WO2020082771A1 - 泊车控制方法、装置及车辆 - Google Patents

泊车控制方法、装置及车辆 Download PDF

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Publication number
WO2020082771A1
WO2020082771A1 PCT/CN2019/093424 CN2019093424W WO2020082771A1 WO 2020082771 A1 WO2020082771 A1 WO 2020082771A1 CN 2019093424 W CN2019093424 W CN 2019093424W WO 2020082771 A1 WO2020082771 A1 WO 2020082771A1
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WO
WIPO (PCT)
Prior art keywords
parking
control device
short
vehicle
wireless communication
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.)
Ceased
Application number
PCT/CN2019/093424
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English (en)
French (fr)
Inventor
陈利强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangzhou Xiaopeng Motors Technology Co Ltd
Original Assignee
Guangzhou Xiaopeng Motors Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Guangzhou Xiaopeng Motors Technology Co Ltd filed Critical Guangzhou Xiaopeng Motors Technology Co Ltd
Priority to EP19876145.4A priority Critical patent/EP3865360B1/en
Publication of WO2020082771A1 publication Critical patent/WO2020082771A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • 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

Definitions

  • the present invention relates to the technical field of vehicle control, and in particular, to a parking control method, device, and vehicle.
  • the purpose of the embodiments of the present invention is to provide a parking control method, device and vehicle.
  • a parking control method provided by an embodiment of the present invention is applied to a vehicle, and includes:
  • the method further includes:
  • the parking operation is performed until the parking is completed.
  • the step of establishing a short-range wireless communication connection with the control device includes:
  • a short-range wireless communication connection is established with the control device.
  • the establishing a short-range wireless communication connection with the control device includes:
  • the first electronic control unit establishes a short-range wireless communication connection with the control device
  • the monitoring of the current state of the short-range wireless communication connection includes:
  • the first electronic control unit sends the current status of the short-range communication connection between the first electronic control unit and the control device to the second electronic control unit according to a set rule;
  • the second electronic control unit knows the connection state of the short-range wireless communication connection with the control device according to the received current state.
  • the method further includes:
  • a notification message of connection interruption is sent to the designated communication account to notify the relevant user that parking is interrupted.
  • the method further includes:
  • the method further includes:
  • the method before performing the parking operation on the vehicle according to the parking request, the method further includes:
  • an embodiment of the present invention also provides a parking control device, which is applied to a vehicle and includes:
  • the receiving module is used to receive the parking request sent by the control device
  • a monitoring module for monitoring the current state of the short-range wireless communication connection during the parking operation on the vehicle according to the parking request
  • the control module is configured to stop performing the parking operation when it is detected that the current state is disconnected.
  • an embodiment of the present invention further provides a vehicle, a memory, and an electronic control unit, the memory is used to store a computer program, and the electronic control unit is used to read and run the computer program from the memory, To perform the above method.
  • the parking control method of the embodiment of the present invention monitors the current state of the short-range wireless communication connection during the parking operation on the vehicle according to the parking request, and only the current When the state is disconnected, the parking operation is stopped, so that some safety problems in the parking process caused by excessive parking can be avoided.
  • FIG. 1 is a schematic diagram of interaction between a vehicle and a control device provided by an embodiment of this application.
  • FIG. 2 is a schematic diagram of interaction between a vehicle and a control device provided by another embodiment of this application.
  • FIG. 3 is a flowchart of a parking control method provided by an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of functional modules of a parking control device provided by an embodiment of the present invention.
  • FIG. 1 shows a schematic diagram of interaction between a vehicle and a control device provided by an embodiment of the present application.
  • the figure shows a vehicle 100 and a control device 200.
  • the control device 200 may perform one-way communication with the vehicle 100 through radio frequency, and may also perform two-way communication with the vehicle 100 through short-range wireless communication.
  • the control device 200 in this embodiment may be a car key.
  • the vehicle in the embodiment of the present application includes a plurality of electronic control units 110 (Electronic Control Unit, referred to as ECU).
  • ECU Electronic Control Unit
  • the electronic control unit can include a microprocessor (CPU), memory (ROM, RAM), input / output interface (I / O), analog-to-digital converter (A / D), and large-scale integrated circuits such as shaping and driving .
  • CPU microprocessor
  • ROM read-only memory
  • RAM random access memory
  • I / O input / output interface
  • a / D analog-to-digital converter
  • large-scale integrated circuits such as shaping and driving .
  • the memory may be, but not limited to, random access memory (Random Access Memory, RAM), Read Only Memory (ROM), Programmable Read-Only Memory, PROM), Erasable Programmable Read-Only Memory, EPROM), Electric Erasable Programmable Read-Only Memory, EEPROM), etc.
  • RAM Random Access Memory
  • ROM Read Only Memory
  • PROM Programmable Read-Only Memory
  • EPROM Erasable Programmable Read-Only Memory
  • EEPROM Electrical Erasable Programmable Read-Only Memory
  • the steps performed by the vehicle 100 defined by the process disclosed in any of the embodiments of the present invention may be applied to the microprocessor , Or implemented by a microprocessor.
  • the microprocessor may be an integrated circuit chip with signal processing capabilities.
  • the vehicle 100 may also include a radar 130.
  • the radar 130 may include a front parking radar and a reversing radar.
  • the front parking radar may include a front controller, sensors, and indicators.
  • the front parking radar uses the principle of ultrasonic distance measurement.
  • the controller controls the sensor to emit ultrasonic signals.
  • the ultrasonic signal encounters an obstacle, it generates an echo signal.
  • the sensor After the sensor receives the echo signal, it calculates through the front controller, and After being processed and judged, the display displays the distance, bearing, area and other information of the nearest obstacle, and the buzzer (or horn) sends out the corresponding warning sound in due course.
  • the reversing radar may include an ultrasonic sensor, a rear controller, and a display or buzzer.
  • the reversing radar uses the principle of ultrasound when reversing the vehicle.
  • the ultrasonic sensor installed on the rear bumper sends ultrasonic waves to the obstacle and reflects the sound wave.
  • the rear controller calculates the actual distance between the vehicle body and the obstacle, and then outputs a prompt.
  • the prompt message may be a text message displayed on the display, or a voice message from the buzzer.
  • each electronic control unit on the vehicle is used to deal with a type of problem on the vehicle.
  • the vehicle may include a first electronic control unit for responding to instructions sent by the vehicle key.
  • a second electronic control unit may be included on the vehicle to execute the instructions required for the parking operation.
  • FIG. 2 shows another schematic diagram of the interaction between the vehicle and the control device provided by the embodiment of the present application.
  • the interactive environment diagram shown in FIG. 2 is similar to that shown in FIG. 1, except that the control device shown in FIG. 2 communicates with the vehicle in a two-way communication manner.
  • the control device 200 in this embodiment may be a car key, a tablet computer, a smartphone, or a personal digital assistant (personal digital assistant, PDA), etc.
  • FIG. 3 is a flowchart of a parking control method provided by an embodiment of the present invention.
  • the parking control method in this embodiment is applied to a vehicle.
  • the specific process shown in FIG. 3 will be described in detail below.
  • Step S301 Receive a parking request sent by the control device.
  • control device may be a device such as a car key or a user's mobile terminal.
  • a plurality of control buttons may be provided on the car key, including a parking button.
  • the parking button When the parking button is pressed, the car key sends a parking request to the vehicle.
  • an application for controlling a car may be installed on the mobile terminal.
  • the control interface of the above application program may include a button for controlling parking. After receiving the trigger operation of the button for controlling parking, the mobile terminal may send a parking request to the vehicle.
  • the main control interface of the above application program may further include buttons for starting a wiper, opening doors and windows, adjusting a seat back, and the like.
  • control device and the vehicle may send the parking request to the vehicle through one-way communication, or may send the parking request to the vehicle through two-way short-range communication.
  • the one-way communication method may be a radio frequency method
  • the two-way short-range wireless communication method may be Bluetooth technology or Wi-Fi technology , ZigBee technology, IrDA technology, NFC technology, UWB technology.
  • Step S302 Establish a short-range wireless communication connection with the control device.
  • the control device is a mobile device held by the user. Therefore, the distance between the control device and the vehicle can be ensured within the limit range through the short-range wireless communication method, thereby further keeping the distance between the user and the vehicle within the limit range, which can avoid the user Keep away from vehicles.
  • steps in this embodiment are not limited to the order shown in FIG. 3, and in some cases, the order before each step may also be exchanged.
  • step S302 may be executed before step S301.
  • step S301 is executed before step S302.
  • step S302 includes: after receiving the parking request, sending a short-range wireless communication connection request to the control device; after receiving a connection response from the control device, establishing short-range wireless communication with the control device connection.
  • Step S303 During the parking operation on the vehicle according to the parking request, monitor the current state of the short-range wireless communication connection.
  • the current state of the short-range wireless communication connection with the control device may be obtained according to a preset rule.
  • the current state of the short-range wireless communication connection can be obtained in real time, or the current state of the short-range wireless communication connection can be obtained according to the set frequency, which can be obtained every one hundred and twenty milliseconds, once every eighty milliseconds, Get every 45 milliseconds.
  • different rules may be selected according to different types of vehicles. In one example, if the vehicle is a large truck that takes a relatively long time to park, a relatively small setting frequency may be set, for example, every 80 milliseconds. In another example, if the vehicle is a car with a quick parking, a larger setting frequency can be set, for example, every 40 milliseconds.
  • an electronic control unit may receive a parking request of a control device, and another electronic control unit may perform a parking operation.
  • step S302 includes the first electronic control unit establishing a short-range wireless communication connection with the control device.
  • the monitoring of the current state of the short-range wireless communication connection includes: the first electronic control unit sends the current state of the short-range communication connection between the first electronic control unit and the control device to the second electronic control unit according to a set rule State; the second electronic control unit knows the connection state of the short-range wireless communication connection with the control device according to the received current state.
  • the first electronic control unit may send the current status of the short-range wireless communication connection with the control device to the second electronic control unit according to a preset rule.
  • a preset rule For example, you can send the current state of the short-range wireless communication connection in real time, or you can send the current state of the short-range wireless communication connection according to the set frequency.
  • the set frequency can be obtained once every one hundred and twenty milliseconds, once every eighty milliseconds, Get every 45 milliseconds.
  • different rules may be selected according to different types of vehicles. In one example, if the vehicle is a large truck that takes a relatively long time to park, a relatively small setting frequency may be set, for example, every 80 milliseconds. In another example, if the vehicle is a car with a quick parking, a larger setting frequency can be set, for example, every 40 milliseconds.
  • the first electronic control unit in this embodiment is used to communicate with the control device and receive the vehicle control request sent by the control device.
  • the second electronic control unit is used to control and manage related equipment that needs to be used for parking, so as to realize effective parking.
  • the second electronic control unit may activate the front parking radar and the reversing radar to detect the surrounding environment of the vehicle.
  • the parking control method before performing the parking operation on the vehicle according to the parking request, the parking control method further includes: identifying the current environment of the vehicle, and determining whether there are parking spaces that satisfy the conditions in the current environment ; If yes, then perform the operation of parking the vehicle according to the parking request.
  • Parking can be achieved more accurately through the recognition of parking spaces.
  • Step S304 when it is detected that the current state is disconnected, the parking operation is stopped.
  • the short-range wireless communication connection with the control device is disconnected, it means that the user may be away from the vehicle, and then continue to park may bump some obstacles that the vehicle cannot recognize, so the terminal parking operation.
  • the short-distance wireless communication is used to ensure the distance between the user and the vehicle, which frees the user's two-handed operation and improves the safety of the car.
  • the user only performs the parking operation within a safe distance, which can avoid the danger of excessive parking of the vehicle.
  • the corresponding status is sent to the intelligent driving module to avoid potential risks that may occur after the user leaves the car and reduce the user's parking risk.
  • Step S305 when it is monitored that the current state is connected, the parking operation is performed until the parking is completed.
  • the distance to the control device can be well maintained, and whether the distance to the control device is within the effective distance range can also be determined by the close-range wireless communication connection with the control device .
  • a step of sending a notification message to the relevant user may be added on the basis shown in FIG. 2.
  • the parking control method in this embodiment may further include: when it is detected that the current state is disconnected, sending a notification message of connection interruption to a designated communication account to notify relevant users that parking is interrupted.
  • the parking control method in this embodiment may further include: after the parking is completed, sending a notification message of the parking completion to the designated communication account.
  • the above-mentioned communication account may be the mobile phone number of the relevant user of the vehicle that is performing the parking operation, or may be another instant communication account of the above-mentioned relevant user, such as Dingding, WeChat, QQ, etc.
  • the display on the vehicle can receive user operations to achieve binding and linking a communication account.
  • the user By sending a message to the communication account of the relevant user of the vehicle that performs the parking operation, the user can be informed of the parking status in time, and the user can take measures based on the parking status to improve the parking safety.
  • the parking control method in this embodiment may further include: sending the current parking status to the server, so that the server sends the parking status to the specified application account.
  • the mobile terminal used by the user lock of the parking-operated vehicle may be installed with an application program for managing the vehicle.
  • There may be a setting unit on the application program, which is used to receive the vehicle associated with the user setting. For example, it can be associated with the vehicle through information such as the vehicle's identification number and the vehicle's license plate number.
  • the above-mentioned designated application account may be the account to which the above-mentioned application belongs.
  • the user presses the parking key of the car key, and communicates with the first electronic control unit (ECU1) through radio frequency.
  • ECU1 receives the parking request of the car key
  • the Bluetooth module of ECU1 initiates the parking key with the car key.
  • Bluetooth connection is paired.
  • ECU1 sends the Bluetooth connection status to the second electronic control unit (intelligent driving ECU) through the CAN bus.
  • the intelligent driving ECU can control various devices required for parking to perform parking operations.
  • the Bluetooth module of ECU1 is disconnected from the car key Bluetooth, ECU1 sends the disconnected state to the intelligent driving ECU, the intelligent driving ECU stops control, parking The vehicle system is suspended to avoid some safety risks.
  • FIG. 4 is a functional block diagram of a parking control device provided by an embodiment of the present invention.
  • Each module in the parking control device in this embodiment is used to execute each step in the above method embodiment.
  • the parking control device includes: a receiving module 401, a building module 402, a monitoring module 403, and a control module 404, wherein,
  • the receiving module 401 is used to receive a parking request sent by a control device
  • the establishment module 402 is used to establish a short-range wireless communication connection with the control device
  • a monitoring module 403, configured to monitor the current state of the short-range wireless communication connection during the parking operation on the vehicle according to the parking request;
  • the control module 404 is configured to stop performing the parking operation when it is detected that the current state is disconnected.
  • the control module 404 is configured to perform the parking operation when the current state is connected, until the parking is completed.
  • the establishment module 402 is also used to:
  • a short-range wireless communication connection is established with the control device.
  • the establishment module 402 is also used to:
  • the first electronic control unit establishes a short-range wireless communication connection with the control device
  • the monitoring module 403 is also used to:
  • the first electronic control unit sends the current status of the short-range communication connection between the first electronic control unit and the control device to the second electronic control unit according to a set rule;
  • the second electronic control unit knows the connection state of the short-range wireless communication connection with the control device according to the received current state.
  • the parking operation device further includes:
  • the first sending module is configured to send a notification message that the connection is interrupted to the designated communication account when it is detected that the current status is disconnected to notify the relevant user that the parking is interrupted.
  • the first sending module is also used to:
  • the device further includes:
  • the second sending module sends the current parking status to the server, so that the server sends the parking status to the designated application account.
  • the device further includes:
  • the identification module is used to identify the current environment of the vehicle and determine whether there are parking spaces that meet the conditions in the current environment before performing the parking operation on the vehicle according to the parking request;
  • the parking control device of the embodiment of the present invention monitors the current state of the short-range wireless communication connection during the parking operation on the vehicle according to the parking request, and stops only when the current state is disconnected The parking operation is carried out, so that some safety problems in the parking process caused by excessive parking can be avoided.
  • each block in the flowchart or block diagram may represent a module, program segment, or part of code that contains one or more of the Executable instructions.
  • the functions noted in the block may occur out of the order noted in the figures. For example, two consecutive blocks can actually be executed in parallel, and sometimes they can also be executed in the reverse order, depending on the functions involved.
  • each block in the block diagram and / or flowchart, and a combination of the blocks in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs the specified function or action Or, it can be realized by a combination of dedicated hardware and computer instructions.
  • the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.
  • the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present invention essentially or part of the contribution to the existing technology or part of the technical solution can be embodied in the form of a software product, the computer software product is stored in a storage medium, including Several instructions are used to enable a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the apparatus described in each embodiment of the present invention.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disks or optical disks and other media that can store program codes.
  • ROM read-only memory
  • RAM Random Access Memory

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Abstract

本发明实施例提供一种泊车控制方法、装置及车辆。其中，所述泊车控制方法包括：接收控制设备发送的泊车请求；建立与所述控制设备的近距离无线通信连接；在根据所述泊车请求对车辆执行泊车操作过程中，监测所述近距离无线通信连接的当前状态；以及当监测到所述当前状态为断开时，则停止执行所述泊车操作。

Description

泊车控制方法、装置及车辆
技术领域
本发明涉及车辆控制技术领域，具体而言，涉及一种泊车控制方法、装置及车辆。
背景技术
随着电子、信息、通信等技术与汽车产业加速融合，汽车也向智能化、网联化方向发展。随着汽车的发展，很多汽车也可以实现自动泊车。但是，对于市面上自动泊车，车辆识别到车位后，通过车钥匙，无需人工介入，就能完成全自动泊车，车主可以选择提前下车离车，这样就节省了停车的时间。但是，自动泊车带来了方便也可能会伴随着存在一些安全性问题。
发明内容
有鉴于此，本发明实施例的目的在于提供一种泊车控制方法、装置及车辆。
第一方面，本发明实施例提供的一种泊车控制方法，应用于一车辆中，包括：
接收控制设备发送的泊车请求；
建立与所述控制设备的近距离无线通信连接；
在根据所述泊车请求对车辆执行泊车操作过程中，监测所述近距离无线通信连接的当前状态；以及
当监测到所述当前状态为断开时，则停止执行所述泊车操作。
可选地，所述方法还包括：
当监测到所述当前状态为连接时，则执行所述泊车操作，直到泊车完成。
可选地，所述建立与所述控制设备的近距离无线通信连接的步骤，包括：
接收到所述泊车请求后，向所述控制设备发送近距离无线通信连接请求；
接收到所述控制设备的连接响应后，与所述控制设备建立近距离无线通信连接。
可选地，所述建立与所述控制设备的近距离无线通信连接，包括：
第一电子控制单元建立与所述控制设备的近距离无线通信连接；
所述监测所述近距离无线通信连接的当前状态包括：
所述第一电子控制单元按照设定规则向第二电子控制单元发送所述第一电子控制单元与所述控制设备的近距离通信连接的当前状态；
所述第二电子控制单元根据接收到的所述当前状态获知与所述控制设备的近距离无线通信连接的连接状态。
可选地，所述方法还包括：
当监测到所述当前状态为断开时，向指定通信账号发送连接中断的通知消息，以通知相关用户泊车被中断。
可选地，所述方法还包括：
当泊车完成后，向指定通信账号发送泊车完成的通知消息。
可选地，所述方法还包括：
将当前的泊车状态发送给所述服务器，以使所述服务器将所述泊车状态发送给指定应用账号。
可选地，在根据所述泊车请求对车辆执行泊车操作之前，所述方法还包括：
对所述车辆的当前环境进行识别，判断当前环境中是否存在满足条件的停车位；
若是，再执行根据所述泊车请求对车辆进行泊车的操作。
第二方面，本发明实施例还提供一种泊车控制装置，应用于一车辆中，包括：
接收模块，用于接收控制设备发送的泊车请求；
建立模块，用于建立与所述控制设备的近距离无线通信连接；
监测模块，用于在根据所述泊车请求对车辆执行泊车操作过程中，监测所述近距离无线通信连接的当前状态；以及
控制模块，用于当监测到所述当前状态为断开时，则停止执行所述泊车操作。
第三方面，本发明实施例还提供一种车辆，存储器以及电子控制单元，所述存储器用于存储计算机程序，所述电子控制单元用于从所述存储器中读取并运行所述计算机程序，以执行上述方法。
与现有技术相比，本发明实施例的泊车控制方法，通过在根据所述泊车请求对车辆执行泊车操作过程中，监测所述近距离无线通信连接的当前状态，只有所述当前状态处于断开时，停止执行所述泊车操作，从而可以避免过度泊车导致泊车过程中出现一些安全问题。
为使本发明的上述目的、特征和优点能更明显易懂，下文特举实施例，并配合所附附图，作详细说明如下。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍， 应当理解，以下附图仅示出了本发明的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1为本申请一实施例提供的车辆与控制设备进行交互的示意图。
图2为本申请另一实施例提供的车辆与控制设备进行交互的示意图。
图3为本发明实施例提供的泊车控制方法的流程图。
图4为本发明实施例提供的泊车控制装置的功能模块示意图。
具体实施方式
下面将结合本发明实施例中附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本发明实施例的组件可以以各种不同的配置来布置和设计。因此，以下对在附图中提供的本发明的实施例的详细描述并非旨在限制要求保护的本发明的范围，而是仅仅表示本发明的选定实施例。基于本发明的实施例，本领域技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。同时，在本发明的描述中，术语“第一”、“第二”等仅用于区分描述，而不能理解为指示或暗示相对重要性。
车辆自动化的普及，给用户的生活带来了方便，但是也存在一定的安全风险，即当用户离开车辆一定范围时，受限于超声波雷达缺陷，对于无法识别的物体时，车辆可能与无法探测的障碍物碰撞，导致车辆损伤或人员伤亡。
因此，现有技术中的自动泊车的安全性还需要进一步地提高。为解决这一问题，本申请发明人研究可通过一种双向通讯的方式进行泊车。下面通过几个实施例进行详细的描述。
如图1所示，图1示出了一个本申请实施例提供的车辆与控制设备进行交互的示意图。图中示出了一车辆100和控制设备200。控制设备200可以通过射频方式与车辆100进行单向通信，也可以通过近距离无线通信方式与车辆100进行双向通信。本实施例中的控制设备200可以是车钥匙。
如图1所示，本申请实施例中的车辆包括多个电子控制单元110（Electronic Control Unit，简称ECU）。
各个电子控制单元之间通过CAN（Controller Area Network，控制器局域网络）总线120进行通信。
其中，电子控制单元可以包括微处理器（CPU）、存储器（ROM、RAM）、输入/输出接口（I/O）、模数转换器（A/D）以及整形、驱动等大规模集成电路组成。
其中，所述存储器可以是，但不限于，随机存取存储器（Random Access Memory，RAM），只读存储器（Read Only Memory，ROM），可编程只读存储器（Programmable Read-Only Memory，PROM），可擦除只读存储器（Erasable Programmable Read-Only Memory，EPROM），电可擦除只读存储器（Electric Erasable Programmable Read-Only Memory，EEPROM）等。其中，存储器用于存储程序，所述微处理器在接收到执行指令后，执行所述程序，本发明实施例任一实施例揭示的过程定义的车辆100所执行的步骤可以应用于微处理器中，或者由微处理器实现。
所述微处理器可能是一种集成电路芯片，具有信号的处理能力。
进一步地，车辆100还可以包括雷达130。其中，雷达130可以包括前置泊车雷达和倒车雷达。
前置泊车雷达可以包括前置控制器、传感器、指示器。前置泊车雷达采用超声波测距原理，由控制器控制传感器发射超声波信号，当超声波信号遇到障碍物时产生回波信号，传感器接收到回波信号后，经由前置控制器进行计算，并加以处理、判断，由显示器显示最近障碍物的距离、方位、区域等信息，并由蜂鸣器（或喇叭）适时发出相应的警示声音。
倒车雷达可以包括超声波传感器、后置控制器和显示器或蜂鸣器。倒车雷达在倒车时，利用超声波原理，由装置在车尾保险杠上的超声波传感器发送超声波撞击障碍物后反射此声波，后置控制器计算出车体与障碍物间的实际距离，然后输出提示消息。提示消息可以是显示在显示器上的文字消息，也可以是蜂鸣器发出的声音消息。
其中，车辆上的每个电子控制单元用于处理车辆上的一类问题。例如，车辆上可以包括第一电子控制单元，用于响应车钥匙发送的指令。再例如，车辆上可以包括第二电子控制单元，用于执行泊车操作所需指令。
如图2所示，图2示出了另一个本申请实施例提供的车辆与控制设备进行交互的示意图。图2所示的交互环境图与图1所示的类似，其不同之处在于，图2所示的控制设备与车辆采用双向通信的方式进行通信。本实施例中的控制设备200可以是车钥匙、平板电脑、智能手机、个人数字助理（personal digital assistant，PDA）等。
请参阅图3，是本发明实施例提供的泊车控制方法的流程图。本实施例中的泊车控制方法，应用于一车辆中。下面将对图3所示的具体流程进行详细阐述。
步骤S301，接收控制设备发送的泊车请求。
本实施例中，控制设备可以是车钥匙、用户的移动终端等设备。
在一个实施方式中，车钥匙上可以设置有多个控制按键，其中包括泊车按键，该泊车按键被按压时，车钥匙向车辆发送泊车请求。
在另一个实施方式中，移动终端上可以安装有用于控车的应用程序，当该应用程序使用与一目标车辆关联的账号登入时，可以向目标车辆发送一些控制车辆的请求。上述应用程序的控制界面中可以包括一控制泊车的按键。当接收到对控制泊车的按键的触发操作后，移动终端可以向车辆发送泊车请求。进一步地，上述的应用程序的主控界面上还可以包括启动雨刮器、打开门窗、调整座椅靠背等按键。
本实施例中，控制设备与车辆可以通过单向通信的方式向车辆发送泊车请求，也可以通过双向的近距离通信方式向车辆发送泊车请求。
其中，单向通信方式可以是射频方式，双向的近距离无线通信方式可以是蓝牙技术 、Wi-Fi技术 、ZigBee技术、IrDA技术、NFC技术、UWB技术。
步骤S302，建立与所述控制设备的近距离无线通信连接。
其中，控制设备作为用户手持的移动设备，因此，通过近距离无线通信方式可以保证控制设备与车辆的距离在限制范围内，从而进一步地可以保持用户与车辆的距离在限制范围内，可以避免用户远离车辆。
进一步地，本实施例中的各个步骤并不以图3所示的顺序为限，在一些情况下，各个步骤之前的顺序也可以交换。
在一实施方式中，若所述泊车请求是以双向的近距离无线通信方式传输的，则步骤S302可以在步骤S301之前执行。
在另一实施方式中，若所述泊车请求是以单向的近距离通信方式传输的，则步骤S301在步骤S302之前执行。
具体地，步骤S302包括：接收到所述泊车请求后，向所述控制设备发送近距离无线通信连接请求；接收到所述控制设备的连接响应后，与所述控制设备建立近距离无线通信连接。
步骤S303，在根据所述泊车请求对车辆执行泊车操作过程中，监测所述近距离无线通信连接的当前状态。
本实施例中，可以按照预设规则获取与控制设备的近距离无线通信连接的当前状态。例如，可以实时获取近距离无线通信连接的当前状态，也可以在按照设置频率获取近距离无线通信连接的当前状态，设置频率可以是每一百二十毫秒获取一次、每八十毫秒获取一次、每四十五毫秒获取一次。具体地，可以根据车辆的类型不同选择不同的规则。在一个实例中，车辆是停靠相对费时间的大卡车，则可以设置相对较小的设置频率，例如，每八十毫秒获取一次等。在另一个实例中，车辆是停车较快的小轿车，则可以设置较大的设置频率，例如，每四十毫秒获取一次等。
通过实时获取与控制设备的近距离无线通信连接的当前状态，可以随时有效地确定与控制设备的距离是否在限制范围内。通过设置合适的频率可以识别车辆与控制设备的连接状态的情况下，还减少车辆的电子控制单元的工作压力。
不同的控制车辆的功能使用不同的电子控制单元实现，基于上述车辆的结构，可以由一电子控制单元接收控制设备的泊车请求，可以由另外的电子控制单元执行泊车操作。
本实施例中，步骤S302包括：第一电子控制单元建立与所述控制设备的近距离无线通信连接。
所述监测所述近距离无线通信连接的当前状态包括：第一电子控制单元按照设定规则向第二电子控制单元发送所述第一电子控制单元与所述控制设备的近距离通信连接的当前状态；所述第二电子控制单元根据接收到的所述当前状态获知与所述控制设备的近距离无线通信连接的连接状态。
本实施例中，第一电子控制单元可以按照预设规则向第二电子控制单元发送其与控制设备的近距离无线通信连接的当前状态。例如，可以实时发送近距离无线通信连接的当前状态，也可以在按照设置频率发送近距离无线通信连接的当前状态，设置频率可以是每一百二十毫秒获取一次、每八十毫秒获取一次、每四十五毫秒获取一次。具体地，可以根据车辆的类型不同选择不同的规则。在一个实例中，车辆是停靠相对费时间的大卡车，则可以设置相对较小的设置频率，例如，每八十毫秒获取一次等。在另一个实例中，车辆是停车较快的小轿车，则可以设置较大的设置频率，例如，每四十毫秒获取一次等。
本实施例中的第一电子控制单元用于与控制设备通信，接收控制设备发送的车辆控制请求。第二电子控制单元用于对泊车需要使用的相关设备进行控制管理，以实现有效停车。具体地，第二电子控制单元可以启动前置泊车雷达和倒车雷达检测车辆周边的环境。
本实施例中，在根据所述泊车请求对车辆执行泊车操作之前，所述泊车控制方法还包括：对所述车辆的当前环境进行识别，判断当前环境中是否存在满足条件的停车位；若是，再执行根据所述泊车请求对车辆进行泊车的操作。
通过对车位的识别可以更准确地实现停车。
步骤S304，当监测到所述当前状态为断开时，则停止执行所述泊车操作。
如果与控制设备的近距离无线通信连接为断开状态，表示用户可能远离车辆了，再继续停车可能会撞倒一些车辆识别不到的障碍物，因此，终端泊车操作。
当用户需要使用泊车时，通过使用近距离无线通信来保证用户与车辆的距离，即解放了用户双手操作，也提高了用车安全。用户在安全距离内才进行泊车操作，可以避免车辆发生一些过度泊车的危险。通过引入双向通信机制，在双向通信断开后，发送相应状态给智能驾驶模块，规避用户离车后可能发生的潜在风险，减少用户停车风险。
步骤S305，当监测到所述当前状态为连接时，则执行所述泊车操作，直到泊车完成。
通过对与控制设备的保持近距离无线通信连接可以很好地保持与控制设备的距离，也能够通过与控制设备的近距离无线通信连接与否，判断与控制设备的距离是否在有效距离范围内。
为了方便用户即使不在车周边也能够知道泊车状态，可以在图2所示的基础上新增向相关用户发送通知消息的步骤。
本实施例中的泊车控制方法还可以包括：当监测到所述当前状态为断开时，向指定通信账号发送连接中断的通知消息，以通知相关用户泊车被中断。
本实施例中的泊车控制方法还可以包括：当泊车完成后，向指定通信账号发送泊车完成的通知消息。
上述的通信账号可以是正在执行泊车操作的车辆的相关用户的手机号，也可以是上述的相关用户的其它即时通信账号，例如，钉钉、微信、QQ等。
进一步地，车辆上是显示器可以接收用户操作，实现绑定关联一通信账号。
通过向执行泊车操作的车辆的相关用户的通信账号发送消息，可以使用户能够及时获知泊车的状态，可以使用户可以根据泊车的状态采取措施，提高泊车的安全。
智能的手机的普及，各类应用程序也融入人们的生活中，应用处于这类考虑，为了方便用户可以通过应用程序管理车辆。因此，车辆可以将泊车状态发送给服务器，服务器将泊车状态推送给应用程序，以使应用程序可以显示泊车状态。
本实施例中的泊车控制方法还可以包括：将当前的泊车状态发送给所述服务器，以使所述服务器将所述泊车状态发送给指定应用账号。
本实施例中，泊车操作的车辆的对应用户锁使用的移动终端可以安装有用于管理车辆的应用程序。该应用程序上可以有设置单元，用于接收用户设置关联的车辆。例如，可以通过车辆的识别号、车辆的车牌号等信息与车辆关联。上述的指定应用账号可以是上述的应用程序所属的账号。
下面可以在一个场景中详细，描述泊车的全过程。
当车辆识别到车位时，用户按压车钥匙的泊车按键，通过射频方式与第一电子控制单元（ECU1）通信，ECU1接收到车钥匙的泊车请求后，ECU1的蓝牙模块发起与车钥匙的蓝牙连接配对，配对完成后，ECU1通过CAN总线发送蓝牙连接状态给第二电子控制单元（智能驾驶ECU）。智能驾驶ECU则可以控制泊车需要的各个设备执行泊车操作。通过上述操作，如果用户离开设定范围（可以保持蓝牙连接的限制范围内）后，ECU1的蓝牙模块与车钥匙蓝牙断开，ECU1发送断开状态给智能驾驶ECU，智能驾驶ECU停止控制，泊车系统暂停，规避部分安全风险。
请参阅图4，是本发明实施例提供的泊车控制装置的功能模块示意图。本实施例中的泊车控制装置中的各个模块用于执行上述方法实施例中的各个步骤。所述泊车控制装置包括：接收模块401、建立模块402、监测模块403及控制模块404，其中，
接收模块401，用于接收控制设备发送的泊车请求；
建立模块402，用于建立与所述控制设备的近距离无线通信连接；
监测模块403，用于在根据所述泊车请求对车辆执行泊车操作过程中，监测所述近距离无线通信连接的当前状态；以及
控制模块404，用于当监测到所述当前状态为断开时，则停止执行所述泊车操作。
所述控制模块404，用于当监测到所述当前状态为连接时，则执行所述泊车操作，直到泊车完成。
本实施例中，所述建立模块402，还用于：
接收到所述泊车请求后，向所述控制设备发送近距离无线通信连接请求；
接收到所述控制设备的连接响应后，与所述控制设备建立近距离无线通信连接。
本实施例中，所述建立模块402，还用于：
第一电子控制单元建立与所述控制设备的近距离无线通信连接；
所述监测模块403，还用于：
所述第一电子控制单元按照设定规则向第二电子控制单元发送所述第一电子控制单元与所述控制设备的近距离通信连接的当前状态；
所述第二电子控制单元根据接收到的所述当前状态获知与所述控制设备的近距离无线通信连接的连接状态。
本实施例中，所述泊车操作装置还包括：
第一发送模块，用于当监测到所述当前状态为断开时，向指定通信账号发送连接中断的通知消息，以通知相关用户泊车被中断。
本实施例中，所述第一发送模块，还用于：
当泊车完成后，向指定通信账号发送泊车完成的通知消息。
本实施例中，所述装置还包括：
第二发送模块，将当前的泊车状态发送给所述服务器，以使所述服务器将所述泊车状态发送给指定应用账号。
本实施例中，所述装置还包括：
识别模块，用于在根据所述泊车请求对车辆执行泊车操作之前，对所述车辆的当前环境进行识别，判断当前环境中是否存在满足条件的停车位；
若是，再执行根据所述泊车请求对车辆进行泊车的操作。
关于本实施例的其它细节可以进一步地参考上述方法实施例中的描述，在此不再赘述。
本发明实施例的泊车控制装置，通过在根据所述泊车请求对车辆执行泊车操作过程中，监测所述近距离无线通信连接的当前状态，只有所述当前状态处于断开时，停止执行所述泊车操作，从而可以避免过度泊车导致泊车过程中出现一些安全问题。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置和装置，也可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，附图中的流程图和框图显示了根据本发明的多个实施例的装置、装置和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或代码的一部分，所述模块、程序段或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现方式中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
另外，在本发明各个实施例中的各功能模块可以集成在一起形成一个独立的部分，也可以是各个模块单独存在，也可以两个或两个以上模块集成形成一个独立的部分。
所述功能如果以软件功能模块的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，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）执行本发明各个实施例所述装置的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器（ROM，Read-Only Memory）、随机存取存储器（RAM，Random Access Memory）、磁碟或者光盘等各种可以存储程序代码的介质。需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、装置、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、装置、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、装置、物品或者设备中还存在另外的相同要素。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以权利要求的保护范围为准。

Claims (10)

  1. 一种泊车控制方法，应用于一车辆中，其特征在于，包括：
    接收控制设备发送的泊车请求；
    建立与所述控制设备的近距离无线通信连接；
    在根据所述泊车请求对车辆执行泊车操作过程中，监测所述近距离无线通信连接的当前状态；以及
    当监测到所述当前状态为断开时，则停止执行所述泊车操作。
  2. 如权利要求1所述的泊车控制方法，其特征在于，所述方法还包括：
    当监测到所述当前状态为连接时，则执行所述泊车操作，直到泊车完成。
  3. 如权利要求1所述的泊车控制方法，其特征在于，所述建立与所述控制设备的近距离无线通信连接的步骤，包括：
    接收到所述泊车请求后，向所述控制设备发送近距离无线通信连接请求；
    接收到所述控制设备的连接响应后，与所述控制设备建立近距离无线通信连接。
  4. 如权利要求1所述的泊车控制方法，其特征在于，所述建立与所述控制设备的近距离无线通信连接，包括：
    第一电子控制单元建立与所述控制设备的近距离无线通信连接；
    所述监测所述近距离无线通信连接的当前状态包括：
    所述第一电子控制单元按照设定规则向第二电子控制单元发送所述第一电子控制单元与所述控制设备的近距离通信连接的当前状态；
    所述第二电子控制单元根据接收到的所述当前状态获知与所述控制设备的近距离无线通信连接的连接状态。
  5. 如权利要求1所述的泊车控制方法，其特征在于，所述方法还包括：
    当监测到所述当前状态为断开时，向指定通信账号发送连接中断的通知消息，以通知相关用户泊车被中断。
  6. 如权利要求1所述的泊车控制方法，其特征在于，所述方法还包括：
    当泊车完成后，向指定通信账号发送泊车完成的通知消息。
  7. 如权利要求1所述的泊车控制方法，其特征在于，所述方法还包括：
    将当前的泊车状态发送给服务器，以使所述服务器将所述泊车状态发送给指定应用账号。
  8. 如权利要求1-7任意一项所述的泊车控制方法，其特征在于，在根据所述泊车请求对车辆执行泊车操作之前，所述方法还包括：
    对所述车辆的当前环境进行识别，判断当前环境中是否存在满足条件的停车位；
    若是，再执行根据所述泊车请求对车辆进行泊车的操作。
  9. 一种泊车控制装置，应用于一车辆中，其特征在于，包括：
    接收模块，用于接收控制设备发送的泊车请求；
    建立模块，用于建立与所述控制设备的近距离无线通信连接；
    监测模块，用于在根据所述泊车请求对车辆执行泊车操作过程中，监测所述近距离无线通信连接的当前状态；以及
    控制模块，用于当监测到所述当前状态为断开时，则停止执行所述泊车操作。
  10. 一种车辆，其特征在于，存储器以及电子控制单元，所述存储器用于存储计算机程序，所述电子控制单元用于从所述存储器中读取并运行所述计算机程序，以执行权利要求1~8任一项所述方法。
PCT/CN2019/093424 2018-10-24 2019-06-28 泊车控制方法、装置及车辆 Ceased WO2020082771A1 (zh)

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