CN112046419B

CN112046419B - Method and device for controlling vehicle

Info

Publication number: CN112046419B
Application number: CN201910487008.8A
Authority: CN
Inventors: 黄雪妍; 董明杰; 杨莉莉; 张慧敏; 李�瑞
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2019-06-05
Filing date: 2019-06-05
Publication date: 2022-12-06
Anticipated expiration: 2039-06-05
Also published as: CN112046419A

Abstract

The present application provides methods and apparatus for controlling a vehicle that may be affected based on fault information for the vehicle. According to the technical scheme, fault information of a first vehicle is obtained, and the fault information indicates a fault of the first vehicle; determining a running parameter of a second vehicle according to the fault information of the first vehicle, wherein the second vehicle is located in the influence range of the fault of the first vehicle; and the second vehicle runs according to the running parameters. According to the technical scheme, the running parameters of the second vehicle are determined according to the fault information of the first vehicle, so that the second vehicle can better avoid the influence of the fault of the first vehicle when running according to the running parameters, and the running safety of the vehicle can be improved.

Description

Method and device for controlling vehicle

Technical Field

The present application relates to the field of vehicle networking, and more particularly, to a method and apparatus for controlling a vehicle.

Background

With the rapid development of economy, automobiles gradually become necessities of life of people. During the use of automobiles, failures inevitably occur for various reasons.

When a vehicle fails during running, the safety of the failed vehicle is affected, and the safety of other vehicles, such as vehicles running on the same highway, is also affected.

The safety of automobiles is closely related to personal and property safety of people, so when an automobile breaks down, how to deal with the breakdown to improve the driving safety of other vehicles is a technical problem to be solved urgently.

Disclosure of Invention

The application provides a method and a device for controlling a vehicle, which are beneficial to improving the driving safety of the vehicle.

In a first aspect, a method of controlling a vehicle is provided, comprising: acquiring fault information of a first vehicle, wherein the fault information indicates a fault of the first vehicle; determining a running parameter of a second vehicle according to the fault information of the first vehicle, wherein the second vehicle is located in the influence range of the fault of the first vehicle; transmitting the driving parameters to a second vehicle.

According to the method, the running parameter of the second vehicle is determined according to the fault information of the first vehicle, and the running parameter is sent to the second vehicle, so that the influence of the fault of the first vehicle can be better avoided when the second vehicle runs according to the running parameter, and the running safety of the vehicle can be improved.

Optionally, the distance between the second vehicle and the first vehicle may be less than or equal to a preset distance threshold, and/or the second vehicle and the first vehicle may have an associated driving schedule.

Optionally, the fault information may indicate one or more of a brake failure, a cruise failure, a tire burst, a battery temperature above a preset temperature threshold, and a brake light failure.

Optionally, the fault information includes that when a brake fails, the second vehicle is located in front of the first vehicle, and a distance between the second vehicle and the first vehicle is less than or equal to a preset first distance threshold, and the driving parameters include: driving lane and/or driving speed.

When the fault information includes a tire burst, the second vehicle is positioned at the front left, right or front right of the first vehicle, and the distance between the second vehicle and the first vehicle is less than or equal to a preset second distance threshold, and the running parameters include: driving lane and/or driving speed.

When the fault information includes that the battery temperature is greater than or equal to a preset temperature threshold value, the distance between the second vehicle and the first vehicle is less than or equal to a preset third distance threshold value, and the driving parameters include: speed of travel and/or direction of travel.

When the fault information comprises that a brake lamp is out of order, the distance between the second vehicle and the first vehicle, which is positioned behind the first vehicle, is less than or equal to a preset fourth distance threshold, and the running parameters comprise: and (4) the running speed.

Optionally, the fault information includes that the distance between the second vehicle and the first vehicle is smaller than or equal to a preset fifth distance threshold when the constant-speed cruise fails, and the driving parameters include: lane of travel and/or speed of travel.

Optionally, the acquiring the fault information of the first vehicle may include: fault information is received from the first vehicle.

For example, the vehicle management center may receive failure information of the first vehicle from the first vehicle, determine the running parameters of the second vehicle based on the failure information, and transmit the running parameters to the second vehicle.

Optionally, the fault information of the first vehicle may include a lidar failure, wherein the method may further comprise: receiving distance information between a third vehicle and the first vehicle, the third vehicle comprising one or more of: the front, the rear, the left, the right, the front left, the front right, the rear left and the rear right of the first vehicle are respectively the vehicle closest to the first vehicle; transmitting the distance information to the first vehicle to facilitate the first vehicle determining a distance between the first vehicle and the third vehicle.

For example, when the management center determines that the first vehicle has a laser radar failure fault, the information about the distance between the first vehicle and a third vehicle, which is measured by a third vehicle around the first vehicle, may be sent to the first vehicle, so as to improve the driving safety of the first vehicle.

Optionally, the method may further include: if the running state information of the first vehicle is not received within a preset time span, sending a prompt message that the first vehicle has a fault to the vehicles within the influence range of the fault of the first vehicle, wherein the prompt message indicates that the first vehicle has the fault.

Optionally, the acquiring the fault information of the first vehicle may include: and detecting the first vehicle to obtain fault information of the first vehicle.

For example, the first vehicle detects its own trouble information, determines the running parameters of the second vehicle that may be affected according to its own trouble information, and then transmits the running parameters to the second vehicle, so as to improve the running safety of the second vehicle.

Optionally, when the type of fault of the first vehicle comprises a lidar failure, the method may further comprise: a first vehicle receives distance information between a third vehicle and the first vehicle, the third vehicle including one or more of: the vehicle which is closest to the first vehicle is arranged in front of, behind, on the left of, on the right of, in front of, on the right of, behind and on the right of the first vehicle; performing at least one of the following actions in accordance with the distance information: driving behavior and prompting the distance information.

For example, when a laser radar failure occurs in the first vehicle, the first vehicle can travel according to distance information obtained from another vehicle or a management center from the first vehicle to a third vehicle around the first vehicle, thereby improving the traveling safety of the first vehicle.

Optionally, the method may further include: transmitting failure information of the first vehicle to the second vehicle. In this way, it is possible to make it possible for the second vehicle to prompt the failure information of the first vehicle, so that the second vehicle or the passenger on the second vehicle knows the reason why the second vehicle is so traveling.

In a second aspect, there is provided a method of controlling a vehicle, the method comprising: the method comprises the steps that a second vehicle acquires fault information of a first vehicle, wherein the fault information indicates a fault of the first vehicle, and the second vehicle is located in an influence range of the fault of the first vehicle; the second vehicle determines the running parameters according to the fault information of the first vehicle; the second vehicle executes a driving behavior according to the running parameter.

After the second vehicle learns the fault of the first vehicle from the fault information of the first vehicle, the second vehicle can generate or adjust the running parameter of the second vehicle aiming at the fault of the first vehicle, and runs according to the running parameter, so that the running safety of the vehicle can be improved.

The execution subject in the method, i.e. the second vehicle, may also be understood as an on-board device on the second vehicle.

Optionally, the fault information may indicate one or more of a brake failure, a cruise control failure, a tire burst, a battery temperature above a preset temperature threshold, and a brake light failure.

Optionally, the fault information of the first vehicle includes a brake failure (i.e. the fault of the first vehicle includes a brake failure), and when the distance between the second vehicle and the first vehicle is less than or equal to a preset first distance threshold, the driving parameters include: driving lane and/or driving speed.

The failure information of the first vehicle includes a tire burst (that is, the failure of the first vehicle includes a tire burst), the second vehicle is located at the front left, right or front right of the first vehicle, and when the distance between the second vehicle and the first vehicle is less than or equal to a preset second distance threshold, the driving parameters include: lane of travel and/or speed of travel.

The failure information of the first vehicle includes: when the battery temperature is greater than or equal to a preset temperature threshold (that is, the fault of the first vehicle includes that the battery temperature is greater than or equal to the preset temperature threshold), and the distance between the second vehicle and the first vehicle is less than or equal to a preset third distance threshold, the driving parameters include: speed of travel and/or direction of travel.

The fault information of the first vehicle comprises brake lamp failure (namely the fault of the first vehicle comprises brake lamp failure), and when the distance between the second vehicle and the first vehicle is smaller than or equal to a preset fourth distance threshold value behind the first vehicle, the running parameters comprise: and (4) the running speed.

Optionally, the fault information includes a cruise control failure (that is, the fault of the first vehicle includes a cruise control failure), and when the distance between the second vehicle and the first vehicle is smaller than or equal to a preset fifth distance threshold value directly in front of the first vehicle, the driving parameters include: lane of travel and/or speed of travel.

Optionally, the fault information of the first vehicle includes a lidar failure (i.e., the fault of the first vehicle includes a lidar failure), and the second vehicle is a vehicle that is closest to the first vehicle in front of, behind, to the left of, to the right of, to the front of, to the right of, or to the rear of the first vehicle. Wherein the method further comprises: the second vehicle sends distance information between the second vehicle and the first vehicle to facilitate the first vehicle in determining a distance between the first vehicle and the second vehicle.

Optionally, the method further comprises: and the second vehicle prompts the fault information of the first vehicle.

Optionally, the prompting, by the second vehicle, of the fault information of the first vehicle includes: and the second vehicle prompts the fault information of the first vehicle on a windshield display screen of the second vehicle in a virtual reality mode.

Optionally, the second vehicle may prompt the fault information of the first vehicle on a windshield display screen of the second vehicle by means of virtual reality, where the method includes: the second vehicle displays the outline of the first vehicle on the windshield display screen and prompts fault information of the first vehicle; or the second vehicle circles the first vehicle on the windshield display screen and prompts fault information of the first vehicle; or the second vehicle marks the first vehicle with a preset color on the windshield display screen and prompts fault information of the first vehicle; or the second vehicle marks the fault position of the first vehicle on the windshield display screen and prompts fault information of the first vehicle.

In a third aspect, an apparatus for controlling a vehicle is provided, where the apparatus may be an on-board device, and may also be a chip in the on-board device, or the apparatus may be a management center device, or may be a chip applied in the management center device. The device has the function of implementing the first aspect described above, as well as various possible implementations. The function can be realized by hardware, and can also be realized by executing corresponding software by hardware. The hardware or software includes one or more modules or units corresponding to the above functions.

In one possible design, the apparatus may include: a communication unit and a processing unit. The communication unit may be at least one of a transceiver, a receiver, a transmitter, for example, which may include a radio frequency circuit or an antenna. The processing unit may be a processor. In the present design, the device may be a vehicle, an in-vehicle apparatus, or a management center apparatus.

Optionally, the apparatus may further comprise a storage unit, which may be a memory, for example. When included, the memory unit is used to store instructions. The processing unit is connected to the storage unit, and the processing unit can execute the instructions stored in the storage unit or instructions from other sources, so as to cause the apparatus to perform the method of the first aspect and various possible implementations. The memory unit may be a ROM or other type of static storage device that may store static information and instructions, a RAM, or the like.

In another possible design, when the device is a chip, the chip may include: a communication unit and a processing unit. The communication unit may be, for example, an input/output interface, a pin or a circuit on the chip, etc. The processing unit may be, for example, a processor. The processing unit may execute instructions to cause a chip within the on-board device or the chip within the management center device to perform the method of the first aspect described above, and any possible implementation.

Alternatively, the processing unit may execute instructions in a memory unit, which may be an on-chip memory unit, such as a register, a cache, etc. The memory unit may also be located in the vehicle-mounted device or management center, but outside the chip, such as a ROM or other type of static memory device that can store static information and instructions, a RAM, etc.

The processor mentioned in any of the above may be a CPU, a microprocessor, an ASIC, or one or more integrated circuits for controlling the execution of the program of the method of the first aspect.

In a fourth aspect, an apparatus for controlling a vehicle is provided, where the apparatus may be an on-board device, and may also be a chip that can be applied in the on-board device. The device has the function of implementing the second aspect described above, as well as various possible implementations. The function can be realized by hardware, and can also be realized by executing corresponding software by hardware. The hardware or software includes one or more units corresponding to the above functions.

In one possible design, the apparatus may include: a communication unit and a processing unit. The communication unit may be, for example, at least one of a transceiver, a receiver, a transmitter, which may include a radio frequency circuit or an antenna. The processing unit may be a processor. In the present design, the device may be an in-vehicle apparatus or a vehicle.

Optionally, the apparatus may further comprise a storage unit, which may be a memory, for example. When included, the memory unit is used to store instructions. The processing unit is connected to the storage unit, and the processing unit can execute the instructions stored in the storage unit or instructions from other sources, so as to enable the apparatus to perform the method of the second aspect and various possible implementation manners. The memory unit may be a ROM or other type of static storage device that may store static information and instructions, a RAM, or the like.

In another possible design, when the device is a chip, the chip includes: a communication unit and a processing unit. The communication unit may be, for example, an input/output interface, a pin or a circuit on the chip, etc. The processing unit may be, for example, a processor. The processing unit may execute instructions to cause the chip in the vehicle device to perform the method of the second aspect described above, and any possible implementation.

Alternatively, the processing unit may execute instructions in a memory unit, which may be an on-chip memory unit, such as a register, a cache, etc. The memory unit may also be located within the vehicle device, but outside the chip, such as a ROM or other type of static memory device that may store static information and instructions, a RAM, etc.

The processor mentioned in any of the above may be a CPU, a microprocessor, an ASIC, or one or more integrated circuits for controlling the execution of the programs of the above methods.

In a fifth aspect, a computer-readable storage medium is provided. The computer readable storage medium has program code stored therein. The program code comprises instructions for performing the method in the aspects described above.

For example, the computer readable medium may have stored therein a program code comprising instructions for performing the method of the first aspect.

For example, the computer readable medium may have stored therein a program code comprising instructions for performing the method of the second aspect.

In a sixth aspect, the present application provides a computer program product containing instructions. The computer program product, when run on a computer, causes the computer to perform the method of the above aspects.

For example, the computer program product, when executed on a computer, causes the computer to perform the method of the first aspect.

For example, the computer program product, when executed on a computer, causes the computer to perform the method of the second aspect.

In a seventh aspect, a traffic system is provided, comprising any one of the above devices.

Drawings

FIG. 1 is an exemplary system architecture diagram to which the methods of the embodiments of the present application may be applied;

fig. 2 is an exemplary structural diagram of a management center according to an embodiment of the present application;

fig. 3 is an exemplary configuration diagram of the vehicle-mounted device of the embodiment of the present application;

FIG. 4 is an exemplary flow chart of a method of controlling a vehicle according to one embodiment of the present application;

FIG. 5 is an exemplary flow chart of a method of controlling a vehicle according to another embodiment of the present application;

FIG. 6 is a schematic illustration of displaying vehicle fault information according to an embodiment of the present application;

FIG. 7 is a schematic illustration of displaying vehicle fault information according to yet another embodiment of the present application;

FIG. 8 is a schematic illustration of displaying vehicle fault information according to yet another embodiment of the present application;

FIG. 9 is a schematic illustration of displaying vehicle fault information according to yet another embodiment of the present application;

FIG. 10 is a schematic illustration of a further embodiment of the present application showing vehicle fault information;

FIG. 11 is a schematic illustration of displaying vehicle fault information according to yet another embodiment of the present application;

FIG. 12 is a schematic view of a vehicle fault message display according to yet another embodiment of the present application;

FIG. 13 is a schematic illustration of displaying vehicle fault information according to yet another embodiment of the present application;

FIG. 14 is an exemplary block diagram of an apparatus for controlling a vehicle according to an embodiment of the present application;

fig. 15 is an exemplary structural diagram of an apparatus for controlling a vehicle according to another embodiment of the present application;

fig. 16 is an exemplary structural diagram of an apparatus for controlling a vehicle according to another embodiment of the present application;

fig. 17 is an exemplary structural diagram of an apparatus for controlling a vehicle according to another embodiment of the present application;

FIG. 18 is an example view of a vehicle orientation in accordance with an embodiment of the present application.

Detailed Description

The technical solution in the present application will be described below with reference to the accompanying drawings.

FIG. 1 is a diagram of an exemplary system architecture to which methods of embodiments of the present application may be applied. The system may be a transportation system or may be applied to a transportation system.

For example, the system may be an Intelligent Transportation System (ITS). The ITS can acquire, process and apply vehicle information in real time and accurately and timely provide traffic service for users.

Core participants of the system may include vehicle management center 110, vehicle 120, vehicle 130, vehicle 140, and vehicle 150. The vehicle management center 110 may be simply referred to as the management center 110.

It should be understood that the number of vehicles and management centers in the system is merely an example, and the method of the present application is not limited to the number of vehicles and management centers. In addition, the system may also include other participants, which the present application does not limit.

The management center 110 may include a vehicle control subsystem and a traffic information subsystem. The vehicle control subsystem is responsible for safely and efficiently controlling the running of the vehicle, and the traffic information subsystem is responsible for accurately and timely acquiring, processing and exchanging information of traffic participants. The management center may have an integrated host server with a traffic information subsystem that enables information interaction with the vehicle. Or each subsystem in the management center comprises respective information management equipment, and the information management equipment realizes the functions of the subsystem to which the information management equipment belongs.

Alternatively, the management center 110 may not have vehicle control capability, and the vehicle 120 and the vehicle 130 may communicate only through the management center 110. In this case, the management center 110 is similar to a mobile phone access operator, the vehicle is a large mobile terminal, and the vehicles access the 5G, 6G and other operator networks through the management center 110 and can communicate with each other.

Alternatively, the vehicles in the system may communicate directly with each other, for example, vehicle 120 and vehicle 130 may communicate directly.

In some possible implementations, a system to which the method of the embodiments of the present application may be applied may not have a management center 110. In this scenario, vehicles 120-150 may communicate directly with each other.

Fig. 2 is a schematic structural diagram of a management center in an embodiment of the present application. The management center 110 includes a transmitting module 111, a receiving module 112, a processing module 113, and a storage module 114. The transmitting module 111 and the receiving module 112 may be integrated together, and are referred to as a transceiver module.

The memory module 114 stores computer-executable program code, which includes instructions. The storage module may also store an identification of the vehicle.

The processing module 113 is coupled to the memory module and the transceiver module. The processing module, when executing the instructions, causes the management center 110 to perform the methods performed by the management center in the embodiments.

The transceiver module receives a request sent by the vehicle and sends information to the vehicle.

The vehicle in the embodiment of the present application may be deployed with an in-vehicle device. Fig. 3 is a schematic configuration diagram of an in-vehicle apparatus in an embodiment of the present application.

The in-vehicle apparatus 300 includes: communication module 310, memory module 320, input module 330, output module 340, sensor 350, processing module 360, and power supply 370.

The communication module 310 provides a remote communication interface for the entire vehicle. In the application, the vehicle-mounted equipment is communicated with the management center through the communication module. Or, the vehicle-mounted device can be connected with other terminals (such as mobile phones) of passengers through the communication module. The communication module may include a satellite antenna, a mobile antenna, a satellite communication module, and a mobile communication module. The satellite signal module can acquire satellite information in real time and analyze the information; and the mobile communication module uploads the analyzed position information to a management center through a mobile network.

The storage module 320 may store a correspondence table of traffic service and status information, software programs and modules, and the like. The memory module may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.

The processing module 360 executes various functional applications and data processing of the in-vehicle device by running software programs and modules stored in the storage module 320. The processing module is a control center of the vehicle-mounted equipment, various interfaces and lines are utilized to connect all parts of the whole vehicle-mounted equipment, and various functions and processing data of the vehicle-mounted equipment are executed by running or executing software programs and/or modules stored in the storage module and calling data stored in the storage module, so that the vehicle-mounted equipment is monitored integrally.

The processing module 360 may further include an application processor for processing an operating system, user interfaces, application programs, and the like. The processing module can be used for performing fusion processing and decision-making of information, for example, analyzing data transmitted by the sensor, and making a decision on the result obtained by analysis, for example, whether the vehicle should be warned early or not, and the vehicle speed should be reduced.

In some on-board devices, the processing module 360 may include a vehicle control unit. The vehicle control unit can be a core control component of the vehicle. The vehicle control unit needs to complete a plurality of task coordination when the vehicle runs, and the main tasks comprise: communication with the subsystem; collecting an operation signal of a driver and identifying the intention of the driver; the running state of the pure electric vehicle is monitored, vehicle faults are detected and identified, fault information is stored, and safe running of the vehicle is guaranteed. The vehicle control unit also comprises a plurality of independent motor control units, and information interaction between the vehicle control unit and the motor control units is carried out in a bus mode. The vehicle controller is a controller hub of a vehicle, and performs information intercommunication with a signal sensor, an active steering controller and an electric drive controller through a Controller Area Network (CAN) bus communication mode to realize signal acquisition, control strategy decision and drive signal output.

The vehicle control unit collects and processes signals (such as information of an accelerator pedal, a brake pedal and the like) from the sensor; the controller is responsible for the up-down electric logic control of the self controller and the up-down electric logic control of the motor control unit; and (3) torque calculation: calculating the torque required by a driver, distributing mechanical braking and electric braking torque, distributing driving/braking torque borne by a front shaft and a rear shaft and distributing torque of a four-wheel motor; energy optimization management: charging control, power distribution based on the motor operation efficiency and braking energy recovery control; vehicle dynamics control: vehicle state recognition, yaw control, anti-skid control, anti-lock control, anti-roll control and active steering control; and (4) monitoring and diagnosing functions: the method comprises the steps of bus node transceiving monitoring, sensor failure diagnosis, torque monitoring, central Processing Unit (CPU) monitoring diagnosis, fault management and fault realization safety measures (such as vehicle deceleration speed limit processing).

The whole vehicle controller completes data exchange with other sub-control units such as a motor controller, a power management system, an instrument panel and the like through CAN network communication. The motor control unit receives a command sent by the vehicle controller through the CAN network, converts chemical energy of the battery pack into mechanical energy of the motor, and then transmits power to wheels through the transmission system to ensure the driving power of the vehicle. Therefore, if an abnormality occurs in the CAN bus, the CAN bus may need to be processed in a grading mode according to communication faults among specific units on the bus.

In some vehicle-mounted devices, the processing module 360 may include a vehicle body controller that manages modules in the field of vehicle body electronics, supporting a variety of functions, and a typical vehicle body control module is composed of a microprocessor for controlling functions classified as vehicle body electronics (power windows, wipers, side mirrors, etc.). In addition, ports are provided on the body control platform for communication with various body control modules, dashboards, sensors and actuators, etc.

In some vehicle devices, the processing module 360 may include a smart driving controller for processing data from various sensors.

The input module 330 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the in-vehicle apparatus. The input module may include a touch panel and other input devices. The touch panel, also referred to as a touch screen, may collect a touch operation performed by a user on or near the touch panel (e.g., an operation performed by the user on or near the touch panel using any suitable object or accessory such as a finger, a stylus, etc.), and drive the corresponding connection device according to a preset program. In addition to the touch panel, the input module may include other input devices such as volume control keys, switch keys, and the like.

The output module 340 may be used to visually display, voice-play information input by or provided to the user, and various menus of the in-vehicle apparatus. The output module may include a display panel, and the display panel may be configured in the form of a Liquid Crystal Display (LCD), an organic light-emitting diode (OLED), a head-up display (HUD), or the like. The touch panel can cover the display panel, and when the touch panel detects a touch operation on or near the touch panel, the touch panel transmits the touch operation to the processing module to determine the type of the touch event, and then the processing module provides corresponding visual output on the display panel according to the type of the touch event.

The touch panel and the display panel are used as two independent components to realize the input and input functions of the vehicle-mounted equipment. Of course, the touch panel and the display panel may be integrated together to implement the input and output functions of the in-vehicle device.

The in-vehicle device may include at least one sensor 350, such as an induction counter, gyroscope, barometer, hygrometer, thermometer, infrared sensor, lidar, camera, millimeter wave radar, ultrasonic radar, speed and acceleration sensors, among other sensors.

The power source 370 may be logically connected to the processing module through a power management system to manage charging, discharging, and power consumption management functions through the power management system. The power management system manages the battery state, detects the battery and ensures the safety of the battery. The power management system is used as a management center of the automobile power battery and has all data of the power system when the automobile runs.

Fig. 18 is a diagram illustrating an example of a relative orientation of a vehicle according to an embodiment of the present application. As shown in fig. 18, the vehicle 2 is located directly in front of the vehicle 1; the vehicle 3 is located right behind the vehicle 1; the vehicle 4 is located directly to the left of the vehicle 1; the vehicle 5 is located directly to the right of the vehicle 1; the vehicle 6 is positioned in the front left of the vehicle 1; the vehicle 7 is located on the right front of the vehicle 1; the vehicle 8 is located at the left rear of the vehicle 1; the vehicle 9 is located at the rear right of the vehicle 1. It should be understood that FIG. 18 is merely an example of a relative orientation of a vehicle and should not be limiting of the orientation in the method of embodiments of the present application.

FIG. 4 is a schematic flow chart diagram of a method of controlling a vehicle according to one embodiment of the present application. The method shown in fig. 4 includes S410, S420, and S430. It should be understood that fig. 4 shows steps or operations of the method, but these steps or operations are merely examples, and the present embodiment may also perform other operations or variations of the respective operations in fig. 4.

The method of the embodiment may be performed by the first vehicle, or may be performed by a device or apparatus other than the first vehicle, for example, a management center or a terminal device used by a driver or a passenger on the first vehicle. It should be understood that what is said herein to be performed by the first vehicle may also be understood to be performed by an onboard device on the first vehicle. The terminal device referred to herein may include a smart phone or a tablet computer.

S410, acquiring fault information of the first vehicle, wherein the fault information indicates a fault of the first vehicle.

The first vehicle refers to a vehicle with a fault, or may be referred to as a faulty vehicle. For example, the first vehicle may be vehicle 120 in the system shown in FIG. 1.

The fault information of the first vehicle may indicate one or several of the following faults: brake failure, cruise control failure, tire burst, brake light failure, laser radar failure, and excessive battery temperature. The battery temperature is higher than or equal to a preset temperature threshold value.

It should be understood that the above-mentioned failure information is only an example given for better understanding of the present embodiment, and the method of the present embodiment does not limit the failure information of the first vehicle.

In this embodiment, after the failure information of the first vehicle is acquired, the influence range of the failure of the first vehicle may be determined to determine a vehicle that may be influenced by the failure. A vehicle that may be affected by a failure of a first vehicle is referred to as a second vehicle and may also be referred to as an affected vehicle. For example, the second vehicle may be the vehicle 130 in the system shown in fig. 1.

The influence range of the failure of the first vehicle may refer to a peripheral preset range centered on the first vehicle. Or the vehicle affected by the failure of the first vehicle may have one or more of the following characteristics: the first vehicle has the same schedule, the same destination, and the same navigation route.

The method comprises the steps that vehicles in a peripheral preset range with the first vehicle as the center of a circle can be determined as second vehicles; or a vehicle having at least one of the following characteristics may be determined as the second vehicle: the first vehicle has the same schedule, the same target place and the same navigation route; alternatively, the influence range of the failure of the first vehicle may be determined from the failure information of the first vehicle, thereby determining the second vehicle.

For example, when the failure information of the first vehicle includes a brake failure, a vehicle having the following characteristics may be determined as the second vehicle: the distance between the first vehicle and the second vehicle is smaller than or equal to a preset first distance threshold value.

When the failure information of the first vehicle includes a tire burst, a vehicle having the following characteristics may be determined as the second vehicle: the distance between the first vehicle and the second vehicle is smaller than or equal to a preset second distance threshold.

When the failure information of the first vehicle includes that the battery temperature is too high, a vehicle having the following characteristics may be determined as the second vehicle: the distance between the first vehicle and the second vehicle is smaller than or equal to a preset third distance threshold value.

When the failure information of the first vehicle includes a failure of the brake lamp, a vehicle having the following characteristics may be determined as the second vehicle: and the distance between the first vehicle and the second vehicle is smaller than or equal to a preset fourth distance threshold value.

For example, when the failure information of the first vehicle includes a cruise failure, a vehicle having the following characteristics may be determined as the second vehicle: and the distance between the first vehicle and the second vehicle is smaller than or equal to a preset fifth distance threshold.

When the failure information of the first vehicle includes a laser radar failure, one or more vehicles having the following characteristics may be determined as the second vehicle: and vehicles which are respectively closest to the first vehicle on the front, the rear, the left, the right, the front left, the front right, the rear left and the rear right of the first vehicle.

And S420, determining the running parameters of a second vehicle according to the fault information of the first vehicle, wherein the second vehicle is located in the influence range of the fault of the first vehicle.

The driving parameters include one or more of the following parameters: position, attitude, speed, acceleration, torque, lane, etc.

It should be understood that the above-mentioned driving parameters are only examples provided for better understanding of the embodiments of the present application, and the method of the embodiments of the present application does not limit the driving parameters of the vehicle.

The running parameter of the second vehicle may be determined based on the failure information of the first vehicle, the running parameter of the second vehicle may be generated based on the failure information of the first vehicle, or the running parameter of the second vehicle may be adjusted based on the failure information of the first vehicle.

When the fault information of the first vehicle includes a brake failure, the determining of the driving parameters of the second vehicle according to the fault information of the first vehicle may include: driving lane and/or driving speed.

The determining of the driving parameters of the second vehicle based on the fault information of the first vehicle may include, when the fault information of the first vehicle includes a failure of a brake lamp: and (4) the running speed.

The failure information of the first vehicle may include a tire burst, and the determining of the running parameter of the second vehicle according to the failure information of the first vehicle may include: lane and/or travel speed.

When the failure information of the first vehicle includes that the battery temperature is too high, the determining of the running parameters of the second vehicle according to the failure information of the first vehicle may include: speed of travel and/or direction of travel.

In this embodiment, the lane of travel determined from the failure information of the first vehicle may include: the second vehicle can be caused to avoid a lane affected by the failure of the first vehicle, and the travel speed determined according to the failure information of the first vehicle may include: the traveling speed at which the second vehicle can be made to avoid the influence of the failure of the first vehicle, the traveling direction determined from the failure information of the first vehicle may include: the second vehicle can be made to avoid the traveling direction affected by the failure of the first vehicle.

In this embodiment, if the failure information of the first vehicle includes multiple failures, or the failure information of the first vehicle indicates multiple failures of the first vehicle, the driving parameters of the second vehicle may be determined according to the severity of each failure.

Table 1 is an example of a mapping relationship between a failure of the first vehicle, a severity of the failure, the second vehicle, and a regulatory action on the second vehicle.

TABLE 1 mapping relationships between faults, severity of faults, second vehicle, and regulatory measures for a first vehicle

For example, when the failure information of the first vehicle includes both the brake lamp failure and the tire burst, the running parameters of the second vehicle and the second vehicle may be preferentially determined according to the tire burst, based on the fact that the severity of the tire burst failure is higher than the severity of the brake lamp failure. In other possible implementations, the running parameters of the second vehicle may be determined by integrating the faults, for example, determining all vehicles affected by the faults as the second vehicle, and determining the running parameters of the second vehicle.

And S430, transmitting the running parameters to a second vehicle.

In the present embodiment, the traveling parameter of the second vehicle is determined based on the failure information of the first vehicle, and the traveling parameter is transmitted to the second vehicle, so that when the second vehicle travels based on the traveling parameter, the second vehicle is helped to avoid the influence of the failure of the first vehicle, thereby being helped to improve the traveling safety of the vehicle.

For example, when the first vehicle has a brake failure, the driving speed of the second vehicle behind the first vehicle may be adjusted, and the driving speed is such that a safe driving distance is maintained between the second vehicle and the first vehicle, thereby helping to avoid collision between the second vehicle and the first vehicle, and further helping to improve the driving safety of the first vehicle, the second vehicle and surrounding vehicles.

In this embodiment, if the method is executed by a first vehicle, in some possible implementations, S410 may include: and detecting the fault of the first vehicle so as to obtain fault information of the first vehicle.

The first vehicle detects a failure of the first vehicle, which may also be understood as a vehicle-mounted device of the first vehicle or a detection unit on the first vehicle detecting a failure of the first vehicle and determining failure information of the failure. Some examples of the first vehicle detecting a failure of the first vehicle are as follows.

The first vehicle itself detects auxiliary hardware such as a brake light to determine if the brake light is malfunctioning. For example, when a vehicle body controller in a processing module of the vehicle-mounted device determines that a brake lamp is not on, the first vehicle determines that its brake lamp is malfunctioning.

The first vehicle itself detects the underlying system hardware, such as brakes, to determine if the brakes are malfunctioning.

Or the vehicle control unit in the processing module of the vehicle-mounted equipment judges whether the brake is out of order, the constant-speed cruise is out of order or whether the tire is burst or the like according to the signals from the sensor.

The first vehicle itself detects whether the intelligent autopilot system is abnormal, for example, whether the image subsystem is abnormal, to determine whether the lidar is malfunctioning. Anomalies in the image subsystem include lidar anomalies, and the like. The fault may be hardware fault of the laser radar or be caused by crash of a control system of the intelligent automobile.

The first vehicle detects whether the bus communication class is abnormal or not, for example, detects the bus communication class abnormality of the transmission driving control command between the intelligent driving controller and the vehicle controller, so as to determine whether the bus communication class abnormality or not. The bus communication type abnormality includes indication type communication abnormality related to the peripheral vehicle, such as a brake lamp, a turn lamp command display, and the like. The type of fault is possibly caused by the crash of a control system of the intelligent automobile.

The first vehicle's own power management system detects whether the battery temperature is too high. Such failures may lead to a crash of the control system or, in severe cases, to spontaneous combustion or explosion of the vehicle.

It should be understood that the above-described method of detecting a failure of the first vehicle is only an example given for better understanding of the present embodiment, and the method of the present embodiment is not limited thereto. The first vehicle may also detect the fault using prior art methods, which are not described in detail herein.

In this embodiment, if the method is executed by a device or apparatus other than the first vehicle, for example, by a management center, in some possible implementations, S410 may include: failure information of the first vehicle is received.

Wherein receiving the fault information of the first vehicle may include: the method may include receiving fault information of the first vehicle from the first vehicle and/or receiving fault information of the first vehicle from a device other than the first vehicle.

For example, after the first vehicle detects the failure information of the first vehicle, the failure information of the first vehicle may be transmitted to the management center. Accordingly, the management center receives the failure information of the first vehicle from the first vehicle. The implementation manner of the first vehicle fault detection can refer to the content described above, and is not described herein again.

As another example, vehicles around the first vehicle may determine fault information of the first vehicle and send the fault information of the first vehicle to the management center. Accordingly, the management center receives the failure information of the first vehicle from the vehicle.

One example of determining the failure information of the first vehicle by the vehicles around the first vehicle is as follows: the vehicle acquires images through the image sensor and performs image analysis through the processing module to determine fault information of the first vehicle.

For example, when the first vehicle has a tire burst fault, the surrounding vehicles can acquire images through the image sensor and perform image analysis through the processing module to determine that the first vehicle has the tire burst fault.

As another example, if there is a red light in front of the vehicle, and normally, the first vehicle in front of the vehicle should be in a braking state and turn on the brake light, but the vehicle detects that the brake light of the first vehicle is not turned on, the vehicle may determine that the brake light of the first vehicle is out of order, and the management center sends the fault information of the first vehicle.

As another example, the vehicle detects that a first vehicle in front is decelerating, but the brake lights of the first vehicle are not on, it may be determined that the brake lights of the first vehicle are malfunctioning.

Another example of determining the failure information of the first vehicle by the vehicles around the first vehicle is as follows: after the first vehicle detects the own fault information, prompting can be carried out through voice, images or characters; after the people around the first vehicle and the people in the vehicles around the first vehicle know the prompt, the fault information of the first vehicle can be sent to the management center through intelligent equipment (such as a mobile phone or a tablet personal computer).

In this embodiment, optionally, the method may further include: if the running state information of the first vehicle is not received within the preset time span, it can be determined that the first vehicle has a fault, and further prompt information that the first vehicle has a fault can be sent to the vehicles within the influence range of the fault of the first vehicle. The running state information of the first vehicle is used for reporting whether the first vehicle is in a normal running state or not to the management center.

For example, if the management center does not receive the driving state information of the first vehicle within half an hour, the management center may send a prompt message to vehicles around the first vehicle, where the prompt message includes identification information of the first vehicle, so that when the vehicles recognize the first vehicle, it is known that the first vehicle has a fault, and the influence of the fault can be avoided.

For example, when a communication module of the first vehicle fails, the first vehicle cannot normally communicate with the management center, and the management center cannot receive the driving state information reported by the first vehicle within a preset time period, so that the management center can determine that the first vehicle fails.

In this case, the management center may not be able to determine what failure has occurred in the first vehicle, and therefore, the management center may simply determine, as the second vehicle (i.e., the affected vehicle), all the vehicles within the preset range where the first vehicle is located as the center when the management center last received the signal of the first vehicle. Alternatively, the management center may acquire the real-time position of the first vehicle to vehicles around the first vehicle instead of the position information that should be reported to the management center by the first vehicle.

Since the management center may not be able to determine the failure information of the first vehicle, the management center may send only the prompt message indicating that the first vehicle has failed to the second vehicle.

In this embodiment, optionally, the following steps may also be included: and transmitting the fault information of the first vehicle to the second vehicle. That is, not only the running parameters of the second vehicle are determined from the failure information of the first vehicle, but also the failure information of the first vehicle is notified to the second vehicle. In this way, the second vehicle can further determine whether to drive according to the driving parameters according to the fault information of the first vehicle and by combining the self condition and/or other conditions on site; alternatively, in the case where the second vehicle travels according to the travel parameter, the second vehicle or a person on the second vehicle may know the cause of the travel of the second vehicle.

In this embodiment, optionally, the first vehicle may determine the fault information of the surrounding vehicles and notify the management center or other vehicles of the fault information, or prompt the fault information in various possible manners, so that the other vehicles or the management center can perform corresponding processing according to the fault information, thereby improving the driving safety of the vehicle. Reference may be made to the foregoing description for an implementation manner of determining the peripheral vehicle fault information by the first vehicle, and details are not described here.

In another embodiment of the present application, a method of controlling a vehicle may include: acquiring fault information of a first vehicle, wherein the fault information indicates a fault of the first vehicle; and transmitting the fault information of the first vehicle to the second vehicle.

The embodiment is different from the previous embodiment in that after the execution subject of the method learns the failure information of the first vehicle, the failure information of the first vehicle is directly notified to the second vehicle, and the second vehicle performs related processing according to the failure information of the first vehicle, thereby improving the driving safety.

For example, the second vehicle determines a running parameter according to the failure information of the first vehicle and runs according to the running parameter; for another example, the failure information is presented to the driver by the second vehicle, and the driver drives based on the failure information.

The implementation manner of each step in this embodiment may refer to the implementation manner of the relevant step in the previous embodiment, and all or part of other steps in the previous embodiment may also be applied to the method in this embodiment, which is not described herein again.

In another embodiment of the present application, a method of controlling a vehicle may include: the second vehicle receives the running parameters, which are determined according to the fault information of the first vehicle; the second vehicle travels according to the travel parameter.

In this embodiment, since the running parameter of the second vehicle is determined based on the failure information of the first vehicle, the second vehicle runs based on the running parameter, which contributes to avoiding the influence of the failure of the first vehicle, and thus contributes to improving the safety of running.

The concepts and steps in this embodiment may refer to the related contents in the previous embodiment, and are not described herein again for brevity.

An exemplary flowchart of a method of controlling a vehicle according to another embodiment of the present application is shown in fig. 5. The method includes S510, S520, and S530. It should be understood that fig. 5 shows steps or operations of the method, but these steps or operations are only examples, and the present embodiment may also perform other operations or variations of the respective operations in fig. 5.

S510, the second vehicle acquires fault information of the first vehicle, wherein the fault information indicates the fault of the first vehicle.

One implementation of this step may include: failure information of the first vehicle is received. That is, the failure information of the first vehicle is determined by the first vehicle, other vehicle, or other device (e.g., a management center), and then the second vehicle receives the failure information of the first vehicle from the first vehicle, other vehicle, or other device. The implementation manner may refer to the related contents in the foregoing embodiments, and details are not described here.

In another implementation of this step, the fault information for the first vehicle may be determined by a device or apparatus on the second vehicle. For example, image information of a first vehicle is acquired; failure information of the first vehicle is determined from the image information of the first vehicle. For this implementation, reference may be made to the implementation of determining the fault information of the surrounding vehicle by the first vehicle in the foregoing embodiment, and details are not described here again.

And S520, the second vehicle determines the running parameters of the second vehicle according to the fault information of the first vehicle.

This step may refer to S420, which is not described herein.

And S530, the second vehicle executes driving behaviors according to the running parameters.

This step may be implemented with reference to the driving mode of the existing autonomous vehicle, and will not be described herein.

In this embodiment, since the running parameter of the second vehicle is determined based on the failure information of the first vehicle, the second vehicle is helped to avoid the influence of the failure of the first vehicle, thereby being helped to improve the safety of running.

It should be understood that the present application is described by way of example with a second vehicle determining a driving parameter from fault information of a first vehicle and performing a driving behavior based on the driving parameter, wherein the second vehicle may also be replaced with an on-board device on the second vehicle.

Optionally, the method may further include: and the second vehicle prompts the fault information of the first vehicle.

In this embodiment, when the second vehicle prompts the failure information of the first vehicle, the failure information may be prompted in a voice manner or a visual manner, or may be prompted in both a voice manner and a visual manner. The visualization may include one or both of a text display and an imaging.

The visual mode prompts the fault information of the first vehicle, and may comprise one or more of the following modes: displaying failure information of the first vehicle on a display panel of the second vehicle; prompting the fault information of the first vehicle through a player of the second vehicle in a voice mode; and displaying the fault information of the first vehicle on the windshield display of the second vehicle in an overlaying manner by means of virtual reality augmented reality.

When the image mode is used for prompting the fault information of the first vehicle, the fault prompting image can be a whole vehicle image of the first vehicle or only a partial image of the first vehicle with a fault.

Not all fault information is applied to the partial image, and usually only some faults that are relatively easily visible in appearance, such as brake light failure or tire burst, can be indicated by the partial image.

When fault information of the first vehicle is displayed on a windshield display of the second vehicle in an overlapping mode, and a fault prompt image is a whole vehicle image of the first vehicle, the specific prompt mode comprises the following steps: displaying the contour line of the first vehicle, as shown in fig. 6 or 7, in fig. 7, not only the contour line of the first vehicle is displayed, but also the fault information of the first vehicle is a brake failure; or, the first vehicle is circled out completely, as shown in fig. 8, wherein the failure information of the first vehicle is also proposed as tire pressure insufficiency; or, the entire vehicle of the first vehicle is covered with colors, as shown in fig. 9, where the horizontal and vertical lines represent different colors.

Fig. 10 or 11 shows a specific example in which the failure information of the first vehicle is superimposed and displayed on the windshield display of the second vehicle, and the failure indication image is a partial image in which the first vehicle has failed. In fig. 10, the black frame is used for prompting the fault of the brake lamp, and in fig. 11, the black frame is used for prompting the insufficient tire pressure.

An example of prompting the failure information of the first vehicle on the display panel of the second vehicle is shown in fig. 12. As shown in fig. 12, a lattice circle indicates a second vehicle, a vehicle immediately in front of the second vehicle is a first vehicle, and failure information "front brake lamp failure" of the first vehicle is displayed on a display panel of the second vehicle. Alternatively, as shown in fig. 13, a simulation prototype diagram of the vehicle may be displayed on the display panel.

In a scenario where the first vehicle and the second vehicle travel together, in a possible implementation manner of the embodiment, the second vehicle may be specified by a user (e.g., a passenger) of the first vehicle.

For example, the input device of the vehicle-mounted device of the first vehicle may receive the identifier of the co-traveling vehicle input by the user (passenger), and the vehicle-mounted device reports the identifier of the co-traveling vehicle input by the user to the management center through the communication module. Wherein the vehicles in the same line are the second vehicles, namely the vehicles affected by the first vehicle faults.

The user inputs the identification of the vehicles in the same row, or the input device of the vehicle-mounted device receives the identification of the vehicles in the same row, which can be realized at least in the following two ways.

In the first way, the user can manually enter the identity of the vehicle. In this manner, when the failure is presented, the failure of the vehicle can be presented by the identification. For example, a prompt "your fellow vehicle (identification xxxx) has blown out".

In the second mode, an operating system or a timely communication tool application (such as a WeChat) on a terminal device used by a user (passenger) can bind a relationship between a person and a vehicle, the terminal device sends an identifier of an appointed vehicle to a vehicle-mounted device through a communication module of the terminal device, and the identifier is reported to a management center by the vehicle-mounted device, or the terminal device directly reports the identifier of the appointed vehicle to the management center.

For example, a friend in the WeChat contact list is bound with a friend vehicle, so that the user can select the friend from the WeChat to complete the designation of the same-row vehicle; or the contact persons in the mobile phone address book are bound with the corresponding vehicles, so that the contact persons can be selected from the mobile phone address book to further finish the designation of vehicles in the same row.

In the second mode, when the fault is prompted, a specific person can be directly prompted, for example, a prompt of "the vehicle of your friend a is blown out".

In this embodiment, the method may further include: acquiring fault information of a third vehicle; and transmitting the fault information of the third vehicle to the vehicle management center or a fourth vehicle, wherein the fourth vehicle is positioned in the influence range of the fault of the third vehicle. One example of a third vehicle is vehicle 140 in FIG. 1 and one example of a fourth vehicle is vehicle 150 shown in FIG. 1.

The implementation manner of obtaining the fault information of the third vehicle may refer to the implementation manner of determining the fault information of the surrounding vehicle by the first vehicle in the foregoing embodiment, and details are not repeated here.

In a method of controlling a vehicle according to another embodiment of the present application, the method may include: acquiring fault information of a first vehicle, wherein the fault information indicates a fault of the first vehicle; and prompting fault information of the first vehicle.

S510 may be referred to for obtaining the fault information of the first vehicle, and the content related to the embodiment shown in fig. 5 may be referred to for prompting the fault information of the first vehicle, which is not described herein again.

The method in this embodiment may be performed by the second vehicle or an in-vehicle device of the second vehicle affected by the failure of the first vehicle, or may be performed by a terminal device used by a driver or a passenger on the second vehicle. The second vehicle is within the fault coverage of the first vehicle.

In this embodiment, the fault information of the first vehicle is presented, which helps the driver of the second vehicle to avoid the influence of the fault of the first vehicle, thereby contributing to improvement of the safety of traveling.

In various embodiments of the present application, various different vehicles may be identified by their identification. In one possible implementation, each vehicle may have a permanent identification of its own to facilitate identification of the vehicle.

The permanent identifier may refer to a permanent identifier that the manufacturer marks the vehicle at the time of shipment. The permanent identifier does not change during the life cycle of the vehicle and is a globally unique identifier, i.e., the permanent identifier represents only the vehicle.

The identification method of the permanent identifier can be various. For example, the tag may be marked with information such as country-region-time of delivery-manufacturer-lot-random number. The form of the permanent mark is only illustrated here, and the specific marking method is not limited as long as the vehicle can be marked uniquely.

After the permanent identification of the vehicle is determined, the static state information of the vehicle can be associated and stored in a service platform, and the relevant static state information of the vehicle can be inquired through the service platform according to the permanent identification.

It should be understood that the specific examples in the embodiments of the present application are for the purpose of helping those skilled in the art to better understand the embodiments of the present application, and do not limit the scope of the embodiments of the present application.

It should also be understood that the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic thereof, and should not constitute any limitation to the implementation process of the embodiments of the present application.

It should also be understood that "first", "second", "third", and "fourth", etc. in the method of the present application are only for better distinguishing the vehicle or the information, and should not limit the technical solution of the present application.

It should also be understood that, in the embodiment of the present application, "preset", "predefined" may be implemented by saving a corresponding code, table, or other means that can be used to indicate relevant information in a device (for example, an on-board device, a vehicle, or a management center) in advance, and the present application is not limited to a specific implementation manner thereof.

It is also to be understood that, in various embodiments of the present application, unless otherwise specified or conflicting in logic, terms and/or descriptions between different embodiments are consistent and may be mutually referenced, and technical features in different embodiments may be combined to form a new embodiment according to their inherent logical relationship.

It should also be understood that the embodiment of the present application may perform the division of the functional modules on the vehicle-mounted device, the vehicle or the management center according to the above method examples. For example, each functional module may be divided in accordance with each function, or two or more functions may be integrated into one processing module. The integrated module can be realized in a form of hardware or a form of a software functional module. It should be noted that, in the embodiment of the present application, the division of the module is schematic, and is only one logic function division, and there may be another division manner in actual implementation. The following description will be given by taking an example in which each functional module is divided by using a corresponding function.

The following describes the apparatus provided in the embodiment of the present application in detail with reference to fig. 14 to 17. It should be understood that the description of the apparatus embodiments corresponds to the description of the method embodiments, and therefore, for brevity, details are not repeated here, since the details that are not described in detail may be referred to the above method embodiments.

Fig. 14 is a schematic structural diagram of an apparatus 1400 for controlling a vehicle according to an embodiment of the present application. It should be understood that the apparatus 1400 may correspond to an execution subject of the method in the embodiment shown in fig. 4, for example, may be a first vehicle or an on-board device or a management center capable of being used on the first vehicle, and may have any function of the execution subject in the method. The apparatus 1400 comprises: a communication unit 1410 and a processing unit 1420.

It should be noted that the communication unit in the embodiment of the present application may also be referred to as a transceiver unit (module), and the processing unit may be referred to as a processing module.

The processing unit 1420 is configured to obtain failure information of the first vehicle, the failure information indicating a failure of the first vehicle.

The processing unit 1420 is further configured to determine the running parameter of a second vehicle according to the fault information of the first vehicle, where the second vehicle is located within the fault influence range of the first vehicle.

The communication unit 1410 is configured to transmit the running parameter to the second vehicle.

Optionally, the distance between the second vehicle and the first vehicle is less than or equal to a preset distance threshold, and/or the second vehicle and the first vehicle have an associated driving schedule.

Optionally, the fault information includes one or more of brake failure, cruise failure, tire burst, battery temperature above a preset temperature threshold, and brake light failure.

Optionally, the fault information includes a brake failure, the second vehicle is located in front of the first vehicle, and a distance between the second vehicle and the first vehicle is smaller than or equal to a preset first distance threshold, and the driving parameters include: lane of travel and/or speed of travel.

Optionally, the communication unit is further configured to receive fault information from the first vehicle.

Optionally, the fault information of the first vehicle may include a lidar failure. Wherein the communication unit is further configured to: receiving distance information between a third vehicle and the first vehicle, the third vehicle including one or more of: the vehicle which is closest to the first vehicle is arranged in front of, behind, on the left of, on the right of, on the front left of, on the front right of, on the rear left of and on the rear right of the first vehicle respectively; transmitting the distance information to the first vehicle.

Optionally, the communication unit is further configured to: and if the running state information of the first vehicle is not received within a preset time span, sending prompt information to the vehicles within the fault influence range of the first vehicle, wherein the prompt information indicates that the first vehicle has a fault.

Optionally, the fault information of the first vehicle may include a lidar failure. Wherein the communication unit is further configured to: receiving distance information between a third vehicle and the first vehicle, the third vehicle including one or more of: and the front, the rear, the left, the right, the front left, the front right, the rear left and the rear right of the first vehicle are respectively the vehicle closest to the first vehicle.

Optionally, the processing unit is specifically configured to: and detecting the fault of the first vehicle to obtain fault information of the first vehicle.

Optionally, the processing unit is further configured to: transmitting failure information of the first vehicle to the second vehicle.

Fig. 15 shows an apparatus 1500 for controlling a vehicle according to an embodiment of the present application, where the apparatus 1500 may be an executing entity of the method in fig. 4, and may be, for example, a first vehicle, an on-board device on the first vehicle, or a management center. The apparatus may include a processor 1510 and a transceiver 1530.

The transceiver may include a transmitter and/or a receiver. Optionally, the apparatus may further comprise a memory 1520, the processor 1510, the transceiver 1530 and the memory 1520 being in communication with each other through an internal connection path. Related functions implemented by the processing unit 1420 in fig. 14 may be implemented by the processor 1510, and related functions implemented by the communication unit 1410 may be implemented by the processor 1510 controlling the transceiver 1530.

Optionally, the processor 1510 may include one or more processors, for example, one or more CPUs, and in the case that the processor is one CPU, the CPU may be a single-core CPU or a multi-core CPU.

The transceiver 1530 is used for transmitting and receiving data and/or signals, as well as receiving data and/or signals. The transceiver may include a transmitter for transmitting data and/or signals and a receiver for receiving data and/or signals.

The memory 1520, which is used to store program codes and data, may be a separate device or integrated into the processor 1510.

Specifically, the processor 1510 is configured to control the transceiver to perform information transmission with other devices or apparatuses. Specifically, reference may be made to the description of the method embodiment, which is not repeated herein.

In particular implementations, apparatus 1500 may also include an output device and an input device, as an embodiment. An output device, which is in communication with the processor 1510, may display information in a variety of ways. For example, the output device may be a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display device, a Cathode Ray Tube (CRT) display device, a projector (projector), or the like. The input device is in communication with the processor 1510 and may receive user input in a variety of ways. For example, the input device may be a keyboard, a touch screen device, or a sensing device, among others.

It will be appreciated that fig. 15 shows only a simplified design of the means for controlling the vehicle. In practical applications, the apparatuses may also respectively include other necessary elements, including but not limited to any number of transceivers, processors, controllers, memories, etc., and all apparatuses that can implement the present application are within the protection scope of the present application.

In one possible design, the means for controlling the vehicle may be a chip, such as may be used in a vehicle, an onboard device, or a vehicle management center, for implementing the relevant functions of the processor 1510. The chip can be a field programmable gate array, a special integrated chip, a system chip, a central processing unit, a network processor, a digital signal processing circuit and a microcontroller which realize related functions, and can also adopt a programmable controller or other integrated chips. The chip may optionally include one or more memories for storing program code that, when executed, causes the processor to implement corresponding functions.

The embodiment of the application also provides a device which can be a circuit. The apparatus may be used to perform the actions performed by the execution agent in the method embodiment shown in fig. 4.

Fig. 16 is a schematic structural diagram of a device 1600 for controlling a vehicle according to an embodiment of the present application. It is to be understood that the apparatus 1600 may correspond to the execution subject of the method in the embodiment shown in fig. 5, for example, may be a second vehicle or an on-board device capable of being used on the second vehicle, and may have any function of the execution subject in the method. The apparatus 1600 includes: a communication unit 1610 and a processing unit 1620.

The communication unit is used for: fault information of a first vehicle is obtained, the fault information indicating a fault of the first vehicle.

The processing unit is used for determining the running parameters of the second vehicle according to the fault information of the first vehicle and executing the driving behavior according to the running parameters.

Wherein the fault information of the first vehicle comprises brake failure, and when the distance between the second vehicle and the first vehicle is smaller than or equal to a preset first distance threshold, the running parameter comprises: lane of travel and/or speed of travel.

The fault information of the first vehicle comprises a tire burst, the second vehicle is positioned at the front left, right or front right of the first vehicle, and when the distance between the second vehicle and the first vehicle is smaller than or equal to a preset second distance threshold, the running parameters comprise: lane of travel and/or speed of travel.

The failure information of the first vehicle includes: when the battery temperature is greater than or equal to a preset temperature threshold value and the distance between the second vehicle and the first vehicle is less than or equal to a preset third distance threshold value, the driving parameters include: speed of travel and/or direction of travel.

The fault information of the first vehicle comprises failure of a brake lamp, and when the distance between the second vehicle and the first vehicle is smaller than or equal to a preset fourth distance threshold value, the running parameters comprise: and (4) the running speed.

The fault information of the first vehicle comprises a constant-speed cruise failure, and when the distance between the second vehicle and the first vehicle is smaller than or equal to a preset fifth distance threshold value, the running parameters comprise: lane of travel and/or speed of travel.

Optionally, the fault information of the first vehicle comprises a lidar failure, and the second vehicle is a vehicle which is in front of, behind, to the left, to the right, to the front left, to the front right, to the rear left or to the rear right of the first vehicle and is closest to the first vehicle. Wherein the method further comprises: transmitting distance information between the second vehicle and the first vehicle to the first vehicle.

Optionally, the processing unit is further configured to: and prompting fault information of the first vehicle.

Optionally, the processing unit is further configured to: and prompting fault information of the first vehicle on a windshield display screen of the second vehicle in a virtual reality mode.

Optionally, the processing unit is further configured to: displaying the outline of the first vehicle on the windshield display screen and prompting the fault information of the first vehicle; or the first vehicle is circled on the windshield display screen, and fault information of the first vehicle is prompted; or marking the first vehicle with a preset color on the windshield display screen and prompting the fault information of the first vehicle; or marking the fault position of the first vehicle on the windshield display screen, and prompting the fault information of the first vehicle.

Fig. 17 shows an apparatus 1700 provided in an embodiment of the present application, where the apparatus 1700 may be an execution subject of the method described in fig. 5, for example, a second vehicle or an on-board device on the second vehicle. The apparatus may include a processor 1710 and a transceiver 1730. The transceiver may include a transmitter and/or a receiver. Optionally, the apparatus may also include a memory 1720, the processor 1710, transceiver 1730, and memory 1720 communicating with each other over an internal connection path. Related functions implemented by the processing module 1620 in fig. 16 may be implemented by the processor 1710, and related functions implemented by the transceiver module 1610 may be implemented by the processor 1710 controlling the transceiver 1730.

Optionally, the processor 1710 may include one or more processors, for example, one or more CPUs, and in the case that the processor is one CPU, the CPU may be a single-core CPU or a multi-core CPU.

The transceiver 1730 is used to transmit and receive data and/or signals, and to receive data and/or signals. The transceiver may include a transmitter for transmitting data and/or signals and a receiver for receiving data and/or signals.

The memory 1720 is used to store program code and data and may be a separate device or integrated within the processor 1710.

Specifically, the processor 1710 is configured to control the transceiver to perform information transmission with the first vehicle, an on-board device on the first vehicle, or a vehicle management center. Specifically, reference may be made to the description of the method embodiment, which is not repeated herein.

In particular implementations, apparatus 1700 may also include an output device and an input device, as an embodiment. An output device is in communication with the processor 1710 and can display information in a variety of ways. For example, the output device may be an LCD, LED display device, CRT display device, or projector, etc. The input device is in communication with the processor 1710 and may receive user input in a variety of ways. For example, the input device may be a keyboard, a touch screen device, or a sensing device, among others.

It will be appreciated that fig. 17 only shows a simplified design of the communication device. In practical applications, the apparatuses may further include necessary other components, including but not limited to any number of transceivers, processors, controllers, memories, etc., and all apparatuses that can implement the method of fig. 5 of the present application are within the protection scope of the present application.

In one possible design, the apparatus that may implement the method in fig. 5 of the present application may be a chip, for example, a chip that may be used in an on-board device on a second vehicle or a second vehicle, and is used to implement the relevant functions of the processor 1710. The chip can be a field programmable gate array, a special integrated chip, a system chip, a central processing unit, a network processor, a digital signal processing circuit and a microcontroller which realize related functions, and can also adopt a programmable controller or other integrated chips. The chip may optionally include one or more memories for storing program code that, when executed, causes the processor to implement corresponding functions.

The embodiment of the application also provides a device which can be a circuit. The apparatus may be used to perform the actions performed by the second vehicle in the method embodiment of fig. 5.

The present application further provides a computer-readable medium, on which a computer program is stored, where the computer program is executed by a computer to implement the method in any of the above method embodiments.

The embodiment of the present application further provides a computer program product, and when being executed by a computer, the computer program product implements the method in any of the above method embodiments.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a Digital Video Disk (DVD)), or a semiconductor medium (e.g., a Solid State Disk (SSD)), among others.

It should be understood that the processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method embodiments may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The processor may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.

It will be appreciated that the memory in the embodiments of the subject application can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. The non-volatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. By way of example, and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), dynamic random access memory (dynamic RAM, DRAM), synchronous Dynamic Random Access Memory (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), SLDRAM (synchronous link DRAM), and direct rambus RAM (DR RAM).

In this application, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated object, indicating that there may be three relationships, for example, a and/or B, which may indicate: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or multiple.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

As used in this specification, the terms "component," "module," "system," and the like are intended to refer to a computer-related entity, either hardware, firmware, a combination of hardware and software, or software in execution. For example, a component may be, but is not limited to being, a process running on a processor, an object, an executable, a thread of execution, a program, and/or a computer. By way of illustration, both an application running on a computing device and the computing device can be a component. One or more components can reside within a process and/or thread of execution and a component can be localized on one computer and/or distributed between 2 or more computers. In addition, these components can execute from various computer readable media having various data structures stored thereon. The components may communicate by way of local and/or remote processes such as in accordance with a signal having one or more data packets (e.g., data from two components interacting with another component in a local system, distributed system, and/or across a network such as the internet with other systems by way of the signal).

It should also be understood that the reference herein to first, second, and various numerical designations is merely a convenient division to describe and is not intended to limit the scope of the embodiments of the present application.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method of controlling a vehicle, comprising:

the method comprises the steps of obtaining fault information of a first vehicle, wherein the fault information indicates multiple faults of the first vehicle, and the multiple faults comprise any multiple faults of brake failure, constant-speed cruise failure, laser radar failure, tire burst, battery temperature higher than a preset temperature threshold value and brake lamp failure;

determining driving parameters of a second vehicle according to the severity of each fault in the fault information of the first vehicle, wherein the second vehicle is located in the influence range of the fault of the first vehicle, the severity of the brake failure, the cruise control failure, the tire burst and the battery temperature which are higher than a preset temperature threshold value is high, and the severity of the brake lamp failure and the laser radar failure is low;

transmitting the driving parameters to the second vehicle.

2. The method according to claim 1, wherein the fault information includes that when a brake fails, the second vehicle is located directly in front of the first vehicle, and a distance between the second vehicle and the first vehicle is less than or equal to a preset first distance threshold, and the driving parameters include: lane of travel and/or speed of travel.

3. The method according to claim 1 or 2, wherein the fault information includes that when a tire is burst, the second vehicle is positioned at the front left, right or front right of the first vehicle, and the distance between the second vehicle and the first vehicle is less than or equal to a preset second distance threshold, and the running parameters include: lane of travel and/or speed of travel.

4. The method according to claim 1 or 2, wherein the fault information includes that a distance between the second vehicle and the first vehicle is less than or equal to a preset third distance threshold when a battery temperature is greater than or equal to a preset temperature threshold, and the driving parameters include: speed of travel and/or direction of travel.

5. The method according to claim 1 or 2, wherein the fault information includes that when a brake lamp fails, the second vehicle is located directly behind the first vehicle, and the distance between the second vehicle and the first vehicle is less than or equal to a preset fourth distance threshold, and the driving parameters include: and (4) the running speed.

6. The method according to claim 1 or 2, wherein the fault information includes that the distance between the second vehicle and the first vehicle is smaller than or equal to a preset fifth distance threshold value when the constant-speed cruise fails, and the running parameters include: lane of travel and/or speed of travel.

7. The method of claim 1 or 2, wherein the fault information of the first vehicle comprises a lidar failure, wherein the method further comprises:

receiving distance information between a third vehicle and the first vehicle, the third vehicle including one or more of: the vehicle which is closest to the first vehicle is arranged in front of, behind, on the left of, on the right of, on the front left of, on the front right of, on the rear left of and on the rear right of the first vehicle respectively;

transmitting the distance information to the first vehicle to facilitate the first vehicle determining a distance between the first vehicle and the third vehicle.

8. The method according to claim 1 or 2, characterized in that the method further comprises:

and if the running state information of the first vehicle is not received within the preset time, sending prompt information to the vehicles within the influence range of the fault of the first vehicle, wherein the prompt information indicates that the first vehicle is in fault.

9. The method according to claim 1 or 2, characterized in that the method further comprises:

transmitting failure information of the first vehicle to the second vehicle.

10. A method of controlling a vehicle, comprising:

the method comprises the steps that a second vehicle acquires fault information of a first vehicle, wherein the fault information indicates multiple faults of the first vehicle, the multiple faults include any multiple faults of brake failure, cruise control failure, laser radar failure, tire burst, battery temperature higher than a preset temperature threshold value and brake lamp failure, and the second vehicle is located in an influence range of the faults of the first vehicle;

the second vehicle determines the running parameters of the second vehicle according to the severity of each fault in the fault information of the first vehicle, wherein the severity of the brake failure, the constant-speed cruise failure, the tire burst and the battery temperature which are higher than a preset temperature threshold value is high, and the severity of the brake lamp failure and the laser radar failure is low;

the second vehicle executes a driving behavior according to the driving parameter.

11. The method according to claim 10, wherein the fault information of the first vehicle comprises a brake failure, and when the distance between the second vehicle and the first vehicle is smaller than or equal to a preset first distance threshold value, the driving parameters comprise: driving lane and/or driving speed.

12. The method according to claim 10 or 11, wherein the failure information of the first vehicle includes a tire burst, the second vehicle is located at the front left, right or front right of the first vehicle, and when the distance from the first vehicle is less than or equal to a preset second distance threshold, the driving parameter includes: lane of travel and/or speed of travel.

13. The method according to claim 10 or 11, characterized in that the fault information of the first vehicle comprises: when the battery temperature is greater than or equal to a preset temperature threshold value and the distance between the second vehicle and the first vehicle is less than or equal to a preset third distance threshold value, the driving parameters include: speed of travel and/or direction of travel.

14. The method according to claim 10 or 11, wherein the fault information of the first vehicle comprises a brake light failure, and when the second vehicle is located behind the first vehicle and the distance from the first vehicle is less than or equal to a preset fourth distance threshold, the driving parameters comprise: and (4) the running speed.

15. The method according to claim 10 or 11, wherein the fault information includes a cruise control failure, and when the second vehicle is located directly in front of the first vehicle and the distance from the first vehicle is less than or equal to a preset fifth distance threshold, the driving parameters include: driving lane and/or driving speed.

16. The method according to any one of claims 10 or 11, wherein the fault information of the first vehicle comprises a lidar failure, and the second vehicle is a vehicle that is closest to the first vehicle in front of, behind, to the left, to the right, to the front left, to the front right, to the rear left, or to the rear right of the first vehicle;

wherein the method further comprises: the second vehicle sends distance information between the second vehicle and the first vehicle to facilitate the first vehicle in determining a distance between the first vehicle and the second vehicle.

17. The method according to any one of claims 10 or 11, further comprising:

and the second vehicle prompts the fault information of the first vehicle.

18. The method of claim 17, wherein the second vehicle is indicative of a fault of the first vehicle, comprising:

and the second vehicle prompts the fault information of the first vehicle on a windshield display screen of the second vehicle in a virtual reality mode.

19. The method of claim 18, wherein the second vehicle is configured to prompt the fault information of the first vehicle on a windshield display screen of the second vehicle by way of virtual reality, comprising:

the second vehicle displays the outline of the first vehicle on the windshield display screen and prompts fault information of the first vehicle; or

The second vehicle circles the first vehicle on the windshield display screen and prompts fault information of the first vehicle; or

The second vehicle marks the first vehicle with a preset color on the windshield display screen and prompts fault information of the first vehicle; or

And the second vehicle marks the fault part of the first vehicle on the windshield display screen and prompts fault information of the first vehicle.

20. An apparatus for controlling a vehicle, comprising means for performing the method of any one of claims 1 to 19.

21. An apparatus for controlling a vehicle, comprising a processor for executing a program in a memory to implement a method as claimed in any one of claims 1 to 19.

22. An apparatus for controlling a vehicle, characterized by comprising: a processor and a transceiver;

the processor is configured to execute a computer program stored in the memory to cause the apparatus to perform the method of any one of claims 1 to 19.

23. A processor, comprising: at least one circuit configured to perform the method of any one of claims 1-19.

24. A computer-readable storage medium comprising a program or instructions for performing the method of any one of claims 1 to 19 when the program or instructions are run on a computer.