CN111376857A - Vehicle control method, device, electronic equipment and computer storage medium - Google Patents
Vehicle control method, device, electronic equipment and computer storage medium Download PDFInfo
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- CN111376857A CN111376857A CN201811614953.1A CN201811614953A CN111376857A CN 111376857 A CN111376857 A CN 111376857A CN 201811614953 A CN201811614953 A CN 201811614953A CN 111376857 A CN111376857 A CN 111376857A
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- 230000005236 sound signal Effects 0.000 claims abstract description 20
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- 238000004590 computer program Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000003993 interaction Effects 0.000 abstract description 12
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/037—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for occupant comfort, e.g. for automatic adjustment of appliances according to personal settings, e.g. seats, mirrors, steering wheel
- B60R16/0373—Voice control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
- G10L2015/223—Execution procedure of a spoken command
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- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Multimedia (AREA)
- Automation & Control Theory (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Embodiments of the present disclosure relate to a method, an apparatus, an electronic device, and a computer-readable storage medium for vehicle control. The method includes determining a pattern of a received sound signal in response to receiving the sound signal from a user of the vehicle. The method also includes comparing the pattern to a predetermined set of signal patterns. Additionally, the method further includes, in response to the pattern matching one of the set of signal patterns, causing the adaptive cruise controller of the vehicle to perform an operation corresponding to the matched signal pattern. The present disclosure introduces speech recognition techniques to lower the threshold for use of adaptive cruise control, enabling the adaptive cruise control function to be understood and used by the end user. In addition, the pull rod type or button type human-computer interaction interface is replaced by the voice recognition module, so that the cost of the whole vehicle is reduced.
Description
Technical Field
Embodiments of the present disclosure relate generally to the field of vehicles and, more particularly, to vehicle control methods, apparatus, electronic devices, and computer storage media.
Background
Advanced Driver Assistance Systems (ADAS), such as "adaptive cruise control" (ACC), are increasingly used in the field of vehicle driving. For example, during the running of a vehicle, a vehicle distance sensor (radar) installed at the front of the vehicle continuously scans the road ahead of the vehicle while a wheel speed sensor collects a vehicle speed signal. When the distance between the vehicle and the front vehicle is too small, the adaptive cruise controller can cooperate with a brake anti-lock system and an engine control system to properly brake the wheels and reduce the output power of the engine, so that the vehicle is always kept at a safe distance from the front vehicle.
Disclosure of Invention
According to an example embodiment of the present disclosure, a vehicle control scheme is provided.
In a first aspect of the present disclosure, a vehicle control method is provided. The method includes determining a pattern of a received sound signal in response to receiving the sound signal from a user of the vehicle. The method also includes comparing the pattern to a predetermined set of signal patterns. Additionally, the method further includes, in response to the pattern matching one of the set of signal patterns, causing the adaptive cruise controller of the vehicle to perform an operation corresponding to the matched signal pattern.
In a second aspect of the present disclosure, a vehicle control apparatus is provided. The apparatus includes a voice sensing module configured to determine a pattern of a received sound signal in response to receiving the sound signal from a user of the vehicle; a pattern comparison module configured to compare a pattern to a predetermined set of signal patterns; and a controller enabling module configured to cause the adaptive cruise controller of the vehicle to perform an operation corresponding to the matched signal pattern in response to the pattern matching one of the set of signal patterns.
In a third aspect of the disclosure, an apparatus is provided that includes one or more processors; and storage means for storing the one or more programs which, when executed by the one or more processors, cause the one or more processors to carry out the method according to the first aspect of the disclosure.
In a fourth aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, implements a method according to the first aspect of the present disclosure.
It should be understood that the statements herein reciting aspects are not intended to limit the critical or essential features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, like or similar reference characters designate like or similar elements, and wherein:
FIG. 1 illustrates a schematic diagram of an example environment in which embodiments of the present disclosure can be implemented;
FIG. 2 illustrates a top view of an example vehicle, according to some embodiments of the present disclosure;
FIG. 3 shows a flowchart of a process for vehicle control, according to an embodiment of the present disclosure;
FIG. 4 shows a schematic block diagram of an apparatus for vehicle control according to an embodiment of the present disclosure; and
FIG. 5 illustrates a block diagram of a computing device capable of implementing various embodiments of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.
In describing embodiments of the present disclosure, the terms "include" and its derivatives should be interpreted as being inclusive, i.e., "including but not limited to. The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first," "second," and the like may refer to different or the same object. Other explicit and implicit definitions are also possible below.
As mentioned above, conventional adaptive cruise control systems have both paddle and push-button modes of operation. However, both of these two human-computer interaction designs are not easy to understand, and the end user has difficulty in understanding, so that the function is usually idle. In addition, in order to implement a lever or key type operation, a console or an overall arrangement in the vehicle needs to reserve a dedicated lever or key resource. Furthermore, human-computer interaction designs such as lever-type and button-type designs are usually arranged below or on the steering wheel, and during operation, the sight of the driver needs to be shifted, which brings potential safety hazards to driving.
In recent years, speech recognition technology has been gradually exposing the corners. How to realize the combination between the voice recognition technology and the advanced driver assistance system is a problem to be solved urgently at present.
According to an embodiment of the present disclosure, a solution for vehicle control is presented. In this scheme, sending instructions to an adaptive cruise controller of a vehicle based on a user's voice signal is accomplished by detecting the user's voice signal within the vehicle, converting the voice signal into a pattern (pattern) such as an electrical signal, and matching the pattern to a plurality of signal pattern samples. In this context, "pattern" may refer to a digitized sound signal, which may be used to generally indicate a change in amplitude over time. In this case, the pattern may be compared to a plurality of signal patterns stored in the computing device and a signal pattern having an error not exceeding a predetermined threshold is determined to be a match. Of course, in the field of artificial intelligence speech recognition technology, "patterns" may also represent recognized corpora, and a computing device may look for appropriate actions in a knowledge base in response to a user's speech signal.
By redesigning the human-computer interaction interface, the present disclosure introduces a speech recognition technique, thereby reducing the use threshold of adaptive cruise control, enabling the adaptive cruise control function to be understood and used by the end user. In addition, the pull rod type or button type human-computer interaction interface is replaced by the voice recognition module, so that the cost of the whole vehicle is reduced. In addition, through the voice recognition type man-machine interaction design, the sight line shift and distraction of the driver are avoided, and the driving safety is improved.
Embodiments of the present disclosure will be described below in detail with reference to the accompanying drawings. FIG. 1 illustrates a schematic view of an example traffic environment 100 in which various embodiments of the present disclosure can be implemented. In this example environment 100, vehicle 110 is traveling on the right side of the road and vehicle 120 is traveling in the same direction directly in front of vehicle 110. In the example traffic environment 100, the vehicle 110 is performing a follow-up operation on the vehicle 120.
In this context, vehicles 110, 120 may be any type of vehicle that may carry people and/or things and that may be moved by a powered system such as an engine, including but not limited to cars, trucks, buses, motorcycles, caravans, trains, and the like. Vehicle 110 may be a vehicle with some autonomous driving capability, such a vehicle also being referred to as an unmanned vehicle. Furthermore, embodiments to which the present disclosure relates are not limited to the following operation shown in fig. 1, and other operations such as a passing operation are also possible.
It should be understood that the environment 100 shown in FIG. 1 is merely one specific example. More, fewer, or different objects may be present in environment 100, depending on the circumstances. For example, the arrangement of one or more of the road on which the vehicle is traveling, the position and number of vehicles on the road, the position and number of pedestrians, the relative positions of pedestrians and vehicles, traffic guidance facilities, and the like may be different.
When the driver in the vehicle 110 decides to perform the following operation on the vehicle 120, the driver may output a voice instruction "turn on ACC". When the computing device 130 in the vehicle 110 receives a voice instruction from a user, it may convert the voice signal into an electrical signal, thereby determining a mode of the voice instruction. In addition, the computing device 130 may also compare the pattern of the voice instructions to a plurality of signal patterns stored in the computing device 130. When the pattern of the voice command matches one of the plurality of signal patterns, then the computing device 130 is said to have received a valid command input. At this time, the computing apparatus 130 causes the adaptive cruise controller of the vehicle to perform an operation of turning on the ACC.
During driving, when the speed of the vehicle 110 exceeds a predetermined threshold (e.g., 20km/h), the adaptive cruise control function may be activated and the driver may output a voice command "activate ACC". Similar to the human-machine interaction mechanism of "turning on the ACC" described above, the computing device 130 causes the adaptive cruise controller of the vehicle to perform an operation of activating the ACC when the pattern of the voice instruction of "activating the ACC" matches one of the plurality of signal patterns.
Further, the adaptive cruise control function is typically automatically cancelled if the preceding vehicle stops or decelerates to a predetermined threshold (e.g., 20km/h) while the following operation is performed on the preceding vehicle 120. When the vehicle 110 takes off to continue running, the driver may output a voice command "resume ACC". Similarly to the above-described human-machine interaction mechanism of "turning on the ACC", when the pattern of the voice instruction of "resume ACC" matches one of the plurality of signal patterns, the computing apparatus 130 causes the adaptive cruise controller of the vehicle to perform an operation of resuming the ACC in order to resume the previous ACC setting.
Similarly, if the driver wishes to take over the driving authority of the vehicle 110, the driver may output a voice command "turn off the ACC". Further, the driver may also input voice instructions such as "increase target vehicle speed", "decrease target vehicle speed", "increase following distance", "decrease following distance", and the like to adjust the ACC setting while the adaptive cruise control is activated. Therefore, the man-machine interaction mechanism can conveniently set the target speed and the target vehicle-following distance.
It should be understood that the implementation described above depends on the specific hardware configuration of the vehicle 110. Accordingly, an example of a hardware configuration of vehicle 110 is described herein with reference to fig. 2. Fig. 2 illustrates a top view 200 of one example of vehicle 110. In this example, vehicle 110 includes a voice sensing module 210, a speaker 220, and a computing device 230 mounted inside the vehicle.
In certain embodiments, the voice sensing module 210 may be configured to receive a sound signal from a user of the vehicle and convert the received sound signal into an electrical signal to determine a pattern of the sound signal. Alternatively or additionally, the speech sensing module 210 may be integrated within the computing device 230.
Further, as shown in fig. 2, unlike the conventional ACC human-computer interaction mechanism, the present disclosure also adds a voice feedback mechanism such as a speaker 220. That is, the computing device 130 may feed back to the user (e.g., via the speaker 220 in the vehicle 110) the results of the adaptive cruise controller performing the operations described above. Alternatively or additionally, the results of the execution of the operations may also be fed back through a display screen in the vehicle 110.
An example of the hardware configuration of the vehicle 110 is described above with reference to fig. 2. However, depending on the type and specific configuration of the vehicle 110, the execution result for the feedback operation and the type, number, arrangement, and the like of the hardware devices for voice data collection may vary. Embodiments of the present disclosure are not limited in this respect.
The information processing procedure for controlling the vehicle 110 will be described in more detail below with reference to fig. 3. FIG. 3 shows a flowchart of a process 300 for vehicle control, according to some embodiments of the present disclosure. Process 300 may be implemented by computing device 130 of FIG. 1, where computing device 130 may be embedded in vehicle 110 or a stand-alone device external to vehicle 110. For ease of discussion, the process 300 will be described in conjunction with fig. 1.
At 310, the computing device 130 detects whether a sound signal is received from the user. When a user's voice signal is detected, 320 is entered. At 320, a pattern of the received sound signal may be determined. In some embodiments, a received sound signal may be converted to an electrical signal to determine a pattern of the sound signal.
At 330, the pattern is compared to a predetermined set of signal patterns. In certain embodiments, the predetermined set of signal patterns comprises at least one of: starting the adaptive cruise control; turning off the adaptive cruise control; activating the adaptive cruise control; restoring the adaptive cruise control; setting a target vehicle speed to a predetermined value; and setting the target inter-vehicle distance to a predetermined value.
At 340, the computing device 130 detects whether the pattern matches one of the set of signal patterns. When the pattern matches one of the set of signal patterns, 350 is entered.
At 350, the adaptive cruise controller of the vehicle 110 is caused to perform an operation corresponding to the matched signal pattern. According to an embodiment of the present disclosure, a connection with the adaptive cruise control module may be established via the bus and the matched signal pattern is sent to the adaptive cruise controller. The method and the device have the advantages that the pull rod type or button type human-computer interaction interface is replaced by the voice recognition module, so that the cost of the whole vehicle is reduced. In addition, through the voice recognition type man-machine interaction design, the sight line shift and distraction of the driver are avoided, and the driving safety is improved.
In some embodiments, the process 300 may also include feeding back to the user the results of the adaptive cruise controller performing the operation. In certain embodiments, the results of the adaptive cruise controller executing the command information may be provided to the user via at least one of a speaker and a display of the vehicle 110. With such a feedback mechanism, the driver can quickly shut down the adaptive cruise control system or reset it if the voice command is misrecognized.
Fig. 4 shows a schematic block diagram of an apparatus 400 for vehicle control according to an embodiment of the present disclosure. The apparatus 400 may be included in the computing device 130 of fig. 1 or implemented as the computing device 130. As shown in fig. 4, the apparatus 400 includes a voice sensing module 410 configured to determine a pattern of a received sound signal in response to receiving the sound signal from a user of the vehicle. The apparatus 400 further comprises a pattern comparison module 420 configured to compare the pattern with a predetermined set of signal patterns. The apparatus 400 further includes a controller enabling module 430 configured to cause the adaptive cruise controller of the vehicle to perform an operation corresponding to a matched signal pattern in response to the pattern matching one of the set of signal patterns.
In some embodiments, the apparatus 400 may further comprise: a feedback module configured to feed back a result of the operation performed by the adaptive cruise controller to a user.
In some embodiments, the feedback module may include: a speaker 220, located within the vehicle 110, is configured to provide the user with the results of the adaptive cruise controller executing the command information.
In some embodiments, the feedback module may also include: a display, located within the vehicle 110, configured to provide the user with the results of the adaptive cruise controller executing the command information.
In some embodiments, the controller enabling module 430 may include: a connection establishing module configured to establish a connection with the adaptive cruise control module via the bus; and a signal pattern transmission module configured to transmit the matched signal pattern to the adaptive cruise controller.
Fig. 5 illustrates a schematic block diagram of an example device 500 that may be used to implement embodiments of the present disclosure. Device 500 may be used to implement computing device 130 of fig. 1. As shown, device 500 includes a Central Processing Unit (CPU)501 that may perform various appropriate actions and processes in accordance with computer program instructions stored in a Read Only Memory (ROM)502 or loaded from a storage unit 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the device 500 can also be stored. The CPU 501, ROM 502, and RAM 503 are connected to each other via a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
A number of components in the device 500 are connected to the I/O interface 505, including: an input unit 506 such as a keyboard, a mouse, a button, a switch, and the like; an output unit 507 such as various types of displays, speakers, and the like; a storage unit 508, such as a magnetic disk, optical disk, or the like; and a communication unit 509 such as a network card, modem, wireless communication transceiver, etc. The communication unit 509 allows the device 500 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The processing unit 501 performs the various methods and processes described above, such as the process 300. For example, in some embodiments, process 300 may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 500 via the ROM 502 and/or the communication unit 509. When the computer program is loaded into RAM 503 and executed by CPU 501, one or more of the steps of process 300 described above may be performed. Alternatively, in other embodiments, CPU 501 may be configured to perform process 300 in any other suitable manner (e.g., by way of firmware).
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a load programmable logic device (CPLD), and the like.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
Further, while operations are depicted in a particular order, this should be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limitations on the scope of the disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable subcombination.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.
Claims (13)
1. A vehicle control method comprising:
in response to receiving a sound signal from a user of a vehicle, determining a pattern of the received sound signal;
comparing the pattern to a predetermined set of signal patterns; and
in response to the pattern matching one of the set of signal patterns, causing an adaptive cruise controller of the vehicle to perform an operation corresponding to the matched signal pattern.
2. The method of claim 1, further comprising:
and feeding back the result of the operation executed by the adaptive cruise controller to the user.
3. The method of claim 2, wherein feeding back the results to the user comprises:
providing a result of the adaptive cruise controller executing the command information to the user via at least one of a speaker and a display of the vehicle.
4. The method of claim 1, wherein causing the adaptive cruise controller to perform the operations comprises:
establishing a connection with the adaptive cruise control module via a bus; and
sending the matched signal pattern to the adaptive cruise controller.
5. The method of claim 1, wherein the set of signal patterns comprises at least one of:
starting the adaptive cruise control;
turning off the adaptive cruise control;
activating the adaptive cruise control;
restoring the adaptive cruise control;
setting a target vehicle speed to a predetermined value; and
the target inter-vehicle distance is set to a predetermined value.
6. A vehicle control apparatus comprising:
a voice sensing module configured to determine a pattern of a received sound signal in response to receiving the sound signal from a user of a vehicle;
a pattern comparison module configured to compare the pattern to a predetermined set of signal patterns; and
a controller enabling module configured to cause an adaptive cruise controller of the vehicle to perform an operation corresponding to the matched signal pattern in response to the pattern matching one of the set of signal patterns.
7. The apparatus of claim 6, further comprising:
a feedback module configured to feed back a result of the operation performed by the adaptive cruise controller to the user.
8. The apparatus of claim 7, wherein the feedback module comprises:
a speaker located within the vehicle configured to provide a result of the adaptive cruise controller executing the command information to the user.
9. The apparatus of claim 7, wherein the feedback module comprises:
a display located within the vehicle configured to provide the user with a result of the adaptive cruise controller executing the command information.
10. The apparatus of claim 6, wherein the controller enabling module comprises:
a connection establishment module configured to establish a connection with the adaptive cruise control module via a bus; and
a signal pattern transmission module configured to transmit the matched signal pattern to the adaptive cruise controller.
11. The apparatus of claim 6, wherein the set of signal patterns comprises at least one of:
starting the adaptive cruise control;
turning off the adaptive cruise control;
activating the adaptive cruise control;
restoring the adaptive cruise control;
setting a target vehicle speed to a predetermined value; and
the target inter-vehicle distance is set to a predetermined value.
12. An electronic device, the electronic device comprising:
one or more processors; and
storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to carry out the method according to any one of claims 1-5.
13. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-5.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811614953.1A CN111376857A (en) | 2018-12-27 | 2018-12-27 | Vehicle control method, device, electronic equipment and computer storage medium |
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| CN201811614953.1A CN111376857A (en) | 2018-12-27 | 2018-12-27 | Vehicle control method, device, electronic equipment and computer storage medium |
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