CN114200932B - Vehicle control method and device, vehicle-mounted terminal and storage medium - Google Patents

Vehicle control method and device, vehicle-mounted terminal and storage medium Download PDF

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Publication number
CN114200932B
CN114200932B CN202111467216.5A CN202111467216A CN114200932B CN 114200932 B CN114200932 B CN 114200932B CN 202111467216 A CN202111467216 A CN 202111467216A CN 114200932 B CN114200932 B CN 114200932B
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China
Prior art keywords
winding
vehicle
route
mobile terminal
positioning position
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CN202111467216.5A
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Chinese (zh)
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CN114200932A (en
Inventor
蒙金金
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Guangzhou Xiaopeng Motors Technology Co Ltd
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Guangzhou Xiaopeng Motors Technology Co Ltd
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Priority to CN202111467216.5A priority Critical patent/CN114200932B/en
Publication of CN114200932A publication Critical patent/CN114200932A/en
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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle

Abstract

The embodiment of the application discloses a vehicle control method, a vehicle control device, a vehicle-mounted terminal and a storage medium, wherein the method is applied to the vehicle-mounted terminal of a vehicle, and the vehicle-mounted terminal is in communication connection with a mobile terminal; and, the method comprises: responding to a winding waiting instruction sent by the mobile terminal, determining a first winding route according to a first positioning position of the mobile terminal, wherein the first winding route is used for indicating the vehicle to drive around the first positioning position; and controlling the vehicle to run according to the first winding route. By implementing the embodiment of the application, the vehicle can be controlled to automatically wrap around the position of the user to wait without searching a parking space for the vehicle.

Description

Vehicle control method and device, vehicle-mounted terminal and storage medium
Technical Field
The application relates to the technical field of automatic driving, in particular to a vehicle control method, a vehicle control device, a vehicle-mounted terminal and a storage medium.
Background
"parking difficulty" is one of the important problems faced by urban traffic. Along with the rising of the quantity of the reserved automobiles, the parking space resources are more and more tense, the problem that the parking space cannot be found in the driving in the city is frequently encountered, and a lot of trouble is brought to the automobile owners. For example, temporary parking offices do take a lot of time to find a parking space, resulting in a longer time to find a parking space than the office time; or, part of car owners can not find the parking space to stop the vehicles randomly, so that the normal traffic order is affected, and the passing efficiency is reduced; even serious safety accidents can be caused by the fact that the fire-fighting channel is occupied by the vehicle when the vehicle is parked and disorderly.
Disclosure of Invention
The embodiment of the application discloses a vehicle control method, a vehicle control device, a vehicle-mounted terminal and a storage medium, which can control a vehicle to automatically wrap around a position where a user is located to wait without searching a parking space for the vehicle.
The embodiment of the application discloses a vehicle control method which is applied to a vehicle-mounted terminal of a vehicle, wherein the vehicle-mounted terminal is in communication connection with a mobile terminal; and, the method comprises: responding to a winding waiting instruction sent by the mobile terminal, determining a first winding route according to a first positioning position of the mobile terminal, wherein the first winding route is used for indicating the vehicle to drive around the first positioning position; and controlling the vehicle to run according to the first winding route.
In one embodiment, the determining the first winding route according to the first positioning position of the mobile terminal includes: acquiring winding parameters input by a user, and generating a first winding route according to the first positioning position and the winding parameters; or generating a first winding route according to the first positioning position and a preset route generation rule.
In one embodiment, the route generation rule includes: and determining an area with the first positioning position as a center and a first length as a radius as a first winding area of the vehicle, and generating a first winding route in the first winding area.
In one embodiment, the method further comprises: if congestion is detected to exist on the first winding route in the process that the vehicle runs according to the first winding route, a third winding route different from the first winding route is generated according to the first positioning position; the vehicle is controlled to travel from the first winding route to the third winding route.
In one embodiment, the generating a third winding route different from the first winding route includes: and if other winding routes which are different from the first winding route exist in the first winding area where the first winding route exists, determining the other winding routes in the first winding area as a third winding route.
In one embodiment, the generating a third winding route different from the first winding route according to the first positioning position includes: if no other winding route different from the winding route exists in the first winding area where the first winding route exists, determining a second winding area of the vehicle; the second winding area is centered on the first positioning position, and the area of the second winding area is larger than that of the first winding area; the winding route in the second winding area is defined as a third winding route.
In one embodiment, the determining the second winding area of the vehicle includes: sending an inquiry notice to the mobile terminal; the inquiry notification is used for instructing the mobile terminal to inquire of a user whether the winding area is enlarged; determining a second winding area of the vehicle when receiving an agreement notification sent by the mobile terminal; the consent notification is transmitted by the mobile terminal when a user operation of consenting to enlarge a winding area is detected; and, the method further comprises: when a rejection notification sent by the mobile terminal is received, controlling the vehicle to continue to run according to the first winding route; the rejection notification is sent by the mobile terminal upon detection of a user operation that does not agree to enlarge the winding area.
In one embodiment, after said controlling said vehicle to travel along said first winding route, said method further comprises: responding to a recall instruction sent by the mobile terminal, and acquiring a third positioning position of the mobile terminal in real time; and controlling the vehicle to travel to the third positioning position so as to carry out the confluence of the vehicles and the people.
In one embodiment, the acquiring, in real time, the third positioning location of the mobile terminal includes: when the distance between the mobile terminal and the vehicle is greater than or equal to a distance threshold, receiving a third positioning position sent by the mobile terminal in real time; the third positioning position is detected by a satellite positioning system of the mobile terminal; and/or when the distance between the mobile terminal and the vehicle is smaller than a distance threshold value, the mobile terminal is positioned in real time through wireless signal transmission between the vehicle and the mobile terminal, so that the third positioning position of the mobile terminal relative to the vehicle is detected in real time.
The embodiment of the application discloses a vehicle control device which is applied to a vehicle-mounted terminal of a vehicle, wherein the vehicle-mounted terminal is in communication connection with a mobile terminal; the device comprises: the determining module is used for responding to a winding waiting instruction sent by the mobile terminal, determining a first winding route according to a first positioning position of the mobile terminal, and the first winding route is used for indicating the vehicle to drive around the first positioning position; and the control module is used for controlling the vehicle to run according to the first winding route.
The embodiment of the application discloses a vehicle, which comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor realizes any one of the vehicle control methods disclosed by the embodiment of the application.
An embodiment of the present application discloses a computer-readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed by a processor, implements any one of the vehicle control methods disclosed in the embodiment of the present application.
Compared with the related art, the embodiment of the application has the following beneficial effects:
after receiving the winding waiting instruction sent by the mobile terminal, the vehicle-mounted terminal can respond to the winding waiting instruction, determine a first winding route according to a first positioning position of the mobile terminal, and control the vehicle to run according to the first winding route. Therefore, when a user gets off the vehicle, the mobile terminal can trigger the vehicle to automatically wrap around the position of the user to wait, and a parking space is not required to be searched for the vehicle, so that the problem of difficult parking is solved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of an application scenario of a vehicle driving control method according to an embodiment;
FIG. 2 is a method flow diagram of a vehicle travel control method disclosed in one embodiment;
FIG. 3 is an exemplary diagram of a first winding route according to one embodiment of the disclosure;
FIG. 4 is a method flow diagram of another vehicle travel control method disclosed in one embodiment;
FIG. 5 is an exemplary illustration of a first winding area in accordance with one embodiment disclosure;
FIG. 6 is a method flow diagram of another vehicle travel control method disclosed in one embodiment;
FIG. 7 is a method flow diagram of another vehicle travel control method disclosed in one embodiment;
FIG. 8 is a flow chart of another vehicle travel control method disclosed in one embodiment;
FIG. 9 is a schematic structural view of a vehicle control apparatus according to an embodiment of the present disclosure;
fig. 10 is a schematic structural diagram of a vehicle-mounted terminal according to an embodiment of the present disclosure.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that the terms "comprising" and "having" and any variations thereof in the embodiments of the present application and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
The embodiment of the application discloses a vehicle running control method, a vehicle running control device, a vehicle-mounted terminal and a storage medium, which can control a vehicle to automatically wrap around a position where a user is located to wait without searching a parking space for the vehicle. The following will describe in detail.
Referring to fig. 1, fig. 1 is a schematic diagram of an application scenario of a vehicle driving control method according to an embodiment. As shown in fig. 1, a user may carry a mobile terminal 10 and the location of the user may be determined by the location of the mobile terminal 10. The mobile terminal 10 may be any portable small electronic device such as a smart phone or a smart watch, and is not particularly limited.
The vehicle 20 may include an in-vehicle terminal, which may be a computing device with computing capabilities, such as a microcontroller (Micro Control Unit, MCU), in-vehicle computer, etc., but is not limited thereto.
The vehicle 20 may also include a communication device that may establish a direct or indirect communication connection with the mobile terminal 10.
By way of example, the vehicle 20 may include a short-range wireless communication module such as bluetooth, ultra Wideband (UWB), etc., and the vehicle 20 may establish a communication connection directly with the mobile terminal 10 based on the short-range wireless communication.
For example, the vehicle 20 and the mobile terminal 10 may respectively establish a communication connection with a service device such as a cloud server, and the vehicle 20 and the mobile terminal 10 may indirectly establish a communication connection based on the service device.
Referring to fig. 2, fig. 2 is a flow chart illustrating a vehicle driving control method according to an embodiment, and the method can be applied to the vehicle terminal. As shown in fig. 2, the method may include the steps of:
210. And responding to a winding waiting instruction sent by the mobile terminal, and generating a first winding route according to a first positioning position of the mobile terminal.
The mobile terminal may send a coil waiting instruction to the vehicle-mounted terminal, and the coil waiting instruction may be sent by the mobile terminal when detecting a user trigger operation. The user-triggered operations may include, but are not limited to, single-click, double-click, long-press, and the like human-machine interaction operations.
For example, after the user gets off, the application program loaded on the mobile phone may be opened, and the application program may display a virtual button of "winding waiting". The user can trigger the mobile terminal to send a winding waiting instruction by clicking the virtual key.
After receiving the coil waiting instruction sent by the mobile terminal, the vehicle-mounted terminal can acquire the first positioning position of the mobile terminal. The first positioning position can be a relatively objective positioning position detected by equipment; alternatively, the first positioning location may be a positioning location input by a user and customizable by the user.
In one embodiment, the first location position may be sent by the mobile terminal to the vehicle terminal. The first positioning position may be a positioning position detected by a positioning system of the mobile terminal, or may be input by a user in the mobile terminal, which is not particularly limited.
In one embodiment, the first positioning location may also be input by the user through the in-vehicle terminal. For example, in addition to the in-vehicle terminal, the vehicle may include a touch-sensitive in-vehicle display screen. The user can set a locating point of the position of the user on the vehicle-mounted display screen, and the vehicle-mounted terminal can detect setting operation input by the user on the vehicle-mounted display screen and determine the locating point as a first locating position of the mobile terminal according to the locating point indicated by the setting.
After acquiring the first positioning position of the mobile terminal, the vehicle-mounted terminal may determine a first winding route that runs around the first positioning position. That is, the first positioning location may be included within the area framed by the first winding route. The first winding route may form a regular or irregular closed figure, and may be determined according to a road network where the vehicle is currently located, which is not particularly limited.
Referring to fig. 3, for exemplary purposes, fig. 3 is an exemplary illustration of a first winding route as disclosed in one embodiment. As shown in fig. 3, the first positioning location 310 of the mobile terminal may be a location of a certain building, and the first winding route 320 is formed of a road around the building and surrounds the building.
In one embodiment, the first winding route may be generated by the vehicle terminal according to the first positioning location and the winding parameter sent by the mobile terminal. The winding parameters may include an area where the winding route is located, a road of the winding route path, and the like, and the vehicle-mounted terminal may generate the first winding route according to the winding parameters customized by the user.
Optionally, after receiving the winding parameter, the vehicle terminal may further determine whether the winding parameter corresponds to the first positioning position. For example, if the first positioning location is located in a winding area comprised by the winding parameter, the winding area corresponds to the first positioning location; if the distance between the road of the winding route path and the first positioning position is smaller than the distance threshold value, the determined road of the winding route path corresponds to the first positioning position. When judging that one or each winding parameter corresponds to the first positioning position, the vehicle-mounted terminal can generate a first winding route according to the first positioning position and the winding parameters. That is, the vehicle terminal may first verify the winding parameter to improve the accuracy of the generated first winding route.
In one embodiment, the first winding route may also be generated by the vehicle-mounted terminal according to the first positioning position and a preset route generation rule. Illustratively, the route generation rules may include: a first winding route is generated centering on the first positioning position and having a distance of 10 km from the first positioning position at the farthest. Thus, the in-vehicle terminal can acquire map data around the first positioning position, for example, map data within 10 km radius around the first position. Traffic network information, such as public road information, internal road information, etc., around the first location may be included in the map data, but is not limited thereto. The vehicle-mounted terminal can conduct path planning according to the acquired map data to generate a first winding route which runs around the first positioning position.
That is, the first positioning position and the first winding route may be user-defined parameters manually input by the user through the vehicle-mounted display screen or the mobile terminal; or the first positioning position and the first winding route do not need to be set by a user, the first positioning position can be detected by a positioning system of the mobile terminal, and the first winding route can be automatically generated by the vehicle-mounted terminal.
220. The control vehicle travels along the first winding route.
After the first winding route is generated, the vehicle-mounted terminal can control the vehicle to run according to the first winding route so as to control the vehicle to wind on the road around the first positioning position, and wait for the user to get on the vehicle again. Thus, during a user getting off, the vehicle does not need to find a parking space to park.
It should be noted that, during the running of the vehicle along the first winding route, the vehicle may be in an automatic driving state. The vehicle-mounted terminal can sense the environment around the vehicle through sensors such as cameras and radars arranged on the vehicle, generate a driving strategy of the vehicle according to the regulations of traffic rules, and execute the driving strategy, so that the vehicle can safely and legally run around.
In one embodiment, the vehicle terminal may control the vehicle to travel in a first winding route at a speed below the legal maximum speed limit to avoid vehicle overspeed violations. After determining the first winding route, the vehicle-mounted terminal can further obtain legal highest speed limits corresponding to all roads along which the first winding route passes from the map data. When the vehicle-mounted terminal controls the vehicle to run according to the first winding route, the running speed of the vehicle can be determined according to the legal highest speed limit of the road where the vehicle is currently located.
It can be seen that in the foregoing embodiment, after the user gets off, the user can automatically turn around the first positioning position of the user by the mobile terminal vehicle without stopping into the parking space. Under the scene of short parking space and short-time getting off of a user, the vehicle control method disclosed by the embodiment of the application can reasonably use parking resources, and is beneficial to alleviating the problem of difficult parking.
Referring to fig. 4, fig. 4 is a flowchart illustrating another vehicle driving control method according to an embodiment, and the method may be applied to the vehicle terminal described above. As shown in fig. 4, the method may include the steps of:
410. In response to a coil waiting instruction sent by the mobile terminal, an area with a first length as a radius centered on the first positioning position is determined as a first coil area of the vehicle.
After receiving the coil waiting instruction, the vehicle-mounted terminal may generate a first coil route according to the first positioning position and a preset route generation rule. The preset generation rule may include: a region centered on the first positioning position and having a first length as a radius is determined as a first winding region of the vehicle, and a first winding route is generated within the first winding region. The first length may be a reference length preset according to a service requirement, for example, may be set to 1 km, 2 km, etc., which is not limited in particular.
420. The winding route in the first winding region is determined as a first winding route.
The first winding path is within the first winding area, so that the distance of the vehicle from the user (i.e. the mobile terminal) when the vehicle is travelling along the first winding path generally does not exceed twice the first length. If desired, the vehicle may quickly merge with the user after exiting the first winding route.
The vehicle-mounted terminal may acquire map data corresponding to the first winding region. Depending on the road network information included in the map data, one or more winding travel routes may exist in the first winding region.
Referring to fig. 5, for exemplary purposes, fig. 5 is an exemplary illustration of a first winding area as disclosed in one embodiment. As shown in fig. 5, the first winding region 520 is centered on the first positioning location 510 with a radius of 1 km. In the first winding region 520, two winding travel routes, namely, a winding travel route 530a and a winding travel route 530b, may be included.
If the first winding region includes two or more winding driving routes, the vehicle-mounted terminal may select the first winding route from the winding driving routes according to a preset rule. Wherein, the preset rules can include, but are not limited to: the winding running route with the shortest path is selected as a first winding route, the winding running route with the least traffic light passing by is selected as the first winding running route, the winding running route with the longest path is selected as the first winding route, and the like.
430. The vehicle is controlled to travel in a first winding path at a speed below the legal maximum speed limit.
The vehicle is in an autonomous state during the winding travel, and the driver of the vehicle may not be on the vehicle. In order to ensure driving safety, the vehicle can be controlled to run at a speed lower than the legal maximum speed limit so as to reduce the occurrence of collision accidents.
Optionally, the vehicle-mounted terminal may further control an external lamp of the vehicle to output a preset light effect in a running process according to the first winding route, so as to prompt that the vehicle is in a state of running around.
440. And acquiring a second positioning position of the mobile terminal in real time in the process that the vehicle runs according to the first winding route.
The real-time second positioning position may be sent by the mobile terminal to the vehicle-mounted terminal, and the second positioning position may be detected by a positioning system of the mobile terminal.
For example, the mobile terminal may detect the second positioning position using the positioning system at certain time intervals (5 seconds, 30 seconds, 3 minutes, etc.), and transmit the second positioning position detected in real time to the in-vehicle terminal.
450. And generating a second winding route according to the second positioning position when the distance between the second positioning position and the first positioning position exceeds the first length.
After receiving the real-time second positioning position of the mobile terminal, the vehicle-mounted terminal can calculate the distance between the first positioning position and the second positioning position. If the distance exceeds the first length, it may be indicated that the current position of the user varies greatly. At this time, if the vehicle needs to depart from the first winding route to meet the user, the vehicle may take a longer time to complete the meeting.
Thus, the in-vehicle terminal can regenerate the second winding route of the vehicle according to the new second positioning position. The rule for generating the second winding route may be referred to in the foregoing embodiment, or similar to the rule for generating the first winding route in the foregoing steps 410-420, and will not be described in detail.
For example, when the vehicle-mounted terminal recognizes that the position of the mobile terminal is greatly changed, the route along which the coil travels within 1 km range of the second positioning position may be reset as the second coil route according to the second positioning position newly detected by the mobile terminal.
460. The control vehicle is switched from the first winding route to the second winding route for running.
The second winding route is likely to be different from the first winding route. Therefore, the in-vehicle terminal can determine the first switching path to switch from the first winding route to the second winding route based on the acquired map data, and switch from the first winding route to the second winding route based on the first switching path. After the vehicle is switched to the second winding route, the in-vehicle terminal may control the vehicle to continue to travel around the second winding route.
As can be seen, in the foregoing embodiment, the in-vehicle terminal may control the vehicle to travel on the first winding route in response to the winding waiting instruction. In addition, in the process of the vehicle winding running, the vehicle-mounted terminal can also detect the second positioning position of the mobile terminal in real time, so that when the user position change is detected, a new winding route can be generated again based on the new positioning position, the winding route of the vehicle can change along with the change of the user position, and the vehicle-mounted terminal is favorable for being separated from the winding route in the shortest time and converging with the user.
Referring to fig. 6, fig. 6 is a flowchart illustrating another vehicle driving control method according to an embodiment, and the method may be applied to the vehicle terminal described above. As shown in fig. 6, the method may include the steps of:
610. in response to the winding waiting instruction, a first winding route is determined according to a first positioning location of the mobile terminal.
The first winding route is used for indicating the vehicle to travel around the first positioning position.
620. The control vehicle travels along the first winding route.
The specific implementation of steps 610-620 can be found in the foregoing embodiments, and the details are not repeated here.
630. If congestion is detected on the first winding route during the running of the vehicle according to the first winding route, a third winding route different from the first winding route is generated according to the first positioning position.
In the process of vehicle winding running, the vehicle-mounted terminal can detect whether congestion exists on the first winding route through road condition information provided by a map service provider; or the vehicle-mounted terminal can also detect the running speed of the vehicle in real time and judge whether the first winding route is congested or not according to the running speed; or, the vehicle-mounted terminal can also communicate with other vehicles on the first winding route so as to judge whether congestion exists on the first winding route according to road condition information transmitted by other vehicles.
For example, the vehicle-mounted terminal may record a duration for which the running speed of the vehicle is lower than the speed threshold; if the duration is greater than the duration threshold, i.e. the vehicle is traveling at a lower speed for a long time, the vehicle terminal may determine that there is congestion on the first winding route.
When determining that there is congestion on the first winding route, the vehicle-mounted terminal may generate a third winding route different from the first winding route according to the first positioning position.
If the first winding route is a winding route in the first winding area, the third winding route may be a winding route in the first winding area, or may not be a winding route in the first winding area, which is not specifically limited.
In one embodiment, the vehicle terminal may first identify whether there is another winding route different from the first winding route in the first winding area; if so, the vehicle-mounted terminal can preferentially determine other winding routes in the first winding area as third winding routes, so that the vehicle can continue to select the other winding routes in the first winding area to avoid congestion.
In one embodiment, the vehicle terminal may also determine the second winding region of the vehicle when no other winding route different from the first winding route exists within the first winding region. The second winding region may be centered at the first location and the junction of the second winding region may be greater than the area of the first winding region. The in-vehicle terminal may further determine the winding route in the second winding region as the third winding route. That is, the vehicle-mounted terminal can expand the first winding area and search for another third winding route which can be wound to travel in a larger range.
Alternatively, the user may confirm whether the vehicle-mounted terminal is allowed to enlarge the first winding area through the mobile terminal to find a new third winding route. When the vehicle-mounted terminal judges that no other winding route different from the first winding route exists in the first winding area, the vehicle-mounted terminal can send an inquiry notice to the mobile terminal, wherein the inquiry notice can be used for only instructing the mobile terminal to inquire whether the user enlarges the winding area. The mobile terminal may output the query notification through one or more modes such as popup window, voice, vibration, etc., which is not limited in particular.
After the mobile terminal outputs the inquiry notification, the mobile terminal may detect a user operation for the inquiry notification input for which the user may agree or disagree with the user operation to enlarge the winding area.
Upon detecting a user operation agreeing to enlarge the winding area, the mobile terminal may transmit an agreeing notification to the in-vehicle terminal. The vehicle-mounted terminal may perform the step of determining the second winding area of the vehicle to determine the third winding route in the second winding area when receiving the consent notification.
Upon detecting a user operation that does not agree to enlarge the winding area, the mobile terminal may transmit a rejection notification to the in-vehicle terminal. When the vehicle-mounted terminal receives the rejection notification, the vehicle can be controlled to continue to run according to the first winding route. That is, the in-vehicle terminal continues to control the vehicle to travel around the original route.
640. The control vehicle is switched from the first winding route to the third winding route for running.
The vehicle-mounted terminal may also determine a second switching path for switching from the first winding route to the third winding route according to the acquired map data, and switch from the first winding route to the third winding route according to the second switching path. After the vehicle is switched to the third winding route, the in-vehicle terminal may control the vehicle to continue to travel around the third winding route.
As can be seen, in the foregoing embodiment, the in-vehicle terminal may detect whether there is congestion on the first winding route in controlling the vehicle winding travel in response to the winding waiting instruction. And when the first winding route is detected to have the congestion, a new third winding route is generated, so that the vehicle can avoid the congestion in time, and unnecessary energy consumption caused by the congestion is reduced.
Referring to fig. 7, fig. 7 is a flowchart illustrating another vehicle driving control method according to an embodiment, and the method may be applied to the vehicle terminal described above. As shown in fig. 7, the method may include the steps of:
710. in response to the winding waiting instruction, a first winding route is determined according to a first positioning location of the mobile terminal.
The first winding route is used for indicating the vehicle to travel around the first positioning position. The generation manner of the first winding route may refer to the foregoing embodiments, and the following description will be omitted.
720. The control vehicle travels along the first winding route.
When the vehicle runs according to the first winding route, the vehicle-mounted terminal can be in communication connection with the mobile terminal of the user; alternatively, the vehicle-mounted terminal may periodically perform heartbeat data transmission with the mobile terminal to determine that the vehicle-mounted terminal and the mobile terminal may normally communicate. The heartbeat data may be data that is periodically sent and used to indicate survival of the vehicle-mounted terminal or the mobile terminal.
730. And responding to the recall instruction, and acquiring a third positioning position of the mobile terminal in real time.
The recall instruction may be sent by the mobile terminal upon detection of a user-triggered operation. The user-triggered operations may include, but are not limited to, single-click, double-click, long-press, and the like human-machine interaction operations. For example, the mobile terminal may display a recall interface that may include virtual keys displaying a "one-touch recall" typeface. After the user clicks the virtual key of "one-button recall", the mobile terminal may send a recall instruction to the vehicle-mounted terminal.
After receiving the recall instruction sent by the mobile terminal, the vehicle-mounted terminal can synchronize the positioning position with the mobile terminal in real time. For example, the mobile terminal may send the real-time third positioning position to the vehicle-mounted terminal according to the preset frequency, and the vehicle-mounted terminal may receive the third positioning position sent by the mobile terminal.
740. And controlling the vehicles to travel to a third positioning position so as to carry out the confluence of the vehicles and the persons.
After receiving the third positioning position sent by the mobile terminal, the vehicle-mounted terminal can generate a running route from the current position of the vehicle to the third positioning position and control the vehicle to run according to the running route so as to realize the confluence of the vehicles and the people. It should be noted that the vehicle-mounted terminal may refresh the driving route according to the period. For example, the vehicle-mounted terminal may trigger generation of a new driving route each time it receives a third positioning location sent by the mobile terminal.
It can be seen that while the vehicle is waiting for the user along the first winding route, the user can trigger the vehicle to merge with the user through the recall instruction, so that the user can get on the vehicle again.
In order to more clearly describe the vehicle driving control method disclosed in the embodiment of the present application, please refer to fig. 8, and fig. 8 is a flow chart of another vehicle driving control method disclosed in one embodiment. As shown in fig. 8, the method includes the steps of:
810. And receiving a coil waiting instruction sent by the mobile terminal.
820. Judging whether the winding state is set manually; if so, step 830 is performed, if not, step 840 is performed.
The vehicle-mounted terminal can read the coil waiting instruction sent by the mobile terminal and judge whether the coil waiting instruction carries coil parameters. If the coil waiting instruction carries coil parameters, the vehicle-mounted terminal can determine that a user manually sets a coil state; if the winding waiting instruction does not include the winding parameter, the vehicle-mounted terminal can confirm that the winding state is not set manually.
Alternatively, an indication bit for manually setting the winding state may be included in the winding waiting instruction. If the indication bit in the winding waiting instruction is a value corresponding to the manually set winding state, the vehicle-mounted terminal can determine that the user manually sets the winding state, and the winding parameters input by the user can be sent to the vehicle-mounted terminal after the winding waiting instruction. If the indication bit in the winding waiting instruction is a value corresponding to the winding state which is not manually set, the vehicle-mounted terminal can determine that the winding state is not manually set.
830. The user entered winding parameters are obtained and a first winding route is generated based on the first location and the entered winding parameters and step 850 is performed.
The winding parameter input by the user may be included in the winding waiting instruction or may be transmitted to the vehicle-mounted terminal after the winding waiting instruction, which is not particularly limited. In the manually set winding state, the winding parameters are entered by the user. Therefore, the vehicle-mounted terminal can generate the first winding route according to the first positioning position of the mobile terminal and the winding parameters set by the user. One or more winding parameters of the first winding area of the first winding route, the road along which the first winding route is routed, and the like may be user-defined.
840. A first winding route is generated according to the first location and a preset route generation rule, and step 850 is performed.
In the non-manual setting of the winding state, the user does not set the winding parameters in advance. Therefore, the vehicle-mounted terminal can generate the first winding route according to the first positioning position and the preset route generation rule. Parameters such as the area where the first winding route is located, the road where the first winding route passes through and the like are automatically generated by the vehicle-mounted terminal. The preset route generation rule may refer to the description of the foregoing embodiment, and the following description will be omitted.
850. The control vehicle runs according to the first winding route, and the winding route is dynamically adjusted according to real-time positioning of the mobile terminal or congestion condition of the first winding route in the running process according to the first winding route.
The dynamic adjustment of the winding route by the in-vehicle terminal may include, but is not limited to:
when the vehicle-mounted terminal judges that the distance between the real-time second positioning position and the first positioning position of the mobile terminal exceeds the distance threshold value, a second winding route is generated according to the second positioning position. Or alternatively, the process may be performed,
when the vehicle-mounted terminal detects that the first winding route is congested, a third winding route which is different from the first winding route is generated according to the first positioning position.
The specific dynamic adjustment method can be referred to the foregoing embodiments, and the following descriptions are omitted.
860. And receiving a recall instruction sent by the mobile terminal.
In the process that the vehicle runs according to the first winding route, the vehicle-mounted terminal can be in communication connection with the mobile terminal, and a recall instruction sent by the mobile terminal is received.
870. Judging whether the distance between the mobile terminal and the vehicle is greater than or equal to a distance threshold value; if yes, go to step 880; if not, go to step 890.
After receiving the recall instruction sent by the mobile terminal, the vehicle-mounted terminal can receive the positioning position of the mobile terminal and compare the positioning position of the mobile terminal with the current positioning position of the vehicle so as to judge whether the distance between the mobile terminal and the vehicle is greater than or equal to a distance threshold. The distance threshold may be set according to actual service requirements, for example, may be set to 100 meters, 50 meters, and the like, and is not specifically limited.
Alternatively, the foregoing distance threshold may be set with reference to the effective transmission distance of the short-range wireless signal. The short-range wireless signal may include a bluetooth signal, an Ultra Wide Band (UWB) signal, etc., which is not particularly limited. After receiving the recall instruction, the vehicle-mounted terminal can search the mobile terminal based on any one of the wireless signals. If the vehicle-mounted terminal can search the mobile terminal, determining that the distance between the mobile terminal and the vehicle is smaller than a distance threshold; if the vehicle-mounted terminal cannot search for the mobile terminal, the distance between the mobile terminal and the vehicle can be determined to be greater than or equal to a distance threshold.
The above is an example of how the in-vehicle terminal determines whether the distance between the mobile terminal and the vehicle is greater than or equal to the distance threshold, and should not constitute a limitation.
880. And receiving a third positioning position sent by the mobile terminal and detected by the satellite positioning system, and controlling the vehicle to travel to the third positioning position so as to carry out man-vehicle convergence.
When the vehicle-mounted terminal judges that the distance between the mobile terminal and the vehicle is far (for example, greater than 50 meters), the vehicle-mounted terminal can synchronize the real-time position of the mobile terminal based on a satellite positioning system such as a GPS and the like, and control the vehicle to generate a driving route according to the real-time third positioning position of the mobile terminal so as to carry out man-vehicle convergence. It should be noted that the third positioning location received by the vehicle-mounted terminal may be an absolute location of the mobile terminal in the world coordinate system.
890. And positioning the mobile terminal in real time through wireless signal transmission between the vehicle and the mobile terminal so as to detect a third positioning position of the mobile terminal relative to the vehicle in real time, and controlling the vehicle to travel to the third positioning position so as to carry out man-vehicle convergence.
When the vehicle-mounted terminal judges that the distance between the mobile terminal and the vehicle is relatively short (for example, less than 50 meters), the vehicle-mounted terminal can establish communication transmission of short-distance wireless signals such as Bluetooth, UWB and the like with the mobile terminal. Based on wireless signal transmission between the vehicle-mounted terminal and the mobile terminal, the vehicle-mounted terminal may calculate a relative distance Of the mobile terminal with respect to the vehicle by a ranging method such as a Time Of Flight (TOF) method, an Angle Of Arrival (AOA) method, etc., so that a third positioning position Of the mobile terminal with respect to the vehicle may be calculated, and the third positioning position calculated by the vehicle-mounted terminal may be a relative position with respect to the vehicle.
Because the satellite positioning system has a certain degree of signal drift phenomenon, the satellite positioning precision is lower. When the distance between the mobile terminal and the vehicle is relatively close, based on the transmission of wireless signals such as Bluetooth or UWB, the position of the mobile terminal relative to the vehicle can be more accurately positioned, higher positioning precision can be achieved, and the problem that people and vehicles meet the last several meters can be solved.
After calculating the third positioning position of the mobile terminal relative to the vehicle, the vehicle-mounted terminal can convert the third positioning position of the mobile terminal into the world coordinate system according to the current positioning position of the vehicle in the world coordinate system to display the third positioning position, so that a running route is generated according to the real-time positioning position of the mobile terminal converted into the world coordinate system, and the vehicles are converged according to the running route.
It can be seen that in the foregoing embodiments, the user can trigger the vehicle to travel around by the mobile terminal after getting off. Moreover, the winding parameters during the running of the vehicle winding can be customized by a user or can be automatically generated by the vehicle-mounted terminal. When the user needs to get on the vehicle again, the mobile terminal can trigger the vehicle to break away from the winding route and drive towards the positioning position of the user so as to finish the confluence of the vehicles and the people. In the early stage of people and vehicles converging, the distance between the vehicles and the users is far, and the vehicle-mounted terminal can synchronize the positions of the vehicles and the users through a GPS and other satellite positioning systems; in the later period of people and vehicles converging, the distance between the vehicles and the users is relatively short, and the vehicle-mounted terminal can perform position synchronization through wireless signals such as Bluetooth, UWB and the like, so that smooth completion of people and vehicles converging is guaranteed.
Referring to fig. 9, fig. 9 is a schematic structural diagram of a vehicle control apparatus according to an embodiment of the present disclosure. The vehicle control apparatus may be applied to any of the aforementioned vehicle-mounted terminals, and as shown in fig. 9, the vehicle control apparatus 900 may include: a determination module 910 and a control module 920.
A determining module 910, configured to determine, in response to a winding waiting instruction sent by the mobile terminal, a first winding route according to a first positioning position of the mobile terminal, where the first winding route is used to instruct the vehicle to travel around the first positioning position;
the control module 920 is configured to control the vehicle to travel according to the first winding route.
In one embodiment, the determining module 910 is further configured to obtain a winding parameter input by a user, and generate a first winding route according to the first positioning location and the winding parameter; or generating a first winding route according to the first positioning position and a preset route generation rule.
In one embodiment, the route generation rule may include: a region centered on the first positioning position and having a first length as a radius is determined as a first winding region of the vehicle, and a first winding route is generated within the first winding region.
In one embodiment, the vehicle control apparatus 900 may further include: and an acquisition module.
The acquisition module can be used for acquiring a second positioning position of the mobile terminal in real time in the process that the vehicle runs according to the first winding route;
the determining module 910 is further configured to generate a second winding route according to the second positioning location when a distance between the second positioning location and the first positioning location exceeds a distance threshold;
the control module 920 may also be configured to control the vehicle to travel from the first winding route to the second winding route.
In one embodiment, the determining module 910 is further configured to generate, during the running of the vehicle according to the first winding route, a third winding route different from the first winding route according to the first positioning location if congestion is detected on the first winding route;
the control module 920 may also be configured to control the vehicle to travel from the first winding route to the third winding route.
In one embodiment, the determining module 910 may be further configured to determine, when there is another winding route different from the first winding route in the first winding area where the first winding route is located, the other winding route in the first winding area as the third winding route.
In one embodiment, the determining module 910 is further operable to determine a second winding area of the vehicle when no other winding route different from the winding route exists within the first winding area where the first winding route exists; the second winding area is centered on the first positioning position, and the area of the second winding area is larger than that of the first winding area; and determining the winding route in the second winding area as a third winding route.
In one embodiment, the vehicle control apparatus 900 may further include: and a transceiver module.
The receiving-transmitting module is used for sending inquiry notification to the mobile terminal when no other winding route different from the winding route exists in the first winding area where the first winding route exists; the inquiry notification is used for instructing the mobile terminal to inquire of the user whether the winding area is enlarged;
the determining module 910 is further configured to determine a second winding area of the vehicle when the transceiver module receives the consent notification sent by the mobile terminal; the consent notification is transmitted when the mobile terminal detects a user operation of consenting to the enlargement of the winding area; the method comprises the steps of,
the control module 920 is further configured to control the vehicle to continue traveling according to the first winding route when the transceiver module receives the rejection notification sent by the mobile terminal; the rejection notification is sent by the mobile terminal upon detection of a user operation disagreeing with the enlargement of the winding area.
In one embodiment, the control module 920 may also be configured to control the vehicle to travel in a first winding route at a speed below the legal maximum speed limit.
In one embodiment, the obtaining module is further configured to obtain, in real time, a third positioning location of the mobile terminal in response to a recall instruction sent by the mobile terminal;
The control module 920 may also be configured to control the vehicle to travel to the third positioning position for merging the vehicles and the people.
In one embodiment, the obtaining module is further configured to receive a third positioning location sent in real time by the mobile terminal when a distance between the mobile terminal and the vehicle is greater than or equal to a distance threshold in response to a recall instruction sent by the mobile terminal; the third positioning position is detected by a satellite positioning system of the mobile terminal; and/or the number of the groups of groups,
and responding to a recall instruction sent by the mobile terminal, and when the distance between the mobile terminal and the vehicle is smaller than a distance threshold value, positioning the mobile terminal in real time through wireless signal transmission between the vehicle and the mobile terminal so as to detect a third positioning position of the mobile terminal relative to the vehicle in real time.
It can be seen that in the foregoing embodiment, the vehicle control device may control the vehicle to travel around the first positioning position of the mobile terminal according to the winding waiting instruction sent by the mobile terminal, so that the vehicle does not need to park in the parking space. Under the scene that the parking space is short and the user gets off in a short time, parking resources can be reasonably used, and the problem of difficult parking is solved.
Referring to fig. 10, fig. 10 is a schematic structural diagram of a vehicle-mounted terminal according to an embodiment of the disclosure.
As shown in fig. 10, the in-vehicle terminal may include:
a memory 1010 in which executable program code is stored;
a processor 1020 coupled with the memory 1010;
the processor 1020 invokes executable program code stored in the memory 1010 to perform any one of the vehicle control methods disclosed in the embodiments of the present application.
The embodiment of the application discloses a computer readable storage medium storing a computer program, wherein the computer program causes a computer to execute any one of the vehicle control methods disclosed in the embodiment of the application.
Embodiments of the present application disclose a computer program product comprising a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform any of the vehicle control methods disclosed in the embodiments of the present application.
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. Those skilled in the art will also appreciate that the embodiments described in the specification are alternative embodiments and that the acts and modules referred to are not necessarily required for the present application.
In various embodiments of the present application, it should be understood that the sequence numbers of the foregoing processes do not imply that the execution sequences of the processes should be determined by the functions and internal logic of the processes, and should not be construed as limiting the implementation of the embodiments of the present application.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer-accessible memory. Based on this understanding, the technical solution of the present application, or a part contributing to the prior art or all or part of the technical solution, may be embodied in the form of a software product stored in a memory, comprising several requests for a computer device (which may be a personal computer, a server or a network device, etc., in particular may be a processor in a computer device) to execute some or all of the steps of the above-mentioned method of the various embodiments of the present application.
Those of ordinary skill in the art will appreciate that all or part of the steps of the various methods of the above embodiments may be implemented by a program that instructs associated hardware, the program may be stored in a computer readable storage medium including Read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disk Memory, magnetic disk Memory, tape Memory, or any other medium that can be used for carrying or storing data that is readable by a computer.
The foregoing describes in detail a vehicle control method, apparatus, vehicle and storage medium disclosed in the embodiments of the present application, and specific examples are applied herein to illustrate the principles and embodiments of the present application, and the above description of the embodiments is only for aiding in understanding the method and core concept of the present application. Meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims (11)

1. A vehicle control method, characterized in that the method is applied to a vehicle-mounted terminal of a vehicle, and the vehicle-mounted terminal is in communication connection with a mobile terminal; and, the method comprises:
responding to a winding waiting instruction sent by the mobile terminal, determining a first winding route according to a first positioning position of the mobile terminal, wherein the first winding route is used for indicating the vehicle to drive around the first positioning position;
controlling the vehicle to run according to the first winding route;
the determining the first winding route according to the first positioning position of the mobile terminal comprises the following steps: generating a first winding route according to the first positioning position and a preset route generation rule;
the route generation rule includes: and determining an area with the first positioning position as a center and a first length as a radius as a first winding area of the vehicle, and generating a first winding route in the first winding area.
2. The method according to claim 1, wherein the method further comprises:
acquiring a second positioning position of the mobile terminal in real time in the process that the vehicle runs according to the first winding route;
generating a second winding route according to the second positioning position when the distance between the second positioning position and the first positioning position exceeds a distance threshold;
The vehicle is controlled to travel from the first winding route to the second winding route.
3. The method according to claim 1, wherein the method further comprises:
if congestion is detected to exist on the first winding route in the process that the vehicle runs according to the first winding route, a third winding route different from the first winding route is generated according to the first positioning position;
the vehicle is controlled to travel from the first winding route to the third winding route.
4. A method according to claim 3, wherein the generating a third winding route different from the first winding route comprises:
and if other winding routes which are different from the first winding route exist in the first winding area where the first winding route exists, determining the other winding routes in the first winding area as a third winding route.
5. A method according to claim 3, wherein said generating a third winding route different from said first winding route from said first positioning location comprises:
if no other winding route different from the winding route exists in the first winding area where the first winding route exists, determining a second winding area of the vehicle; the second winding area is centered on the first positioning position, and the area of the second winding area is larger than that of the first winding area;
The winding route in the second winding area is defined as a third winding route.
6. The method of claim 5, wherein the determining the second winding area of the vehicle comprises:
sending an inquiry notice to the mobile terminal; the inquiry notification is used for instructing the mobile terminal to inquire of a user whether the winding area is enlarged;
determining a second winding area of the vehicle when receiving an agreement notification sent by the mobile terminal; the consent notification is transmitted by the mobile terminal when a user operation of consenting to enlarge a winding area is detected;
and, the method further comprises:
when a rejection notification sent by the mobile terminal is received, controlling the vehicle to continue to run according to the first winding route; the rejection notification is sent by the mobile terminal upon detection of a user operation that does not agree to enlarge the winding area.
7. The method of any one of claims 1-6, wherein after said controlling said vehicle to travel along said first winding route, said method further comprises:
responding to a recall instruction sent by the mobile terminal, and acquiring a third positioning position of the mobile terminal in real time;
And controlling the vehicle to travel to the third positioning position so as to carry out the confluence of the vehicles and the people.
8. The method of claim 7, wherein the acquiring the third positioning location of the mobile terminal in real time comprises:
when the distance between the mobile terminal and the vehicle is greater than or equal to a distance threshold, receiving a third positioning position sent by the mobile terminal in real time; the third positioning position is detected by a satellite positioning system of the mobile terminal; and/or the number of the groups of groups,
and when the distance between the mobile terminal and the vehicle is smaller than a distance threshold value, the mobile terminal is positioned in real time through wireless signal transmission between the vehicle and the mobile terminal, so that the third positioning position of the mobile terminal relative to the vehicle is detected in real time.
9. A vehicle control device, characterized by being applied to a vehicle-mounted terminal of a vehicle, the vehicle-mounted terminal being in communication connection with a mobile terminal; the device comprises:
the determining module is used for responding to a winding waiting instruction sent by the mobile terminal, determining a first winding route according to a first positioning position of the mobile terminal, and the first winding route is used for indicating the vehicle to drive around the first positioning position;
The control module is used for controlling the vehicle to run according to the first winding route;
the determining module is specifically configured to generate a first winding route according to the first positioning position and a preset route generation rule;
the route generation rule includes: and determining an area with the first positioning position as a center and a first length as a radius as a first winding area of the vehicle, and generating a first winding route in the first winding area.
10. A vehicle comprising a memory and a processor, the memory having stored therein a computer program which, when executed by the processor, causes the processor to implement the method of any of claims 1 to 8.
11. A computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the method according to any one of claims 1 to 8.
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