CN112158207A - Method for controlling vehicle to automatically drive to specific position - Google Patents
Method for controlling vehicle to automatically drive to specific position Download PDFInfo
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- CN112158207A CN112158207A CN202011055488.XA CN202011055488A CN112158207A CN 112158207 A CN112158207 A CN 112158207A CN 202011055488 A CN202011055488 A CN 202011055488A CN 112158207 A CN112158207 A CN 112158207A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The invention relates to a method for controlling a vehicle to automatically drive to a specific position, which utilizes a self sensing device to prevent the vehicle from colliding in the automatic moving process and automatically drives to the position of a user at a low speed safely. It includes: s1, receiving an instruction sent by the user terminal; step S2, reading the specific position from the instruction; s3, judging whether the area where the specific position is located has a high-precision map; if yes, go to S4; if not, go to S5; s4, taking the specific position as a navigation target position, and controlling the vehicle to drive from the current position to the specific position according to the high-precision map navigation path; s5, judging whether there is a target historical memory route with the specific position as the terminal position in the historical memory routes; s6, if yes, selecting a target historical memory route with the shortest route as a navigation route, and controlling the vehicle to drive from the current position to the specific position; and S7, sending feedback information to the user terminal after the vehicle is driven to the specific position, and controlling the vehicle to be switched off and locked.
Description
Technical Field
The invention relates to the field of vehicle driving control, in particular to a method for controlling a vehicle to automatically drive to a specific position.
Background
The existing partial vehicles have GPS modules, mobile phone Bluetooth keys and are parked automatically, a user can start the vehicle remotely by a mobile phone, and the vehicle can be parked to a parking space automatically in a short distance, although single functions can be realized, the technology is not integrated, under the condition within 2KM in the short distance, the vehicle cannot be called by the user, the vehicle is driven to the position of the user automatically, convenience and intelligence cannot be brought to the user, and better experience can be achieved.
The prior art mainly has the following disadvantages:
1. the user stops the vehicle in the parking lot of the residential area of the user, the weather is rainy, the garage has a certain distance from the residential building of the user, the user still needs to walk to the garage and then leave the vehicle out of the garage when using the vehicle at every time, and the garage is inconvenient and not intelligent enough.
2. When a user shops, the vehicle is stopped at a parking lot with a little distance from the partition wall because the vehicle is full in the parking lot of the shopping mall, and when the user shops out, the user needs to walk to the parking lot with the partition wall again to take the vehicle, so that time and energy are wasted.
Disclosure of Invention
The invention provides a method for controlling a vehicle to automatically drive to a specific position, which solves the problems that when people and the vehicle are within a close distance of 2KM, a user remotely starts the vehicle by using a mobile phone APP, and sends an instruction to the specific position to instruct the vehicle to take over driving, the vehicle automatically identifies the position where the user is located after receiving the instruction, the vehicle prevents the vehicle from colliding in the automatic moving process by using a sensor, a camera and the like of the vehicle, the vehicle is automatically assisted to drive to the position where the user is located at a low speed safely, and the user waits for getting on the vehicle and takes over the vehicle.
The specific scheme of the invention is as follows:
the embodiment of the invention provides a method for controlling a vehicle to automatically drive to a specific position, which comprises the following steps:
step S1, receiving a command which is sent by a user terminal connected with a vehicle machine in advance and is issued by the user to require the vehicle to automatically drive to a specific position;
step S2, analyzing the command and reading the specific position;
step S3, judging whether the area of the specific position has a high-precision map; if yes, go to step S4; if not, go to step S5;
step S4, the specific position is used as a target position for navigation, and the vehicle is controlled to automatically drive to the specific position from the current position according to the high-precision map navigation path;
step S5, judging whether one or more target historical memory routes with the specific position as the terminal position in the stored historical memory routes;
step S6, if yes, selecting one of the target historical memory routes with the shortest route as the navigation route, and controlling the vehicle to automatically drive from the current position to the specific position;
and step S7, after the vehicle is automatically driven to the specific position according to the step S4 or the step S6, the vehicle machine sends feedback information that the vehicle is moved to the position to the user terminal, and controls the vehicle to automatically shut down and lock.
Preferably, if the target history memory route does not exist in step S5, the method further includes:
in step S8, information indicating that the instruction to travel to the specific location has failed because the navigation route to automatically travel to the specific location cannot be generated is fed back to the user terminal.
Preferably, after the step S7 is completed, the method further includes:
in step S9, information that the vehicle has automatically traveled to a specific location is fed back to the user terminal.
The invention mainly has the following technical effects:
1. when the vehicle covers a high-precision map area, a user can directly use a mobile phone APP to remotely call the vehicle to the position of the user;
2. when the vehicle does not cover the high-precision map area and the memory map route is stored, the user can still drive the vehicle to the position of the user according to the memory map route;
3. the user can also self-define the time that the vehicle arrives at the user destination, fully embody the vehicle intellectuality, promoted user experience greatly, the vehicle is called for in mission, brings convenience and honorable ceremony sense for the user.
Drawings
FIG. 1 is a schematic diagram of a method of implementing the present invention;
FIG. 2 is a block diagram of the connections of the modules involved in implementing the method of the present invention;
FIG. 3 is a flow chart of the method of the present invention.
Detailed Description
With reference to fig. 1 and 3, an embodiment of the present invention provides a method for controlling a vehicle to automatically travel to a specific location, the method including:
step S1, receiving a command which is sent by a user terminal connected with a vehicle machine in advance and is issued by the user to require the vehicle to automatically drive to a specific position; under the close range condition (under the condition that the vehicle machine and the user terminal can be in Bluetooth pairing distance), the vehicle machine can be connected with the user terminal in a Bluetooth mode (the mode that the Bluetooth module of the vehicle machine is connected with the Bluetooth module of the user terminal in a Bluetooth mode is the prior art), and after the vehicle machine is connected with the user terminal, the vehicle machine transmits an instruction of the user terminal to the vehicle machine through the TBOX terminal. In addition, the user terminal can also be indirectly connected with the car machine through the server, and the manner of indirectly realizing the connection between the user terminal and the car machine through the server is also the manner described in the prior art.
Step S2, parsing the command, and reading the specific location.
The vehicle machine carries out instruction analysis based on the relevant message protocol to obtain the specific position.
Step S3, judging whether the area of the specific position has a high-precision map; if not, go to step S5. And if the longitude and latitude position information of the specific position can be found, the area where the specific position is located is considered to have the high-precision map.
And step S4, if yes, the specific position is used as a target position for navigation, the specific position is positioned through a GPS module, a navigation path is carried out, and the vehicle is controlled to automatically drive to the specific position from the current position. The method for planning the navigation path of the high-precision map is a method in the prior art.
When the vehicle runs according to the navigation path, sensors such as a front-view camera, a four-way fisheye camera, 1 forward millimeter wave radar, 4-angle millimeter wave radar, a 12-way ultrasonic sensor and the like are utilized, the ECU processes the sensors, the vehicle is started to automatically assist in driving to the position of a user at a low speed, if the vehicle, the pedestrian and the like encounter obstacles in the running process along the road, the vehicle automatically stops, the vehicle and the pedestrian continue to run after leaving, and the vehicle and the pedestrian run to the specific position within 100 meters.
Step S5, determining whether one or more target history storage routes having the specific location as the destination location are stored in the history storage routes.
Step S6, if yes, selecting one of the target historical memory routes with the shortest route as the navigation route, and controlling the vehicle to automatically drive from the current position to the specific position;
and step S7, after the vehicle is automatically driven to the specific position according to the step S4 or the step S6, the vehicle machine sends feedback information that the vehicle is moved to the position to the user terminal, and controls the vehicle to automatically shut down and lock.
If the target history memory route does not exist in step S5, the method further includes:
in step S8, information indicating that the instruction to travel to the specific location has failed because the navigation route to automatically travel to the specific location cannot be generated is fed back to the user terminal.
Further, when the vehicle successfully arrives at the specific position, step S9 is also executed:
and feeding back information that the vehicle has automatically traveled to a specific location to the user terminal.
Referring to fig. 2, in order to control the vehicle to automatically travel to a specific position, the hardware part of the present invention includes: the system comprises a front-view camera, four fisheye cameras, 1 forward millimeter wave radar, 4 corner millimeter wave radars, 12 ultrasonic sensors, an APA ECU, an AI processor, a T-BOX terminal, a GPS positioning terminal, a mobile phone Bluetooth module and a key.
The front-view camera, the four-way fisheye camera, the 1 forward millimeter-wave radar, the 4-angle millimeter-wave radar and the 12-way ultrasonic sensor are used for collecting relevant environmental information around the vehicle.
The software part comprises: identification algorithm, big data processing algorithm, high-precision map and other algorithms.
When a vehicle stops in a high-precision map coverage area, the user stops the vehicle in a parking lot, the user is going out at home and ready to open a mobile phone APP, the vehicle is started remotely, the function vehicle is confirmed to drive to a specified position in an auxiliary mode, the vehicle is connected with a mobile phone APP Bluetooth module and a vehicle Bluetooth module (or the vehicle is indirectly connected with the vehicle through a server), an instruction input by the user is transmitted to a vehicle machine through a TBOX terminal, the position of the user is confirmed after the vehicle end receives information, sensors such as a front-view camera, a four-way fisheye camera, a 1 forward millimeter wave radar, a 4-angle millimeter wave radar and a 12-way ultrasonic sensor are utilized, the vehicle is processed by an ECU, the position of the user is automatically navigated according to the positioning of a GPS module, the vehicle is started to drive to the position of the user in a low-speed automatic auxiliary mode, and if obstacles, the vehicle can stop automatically, and the vehicle and the personnel can continue to run after leaving, and the vehicle can stop 100 meters near the position of the user, and the vehicle with the parking space can automatically park on the parking space, and after the vehicle stops, the vehicle can send a message to the mobile phone of the user again to tell the user: "the vehicle is in place, please get on the vehicle". The user can remotely monitor the vehicle running condition at home at the mobile phone APP end, and except for the vehicle running track and the running process of the vehicle, the nearby environment condition can be remotely transmitted to the mobile phone in a synchronous video mode. And when the user receives the information transmitted by the vehicle, the user can go downstairs to the vehicle to take over.
When the high-precision map of the vehicle does not cover the area, the vehicle can know the position of the user through memory learning, the user reaches the position where the recording starts for the first time, the vehicle machine APA software clicks the starting memory route, the vehicle machine clicks the ending memory destination after the destination is reached, meanwhile, the vehicle machine and the mobile phone APP carry out information intercommunication, and the user vehicle can record the route within 3. After a user safely stops the vehicle in a parking lot and then uses the vehicle again, the mobile phone APP is opened in advance, the recorded route is selected to be clicked and determined, after the vehicle receives information, the destination to which the user wants to arrive is identified according to the stored memory route map, the vehicle is actively driven to the starting point determined by the user by using the driving auxiliary system on the vehicle, the vehicle sends an arrival notice to the mobile phone of the user after arrival, and the user takes over the vehicle from the building according to the situation.
The user can also set the frequency, the specific driving receiving time and the specific position in advance in an APA module on the mobile phone APP, for example, the frequency is set to be 1-5 per week, and the morning time is 8: 00, the position is specified, so that the vehicle can drive to the specific position confirmed by the user according to the set time after receiving the information.
In the invention, when the vehicle covers a high-precision map area, a user can directly use a mobile phone APP to remotely call the vehicle to the position of the user; when the vehicle does not cover the high-precision map area and the memory map route is stored, the user can still drive the vehicle to the position of the user according to the memory map route; the user can also self-define the time that the vehicle arrives at the user destination, fully embody the vehicle intellectuality, promoted user experience greatly, the vehicle is called for in mission, brings convenience and honorable ceremony sense for the user.
Claims (3)
1. A method of controlling a vehicle to automatically travel to a specific location, the method comprising:
step S1, receiving a command which is sent by a user terminal connected with a vehicle machine in advance and is issued by the user to require the vehicle to automatically drive to a specific position;
step S2, analyzing the command and reading the specific position;
step S3, judging whether the area of the specific position has a high-precision map; if yes, go to step S4: if not, go to step S5;
step S4, the specific position is used as a target position for navigation, and the vehicle is controlled to automatically drive to the specific position from the current position according to the high-precision map navigation path;
step S5, judging whether one or more target historical memory routes with the specific position as the terminal position in the stored historical memory routes;
step S6, if yes, selecting one of the target historical memory routes with the shortest route as the navigation route, and controlling the vehicle to automatically drive from the current position to the specific position;
and step S7, after the vehicle is automatically driven to the specific position according to the step S4 or the step S6, the vehicle machine sends feedback information that the vehicle is moved to the position to the user terminal, and controls the vehicle to automatically shut down and lock.
2. The method of claim 1, if no target historical memory route exists in step S5, the method further comprising:
in step S8, information indicating that the instruction to travel to the specific location has failed because the navigation route to automatically travel to the specific location cannot be generated is fed back to the user terminal.
3. The method according to claim 1 or 2, wherein after completion of step S7, the method further comprises:
in step S9, information that the vehicle has automatically traveled to a specific location is fed back to the user terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011055488.XA CN112158207A (en) | 2020-09-30 | 2020-09-30 | Method for controlling vehicle to automatically drive to specific position |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011055488.XA CN112158207A (en) | 2020-09-30 | 2020-09-30 | Method for controlling vehicle to automatically drive to specific position |
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| CN112158207A true CN112158207A (en) | 2021-01-01 |
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| CN202011055488.XA Pending CN112158207A (en) | 2020-09-30 | 2020-09-30 | Method for controlling vehicle to automatically drive to specific position |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113218412A (en) * | 2021-04-29 | 2021-08-06 | 重庆长安汽车股份有限公司 | Method, device and storage medium for familiar destination exit navigation |
| CN114368357A (en) * | 2022-01-11 | 2022-04-19 | 北京小米移动软件有限公司 | Vehicle control method, vehicle, intelligent wearable device and readable storage medium |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113218412A (en) * | 2021-04-29 | 2021-08-06 | 重庆长安汽车股份有限公司 | Method, device and storage medium for familiar destination exit navigation |
| CN114368357A (en) * | 2022-01-11 | 2022-04-19 | 北京小米移动软件有限公司 | Vehicle control method, vehicle, intelligent wearable device and readable storage medium |
| CN114368357B (en) * | 2022-01-11 | 2024-01-09 | 北京小米移动软件有限公司 | Vehicle control method, vehicle, intelligent wearable device and readable storage medium |
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Application publication date: 20210101 |