WO2021254187A1 - 远程挪车***、方法、车辆及存储介质 - Google Patents
远程挪车***、方法、车辆及存储介质 Download PDFInfo
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- WO2021254187A1 WO2021254187A1 PCT/CN2021/098534 CN2021098534W WO2021254187A1 WO 2021254187 A1 WO2021254187 A1 WO 2021254187A1 CN 2021098534 W CN2021098534 W CN 2021098534W WO 2021254187 A1 WO2021254187 A1 WO 2021254187A1
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000004891 communication Methods 0.000 claims abstract description 40
- 238000010586 diagram Methods 0.000 description 12
- 230000006870 function Effects 0.000 description 6
- 230000015654 memory Effects 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013598 vector Substances 0.000 description 1
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
-
- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/55—External transmission of data to or from the vehicle using telemetry
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
Definitions
- the embodiments of the present application relate to the technical field of vehicle remote control, for example, to a remote car moving system, method, vehicle, and storage medium.
- FIG. 1 shows a This is a schematic diagram of the structure of a remote car-moving system.
- the present application provides a remote car-moving system, method, vehicle, and storage medium, so as to realize the function of the vehicle owner to remotely control the vehicle to move, reduce the difficulty of remote control of the vehicle, and improve the rationality of vehicle movement path planning.
- this application provides a remote car manoeuvring system, including: a user terminal and a vehicle;
- the user terminal is configured to determine vehicle control information according to the panoramic image information sent by the vehicle, and send the vehicle control information to the vehicle;
- the vehicle includes a panoramic image controller, a vehicle-mounted communication terminal, and a parking domain controller, and the vehicle-mounted communication terminal is respectively communicatively connected with the user terminal, the panoramic image controller, and the parking domain controller; wherein, The panoramic image controller is respectively communicatively connected with a preset number of cameras;
- the in-vehicle communication terminal is configured to forward the panoramic image information obtained by the panoramic image controller to the user terminal, and receive the vehicle control information and send it to the parking domain controller;
- the parking domain controller controls the vehicle to move according to the vehicle control information.
- this application also provides a remote car manoeuvring method applied to a vehicle, including:
- this application also provides a vehicle, which includes:
- the camera is set to collect image information around the vehicle
- Ultrasonic sensor set to collect ultrasonic sensor information
- At least two controllers include at least a panoramic image controller and a parking domain controller;
- the storage device is set to store at least one program
- the at least two controllers implement the remote car moving method provided in the second aspect of the present application.
- the present application also provides a storage medium containing computer-executable instructions, when the computer-executable instructions are executed by a computer processor, they are used to execute the remote moving method provided in the second aspect of the present application.
- Figure 1 is a schematic structural diagram of a remote car manoeuvring system in related technologies
- Figure 2 is a schematic structural diagram of a remote car manoeuvring system in the first embodiment of the present application
- Fig. 3 is a schematic structural diagram of a remote car manoeuvring system in the second embodiment of the present application.
- Fig. 4 is an example diagram of a first control interface in the second embodiment of the present application.
- FIG. 5 is an example diagram of a second control interface in the second embodiment of the present application.
- FIG. 6 is a flowchart of a method for remotely moving a car in the third embodiment of the present application.
- FIG. 7 is a schematic structural diagram of a vehicle in the fourth embodiment of the present application.
- FIG. 2 is a schematic structural diagram of a remote car manoeuvring system provided by Embodiment 1 of the application.
- the remote car manoeuvring system includes: a user terminal 10 and a vehicle 11.
- the user terminal 10 is configured to determine the vehicle control information according to the panoramic image information sent by the vehicle 11 and send the vehicle control information to the vehicle 11.
- the vehicle 11 includes a panoramic image controller 111, an in-vehicle communication terminal 112, and a parking domain controller 113.
- the in-vehicle communication terminal 112 communicates with the user terminal 10, the panoramic image controller 111, and the parking domain controller 113, respectively; among them, the panoramic image control
- the camera is respectively communicatively connected with a preset number of cameras 114.
- the in-vehicle communication terminal 112 is configured to forward the panoramic image information obtained by the panoramic image controller 111 to the user terminal 10, and receive the vehicle control information and send it to the parking domain controller 113.
- the parking domain controller 113 controls the vehicle 11 to move according to the vehicle control information.
- the user terminal 10 can be understood as a computing device configured to receive and send data information and have certain data processing capabilities.
- the user terminal 10 in this application can be a mobile phone, a bracelet, a remote control device, a tablet computer, etc.
- the vehicle control information can be understood as the instruction information used to control the movement of the vehicle, which is determined by the user's input instruction information according to the panoramic image information displayed by the user terminal 10.
- the vehicle control information may include instruction information for controlling the vehicle to perform at least one of starting, forwarding, reversing, turning, and stopping movement.
- the panoramic image controller 111 can be understood as an image processing device installed on a vehicle, and is configured to receive image information collected by each camera 114, stitch a preset number of image information to generate panoramic image information, and combine the panoramic image information.
- the image information is compressed and sent to the user terminal 10 through the in-vehicle communication terminal 112.
- the panoramic image controller 111 receives image information collected by a preset number of cameras 114 communicatively connected with it, detects key points in the image information collected by the adjacent cameras 114, and performs local invariant features in the image information. Extract and match the features between the image information collected by the adjacent cameras 114, and use the matching algorithm to use the matched feature vectors to match and connect the preset number of image information to synthesize a complete image as panoramic image information, The panoramic image information is compressed and sent to the user terminal 10 via the in-vehicle communication terminal 112.
- the matching algorithm may be a Random Sample Consensus (RANSAC) algorithm, a homography algorithm, etc., which are not limited in the embodiment of the present application.
- the preset number of cameras 114 may be four, which are separately installed on the front grille, the left and right exterior rear-view mirrors, and the back door, which is not limited in the embodiment of the present application.
- the vehicle-mounted communication terminal 112 can be understood as an information relay device, which is configured to communicate between the vehicle and the outside world and multiple modules in the vehicle.
- the parking domain controller 113 can be understood as a computing unit that centrally manages a variety of chips used to control vehicle movement and electronic control units (ECUs) with different functions.
- the in-vehicle communication terminal 112 communicates with the user terminal 10 and the panoramic image controller 111 and the parking domain controller 113 in the vehicle 11 respectively.
- the panoramic image controller 111 receives the image information collected by the cameras 114 respectively communicatively connected to it, and performs splicing processing on the aforementioned image information to obtain panoramic image information.
- the vehicle-mounted communication terminal 112 forwards the panoramic image information compressed by the panoramic image controller 111 to User terminal 10.
- the user terminal 10 displays the panoramic image information, and allows the user to determine how the vehicle 11 moves based on the panoramic image information, and input instruction information for controlling the movement of the vehicle, and send the instruction information to the vehicle-mounted communication terminal 112 as vehicle control information, and then
- the in-vehicle communication terminal 112 sends to the parking domain controller 113.
- the parking domain controller 113 controls the vehicle 11 to move according to the received vehicle control information.
- the technical solution of this embodiment provides a remote car manoeuvring system, including: a user terminal and a vehicle, the user terminal is configured to determine vehicle control information according to the panoramic image information sent by the vehicle, and combine the vehicle control information Sent to the vehicle; the vehicle includes a panoramic image controller, a vehicle-mounted communication terminal, and a parking domain controller, and the vehicle-mounted communication terminal is connected to the user terminal, the panoramic image controller, and the parking domain controller, respectively Device communication connection; wherein the panoramic image controller is in communication connection with a preset number of cameras; the vehicle-mounted communication terminal is configured to forward the panoramic image information obtained by the panoramic image controller to the user terminal, and receive The vehicle control information is sent to the parking domain controller; the parking domain controller controls the vehicle to move according to the vehicle control information.
- the vehicle control information determined by the user terminal is controlled by the parking domain controller to move the vehicle, which solves the need for a large number of environment sensing equipment when the parking domain controller is completely relied on for remote car movement.
- the problem of complex calculation and low rationality of path planning reduces the number of camera equipment and sensor equipment required in the process of remote manoeuvring, reduces the difficulty of remote control of the vehicle, and improves the rationality of vehicle movement path planning.
- FIG. 3 is a schematic structural diagram of a remote car manoeuvring system provided by the second embodiment of the application.
- the technical solution of this embodiment is refined on the basis of the above technical solutions.
- the remote car manoeuvring system includes: a user terminal 10 and a vehicle 11.
- the user terminal 10 is configured to determine the vehicle control information according to the panoramic image information sent by the vehicle 11 and send the vehicle control information to the vehicle 11.
- the vehicle 11 includes a panoramic image controller 111, an in-vehicle communication terminal 112, and a parking domain controller 113.
- the in-vehicle communication terminal 112 communicates with the user terminal 10, the panoramic image controller 111, and the parking domain controller 113, respectively; among them, the panoramic image control
- the camera is respectively communicatively connected with a preset number of cameras 114.
- the in-vehicle communication terminal 112 is configured to forward the panoramic image information obtained by the panoramic image controller 111 to the user terminal 10, and receive the vehicle control information and send it to the parking domain controller 113.
- the parking domain controller 113 controls the vehicle 11 to move according to the vehicle control information.
- the user terminal 10 is configured to: when in the control mode, display a first control interface and receive a first control instruction input by the user, and send the first control instruction as vehicle control information to the vehicle-mounted communication terminal 112;
- a control instruction includes one of a forward instruction, a backward instruction, and a steering instruction, or the first control instruction includes a forward instruction and a steering instruction, or the first control instruction includes a backward instruction and a steering instruction.
- the control mode can be understood as a command issuing mode for the user to control the movement direction and movement state of the vehicle 11 in real time according to the panoramic image information around the vehicle 11.
- the first control interface can be understood as the display interface of the user terminal 10 in the control mode.
- the display content of the first control interface can include panoramic image information around the vehicle 11, the position of the virtual vehicle in the panoramic image information, and operation buttons ,
- FIG. 4 is an example diagram of a first control interface provided by an embodiment of the application.
- the user terminal 10 displays a first control interface containing panoramic image information of the current surroundings of the vehicle 11, receives a first control instruction input by the user through a plurality of operation keys on the first control interface, and connects The first control instruction is sent to the in-vehicle communication terminal 112 as vehicle control information so that the vehicle 11 moves according to the first control instruction in the vehicle control information.
- the panoramic image information around the vehicle displayed on the first control interface changes in real time as the vehicle position changes.
- the first control instruction includes one of a forward instruction, a backward instruction and a steering instruction, or the first control instruction includes a forward instruction and a steering instruction.
- the instruction, or the first control instruction includes a backward instruction and a steering instruction.
- the user terminal 10 is configured to: when in the path mode, display the second control interface and receive the path planning information and the second control instruction input by the user, and send the path planning information and the second control instruction as vehicle control information to the vehicle.
- the path mode can be understood as a mode in which the user plans a travel path within a preset distance for the vehicle 11 and controls the vehicle to travel along the path according to the panoramic image information around the vehicle 11.
- the second control interface can be understood as the display interface of the user terminal 10 in the path mode.
- the display content of the second control interface can include panoramic image information around the vehicle 11 and the position of the virtual vehicle in the panoramic image information.
- the second control interface adds control buttons on the original basis to receive the second control instruction from the user.
- FIG. 5 is a second control instruction provided by an embodiment of the application. Example diagram of the control interface.
- the user terminal 10 displays the second control interface containing the panoramic image information of the current surroundings of the vehicle 11, receives the path planning information input by the user sliding on the second control interface and jumps to the control button
- the second control interface of the vehicle 11 receives the second control instruction input by the user, and sends the route planning information and the second control instruction as the vehicle control information to the vehicle communication terminal 112 so that the vehicle 11 follows the second control instruction in the vehicle control information Move along the planned path.
- the panoramic image information around the vehicle displayed on the second control interface changes in real time as the position of the vehicle changes
- the second control instruction includes a start instruction or a stop instruction.
- the path planning information input by the user sliding on the second control interface may be path information within 6m of the forward direction of the vehicle 11, and the user may adjust and update the path planning information in real time during the movement of the vehicle. There is no restriction on this.
- the parking domain controller 113 is configured to: when the vehicle control information is the first control instruction, control the vehicle 11 to move according to the first control instruction; when the vehicle control information is the path planning information and the second control instruction, according to The path planning information determines the vehicle travel path, and controls the vehicle 11 to move along the vehicle travel path according to the second control instruction.
- the parking domain controller 113 receives the first control command in real time.
- the instruction controls the vehicle to move, wherein the first control instruction can be a single control instruction or a combined control instruction.
- the parking domain controller 113 controls the vehicle 11 to move forward from the current position.
- the parking domain controller 113 The vehicle 11 is controlled to make a left turn while moving forward from the current position.
- the parking domain controller 113 When the vehicle control information received by the parking domain controller 113 is the path planning information and the second control instruction, the parking domain controller 113 first optimizes the received path planning information to obtain the vehicle driving path, and then according to the real-time The received second control instruction controls the vehicle 11 to move along the determined vehicle travel path.
- the parking domain controller 113 controls the vehicle 11 to move, the vehicle 11 is in a low-speed driving state, and its speed can be less than 3km/h, so as to stop in time when a collision risk is found.
- the size is not limited.
- the vehicle 11 further includes: an ultrasonic sensor 115; the ultrasonic sensor 115 is in communication connection with the parking domain controller 113; the ultrasonic sensor 115 is configured to obtain ultrasonic sensor information and send the ultrasonic sensor information to the parking domain controller 113:
- the parking domain controller 113 determines that there is a risk of collision based on the ultrasonic sensor information, it controls the vehicle 11 to perform collision avoidance processing.
- the collision avoidance process can be understood as the process of stopping or moving away from the obstacle when the distance is less than a preset distance threshold according to the distance relationship between the obstacle in the surrounding environment and the vehicle itself.
- ultrasonic sensors can be installed on the front and rear bumpers of the vehicle to detect the distance between obstacles around the vehicle and the vehicle.
- the ultrasonic sensor 115 detects the ultrasonic sensor information between the obstacles around the vehicle 11 and the vehicle 11 in real time, and sends the ultrasonic sensor information to the parking domain controller 113.
- the car domain controller 113 determines the distance between the surrounding obstacles and the vehicle 11 based on the ultrasonic sensing information. When the distance is less than the preset distance threshold, it is considered that there is a risk of collision between the vehicle 11 and the obstacle, and the parking domain controller 113 controls The vehicle 11 stops driving or travels away from the obstacle to avoid the collision of the vehicle 11, and at the same time sends the message to the user terminal 10 to let the user know the specific situation and provide a reference for the subsequent determination of vehicle control information.
- the technical solution of this embodiment selects different operation modes on the user side to remotely control the vehicle to move in different ways.
- the control mode is used for remote control, only a small number of cameras need to send panoramic image information to the user terminal. It can control the movement of the vehicle according to the control instructions transmitted in real time from the user end; when the route mode is used for remote control, the parking domain controller does not need to determine the driving path of the vehicle based on the surrounding influence information and sensor information, but only needs to be real-time to the user end
- the transmitted path planning information is optimized to obtain the vehicle travel path, and the vehicle is controlled to move according to the vehicle travel path according to the control instructions transmitted by the user terminal.
- the ultrasonic sensor is used to obtain ultrasonic sensing information in real time, and the surrounding environment of the vehicle is judged through the ultrasonic sensing information, and collision avoidance processing is performed when it is judged that there is a risk of collision, which improves the safety of remote control of the vehicle. .
- Fig. 6 is a flowchart of a remote car-moving method provided by Embodiment 3 of this application. This embodiment is applicable to a situation where a user remotely controls a vehicle to move.
- the method can be executed by a remote car-moving system.
- the system may be implemented by at least one of software and hardware, and the remote car manoeuvring system may be configured on a computing device, including steps S201 to S202.
- the user terminal determines vehicle control information according to the panoramic image information sent by the vehicle, and sends the vehicle control information to the vehicle.
- the vehicle collects surrounding image information through the surround view camera arranged on it, and processes the image information collected by multiple cameras into panoramic image information and sends it to the user terminal.
- the user terminal displays the received panoramic image information, and the user performs The displayed panoramic image information is determined and a control instruction is input, and the control instruction is sent to the vehicle as vehicle control information.
- the user terminal can determine the vehicle control information through the control mode or path mode, and input control instructions through different control interfaces.
- the vehicle control information can include forward instructions, reverse instructions, steering instructions, path planning information, and start. At least one of the above instructions and stop instructions.
- S202 The vehicle receives vehicle control information, and controls the vehicle to move according to the vehicle control information.
- the vehicle When the control information received by the vehicle is a control command sent by the user terminal in the control mode, the vehicle will directly move according to the control command sent by the user; when the control information received by the vehicle is a control command sent by the user terminal in the route mode, then The route planning information sent by the user is first optimized to obtain the vehicle travel path, and the vehicle travels or stops along the vehicle travel path according to the start instruction or the stop instruction in the control instruction sent by the user.
- the vehicle control information when controlling the vehicle to move according to the vehicle control information, it further includes: acquiring ultrasonic sensing information, and when the vehicle is determined to be at risk of collision based on the ultrasonic sensing information, controlling the vehicle to perform collision avoidance processing.
- the ultrasonic sensor detects the ultrasonic sensor information between the surrounding obstacles and the vehicle in real time, and determines the distance between the surrounding obstacles and the vehicle according to the ultrasonic sensor information.
- the distance is less than the preset When the distance threshold is used, it is considered that there is a risk of collision between the vehicle and the obstacle.
- the vehicle is controlled to stop or move away from the obstacle to avoid collision and avoid the vehicle's rubbing and safety problems during the long-distance manoeuvring process.
- the user terminal determines the vehicle control information according to the panoramic image information sent by the vehicle, and sends the vehicle control information to the vehicle; the vehicle receives the vehicle control information and controls the vehicle to move according to the vehicle control information.
- FIG. 7 is a schematic structural diagram of a vehicle provided in the fourth embodiment of the application.
- the vehicle includes a camera 31, an ultrasonic sensor 32, a vehicle-mounted communication terminal 33, at least two controllers 34, a storage device 35, and input Device 36 and output device 37; the number of controllers 34 in the vehicle can be at least two, including at least a panoramic image controller 38 and a parking domain controller 39.
- the panoramic image controller 38 and the parking domain controller 39 are used as Example:
- the camera 31, ultrasonic sensor 32, vehicle-mounted communication terminal 33, storage device 35, input device 36, output device 37, panoramic image controller 38, and parking domain controller 39 in the vehicle can be connected by bus or other means, Figure 7 Take the bus connection as an example.
- the camera 31 is configured to collect image information around the vehicle.
- the ultrasonic sensor 32 is configured to collect ultrasonic sensor information.
- the storage device 35 can be configured to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the remote moving method in the embodiment of the present application.
- the controller 34 executes various functional applications and data processing of the vehicle by running the software programs, instructions, and modules stored in the storage device 35, that is, realizing the above-mentioned remote car moving method.
- the storage device 35 may mainly include a storage program area and a storage data area.
- the storage program area may store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the terminal, and the like.
- the storage device 35 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices.
- the storage device 35 may include memories remotely provided with respect to the controller 34, and these remote memories may be connected to the vehicle through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
- the input device 36 may be configured to receive input numeric or character information, and to generate key signal inputs related to user settings and function control of the vehicle.
- the output device 37 may include a display device such as a display screen.
- the fifth embodiment of the present application also provides a storage medium containing computer-executable instructions.
- the computer-executable instructions are used to execute a remote car manoeuvring method when the computer-executable instructions are executed by a computer processor.
- the method includes:
- a storage medium containing computer-executable instructions provided by the embodiments of the present application and the computer-executable instructions are not limited to the method operations described above, and can also execute the remote car-moving method provided in any embodiment of the present application. Related operations.
- the present application can be implemented by software and necessary general-purpose hardware, and of course, it can also be implemented by hardware.
- the technical solution of this application essentially or the part that contributes to the related technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, Read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), flash memory (FLASH), hard disk or optical disk, etc., including several instructions to make a computer device (which can be a personal computer, A server, or a network device, etc.) execute the method described in each embodiment of the present application.
- a computer device which can be a personal computer, A server, or a network device, etc.
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Abstract
一种远程挪车***、方法、车辆(11)及存储介质。该***包括:用户终端(10)和车辆(11),用户终端(10)设置为根据车辆(11)发送的全景影像信息确定车辆控制信息,将车辆控制信息发送至车辆(11);车辆(11)包括全景影像控制器(111)、车载通信终端(112)和泊车域控制器(113),车载通信终端(112)分别与用户终端(10)、全景影像控制器(111)和泊车域控制器(113)通信连接;其中,全景影像控制器(111)与预设数量个摄像头(114)分别通信连接;车载通信终端(112)设置为将获取的全景影像信息转发给用户终端(10),并接收车辆控制信息并发送至泊车域控制器(113);泊车域控制器(113)根据车辆控制信息控制车辆(11)进行移动。
Description
本申请要求在2020年6月15日提交中国专利局、申请号为202010546653.5的中国专利申请的优先权,该申请的全部内容通过引用结合在本申请中。
本申请实施例涉及车辆远程控制技术领域,例如涉及一种远程挪车***、方法、车辆及存储介质。
随着城市中车辆保有量的急剧增长,不可避免的产生了停车难,乱停车的问题,自己车辆被他人车辆挡住或自己车辆挡住他人车辆出行需要进行挪车的情况时有发生。
当车辆影响他人出行需要进行挪车时,需要通过车上放置的挪车电话联系阻碍车辆的车主进行挪车。相关技术中,在需要进行挪车时,常需车主到达停车位亲自驾驶车辆以进行挪车。而在进行远程挪车时,常采用车主向车辆发送预设停车位置,车辆自动规划路线并自动从当前停车位置驾驶到预设停车位置,以解决车主无法到场的情况,图1给出了一种远程挪车***的结构示意图。
然而,需要进行现场挪车时,车主往往距离停车地较远或正忙于事物处理,无法及时到达车辆位置处进行挪车,极易因此造成矛盾和冲突。而通过远程操作进行挪车时,需要车辆安装多个摄像头、毫米波传感器以实时感知周边信息,实现路径规划,计算复杂,且在实际使用过程中由于传感器的限制,导致路径规划不合理,路径反复甚至失败。
发明内容
本申请提供一种远程挪车***、方法、车辆及存储介质,以实现车主远程控制车辆进行移动的功能,降低了车辆远程控制的难度,提高了车辆移动路径 规划的合理性。
第一方面,本申请提供了一种远程挪车***,包括:用户终端和车辆;
所述用户终端设置为根据所述车辆发送的全景影像信息确定车辆控制信息,并将所述车辆控制信息发送至所述车辆;
所述车辆,包括全景影像控制器、车载通信终端和泊车域控制器,所述车载通信终端分别与所述用户终端、所述全景影像控制器和所述泊车域控制器通信连接;其中,所述全景影像控制器与预设数量个摄像头分别通信连接;
所述车载通信终端设置为将所述全景影像控制器获取的全景影像信息转发给所述用户终端,并接收所述车辆控制信息并发送至所述泊车域控制器;
所述泊车域控制器根据所述车辆控制信息控制所述车辆进行移动。
第二方面,本申请还提供了一种远程挪车方法,应用于车辆,包括:
接收用户终端发送的所述车辆控制信息,并控制所述车辆根据所述车辆控制信息进行移动,其中,所述车辆控制信息为所述用户终端根据所述车辆发送的全景影像信息确定。
第三方面,本申请还提供了一种车辆,所述车辆包括:
摄像头,设置为采集车辆周边影像信息;
超声波传感器,设置为采集超声波传感信息;
车载通信终端;
至少两个控制器,所述至少两个控制器至少包括全景影像控制器和泊车域控制器;
存储装置,设置为存储至少一个程序;
当所述至少一个个程序被所述至少两个控制器执行,使得所述至少两个控制器实现如本申请第二方面提供的远程挪车方法。
第四方面,本申请还提供了一种包含计算机可执行指令的存储介质,所述计算机可执行指令在由计算机处理器执行时用于执行如本申请第二方面提供的远程挪车方法。
图1是相关技术中的一种远程挪车***的结构示意图;
图2是本申请实施例一中的一种远程挪车***的结构示意图;
图3是本申请实施例二中的一种远程挪车***的结构示意图;
图4是本申请实施例二中的一种第一控制界面的示例图;
图5是本申请实施例二中的一种第二控制界面的示例图;
图6是本申请实施例三中的一种远程挪车方法的流程图;
图7是本申请实施例四中的一种车辆的结构示意图。
下面结合附图和实施例对本申请作详细说明。
实施例一
图2为本申请实施例一提供的一种远程挪车***的结构示意图,该远程挪车***包括:用户终端10和车辆11。
用户终端10设置为根据车辆11发送的全景影像信息确定车辆控制信息,并将车辆控制信息发送至车辆11。
车辆11,包括全景影像控制器111、车载通信终端112和泊车域控制器113,车载通信终端112分别与用户终端10、全景影像控制器111和泊车域控制器113通信连接;其中,全景影像控制器与预设数量个摄像头114分别通信连接。
车载通信终端112设置为将全景影像控制器111获取的全景影像信息转发给用户终端10,并接收车辆控制信息并发送至泊车域控制器113。
泊车域控制器113根据车辆控制信息控制车辆11进行移动。
其中,用户终端10可理解为设置为接收并发送数据信息并具备一定数据处 理能力的计算设备,可选的,在本申请中用户终端10可为手机、手环、遥控设备、平板电脑等。
其中,车辆控制信息可理解为根据用户终端10显示的全景影像信息,由用户输入指令信息确定的,用于控制车辆移动的指令信息。示例性的,车辆控制信息可包括用于控制车辆进行启动、前进、后退、转向和停止运动中的至少之一的指令信息。
其中,全景影像控制器111可理解为一种安装于车辆上的图像处理装置,设置为接收每个摄像头114采集的影像信息,将预设数量个影像信息进行拼接生成全景影像信息,并将全景影像信息压缩后通过车载通信终端112发送至用户终端10。
示例性的,全景影像控制器111分别接收与其通信连接的预设数量个摄像头114采集的影像信息,检测相邻摄像头114所采集影像信息中的关键点,并对影像信息中局部不变特征进行提取,匹配相邻摄像头114所采集影像信息之间的特征,使用匹配算法利用相匹配的特征向量对预设数量个影像信息进行匹配连接,使之合成为完整的一幅图像作为全景影像信息,并将全景影像信息压缩后经由车载通信终端112发送至用户终端10。可选的,匹配算法可为随机抽样一致性(Random Sample Consensus,RANSAC)算法、单应性算法等,本申请实施例对此不进行限制。可选的,预设数量个摄像头114可为4个,分安装于前格栅、左右外后视镜和后背门,本申请实施例对此不进行限制。
其中,车载通信终端112可理解为一种信息中转装置,设置为车辆与外界以及车辆中多个模块间的通信。泊车域控制器113可理解为一种将多种用于控制车辆运动的芯片,以及功能各异的电子控制单元(Electronic Control Unit,ECU)集中管理的计算单元。
示例性的,车载通信终端112分别与用户终端10以及车辆11中的全景影像控制器111和泊车域控制器113通信连接。全景影像控制器111接收与之分别通信连接的摄像头114采集的影像信息,并将上述影像信息进行拼接处理得到全景影像信息,车载通信终端112将全景影像控制器111压缩后的全景影像信息转发至用户终端10。用户终端10对全景影像信息进行显示,并使得用户根据全景影像信息确定车辆11如何移动,并输入用于控制车辆移动的指令信息,将指令信息作为车辆控制信息发送给车载通信终端112,并由车载通信终端112发送至泊车域控制器113。泊车域控制器113根据接收到的车辆控制信息控制车辆11进行移动。
本实施例的技术方案,通过提供一种远程挪车***,包括:用户终端和车辆,所述用户终端设置为根据所述车辆发送的全景影像信息确定车辆控制信息,并将所述车辆控制信息发送至所述车辆;所述车辆,包括全景影像控制器、车载通信终端和泊车域控制器,所述车载通信终端分别与所述用户终端、所述全景影像控制器和所述泊车域控制器通信连接;其中,所述全景影像控制器与预设数量个摄像头分别通信连接;所述车载通信终端设置为将所述全景影像控制器获取的全景影像信息转发给所述用户终端,并接收所述车辆控制信息并发送至所述泊车域控制器;所述泊车域控制器根据所述车辆控制信息控制所述车辆进行移动。通过将全景影像信息发送至用户终端,由用户终端确定的车辆控制信息通过泊车域控制器控制车辆进行移动,解决了完全依赖泊车域控制器进行远程挪车时,需要大量环境感知设备,计算复杂且路径规划合理性低的问题,减少了远程挪车过程中所需的摄像设备个数和传感设备种类,降低了车辆远程控制的难度,提高了车辆移动路径规划的合理性。
实施例二
图3为本申请实施例二提供的一种远程挪车***的结构示意图,本实施例的技术方案在上述技术方案的基础上进行细化,该远程挪车***组成包括:用户终端10和车辆11。
用户终端10设置为根据车辆11发送的全景影像信息确定车辆控制信息,并将车辆控制信息发送至车辆11。
车辆11,包括全景影像控制器111、车载通信终端112和泊车域控制器113,车载通信终端112分别与用户终端10、全景影像控制器111和泊车域控制器113通信连接;其中,全景影像控制器与预设数量个摄像头114分别通信连接。
车载通信终端112设置为将全景影像控制器111获取的全景影像信息转发给用户终端10,并接收车辆控制信息并发送至泊车域控制器113。
泊车域控制器113根据车辆控制信息控制车辆11进行移动。
可选地,用户终端10设置为:当处于操控模式时,显示第一控制界面并接收用户输入的第一控制指令,将第一控制指令作为车辆控制信息发送至车载通信终端112;其中,第一控制指令包括前进指令、后退指令和转向指令中的之一,或者第一控制指令包括前进指令和转向指令,或者第一控制指令包括后退指令和转向指令。
其中,操控模式可理解为用户根据车辆11周边的全景影像信息,实时控制车辆11运动方向及运动状态的指令下达模式。第一控制界面可理解为用户终端10在操控模式时的显示界面,可选的,第一控制界面显示内容可包括车辆11周边的全景影像信息,虚拟车辆在全景影像信息中的位置以及操作按键,示例性的,图4为本申请实施例提供的一种第一控制界面的示例图。
示例性的,当处于操控模式时,用户终端10上显示包含车辆11当前周边 全景影像信息的第一控制界面,接收用户通过第一控制界面上多个操作按键输入的第一控制指令,并将第一控制指令作为车辆控制信息发送至车载通信终端112以使得车辆11按照上述车辆控制信息中的第一控制指令进行移动。其中,第一控制界面上显示的车辆周边全景影像信息随车辆位置变动而实时改变,第一控制指令包括前进指令,后退指令和转向指令中的之一,或者第一控制指令包括前进指令和转向指令,或者第一控制指令包括后退指令和转向指令。
可选地,用户终端10设置为:当处于路径模式时,显示第二控制界面并接收用户输入的路径规划信息和第二控制指令,将路径规划信息和第二控制指令作为车辆控制信息发送车载通信终端112;其中,第二控制指令包括启动指令或停止指令。
其中,路径模式可理解为用户根据车辆11周边的全景影像信息,为车辆11规划预设距离内行驶路径并控制车辆沿路径行驶的指令下达模式。第二控制界面可理解为用户终端10在路径模式时的显示界面,可选的,第二控制界面显示内容可包括车辆11周边的全景影像信息,以及虚拟车辆在全景影像信息中的位置,用户在第二控制界面滑动输入路径规划信息后,第二控制界面在原有基础上增添控制按键,以接收用户的第二控制指令,示例性的,图5为本申请实施例提供的一种第二控制界面的示例图。
示例性的,当处于路径模式时,用户终端10上显示包含车辆11当前周边全景影像信息的第二控制界面,接收用户在第二控制界面上滑动输入的路径规划信息并跳转至包括控制按键的第二控制界面,接收用户输入的第二控制指令,并将路径规划信息和第二控制指令作为车辆控制信息发送至车载通信终端112以使车辆11按照上述车辆控制信息中的第二控制指令沿规划出的路径进行移动。其中,第二控制界面上显示的车辆周边全景影像信息随车辆位置变动而实时改 变,第二控制指令包括启动指令或停止指令。可选的,用户在第二控制界面上滑动输入的路径规划信息可为车辆11前进方向6m范围内的路径信息,在车辆运动过程中用户可实时对路径规划信息进行调整更新,本申请实施例对此不进行限制。
可选地,泊车域控制器113设置为:当车辆控制信息为第一控制指令时,控制车辆11按照第一控制指令移动;当车辆控制信息为路径规划信息和第二控制指令时,根据路径规划信息确定车辆行驶路径,并根据第二控制指令控制车辆11沿车辆行驶路径移动。
示例性的,当泊车域控制器113接收到的车辆控制信息为第一控制指令时,认为用户在直接对车辆行驶状态进行操控,此时泊车域控制器113根据实时接收的第一控制指令控制车辆进行移动,其中,第一控制指令既可为单一控制指令也可为组合控制指令。示例性的,当第一控制指令为前进指令时,泊车域控制器113控制车辆11由当前位置向前移动,当第一控制指令为前进指令和左转向指令时,泊车域控制器113控制车辆11由当前位置向前移动的同时进行左转弯。当泊车域控制器113接收到的车辆控制信息为路径规划信息和第二控制指令时,泊车域控制器113首先对接收到的路径规划信息进行优化处理,得到车辆行驶路径,并根据实时接收的第二控制指令控制车辆11沿确定的车辆行驶路径进行移动。可选的,泊车域控制器113在控制车辆11进行移动时车辆11处于低速驾驶状态,其速度可为3km/h以下,以在发现有碰撞风险时及时停车,本申请实施例对上述速度大小不进行限制。
可选地,车辆11还包括:超声波传感器115;超声波传感器115与泊车域控制器113通信连接;超声波传感器115设置为获取超声波传感信息,并将超声波传感信息发送至泊车域控制器113;泊车域控制器113在根据超声波传感信 息确定有碰撞风险时,控制车辆11执行避撞处理。
其中,避撞处理可理解为车辆根据探测到的周边环境的障碍物与自身的距离关系,当距离小于预设距离阈值时所执行的停车或向远离障碍物方向移动的处理。可选的,超声波传感器可安装于车辆的前后保险杠上,以探测车辆周边障碍物与车辆的距离。
在泊车域控制器113控制车辆11移动过程中,超声波传感器115实时探测车辆11周边障碍物与车辆11间的超声波传感信息,并将超声波传感信息发送至泊车域控制器113,泊车域控制器113根据超声波传感信息确定周边障碍物与车辆11间的距离,当距离小于预设距离阈值时认为车辆11与该障碍物存在有碰撞风险,此时泊车域控制器113控制车辆11停止行驶或向远离障碍物方向行驶以实现车辆11的避撞,同时将该消息发送至用户终端10以使用户知晓具体情况,并为后续车辆控制信息的确定提供参考。
本实施例的技术方案,通过在用户端选择不同的操作模式以通过不同的方式远程控制车辆进行移动,当采用操控模式进行远程控制时,仅需通过少量摄像头将全景影像信息发送至用户终端,即可根据用户端实时传输的控制指令控制车辆移动;当采用路径模式进行远程控制时,无需泊车域控制器根据周边影响信息和传感信息自行确定车辆行驶路径,而仅需对用户端实时传输的路径规划信息进行优化即可得到车辆行驶路径,并根据用户端传输的控制指令控制车辆按照车辆行驶路径进行移动。减少了所需摄像设备的个数和传感设备的种类,降低了计算难度,提高了车辆远程控制的精确性,并提高了车辆移动路径规划的合理性。同时,在对车辆进行移动的过程中通过超声波传感器实时获取超声波传感信息,通过超声波传感信息判断车辆周边环境并当判断出有碰撞风险时执行避撞处理,提高了车辆远程控制的安全性。
实施例三
图6为本申请实施例三提供的一种远程挪车方法的流程图,本实施例可适用于用户远程控制车辆进行移动的情况,该方法可以由远程挪车***来执行,该远程挪车***可以由软件和硬件中的至少之一来实现,该远程挪车***可以配置在计算设备上,包括步骤S201至S202。
S201、用户终端根据车辆发送的全景影像信息确定车辆控制信息,并将车辆控制信息发送至车辆。
车辆通过配置于其上的环视摄像头对周边影像信息进行采集,并将多个摄像头采集的影像信息处理为全景影像信息后发送至用户终端,用户终端显示接收到的全景影像信息,并由用户根据显示的全景影像信息确定并输入控制指令,将控制指令作为车辆控制信息发送至车辆。其中,用户终端可通过操控模式或路径模式对车辆控制信息进行确定,通过不同的控制界面输入控制指令,可选的,车辆控制信息可包括前进指令、后退指令、转向指令、路径规划信息、启动指令、和停止指令以上中的至少之一。
S202、车辆接收车辆控制信息,控制车辆根据车辆控制信息进行移动。
当车辆接收的控制信息为用户终端在操控模式下发送的控制指令,则使得车辆直接根据用户发送的控制指令进行移动;当车辆接收的控制信息为用户终端在路径模式下发送的控制指令,则先对用户发送的路径规划信息进行优化得到车辆行驶路径,并按照用户发送的控制指令中的启动指令或停止指令沿车辆行驶路径进行行驶或停止。
可选地,在控制车辆根据车辆控制信息进行移动之时,还包括:获取超声波传感信息,当车辆根据超声波传感信息确定有碰撞风险时,控制车辆执行避 撞处理。
车辆在根据车辆控制信息进行移动过程中,通过超声波传感器实时探测车辆周边障碍物与车辆间的超声波传感信息,并根据超声波传感信息确定周边障碍物与车辆间的距离,当距离小于预设距离阈值时认为车辆与该障碍物存在有碰撞风险,此时控制车辆执行停止行驶或向远离障碍物方向行驶的避撞处理,以避免在远程挪车过程中车辆的剐蹭问题及安全问题。
本实施例的技术方案,通过用户终端根据车辆发送的全景影像信息确定车辆控制信息,并将车辆控制信息发送至车辆;车辆接收车辆控制信息,控制车辆根据车辆控制信息进行移动。通过将全景影像信息发送至用户终端,并由用户终端确定车辆控制信息以控制车辆进行移动,解决了完全依赖车辆内泊车域控制器进行远程挪车时,需要在车辆中安装大量环境感知设备,计算复杂且路径规划合理性低的问题,减少了远程挪车过程中所需的摄像设备个数和传感设备种类,降低了车辆远程控制的难度,提高了车辆移动路径规划的合理性。
实施例四
图7为本申请实施例四提供的一种车辆的结构示意图,如图7所示,该车辆包括摄像头31、超声波传感器32、车载通信终端33、至少两个控制器34、存储装置35、输入装置36和输出装置37;车辆中控制器34的数量可以是至少两个,至少包括全景影像控制器38和泊车域控制器39,图7中以全景影像控制器38和泊车域控制器39为例;车辆中的摄像头31、超声波传感器32、车载通信终端33、存储装置35、输入装置36、输出装置37、全景影像控制器38和泊车域控制器39可以通过总线或其他方式连接,图7中以通过总线连接为例。
摄像头31,设置为采集车辆周边影像信息。
超声波传感器32,设置为采集超声波传感信息。
存储装置35作为一种计算机可读存储介质,可设置为存储软件程序、计算机可执行程序以及模块,如本申请实施例中的远程挪车方法对应的程序指令/模块。控制器34通过运行存储在存储装置35中的软件程序、指令以及模块,从而执行车辆的各种功能应用以及数据处理,即实现上述的远程挪车方法。
存储装置35可主要包括存储程序区和存储数据区,其中,存储程序区可存储操作***、至少一个功能所需的应用程序;存储数据区可存储根据终端的使用所创建的数据等。此外,存储装置35可以包括高速随机存取存储器,还可以包括非易失性存储器,例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实例中,存储装置35可包括相对于控制器34远程设置的存储器,这些远程存储器可以通过网络连接至车辆。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
输入装置36可设置为接收输入的数字或字符信息,以及产生与车辆的用户设置以及功能控制有关的键信号输入。输出装置37可包括显示屏等显示设备。
实施例五
本申请实施例五还提供一种包含计算机可执行指令的存储介质,所述计算机可执行指令在由计算机处理器执行时用于执行一种远程挪车方法,该方法包括:
接收用户终端发送的所述车辆控制信息,并控制所述车辆根据所述车辆控制信息进行移动,其中,所述车辆控制信息为所述用户终端根据所述车辆发送的全景影像信息确定。
当然,本申请实施例所提供的一种包含计算机可执行指令的存储介质,其计 算机可执行指令不限于如上所述的方法操作,还可以执行本申请任意实施例所提供的远程挪车方法中的相关操作。
通过以上关于实施方式的描述,所属领域的技术人员可以清楚地了解到,本申请可借助软件及必需的通用硬件来实现,当然也可以通过硬件实现。基于这样的理解,本申请的技术方案本质上或者说对相关技术做出贡献的部分可以以软件产品的形式体现出来,该计算机软件产品可以存储在计算机可读存储介质中,如计算机的软盘、只读存储器(Read-Only Memory,ROM)、随机存取存储器(Random Access Memory,RAM)、闪存(FLASH)、硬盘或光盘等,包括若干指令用以使得一台计算机设备(可以是个人计算机,服务器,或者网络设备等)执行本申请各个实施例所述的方法。
值得注意的是,上述搜索装置的实施例中,所包括的各个单元和模块只是按照功能逻辑进行划分的,但并不局限于上述的划分,只要能够实现相应的功能即可;另外,各功能单元的名称也只是为了便于相互区分,并不用于限制本申请的保护范围。
Claims (10)
- 一种远程挪车***,包括:用户终端和车辆,所述用户终端设置为根据所述车辆发送的全景影像信息确定车辆控制信息,并将所述车辆控制信息发送至所述车辆;所述车辆,包括全景影像控制器、车载通信终端和泊车域控制器,所述车载通信终端分别与所述用户终端、所述全景影像控制器和所述泊车域控制器通信连接;其中,所述全景影像控制器与预设数量个摄像头分别通信连接;所述车载通信终端设置为将所述全景影像控制器获取的全景影像信息转发给所述用户终端,并接收所述车辆控制信息并发送至所述泊车域控制器;所述泊车域控制器根据所述车辆控制信息控制所述车辆进行移动。
- 根据权利要求1所述的***,其中,所述全景影像控制器设置为接收每个所述摄像头采集的影像信息,将预设数量个所述影像信息进行拼接生成所述全景影像信息,并将所述全景影像信息压缩后通过所述车载通信终端发送至所述用户终端。
- 根据权利要求1所述的***,其中,所述用户终端设置为:响应于处于操控模式,显示第一控制界面并接收用户输入的第一控制指令,将所述第一控制指令作为所述车辆控制信息发送至所述车载通信终端;其中,所述第一控制指令包括前进指令、后退指令和转向指令中的之一或者所述第一控制指令包括前进指令和转向指令,或者所述第一控制指令包括后退指令和转向指令。
- 根据权利要求1所述的***,其中,所述用户终端设置为:响应于处于路径模式,显示第二控制界面并接收用户输入的路径规划信息和第二控制指令,将所述路径规划信息和所述第二控制指令作为所述车辆控制信息发送至所述车载通信终端;其中,所述第二控制指令包括启动指令或停止指令。
- 根据权利要求3或4所述的***,其中,所述泊车域控制器设置为:在所述车辆控制信息为第一控制指令的情况下,控制所述车辆按照所述第 一控制指令移动;在所述车辆控制信息为所述路径规划信息和所述第二控制指令的情况下,根据所述路径规划信息确定车辆行驶路径,并根据所述第二控制指令控制所述车辆沿所述车辆行驶路径移动。
- 根据权利要求1所述的***,其中,所述车辆,还包括:超声波传感器;所述超声波传感器与所述泊车域控制器通信连接;所述超声波传感器设置为获取超声波传感信息,并将所述超声波传感信息发送至所述泊车域控制器;所述泊车域控制器响应于根据所述超声波传感信息确定有碰撞风险,控制所述车辆执行避撞处理。
- 一种远程挪车方法,应用于车辆,包括:接收用户终端发送的所述车辆控制信息,并控制所述车辆根据所述车辆控制信息进行移动,其中,所述车辆控制信息为所述用户终端根据所述车辆发送的全景影像信息确定。
- 根据权利要求7所述的方法,所述控制所述车辆根据所述车辆控制信息进行移动之时,还包括:获取超声波传感信息;响应于所述车辆根据所述超声波传感信息确定有碰撞风险,控制所述车辆执行避撞处理。
- 一种车辆,包括:摄像头,设置为采集车辆周边影像信息;超声波传感器,设置为采集超声波传感信息;车载通信终端;至少两个控制器,所述至少两个控制器至少包括全景影像控制器和泊车域控制器;存储装置,设置为存储至少一个程序;当所述至少一个程序被所述至少两个控制器执行,使得所述至少两个控制器实现如权利要求7-8中任一所述的远程挪车方法。
- 一种包含计算机可执行指令的存储介质,所述计算机可执行指令在由计算机处理器执行时用于执行如权利要求7-8中任一所述的远程挪车方法。
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