CN109765891A - Control method, device, equipment, vehicle and the storage medium of vehicle - Google Patents
Control method, device, equipment, vehicle and the storage medium of vehicle Download PDFInfo
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- CN109765891A CN109765891A CN201910036972.9A CN201910036972A CN109765891A CN 109765891 A CN109765891 A CN 109765891A CN 201910036972 A CN201910036972 A CN 201910036972A CN 109765891 A CN109765891 A CN 109765891A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The application provides control method, device, equipment, vehicle and the storage medium of a kind of vehicle, this method comprises: obtaining determining purpose website；It controls the vehicle and drives to the purpose website according to preset fixed travel route.Purpose website is driven to according to default fixed travel route by control vehicle, parking is opened the door, so that user gets on the bus or gets off, since travel route is all to acquire in advance, vehicle automatically controls parking of arriving at a station according to fixed travel route automatic running, it can guarantee that vehicle driving is unimpeded, it solves in the prior art according to high-precision map programme path, if the acquisition of high-precision map is insufficient not in time, the problems such as being easy to cause the route of planning unworkable.
Description
Technical field
This application involves automatic Pilot technical field more particularly to a kind of control method of vehicle, device, equipment, vehicle
And storage medium.
Background technique
With the continuous development of automatic Pilot technology, automatic driving vehicle starts to put into effect.In the prior art, it drives automatically
It sails vehicle and is typically based on high-precision map and navigate, the terminal that the starting point planning path specified from user is specified to user, row
Sailing route not is fixed route.
With automatic driving vehicle enter park, mine etc. fixed garden, travelled according to route is not fixed, if deposited
It is insufficient or phenomena such as take a shortcut in the acquisition of high-precision map, then automatic driving vehicle is likely to deposit on the path of planning
In problem, for example railing blocking or path are obstructed etc..Therefore, how to effectively control automatic driving vehicles pacifies in fixed garden
The technical issues of travelling entirely, becoming urgent need to resolve.
Summary of the invention
The application provides control method, device, equipment, vehicle and the storage medium of a kind of vehicle, to solve the prior art
The defects of there may be railings to stop on the path of planning, path is obstructed.
The application first aspect provides a kind of control method of vehicle, comprising:
Obtain determining purpose website；
It controls the vehicle and drives to the purpose website according to preset fixed travel route.
The application the second aspect provides a kind of control device of vehicle, comprising:
Module is obtained, for obtaining determining purpose website；
Control module drives to the purpose website according to preset fixed travel route for controlling the vehicle.
A kind of computer equipment is provided in terms of the application third, comprising: at least one processor and memory；
The memory stores computer program；At least one described processor executes the computer of the memory storage
Program, the method to realize first aspect offer.
The 4th aspect of the application provides a kind of vehicle, comprising: sensor, and the device such as the second aspect offer
The 5th aspect of the application provides a kind of computer readable storage medium, stores in the computer readable storage medium
There is computer program, the computer program is performed the method for realizing that first aspect provides.
Control method, device, equipment, vehicle and the storage medium of vehicle provided by the present application, by control vehicle according to
Default fixed travel route drives to purpose website, and parking is opened the door, so that user gets on the bus or gets off, since travel route is all pre-
It first acquired, vehicle automatically controls parking of arriving at a station according to fixed travel route automatic running, it is ensured that vehicle driving is smooth
It is logical, it solves and rule is easy to cause if the acquisition of high-precision map is insufficient not in time according to high-precision map programme path in the prior art
The problems such as route drawn is unworkable.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this Shen
Some embodiments please for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the flow diagram of the control method for the vehicle that one embodiment of the application provides；
Fig. 2 is the schematic diagram of the fixation travel route for the target area that one embodiment of the application provides；
Fig. 3 is the flow diagram of the control method for the vehicle that another embodiment of the application provides；
Fig. 4 is the structural schematic diagram of the control device for the vehicle that one embodiment of the application provides；
Fig. 5 is the structural schematic diagram for the computer equipment that one embodiment of the application provides；
Fig. 6 is the structural schematic diagram for the vehicle that one embodiment of the application provides.
Through the above attached drawings, it has been shown that the specific embodiment of the application will be hereinafter described in more detail.These attached drawings
It is not intended to limit the scope of this disclosure concept by any means with verbal description, but is by referring to specific embodiments
Those skilled in the art illustrate the concept of the application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall in the protection scope of this application.
The control method of vehicle provided by the embodiments of the present application be suitable for automatic driving vehicle park, mine etc. fixed areas
Domain scene.Route acquisition, such as the different websites using acquisition vehicle acquisition target area can be carried out to target area in advance
Coordinate and website between route coordinate etc., can for each website be arranged site identity, such as setting site name, and
The fixation travel route of the automatic Pilot of the target area is generated according to the coordinate of the different websites of acquisition and site name.Vehicle
Available fixation travel route before travelling, and take a website as the point of destination reached for the first time by user or automation
Its present position is starting point by point, vehicle, and purpose website is terminal, does route planning according to fixed travel route, and control
Vehicle processed carries out automatic Pilot, drives to purpose website.
In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply relatively important
Property or implicitly indicate the quantity of indicated technical characteristic.In the description of following embodiment, the meaning of " plurality " is two
More than a, unless otherwise specifically defined.
These specific embodiments can be combined with each other below, may be at certain for the same or similar concept or process
It is repeated no more in a little embodiments.Below in conjunction with attached drawing, the embodiment of the present invention is described.
Embodiment one
The present embodiment provides a kind of control methods of vehicle, for controlling vehicle in fixed travel route traveling.This implementation
The executing subject of example is the control device of vehicle, which can be set in computer equipment, or setting is in the car.
As shown in Figure 1, the flow diagram of the control method for vehicle provided in this embodiment, this method comprises:
Step 101, determining purpose website is obtained.
Specifically, route acquisition can be carried out to target area in advance, such as using acquisition vehicle acquisition target area
Site identity, such as setting website can be arranged in the coordinate etc. of route between the coordinate and website of different websites for each website
Title, and the fixed of the automatic Pilot of the target area is generated according to the coordinate of the different websites of acquisition and site name and travels road
Line.Available fixation travel route before vehicle driving, and take a website as reaching for the first time by user or automation
Purpose website.
Optionally, the site name added by the different website coordinates of route early period acquisition function acquisition, manually, Ke Yifa
It is sent to cloud server, beyond the clouds fixation of each website of server configuration target area automatic running as an automatic Pilot
Travel route.Vehicle can then obtain fixed travel route before traveling from cloud server.
Optionally, user can select website by mobile terminal, and website or user can pass through vehicle as a purpose
On Human machine interface selection website website as a purpose, if selecting purpose website, the control device of vehicle without user
It can automate and take website website as a purpose.For example according to the website sequence on fixed travel route, obtain current institute
In next website website etc. as a purpose of website, can specifically be arranged according to actual needs, the present embodiment does not limit.
Step 102, control vehicle drives to purpose website according to preset fixed travel route.
Specifically, its present position is starting point by vehicle after getting determining purpose website, purpose website is
Terminal does route planning according to fixed travel route, and controls vehicle and carry out automatic Pilot, drives to purpose website.
Vehicle can be automatic driving vehicle, be provided with a plurality of types of sensors, such as radar, laser thunder on vehicle
It reaches, millimetre-wave radar, camera, monocular cam, binocular camera, GPS positioning sensor, IMU Inertial Measurement Unit etc..
Automatic driving vehicle perceives ambient enviroment by these sensors, realizes automatic Pilot.
Illustratively, as shown in Fig. 2, the schematic diagram of the fixation travel route for target area provided in this embodiment.It should
Include 8 websites on fixed travel route, forms a closed loop route.After vehicle reaches purpose website, it can automatically control
Vehicle parking opens the door, and can control opening door of vehicle and stop certain time, so that user gets on the bus or gets off.Vehicle reaches fixed row
After the final website for sailing route, then to fix the first of travel route website website automatic running as a purpose.It is fixed
Travel route may not be closed loop route, here only exemplary illustration, not limit it.
Optionally, when vehicle reaches purpose website, it can control vehicle parking enabling, so that user gets on the bus or gets off.
The control method of vehicle provided in this embodiment drives to mesh according to default fixed travel route by control vehicle
Website, parking open the door so that user gets on the bus or gets off, since travel route is all to acquire in advance, vehicle is according to fixation
Travel route automatic running, and automatically control parking of arriving at a station, it is ensured that vehicle driving is unimpeded, solves basis in the prior art
High-precision map programme path, if the acquisition of high-precision map is insufficient not in time, the problems such as being easy to cause the route of planning unworkable.
Embodiment two
The present embodiment does further supplementary explanation to the control method for the vehicle that embodiment one provides.
As shown in figure 3, the flow diagram of the control method for vehicle provided in this embodiment.
As a kind of enforceable mode, on the basis of the above embodiment 1, optionally, after step 102, this method
Can also include:
Step 103, when reaching purpose website, control vehicle parking opens the door.
Specifically, the control device of vehicle can automatically control vehicle parking enabling when vehicle reaches purpose website, with
User is set to get on the bus or get off.
Optionally, after control vehicle parking opens the door, this method can also include:
Step 104, it controls stoppage of vehicle and keeps door opening state preset duration.
Step 105, control vehicle is closed the door.
Specifically, can control stoppage of vehicle reaching purpose website after control vehicle parking opens the door and keep enabling shape
State preset duration.For example open the door then to stop and wait 15 seconds, in order to which user gets off or gets on the bus.The preset duration of stop is specially
How long can be arranged according to actual needs, the present embodiment does not limit.For example it can also be 20 seconds, 30 seconds etc..
It is alternatively possible to according to historical experience, it is longer in user's more website setting residence time, it is less in user
The website setting residence time it is shorter etc..Can be according to the actual conditions of operational process, dynamic adjusts down time.Than
If script preset duration is 15 seconds, find that certain site user is more in the process of running, when inadequate user gets on the bus and gets off within 15 seconds
Between, then the parking preset duration for adjusting the website extends, for example is adjusted to 30 seconds.
Optionally, after control vehicle is closed the door, this method can also include:
Step 2011, if getting next purpose website of user's selection, vehicle driving is controlled to next purpose website.
Optionally, after control vehicle is closed the door, this method can also include:
Step 2021, if next purpose website of user's selection has not been obtained, vehicle is controlled according to fixed travel route
On website sequence drive to next website of current site.
Specifically, Human machine interface can be set on vehicle, after vehicle reaches purpose website, can be popped up by HMI
Point of destination point selects interface for users selection, is particularly shown mode this embodiment without limitation.For example user gets on the bus from the website,
Next purpose website that it to be reached is selected after getting on the bus.
Optionally, user can also select next purpose website, user hand by oneself mobile terminal, such as mobile phone
Corresponding application APP can be installed on machine, the site list in the target area is checked by APP, and select oneself
Want the purpose website reached, concrete mode is without limitation.
After user has selected next purpose website by HMI, the control device of vehicle then controls vehicle according to fixed row
Route running is sailed to next purpose website.
If not there is user to select next purpose website, the control device of vehicle can be according to the station on fixed travel route
Dot sequency drives to next website of current site, also i.e. using next website of current site as next purpose website.In this way,
Even if triggering without user, vehicle can also be with automatic running.
As another enforceable mode, optionally, this method can also include:
Step 2031, the environmental information of each website of sensor acquisition on vehicle is obtained.
Step 2032, according to the environmental information of each website, judge that each website keeps whether the preset duration of door opening state closes
Reason.
Step 2033, if wherein the preset duration of the first website is unreasonable, the preset duration of the first website is adjusted.
Specifically, since the possible number of users of different websites is different, it can be according to historical user's situation of each website, to adjust
The preset duration of the stop of whole each website.The environmental information for each website that can be acquired by the various sensors on vehicle, comes
Analysis is extracted when each website stops, and user gets on or off the bus situation, and then judges whether the preset duration of each website is reasonable.Such as
Certain website acquisition image information display, vehicle at closing time, outside there are also wait user do not get on vehicle, then prove the station
The preset duration of point is unreasonable, then can extend the preset duration of the website.For example it was extended to from 15 seconds 30 seconds etc..With specific reference to
Actual conditions setting, the present embodiment does not limit.
Here the first website can be any website on fixed travel route, and " first " is not the restriction to it.
Optionally, the quantity of the first website can be one or more, determine with specific reference to actual analysis situation.
As another enforceable mode, on the basis of the above embodiment 1, optionally, this method can also be wrapped
It includes:
Step 2041, when reaching purpose website, the HMI display site selection interface of vehicle is controlled, under user's selection
The website of one mesh.
Specifically, Human machine interface can be set on vehicle, after vehicle reaches purpose website, can be popped up by HMI
Point of destination point selects interface for users selection, is particularly shown mode this embodiment without limitation.For example user gets on the bus from the website,
Next purpose website that it to be reached is selected after getting on the bus.
As another enforceable mode, on the basis of the above embodiment 1, optionally, in control vehicle according to pre-
If fixation travel route drive to before purpose website, this method can also include:
Receive the fixation travel route that server is sent, wherein website coordinate and corresponding station of the server according to acquisition
Point identification generates fixed travel route.
Specifically, the different website coordinates of function acquisition, the site name manually added etc. can be acquired by route early period,
It can be sent to cloud server, each website of server configuration target area automatic running is as an automatic Pilot beyond the clouds
Fixation travel route.Vehicle can then obtain fixed travel route from cloud server.
In some embodiments, optionally, purpose website will be reached after vehicle arrival purpose website or in vehicle
When, HMI or the voice broadcast equipment that can also be controlled on vehicle are prompted, and user is prompted to get off, and specific prompting mode can be with
It is arranged according to actual needs, the present embodiment does not limit.
It should be noted that each enforceable mode can individually be implemented in the present embodiment, it can also be in the feelings not conflicted
It is combined in any combination under condition and implements the application without limitation.
The control method of vehicle provided in this embodiment drives to mesh according to default fixed travel route by control vehicle
Website, parking open the door so that user gets on the bus or gets off, since travel route is all to acquire in advance, vehicle is according to fixation
Travel route automatic running, and automatically control parking of arriving at a station, it is ensured that vehicle driving is unimpeded, solves basis in the prior art
High-precision map programme path, if the acquisition of high-precision map is insufficient not in time, the problems such as being easy to cause the route of planning unworkable.Also
By adjusting the preset duration stopped according to the actual conditions dynamic of each website, preferably to provide service for user, improves and use
Family experience.And in the case where no user triggers next purpose website, vehicle can automatically determine next purpose website certainly
Dynamic traveling.
Embodiment three
The present embodiment provides a kind of control devices of vehicle, the method for executing above-described embodiment one.
As shown in figure 4, the structural schematic diagram of the control device for vehicle provided in this embodiment.The control device of the vehicle
30 include obtaining module 31 and control module 32.
Wherein, module 31 is obtained for obtaining determining purpose website；Control module 32 for control the vehicle according to
Preset fixed travel route drives to the purpose website.
Device in this present embodiment is closed, wherein modules execute the concrete mode of operation in related this method
It is described in detail in embodiment, no detailed explanation will be given here.
According to the control device of vehicle provided in this embodiment, travelled by control vehicle according to default fixed travel route
To purpose website, parking is opened the door so that user gets on the bus or gets off, since travel route is all to acquire in advance, vehicle according to
Fixed travel route automatic running, and automatically control parking of arriving at a station, it is ensured that vehicle driving is unimpeded, solves in the prior art
According to high-precision map programme path, if the acquisition of high-precision map is insufficient not in time, it is easy to cause the route of planning unworkable etc. and asks
Topic.Also the preset duration stopped is adjusted by the actual conditions dynamic according to each website to mention preferably to provide service for user
High user experience.And in the case where no user triggers next purpose website, vehicle can automatically determine next point of destination
Point automatic running.
Example IV
The device that the present embodiment provides above-described embodiment three does further supplementary explanation, is mentioned with executing above-described embodiment two
The method of confession.
As a kind of enforceable mode, on the basis of above-described embodiment three, optionally, the control module is also used
It opens the door in when reaching the purpose website, controlling the vehicle parking.
Optionally, the control module, is also used to:
It controls the stoppage of vehicle and keeps door opening state preset duration；
The vehicle is controlled to close the door.
Optionally, the control module, is also used to:
If getting next purpose website of user's selection, the vehicle driving is controlled to next purpose website.
Optionally, the control module, is also used to:
If next purpose website of user's selection has not been obtained, the vehicle is controlled according on the fixed travel route
Website sequence drive to next website of current site.
Optionally, the acquisition module is also used to obtain the environmental information for each website that sensor acquires on the vehicle；
The control module is also used to the environmental information according to each website, judges that each website keeps the default of door opening state
Whether duration is reasonable；
The control module adjusts first website if the preset duration for being also used to wherein the first website is unreasonable
Preset duration.
As another enforceable mode, on the basis of above-described embodiment three, optionally, the control module, also
For:
When reaching the purpose website, the HMI display site selection interface of the vehicle is controlled, is selected for user next
Purpose website.
As another enforceable mode, on the basis of above-described embodiment three, optionally, the acquisition module, also
For:
Receive the fixed travel route that server is sent, wherein the server according to the website coordinate of acquisition and
Corresponding site identity generates the fixed travel route.
Device in this present embodiment is closed, wherein modules execute the concrete mode of operation in related this method
It is described in detail in embodiment, no detailed explanation will be given here.
It should be noted that each enforceable mode can individually be implemented in the present embodiment, it can also be in the feelings not conflicted
It is combined in any combination under condition and implements the application without limitation.
According to the control device of the vehicle of the present embodiment, mesh is driven to according to default fixed travel route by control vehicle
Website, parking open the door so that user gets on the bus or gets off, since travel route is all to acquire in advance, vehicle is according to fixation
Travel route automatic running, and automatically control parking of arriving at a station, it is ensured that vehicle driving is unimpeded, solves basis in the prior art
High-precision map programme path, if the acquisition of high-precision map is insufficient not in time, the problems such as being easy to cause the route of planning unworkable.
Embodiment five
The present embodiment provides a kind of computer equipments, for executing method provided by the above embodiment.
As shown in figure 5, being the structural schematic diagram of computer equipment provided in this embodiment.The computer equipment 50 includes:
At least one processor 51 and memory 52；
Memory stores computer program；At least one processor executes the computer program of memory storage, to realize
Method provided by the above embodiment.
According to the computer equipment of the present embodiment, point of destination is driven to according to default fixed travel route by control vehicle
Point, parking is opened the door, so that user gets on the bus or gets off, since travel route is all to acquire in advance, vehicle is travelled according to fixed
Route automatic running, and automatically control parking of arriving at a station, it is ensured that vehicle driving is unimpeded, solves in the prior art according to high-precision
Map programme path, if the acquisition of high-precision map is insufficient not in time, the problems such as being easy to cause the route of planning unworkable.Also pass through
The preset duration stopped is adjusted according to the actual conditions of each website dynamic, preferably to provide service for user, improves user's body
It tests.And in the case where no user triggers next purpose website, vehicle can automatically determine next automatic row of purpose website
It sails.
Embodiment six
The present embodiment provides a kind of vehicles, for executing method provided by the above embodiment.
As shown in fig. 6, being the structural schematic diagram of vehicle provided in this embodiment.The vehicle includes: sensor and above-mentioned
The device that any embodiment provides.Wherein, M is positive integer.Sensor can be laser radar, can also include camera, double
The different types of other sensors such as mesh camera, monocular cam, radar, millimetre-wave radar.
According to the vehicle of the present embodiment, purpose website is driven to according to default fixed travel route by control vehicle, is stopped
Vehicle opens the door so that user gets on the bus or gets off, since travel route is all to acquire in advance, vehicle according to fixed travel route from
Dynamic traveling, and automatically control parking of arriving at a station, it is ensured that vehicle driving is unimpeded, solves and is advised in the prior art according to high-precision map
Route is drawn, if the acquisition of high-precision map is insufficient not in time, the problems such as being easy to cause the route of planning unworkable.Also by according to each
The preset duration that the actual conditions dynamic adjustment of website stops improves user experience preferably to provide service for user.And
In the case where no user triggers next purpose website, vehicle can automatically determine next purpose website automatic running.
Embodiment seven
The present embodiment provides a kind of computer readable storage medium, computer is stored in the computer readable storage medium
Program, computer program are performed the method for realizing that any of the above-described embodiment provides.
According to the computer readable storage medium of the present embodiment, travelled by control vehicle according to default fixed travel route
To purpose website, parking is opened the door so that user gets on the bus or gets off, since travel route is all to acquire in advance, vehicle according to
Fixed travel route automatic running, and automatically control parking of arriving at a station, it is ensured that vehicle driving is unimpeded, solves in the prior art
According to high-precision map programme path, if the acquisition of high-precision map is insufficient not in time, it is easy to cause the route of planning unworkable etc. and asks
Topic.Also the preset duration stopped is adjusted by the actual conditions dynamic according to each website to mention preferably to provide service for user
High user experience.And in the case where no user triggers next purpose website, vehicle can automatically determine next point of destination
Point automatic running.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of unit, only
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of device or unit
It connects, can be electrical property, mechanical or other forms.
Unit may or may not be physically separated as illustrated by the separation member, shown as a unit
Component may or may not be physical unit, it can and it is in one place, or may be distributed over multiple networks
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the application
The part steps of embodiment method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-Only
Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. is various to deposit
Store up the medium of program code.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each functional module
Division progress for example, in practical application, can according to need and above-mentioned function distribution is complete by different functional modules
At the internal structure of device being divided into different functional modules, to complete all or part of the functions described above.On
The specific work process for stating the device of description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the application, rather than its limitations；To the greatest extent
Pipe is described in detail the application referring to foregoing embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, each embodiment technology of the application that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (19)
1. a kind of control method of vehicle characterized by comprising
Obtain determining purpose website；
It controls the vehicle and drives to the purpose website according to preset fixed travel route.
2. the method according to claim 1, wherein the method also includes:
When reaching the purpose website, controls the vehicle parking and open the door.
3. according to the method described in claim 2, it is characterized in that, after controlling the vehicle parking and opening the door, the method
Further include:
It controls the stoppage of vehicle and keeps door opening state preset duration；
The vehicle is controlled to close the door.
4. according to the method described in claim 3, it is characterized in that, after controlling the vehicle and closing the door, the method also includes:
If getting next purpose website of user's selection, the vehicle driving is controlled to next purpose website.
5. according to the method described in claim 3, it is characterized in that, after controlling the vehicle and closing the door, the method also includes:
If next purpose website of user's selection has not been obtained, the vehicle is controlled according to the station on the fixed travel route
Dot sequency drives to next website of current site.
6. the method according to claim 1, wherein the method also includes:
Obtain the environmental information for each website that sensor acquires on the vehicle；
According to the environmental information of each website, judge that each website keeps the preset duration of door opening state whether reasonable；
If wherein the preset duration of the first website is unreasonable, the preset duration of first website is adjusted.
7. the method according to claim 1, wherein the method also includes:
When reaching the purpose website, the HMI display site selection interface of the vehicle is controlled, selects next purpose for user
Website.
8. method according to claim 1-7, which is characterized in that controlling the vehicle according to preset fixation
Travel route drives to before the purpose website, the method also includes:
Receive the fixed travel route that server is sent, wherein the server is according to the website coordinate and correspondence of acquisition
Site identity generate the fixed travel route.
9. a kind of control device of vehicle characterized by comprising
Module is obtained, for obtaining determining purpose website；
Control module drives to the purpose website according to preset fixed travel route for controlling the vehicle.
10. device according to claim 9, which is characterized in that the control module is also used to reach the point of destination
When point, controls the vehicle parking and open the door.
11. device according to claim 10, which is characterized in that the control module is also used to:
It controls the stoppage of vehicle and keeps door opening state preset duration；
The vehicle is controlled to close the door.
12. device according to claim 11, which is characterized in that the control module is also used to:
If getting next purpose website of user's selection, the vehicle driving is controlled to next purpose website.
13. device according to claim 11, which is characterized in that the control module is also used to:
If next purpose website of user's selection has not been obtained, the vehicle is controlled according to the station on the fixed travel route
Dot sequency drives to next website of current site.
14. device according to claim 9, which is characterized in that the acquisition module is also used to obtain the vehicle and uploads
The environmental information of each website of sensor acquisition；
The control module is also used to the environmental information according to each website, judges that each website keeps the preset duration of door opening state
Whether rationally；
The control module adjusts the pre- of first website if the preset duration for being also used to wherein the first website is unreasonable
If duration.
15. device according to claim 9, which is characterized in that the control module is also used to:
When reaching the purpose website, the HMI display site selection interface of the vehicle is controlled, selects next purpose for user
Website.
16. according to the described in any item devices of claim 9-15, which is characterized in that the acquisition module is also used to:
Receive the fixed travel route that server is sent, wherein the server is according to the website coordinate and correspondence of acquisition
Site identity generate the fixed travel route.
17. a kind of computer equipment characterized by comprising at least one processor and memory；
The memory stores computer program；At least one described processor executes the computer journey of the memory storage
Sequence, to realize method of any of claims 1-8.
18. a kind of vehicle characterized by comprising sensor, and such as the described in any item devices of claim 9-16.
19. a kind of computer readable storage medium, which is characterized in that be stored with computer journey in the computer readable storage medium
Sequence, the computer program, which is performed, realizes method of any of claims 1-8.
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