcast, also remind user with the mode of text importing；When discovery target vehicle is in unmanned
When state, automatic spring automatic parking interface in the terminal, after user clicks " automatic parking " in the terminal, i.e.,
After mobile terminal receives the automatic parking instruction that user issues, mobile terminal can instruct automatic parking and target parking position information
It is transmitted to the corresponding autopilot facility of target license plate information, i.e. the vehicle mounted communication terminal of target vehicle, the vehicle in target vehicle
Park instruction and the target parking position information that autopilot facility can be received according to vehicle mounted communication terminal start automatic pool
Vehicle.
In the present embodiment, by obtaining the mesh of target vehicle based on the scan instruction when receiving scan instruction
Mark license board information；Obtain target parking position information；The instruction of parking of user is received, the target license plate information and the mesh are based on
Parking space information is marked, the instruction of parking is sent to the autopilot facility of the target vehicle, for the automatic Pilot
Equipment carries out automatic parking.In the present solution, license board information by obtaining vehicle, and according to license board information by vehicle and movement
Terminal establishes communication connection, realizes the function of mobile terminal control vehicle automatic parking, and entirely finds parking stall and parked
Journey does not need artificially to participate in, and may be implemented automatically to park, in this way, driver can first get off before automatic parking, pass through
Mobile terminal controls vehicle and carries out automatic parking, when so as to avoid target vehicle from driving into relatively narrow vertical, diagonal parking stall, out
Existing driver can not open the door the case where getting off, and while improving the safety of automatic parking, also improve user's use
Experience sense solves the not high technical problem of the convenience of automatic parking.
Further, on the basis of first embodiment of the invention, automatic parking method of the present invention is further provided
Before the step of second embodiment, the present embodiment is the step S30 of first embodiment of the invention, referring to Fig. 3, the automatic parking
Method includes:
Step S31 obtains the driving condition of the target vehicle, determines whether the driving condition is unmanned shape
State；
Step S32 forbids user to trigger the automatic parking and refers to if the driving condition is not unmanned state
It enables, and sends a warning automatically；
Step S33 is thened follow the steps if the driving condition is unmanned state: being received the instruction of parking of user, will
The instruction of parking is sent to the corresponding autopilot facility of the target license plate information, so that the autopilot facility is automatic
It parks.
When by judgement discovery, in current time, communication connection is had been established in target vehicle and mobile terminal, then mobile terminal
It can normally be communicated with target vehicle, i.e., mobile terminal and target vehicle can satisfy the condition that data are transmitted, and move
In dynamic terminal, the driving condition of target vehicle is obtained, and determine whether the driving condition of target vehicle meets in the terminal
The requirement of automatic parking, i.e., judge whether the current driving condition of target vehicle is in unmanned state in the terminal,
If being in the terminal in unmanned state, in movement by the current driving condition of judgement discovery target vehicle
Automatic parking interface is obtained in terminal, and on the display interface of the mobile terminal by automatic parking interface display, when the user clicks
After " automatic parking " key, i.e., after the automatic parking that mobile terminal receives user's sending instructs, this automatic parking can be instructed
It is sent to target vehicle, will be parked that is, after receiving the instruction of parking of user so that target vehicle executes automatic parking function
Instruction is sent to autopilot facility corresponding with target vehicle, for autopilot facility automatic parking, still, if moving
It is not in unmanned state by the current driving condition of judgement discovery target vehicle in dynamic terminal, then mobile terminal will not
The automatic parking instruction that user issues is received, and can send a warning automatically and remind user in current time, target vehicle
Driving condition be not in unmanned state, be unsatisfactory for the condition of automatic parking, wherein mobile terminal remind mode can
By be by voice broadcast in a manner of remind user, be also possible to by way of text importing to remind user, can be with
It is also to remind user with the mode of text importing with voice broadcast.
In the present embodiment, determine that target vehicle whether can by judging whether target vehicle is in unmanned state
The control instruction for receiving mobile terminal realizes that automatic parking improves user to improve the safety of vehicle automatic parking
Usage experience sense.
Further, on the basis of the first to the second any one embodiment of the invention, the present invention is further provided
The 3rd embodiment of automatic parking method, the present embodiment are the refinements of the step S20 of first embodiment of the invention, comprising:
Step S21 obtains the first parking space information stored in the cloud platform of parking lot, and first parking space information is made
For target parking position information.
In the terminal, after the target license plate information of target vehicle is arrived in scanning, when by acquisition for mobile terminal to mesh
After the target license plate information for marking vehicle, this target license plate information can be sent in the cloud platform of parking lot, parking lot cloud platform is extracted
The geography information on each parking stall in the parking lot of storage and/or real-time parking stall occupy change information, and sieve from each parking stall
The free parking space that can be stopped is selected, and selects the first parking stall from these free parking spaces, then this first is stopped
The parking space information of position is sent in mobile terminal, and in the terminal using this first parking stall as target parking position.Its
In, the mode that the first parking stall is selected in cloud platform can be selects rule automatic true by preset target parking position
A fixed parking stall, and using this parking stall as the first parking stall.
In the present embodiment, the first parking space information recommended by obtaining parking lot cloud platform, and by this first parking stall
Information, to improve the efficiency for obtaining target parking position, has ensured the usage experience sense of user as target parking position information.
Specifically, the step of obtaining target parking position information further include:
Step S22 obtains the second parking space information set in advance in target vehicle, and second parking stall is believed
Breath is used as target parking position information.
After through the target license plate information of acquisition for mobile terminal to target vehicle, and mobile terminal and target vehicle are
It after establishing communication connection, needs to obtain the second parking space information set in advance in target vehicle, and this second is stopped
Position is used as target parking position, so that target vehicle carries out automatic stopping.Wherein, the primary set in advance in target vehicle is obtained
Parking space information needs user in lower Chinese herbaceous peony, shown optional parking is selected on the display screen of vehicle terminal navigation system
Position, and when user selects parking stall in these optional parking stalls, then using this parking stall as primary parking stall, and institute
The optional parking stall of display is usually that the vehicle location of car-mounted terminal acquisition is vertical or parallel with vehicle parking direction nearby, oblique
The standard parking stall of side.
In the present embodiment, parking stall is arranged in advance in target vehicle by user, and using this parking stall as target
Parking stall, to improve the self-stopping efficiency of target vehicle, and also avoid target vehicle drive into it is relatively narrow vertical, oblique
When parking stall, driver occur can not open the door the case where getting off.
Specifically, the step of obtaining target parking position information further include:
Step S23 obtains the third parking space information of the target vehicle neighbouring position；
Step S24 determines target parking position information in each third parking space information.
After through the target license plate information of acquisition for mobile terminal to target vehicle, and mobile terminal and target vehicle are
After establishing communication connection, each third parking space information near target vehicle can be obtained automatically, then again from these thirds
Select a parking space information as target parking position information in parking space information.Wherein, from these third parking space informations
A parking space information is selected to can be as the mode of target parking position information, each third parking space information that will acquire
Display on the display interface of the mobile terminal, is selected a parking space information to stop as target by user from display interface
Position can also be that setting target parking position selects rule in the terminal in advance, when acquisition for mobile terminal stops to each third
After parking space information, filtered out from these third parking space informations for target vehicle parking free parking space, and from these
Rule is selected according to target parking position in free parking space, selects a parking stall as target parking position, then obtain this target
The target parking position information on parking stall, and this target parking position information is shown on the display interface of the mobile terminal.
In the present embodiment, the target parking position for needing to park by selection target vehicle in the terminal, thus
While improving the usage experience sense of user, the safety of target vehicle automatic parking is also improved.
Further, on the basis of the present invention first is to any one embodiment of third, the present invention is further provided
The fourth embodiment of automatic parking method, it is described referring to Fig. 4 after the present embodiment is the step S30 of first embodiment of the invention
Automatic parking method includes:
Step S40 obtains the automatic parking process picture of the target vehicle；
When target vehicle starts to carry out automatic parking, the process that will can automatically park and situation are transmitted to mobile terminal,
I.e. in the terminal, the automatic parking process of meeting real-time reception target vehicle, and this automatic parking process real-time display is existed
The display interface of mobile terminal, so that user watches the automatic parking situation of target vehicle in real time, also, if in mobile terminal
The parking stall of middle discovery target vehicle automatic parking is not the target parking position that user needs, and can also be selected in the terminal
Stop automatic parking instruction, and plotted line road again, at the same time, target vehicle can also stop automatic parking, and according to target
The operation of the new instruction execution next step of the mobile terminal that vehicle mounted communication terminal in vehicle receives.
Step S50 analyzes the automatic parking process picture, determines the traveling road in the automated session picture
Whether there are obstacles on line；
After the automatic parking process that acquisition for mobile terminal to target vehicle passes over, mobile terminal can be according to target carriage
The automatic parking process picture passed over is analyzed, determine on the travel route in this automatic parking process picture whether
There are barriers, that is, determine in front of the traveling of target vehicle automatic parking with the presence or absence of the obstacle for influencing target vehicle automatic parking
Object, to judge whether the automatic parking process of termination target vehicle.
Step S60 sends the first command for stopping if there are barriers on travel route in the automated session picture
To the autopilot facility.
When by judging that there are barriers on the travel route in discovery automated session picture, i.e., need when by judgement discovery
The automatic parking process of target vehicle is terminated, then the first command for stopping information for terminating automatic parking process can be transmitted to mesh
The vehicle mounted communication terminal of vehicle is marked, and the Vehicular automatic driving equipment in target vehicle can be received according to vehicle mounted communication terminal
First command for stopping information stops automatic parking, still, when the automatic parking for finding no need for terminating target vehicle by judgement
Process can then continue the automatic parking process for obtaining target vehicle, and it will be shown on the display interface of mobile terminal, directly
It is finished to target vehicle automatic stopping.
In the present embodiment, by being automatically analyzed to the automatic parking process picture got, to determine whether to need
Parking is terminated, while increasing its intelligent effect, guarantee is provided for the traffic safety of user, improves the safety of user
Sense.
Specifically, after the step of obtaining the automatic parking process picture of the target vehicle, comprising:
Step S70 judges whether there is the second command for stopping for receiving user；
Second command for stopping is sent to and described drives automatically if receiving second command for stopping by step S80
Sail equipment；
Step S90 continues to obtain the automatic parking process picture if being not received by second command for stopping.
After in the terminal, getting the automatic parking process picture of target vehicle, it is also necessary to judge mobile whole
In end, if having the second command for stopping for receiving user's sending, i.e., when user goes out needs according to the hobby demand estimation of itself
When terminating current automatic parking process, then the second command for stopping information can be issued on mobile terminal display interface, works as movement
After terminal receives the second command for stopping of user's sending, understand the vehicle that automatically the second command for stopping is transmitted in target vehicle
Second command for stopping is transmitted to the autopilot facility in target vehicle again by carrier communication terminal, vehicle mounted communication terminal, to be provided from
Dynamic steer terminates the automatic parking process of target vehicle；But when being not received by command for stopping in the terminal,
The automatic parking process picture that then will continue to obtain target vehicle, until automatic parking is completed.
In the present embodiment, by judging whether to receive the command for stopping information of user, to determine whether to terminate target
The automatic parking process of vehicle, to improve the usage experience sense of user for providing convenience property of user's parking.
Further, on the basis of first to fourth any one embodiment of the invention, the present invention is further provided
5th embodiment of automatic parking method, it is described referring to Fig. 5 after the present embodiment is the step S10 of first embodiment of the invention
Automatic parking method includes:
Step S11 obtains the target license plate information of target vehicle, and will be in the target license plate information and mobile terminal
License board information is prestored to be matched；
Step S12 obtains the parking stall of target parking position if the target license plate information is matched with license board information is prestored
Information；
Step S13, if the target license plate information and it is described prestore license board information mismatch, by the target vehicle and
The mobile terminal carries out information binding.
In the terminal, the target license plate information that needs first to obtain target vehicle target license plate information, and will acquire
The each license board information prestored is arranged in advance with user in mobile terminal successively to match, what judgement prestored in the terminal
With the presence or absence of the license board information with target license plate information matches in license board information, found in prestoring license board information when by judgement
In the presence of the license board information with target license plate information matches, then show that the target vehicle and mobile terminal have carried out information binding, it can
To obtain each parking space information on each parking stall near target vehicle, and therefrom obtain the parking stall letter of target parking position
Breath；When the license board information with target license plate information matches is not present in prestoring license board information by judgement discovery, then show this
Target vehicle and mobile terminal no progress information binding before current time, wherein obtain the target license plate of target vehicle
The mode of information can be the license plate figure by mobile scanning terminal target vehicle, after clearly license plate number is arrived in scanning,
The target license plate information that target vehicle can automatically be got is also possible to user and prestores in mobile terminal in advance and need to use
The license plate number arrived, and at current time, target license plate number corresponding with target vehicle is chosen, in the terminal to obtain
The target license plate information for taking target vehicle can also be that user says license plate number, mobile terminal by phonetic incepting function come
Target license plate number is obtained, to obtain the target license plate information of target vehicle.
In the present embodiment, it by the target license plate information that will acquire and prestores license board information and is matched, determination is
Whether no target vehicle with mobile terminal has carried out information binding before current time, so that it is determined that after whether user can be carried out
Continuous automatic parking operation, further increases the experience sense of user.
Specifically, if the target license plate information and the license board information that prestores mismatch, the target vehicle and institute
After stating the step of mobile terminal does not carry out information binding, further includes:
Step A14 receives the binding instruction that user issues；
Step A15 is instructed based on the binding, is bound to the mobile terminal and the target vehicle.
In the terminal, the binding instruction that user issues is received, and is instructed according to this binding by mobile terminal and target
Vehicle carries out information binding, i.e., the target license plate information of target vehicle, Vehicular automatic driving equipment and mobile terminal is carried out letter
Breath binding, so that user carries out automatic parking operation outside vehicle.
In the present embodiment, target vehicle and mobile terminal are subjected to information binding by obtaining the binding instruction of user,
It provides the foundation for the subsequent automatic parking operation of user, and is the providing convenience property of vehicle parking of user, to improve
The experience sense of user.
The present invention also provides a kind of mobile terminal, the terminal includes: memory, processor, communication bus and storage
Automatic parking program on the memory:
The communication bus is for realizing the connection communication between processor and memory；
The processor is for executing the automatic parking program, to realize the step of above-mentioned each embodiment of automatic parking method
Suddenly.
The present invention also provides a kind of computer readable storage medium, the computer-readable recording medium storage has one
Perhaps more than one program the one or more programs can also be executed by one or more than one processor with
The step of embodiment each for realizing above-mentioned automatic parking.
Computer readable storage medium specific embodiment of the present invention and the basic phase of above-mentioned each embodiment of automatic parking method
Together, details are not described herein.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the system that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or system institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or system.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that terminal device (it can be mobile phone,
Computer, server, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of automatic parking method, which is characterized in that the automatic parking method the following steps are included:
When receiving scan instruction, the target license plate information of target vehicle is obtained based on the scan instruction；
Obtain target parking position information；
The instruction of parking of user is received, the target license plate information and the target parking position information are based on, by the finger of parking
The autopilot facility for being sent to the target vehicle is enabled, so that the autopilot facility carries out automatic parking.
2. automatic parking method as described in claim 1, which is characterized in that the instruction of parking for receiving user, it will be described
Before the step of instruction of parking is sent to the autopilot facility, carries out automatic parking for the autopilot facility, packet
It includes:
The driving condition for obtaining the target vehicle determines whether the driving condition is unmanned state；
If the driving condition is not unmanned state, user is forbidden to trigger the automatic parking instruction, and issue automatically
Warning information；
If the driving condition is unmanned state, thens follow the steps: receiving the instruction of parking of user, by the instruction of parking
It is sent to the corresponding autopilot facility of the target license plate information, for the autopilot facility automatic parking.
3. automatic parking method as described in claim 1, which is characterized in that the step of the acquisition target parking position information,
Include:
The first parking space information stored in the cloud platform of parking lot is obtained, and using first parking space information as target parking position
Information.
4. automatic parking method as described in claim 1, which is characterized in that the step of the acquisition target parking position information,
Further include:
The second parking space information set in advance in target vehicle is obtained, and is stopped using second parking space information as target
Parking space information.
5. automatic parking method as described in claim 1, which is characterized in that the step of the acquisition target parking position information,
Further include:
Obtain the third parking space information of the target vehicle neighbouring position；
Target parking position information is determined in each third parking space information.
6. automatic parking method as described in claim 1, which is characterized in that the instruction of parking for receiving user, it will be described
After the step of instruction of parking is sent to the autopilot facility, carries out automatic parking for the autopilot facility, packet
It includes:
Obtain the automatic parking process picture of the target vehicle；
The automatic parking process picture is analyzed, determining whether there is on the travel route in the automated session picture
Barrier；
If there are barriers on the travel route in the automated session picture, sends the first command for stopping and driven automatically to described
Sail equipment.
7. automatic parking method as claimed in claim 6, which is characterized in that the automatic parking for obtaining the target vehicle
After the step of process picture, comprising:
Judge whether there is the second command for stopping for receiving user；
If receiving second command for stopping, second command for stopping is sent to the autopilot facility；
If being not received by second command for stopping, continue to obtain the automatic parking process picture.
8. automatic parking method as described in claim 1, which is characterized in that described to obtain target carriage based on the scan instruction
Target license plate information the step of after, comprising:
The license board information that prestores in the target license plate information and mobile terminal is matched；
If the target license plate information is matched with license board information is prestored, the parking space information of target parking position is obtained；
If the target license plate information and the license board information that prestores mismatch, by the target vehicle and the mobile terminal
Carry out information binding.
9. a kind of automatic parking equipment, which is characterized in that the automatic parking equipment includes: memory, processor and is stored in
On the memory and the automatic parking program that can run on the processor, the automatic parking program is by the processor
It realizes when execution such as the step of automatic parking method described in any item of the claim 1 to 8.
10. a kind of computer readable storage medium, which is characterized in that be stored with automatic pool on the computer readable storage medium
Range of driving sequence realizes such as automatic parking described in any item of the claim 1 to 8 when the automatic parking program is executed by processor
The step of method.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110464297.7A CN113212420B (en) | 2018-12-25 | 2018-12-25 | Automatic parking method, device and readable storage medium |
| CN202110669977.2A CN113246969B (en) | 2018-12-25 | 2018-12-25 | Automatic parking method, device and readable storage medium |
| CN202110683237.4A CN113246970B (en) | 2018-12-25 | 2018-12-25 | Automatic parking method, device and readable storage medium |
| CN201811598738.7A CN109552317B (en) | 2018-12-25 | 2018-12-25 | Automatic parking method, device and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811598738.7A CN109552317B (en) | 2018-12-25 | 2018-12-25 | Automatic parking method, device and readable storage medium |
Related Child Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110683237.4A Division CN113246970B (en) | 2018-12-25 | 2018-12-25 | Automatic parking method, device and readable storage medium |
| CN202110464297.7A Division CN113212420B (en) | 2018-12-25 | 2018-12-25 | Automatic parking method, device and readable storage medium |
| CN202110669977.2A Division CN113246969B (en) | 2018-12-25 | 2018-12-25 | Automatic parking method, device and readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109552317A true CN109552317A (en) | 2019-04-02 |
| CN109552317B CN109552317B (en) | 2021-08-03 |
Family
ID=65871470
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110464297.7A Active CN113212420B (en) | 2018-12-25 | 2018-12-25 | Automatic parking method, device and readable storage medium |
| CN202110669977.2A Active CN113246969B (en) | 2018-12-25 | 2018-12-25 | Automatic parking method, device and readable storage medium |
| CN201811598738.7A Active CN109552317B (en) | 2018-12-25 | 2018-12-25 | Automatic parking method, device and readable storage medium |
| CN202110683237.4A Active CN113246970B (en) | 2018-12-25 | 2018-12-25 | Automatic parking method, device and readable storage medium |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110464297.7A Active CN113212420B (en) | 2018-12-25 | 2018-12-25 | Automatic parking method, device and readable storage medium |
| CN202110669977.2A Active CN113246969B (en) | 2018-12-25 | 2018-12-25 | Automatic parking method, device and readable storage medium |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110683237.4A Active CN113246970B (en) | 2018-12-25 | 2018-12-25 | Automatic parking method, device and readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (4) | CN113212420B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110466508A (en) * | 2019-08-16 | 2019-11-19 | 广州小鹏汽车科技有限公司 | It parks control method, device, storage medium and controlling terminal |
| CN110509917A (en) * | 2019-08-21 | 2019-11-29 | 中国第一汽车股份有限公司 | A kind of automatic parking method and system |
| CN112162547A (en) * | 2020-06-24 | 2021-01-01 | 上汽通用五菱汽车股份有限公司 | Vehicle automatic parking method, system and readable storage medium |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114137959B (en) * | 2021-10-29 | 2024-07-05 | 文远苏行(江苏)科技有限公司 | Method and device for searching user of parking place, movable carrier and storage medium |
| CN115862330A (en) * | 2022-11-29 | 2023-03-28 | 中国第一汽车股份有限公司 | Vehicle control method and device, vehicle and computer readable storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106585626A (en) * | 2015-10-19 | 2017-04-26 | 北京汽车股份有限公司 | Automatic parking system and method |
| CN106965757A (en) * | 2016-01-13 | 2017-07-21 | 郝明学 | The method for moving car method, system and increase parking stall quantity based on mobile terminal |
| CN107776570A (en) * | 2017-09-19 | 2018-03-09 | 广州汽车集团股份有限公司 | Full-automatic park method and full-automatic parking system |
| CN107835308A (en) * | 2017-10-31 | 2018-03-23 | 郑州云海信息技术有限公司 | A kind of system and method that car door is opened using mobile terminal |
| CN108010373A (en) * | 2017-09-15 | 2018-05-08 | 路特迩科技(杭州)有限公司 | Berth service and management system and method based on berth status information |
| CN108121345A (en) * | 2017-12-20 | 2018-06-05 | 东风汽车集团有限公司 | A kind of parking stall addressing system and method suitable for parking lot |
| CN108595071A (en) * | 2018-04-11 | 2018-09-28 | 西藏帝亚维新能源汽车有限公司 | Configuration method of automobile display terminal interface |
| CN108694853A (en) * | 2018-05-31 | 2018-10-23 | 京东方科技集团股份有限公司 | A kind of method that realizing the service of parking, terminal, server-side and system |
| CN108885825A (en) * | 2016-04-01 | 2018-11-23 | 三菱电机株式会社 | Automated parking system, automatic parking control device and automatic parking control method |
Family Cites Families (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AR001784A1 (en) * | 1996-01-02 | 1997-12-10 | Tecno Accion S A | System and method of control and collection of measured parking |
| CA2444315A1 (en) * | 2003-06-18 | 2004-12-18 | Eximsoft International, Llc | Parking system with centralized reservation, payment and enforcement |
| US20060259354A1 (en) * | 2005-05-13 | 2006-11-16 | Chen Yan | Billing management system of parking facility |
| US7768426B2 (en) * | 2007-05-21 | 2010-08-03 | Innovapark, Llc | Parking system employing rem techniques |
| DE102010033215A1 (en) * | 2010-08-03 | 2012-02-09 | Valeo Schalter Und Sensoren Gmbh | Method for supporting parking in a parking garage, parking system for a vehicle and occupancy status recognition system for a parking garage |
| CN102411849B (en) * | 2011-11-11 | 2014-03-26 | 武汉安通科技产业发展有限公司 | Multimode identification-based intelligent parking management system and method |
| DE102012008858A1 (en) * | 2012-04-28 | 2012-11-08 | Daimler Ag | Method for performing autonomous parking process of motor vehicle e.g. passenger car, involves storing target position and/or last driven trajectory of vehicle in suitable device prior to start of autonomous vehicle parking operation |
| CN102982695A (en) * | 2012-11-28 | 2013-03-20 | 无锡港湾网络科技有限公司 | Intelligent parking lot management system based on internet of things |
| AT517552A1 (en) * | 2015-08-11 | 2017-02-15 | T&M Consulting Gmbh | traffic Management System |
| EP3188149A1 (en) * | 2015-12-30 | 2017-07-05 | Skidata Ag | Method of identifying vehicles for operating a parking garage or a parking lot |
| CN105810007B (en) * | 2016-03-29 | 2020-07-03 | 北京小米移动软件有限公司 | Balance car parking method and device |
| CN105869098B (en) * | 2016-04-06 | 2020-02-07 | 北京小米移动软件有限公司 | Vehicle control method and device |
| CN105863351B (en) * | 2016-05-26 | 2017-06-13 | 山东建筑大学 | A kind of autonomous parking system and method based on intelligent automobile carrying implement |
| CN107672601A (en) * | 2017-09-29 | 2018-02-09 | 重庆长安汽车股份有限公司 | The automatic parking triggering system and method for Voice command |
| CN108154703A (en) * | 2017-12-22 | 2018-06-12 | 西安艾润物联网技术服务有限责任公司 | Automatic parking method, device and the computer readable storage medium of vehicle |
| CN114387737A (en) * | 2018-05-09 | 2022-04-22 | 西安艾润物联网技术服务有限责任公司 | Vehicle access method, mechanical garage management system and storage medium |
| CN109067925B (en) * | 2018-10-09 | 2021-07-23 | 北京智行者科技有限公司 | Remote control parking method and system |
-
2018
- 2018-12-25 CN CN202110464297.7A patent/CN113212420B/en active Active
- 2018-12-25 CN CN202110669977.2A patent/CN113246969B/en active Active
- 2018-12-25 CN CN201811598738.7A patent/CN109552317B/en active Active
- 2018-12-25 CN CN202110683237.4A patent/CN113246970B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106585626A (en) * | 2015-10-19 | 2017-04-26 | 北京汽车股份有限公司 | Automatic parking system and method |
| CN106965757A (en) * | 2016-01-13 | 2017-07-21 | 郝明学 | The method for moving car method, system and increase parking stall quantity based on mobile terminal |
| CN108885825A (en) * | 2016-04-01 | 2018-11-23 | 三菱电机株式会社 | Automated parking system, automatic parking control device and automatic parking control method |
| CN108010373A (en) * | 2017-09-15 | 2018-05-08 | 路特迩科技(杭州)有限公司 | Berth service and management system and method based on berth status information |
| CN107776570A (en) * | 2017-09-19 | 2018-03-09 | 广州汽车集团股份有限公司 | Full-automatic park method and full-automatic parking system |
| CN107835308A (en) * | 2017-10-31 | 2018-03-23 | 郑州云海信息技术有限公司 | A kind of system and method that car door is opened using mobile terminal |
| CN108121345A (en) * | 2017-12-20 | 2018-06-05 | 东风汽车集团有限公司 | A kind of parking stall addressing system and method suitable for parking lot |
| CN108595071A (en) * | 2018-04-11 | 2018-09-28 | 西藏帝亚维新能源汽车有限公司 | Configuration method of automobile display terminal interface |
| CN108694853A (en) * | 2018-05-31 | 2018-10-23 | 京东方科技集团股份有限公司 | A kind of method that realizing the service of parking, terminal, server-side and system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110466508A (en) * | 2019-08-16 | 2019-11-19 | 广州小鹏汽车科技有限公司 | It parks control method, device, storage medium and controlling terminal |
| CN110509917A (en) * | 2019-08-21 | 2019-11-29 | 中国第一汽车股份有限公司 | A kind of automatic parking method and system |
| CN112162547A (en) * | 2020-06-24 | 2021-01-01 | 上汽通用五菱汽车股份有限公司 | Vehicle automatic parking method, system and readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113246970A (en) | 2021-08-13 |
| CN113246969A (en) | 2021-08-13 |
| CN113246969B (en) | 2022-05-31 |
| CN113246970B (en) | 2022-05-31 |
| CN113212420A (en) | 2021-08-06 |
| CN113212420B (en) | 2022-05-31 |
| CN109552317B (en) | 2021-08-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109552317A (en) | Automatic parking method, equipment and readable storage medium storing program for executing | |
| CN109558957B (en) | Selecting a vehicle loading position | |
| CN110709909B (en) | Parking control method and parking control device | |
| CN106817409B (en) | Communication connection control method, system, server and vehicle-mounted terminal | |
| US9607449B1 (en) | Control of wireless communication channels for a vehicle telematics unit | |
| EP3885203A1 (en) | Human-vehicle interaction method and system during vehicle unlocking, and vehicle | |
| US8768569B2 (en) | Information providing method for mobile terminal and apparatus thereof | |
| US20170024201A1 (en) | Methods and apparatus for wirelessly updating vehicle systems | |
| CN108961802A (en) | The dispatching method and user terminal of automatic driving vehicle | |
| US9912916B2 (en) | Methods and apparatus for utilizing vehicle system integrated remote wireless image capture | |
| CN102398600A (en) | System for controlling in-vehicle device using augmented reality and method thereof | |
| CN110435670A (en) | Controller of vehicle and computer readable storage medium | |
| US9503694B2 (en) | Methods and apparatus for utilizing vehicle system integrated remote wireless image capture | |
| CN103373292A (en) | In-car information system, information terminal, and application execution method | |
| CN108172011A (en) | Vehicles management method, device and computer readable storage medium based on Quick Response Code | |
| CN108680161A (en) | Parking lot car searching air navigation aid, system and storage medium | |
| CN108307461A (en) | The method of telematics connection management | |
| CN117043030A (en) | Automatic driving control method, electronic equipment, mobile terminal and vehicle | |
| CN105677396B (en) | Control method and device for map application in intelligent mobile terminal and intelligent mobile terminal | |
| CN115150379A (en) | Vehicle remote control system, method, electronic device and readable storage medium | |
| CN110132300A (en) | The air navigation aid and device, storage medium and electronic device of net about vehicle | |
| JP5938917B2 (en) | Computer program, portable information processing device, traffic signal controller and traffic signal control system | |
| KR101736820B1 (en) | Mobile terminal and method for controlling the same | |
| WO2021196985A1 (en) | Automatic driving method and device | |
| US20200410850A1 (en) | Information Sharing System and Information Sharing Method for Vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |