CN115593397A

CN115593397A - Vehicle control method, device, storage medium and chip

Info

Publication number: CN115593397A
Application number: CN202211508364.1A
Authority: CN
Inventors: 刘晓芳
Original assignee: Xiaomi Automobile Technology Co Ltd
Current assignee: Xiaomi Automobile Technology Co Ltd
Priority date: 2022-11-29
Filing date: 2022-11-29
Publication date: 2023-01-13
Anticipated expiration: 2042-11-29
Also published as: CN115593397B

Abstract

The disclosure relates to a vehicle control method, a vehicle control device, a storage medium and a chip, which relate to the technical field of vehicle control, and the method comprises the following steps: receiving a escaping request and vehicle-mounted image information sent by a vehicle; and responding to a trap-free operation carried out by a user according to the trap-free request and the vehicle-mounted image information, and sending a trap-free instruction to the vehicle, wherein the trap-free instruction is used for indicating the vehicle to execute an operation corresponding to the trap-free instruction. By using the vehicle control method provided by the disclosure, the vehicle can be remotely controlled to automatically park without the need of a user going to the position where the vehicle is located to park, so that convenience is brought to the user.

Description

Vehicle control method, device, storage medium and chip

Technical Field

The present disclosure relates to the field of vehicle control technologies, and in particular, to a vehicle control method, an apparatus, a storage medium, and a chip.

Background

With the development of social economy, automatic driving vehicles gradually appear in the market, and the automatic driving vehicles adopt communication, computers, networks and control technologies to realize real-time and continuous control on the vehicles, and aim at freeing the two hands of users and realizing automatic driving of the vehicles.

In the field of automatic driving, a passenger-assistant parking technology exists, which is to input a prefabricated map into a vehicle or a vehicle self-learning route map so as to plan a passenger-assistant parking route. In the process, the user gets off the vehicle at a specific place, and the vehicle system can control the vehicle to automatically drive to the target parking space along the passenger-replacing parking route, so that automatic parking and warehousing are realized.

However, when the vehicle encounters a special road condition, the user still needs to go to the location of the vehicle, manually operate the vehicle to get rid of the trouble, and continue to complete the parking operation, which brings inconvenience to the user.

Disclosure of Invention

To overcome the problems in the related art, the present disclosure provides a vehicle control method, apparatus, storage medium, and chip.

According to a first aspect of an embodiment of the present disclosure, there is provided a vehicle control method, which is executed by a terminal, the method including:

receiving a escaping request and vehicle-mounted image information sent by a vehicle;

responding to a user's escaping operation performed according to the escaping request and the vehicle-mounted image information, and sending an escaping instruction to the vehicle, wherein the escaping instruction is used for indicating the vehicle to execute the operation corresponding to the escaping instruction.

Optionally, the sending a difficulty overcoming instruction to the vehicle in response to a difficulty overcoming operation performed by the user according to the difficulty overcoming request and the vehicle-mounted image information includes:

responding to a trapping removal operation performed by a user according to a first trapping removal request and first vehicle-mounted image information, and sending a first trapping removal instruction to the vehicle, wherein the first trapping removal instruction is used for indicating the vehicle to output alarm information.

Optionally, the sending a difficulty-escaping instruction to the vehicle in response to a difficulty-escaping operation performed by the user according to the difficulty-escaping request and the vehicle-mounted image information includes:

and responding to a trap removal operation performed by a user according to a second trap removal request and second vehicle-mounted image information, and sending a second trap removal instruction to the vehicle, wherein the second trap removal instruction is used for indicating the vehicle to reduce a self safe driving area, and the safe driving area comprises a safe distance between the vehicle and an obstacle.

responding to a trap removal operation performed by the user according to the third trap removal request and the third vehicle-mounted image information, and sending a third trap removal instruction to the vehicle;

and controlling a driving system of the vehicle to execute a specified driving operation based on the third escaping instruction.

and responding to a trap removal operation performed by a user according to the trap removal request and the vehicle-mounted image information, and sending a fourth trap removal instruction to the vehicle, wherein the fourth trap removal instruction is used for indicating the vehicle to be switched from a parking mode to an automatic driving mode.

responding to a trapping removal operation performed by a user according to a first trapping removal request and first vehicle-mounted image information, and sending a first trapping removal instruction to the vehicle, wherein the first trapping removal instruction is used for indicating the vehicle to output alarm information;

under the condition that the vehicle is not trapped in a first preset time, receiving a second trapping removal request and second vehicle-mounted image information sent by the vehicle;

and responding to a trap removal operation carried out by a user according to the second trap removal request and the second vehicle-mounted image information, and sending a second trap removal instruction to the vehicle, wherein the second trap removal instruction is used for indicating the vehicle to reduce the safe driving area of the vehicle.

Optionally, the method further comprises:

under the condition that the vehicle is not getting rid of the trouble within a second preset time, receiving a third getting rid of the trouble request and third vehicle-mounted image information sent by the vehicle;

responding to a trap removal operation performed by a user according to the third trap removal request and the third vehicle-mounted image information, and sending a third trap removal instruction to the vehicle;

According to a second aspect of the embodiments of the present disclosure, there is provided a vehicle control method performed by a vehicle, the method comprising:

sending a escaping request and vehicle-mounted image information to a terminal;

and executing operation corresponding to the de-trapping instruction according to the de-trapping instruction sent by the terminal, wherein the de-trapping instruction is an instruction triggered by a user after the de-trapping operation is performed on the terminal according to the de-trapping request and the vehicle-mounted image information.

Optionally, the sending the escaping request and the vehicle-mounted image information to the terminal includes: under the condition that a dynamic barrier exists around the vehicle, sending a first escaping request and first vehicle-mounted image information to the terminal;

the executing the operation corresponding to the escaping instruction according to the escaping instruction sent by the terminal comprises the following steps: and outputting alarm information according to the first escaping instruction sent by the terminal.

Optionally, the sending the escaping request and the vehicle-mounted image information to the terminal includes: sending a second escaping request and second vehicle-mounted image information to the terminal under the condition that a static obstacle exists around the vehicle;

the executing the operation corresponding to the escaping instruction according to the escaping instruction sent by the terminal comprises the following steps: and narrowing the safe driving area of the vehicle according to a second escaping instruction sent by the terminal.

Optionally, the sending the escaping request and the vehicle-mounted image information to the terminal includes: sending a third escaping request and third vehicle-mounted image information to the terminal under the condition that the vehicle cannot pass through the target obstacle;

the executing the operation corresponding to the instruction for getting rid of poverty according to the instruction for getting rid of poverty sent by the terminal comprises the following steps: performing handshake operation with the terminal based on a third escaping instruction sent by the terminal;

and under the condition that the handshaking operation is completed, controlling a driving system of the vehicle to execute a specified driving operation according to a control command sent by the terminal.

Optionally, the executing, according to the instruction for getting rid of difficulty sent by the terminal, an operation corresponding to the instruction for getting rid of difficulty includes:

receiving a fourth escaping instruction sent by the terminal;

and switching to an automatic driving mode according to the fourth escaping instruction.

controlling the vehicle to be switched from a parking mode to a escaping mode according to a first escaping instruction sent by the terminal so as to output alarm information;

under the condition that the vehicle is not trapped in a first preset time, controlling the vehicle to be switched from the trapping mode to the parking mode, and sending a second trapping removal request and second vehicle-mounted image information to the terminal;

and controlling the vehicle to be switched from the parking mode to the escaping mode according to a second escaping instruction sent by the terminal so as to narrow the safe driving area of the vehicle.

Optionally, the method further comprises:

under the condition that the vehicle is not trapped in a second preset time, controlling the vehicle to be switched from the trapping mode to the parking mode, and sending a third trapping removal request and third vehicle-mounted image information to the terminal;

controlling the vehicle to be switched from the parking mode to the escaping mode according to a third escaping instruction sent by the terminal so as to perform handshake operation with the terminal;

and under the condition that the handshake operation is completed, controlling a driving system of the vehicle to execute a specified driving operation according to a control command sent by the terminal.

According to a third aspect of the embodiments of the present disclosure, there is provided a vehicle control apparatus applied to a terminal, the apparatus including:

the information receiving module is configured to receive a escaping request and vehicle-mounted image information sent by a vehicle;

and the instruction sending module is configured to respond to a trap removal operation performed by a user according to the trap removal request and the vehicle-mounted image information, and send a trap removal instruction to the vehicle, wherein the trap removal instruction is used for indicating the vehicle to execute an operation corresponding to the trap removal instruction.

According to a fourth aspect of the embodiments of the present disclosure, there is provided a vehicle control apparatus applied to a vehicle, the apparatus including:

the information sending module is configured to send the escaping request and the vehicle-mounted image information to the terminal;

and the execution module is configured to execute an operation corresponding to the escaping instruction according to the escaping instruction sent by the terminal, wherein the escaping instruction is an instruction triggered by a user after the escaping operation is performed on the terminal according to the escaping request and the vehicle-mounted image information.

According to a fifth aspect of the embodiments of the present disclosure, there is provided a vehicle control apparatus including:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

the executable instructions are executed to implement the vehicle control method provided by the first aspect of the embodiments of the present disclosure.

According to a sixth aspect of an embodiment of the present disclosure, there is provided a vehicle control apparatus including:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

the executable instructions are executed to implement the vehicle control method provided by the second aspect of the embodiments of the present disclosure.

According to a seventh aspect of the embodiments of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the vehicle control method provided by the first aspect of the embodiments of the present disclosure, or implement the vehicle control method provided by the second aspect of the embodiments of the present disclosure.

According to an eighth aspect of embodiments of the present disclosure, there is provided a chip comprising a processor and an interface; the processor is configured to read an instruction to execute the vehicle control method provided by the first aspect of the embodiment of the present disclosure, or execute the vehicle control method provided by the second aspect of the embodiment of the present disclosure.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

through the technical scheme, the terminal can receive the escaping request and the vehicle-mounted image information sent by the vehicle, after a user uses the terminal to check the escaping request and the vehicle-mounted image information, escaping operation can be executed on the terminal, and the terminal generates an escaping instruction according to the escaping operation executed on the terminal by the user and sends the escaping instruction to the vehicle so as to instruct the vehicle to escape according to the escaping instruction. In the process, the user can control the vehicle to get rid of the trouble only by remotely controlling the terminal, and the user does not need to go to the position where the vehicle is located to control the vehicle to park, so that convenience is brought to the user.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a flowchart illustrating steps of a vehicle control method according to one exemplary embodiment.

FIG. 2 is a schematic diagram illustrating a terminal interacting with a vehicle according to an exemplary embodiment.

FIG. 3 is a logic diagram illustrating a vehicle control method according to an exemplary embodiment.

FIG. 4 is a flowchart illustrating steps of a vehicle control method according to one exemplary embodiment.

FIG. 5 is a logic diagram illustrating a vehicle control method according to an exemplary embodiment.

FIG. 6 is a logic diagram illustrating a vehicle control method according to an exemplary embodiment.

FIG. 7 is a logic diagram illustrating a vehicle control method according to an exemplary embodiment.

Fig. 8 is a block diagram of a vehicle control apparatus shown according to an exemplary embodiment.

FIG. 9 is a block diagram of a vehicle control apparatus shown according to an exemplary embodiment.

FIG. 10 is a block diagram of a vehicle shown in accordance with an exemplary embodiment.

FIG. 11 is a block diagram of a vehicle control apparatus shown according to an exemplary embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

FIG. 1 is a flow chart illustrating steps of a vehicle control method, which may be performed by a terminal, according to an exemplary embodiment, including the steps of:

in step S11, a escaping request and in-vehicle image information sent by the vehicle are received.

The terminal provided in any embodiment of the present disclosure may be a mobile phone, a tablet, a portable computer, a computer with a wireless transceiving function, a Virtual Reality (VR) terminal device, an Augmented Reality (AR) terminal device, a wireless terminal in industrial control (industrial control), a wireless terminal in a smart grid (smart grid), a wireless terminal in transportation safety (transportation safety), a wireless terminal in a smart city (smart city), a wireless terminal in a smart home (smart home), and the like.

Wherein, the vehicle provided by any embodiment of the disclosure can be an AVP (Automated Valet Parking) vehicle, the AVP vehicle is a vehicle with an AVP function,

referring to fig. 2, the terminal communicates with the vehicle through a TSP (Telematics Service Provider) and a T-Box (Telematics Box). The TSP is used for receiving and forwarding communication information between the terminal and the T-Box; the T-Box is a communication device installed in the vehicle and used for receiving the communication information forwarded by the TSP and interacting information with the vehicle through a bus system in the vehicle.

In an example, the vehicle sends the escaping request and the vehicle-mounted image information to the TSP through the T-Box, and then the TSP sends the escaping request and the vehicle-mounted image information to the terminal, so that the terminal can receive the escaping request and the vehicle-mounted image information sent by the vehicle.

The escaping request refers to a request that a vehicle needs to escape remotely according to the current road condition, and the escaping can be understood as that the vehicle cannot realize parking under the current road condition by itself and a user needs to operate a terminal to assist the vehicle to escape from the current road condition. The escaping request is used for informing a user using the terminal that the vehicle of the user runs to a road condition that the user cannot escape from the escaping.

The vehicle is provided with a sensing device, and vehicle-mounted image information around the vehicle is determined through the sensing device, wherein the vehicle-mounted image information comprises an environment image around the vehicle, distances between each target object on the environment image and the vehicle, and the like. Sensing devices include, but are not limited to, look-around cameras, panoramic cameras, forward-looking cameras, ultrasonic radars, millimeter-wave radars, and lidar. The vehicle-mounted image information is used for providing an environment image around the vehicle for a user so as to provide the user with a basis for controlling the vehicle.

In step S12, in response to a user performing a trap elimination operation according to the trap elimination request and the vehicle-mounted image information, a trap elimination instruction is sent to the vehicle, where the trap elimination instruction is used to instruct the vehicle to perform an operation corresponding to the trap elimination instruction.

When the terminal receives the escaping request and the vehicle-mounted image information, the terminal pops up the escaping request on the human-computer interaction interface and displays the image corresponding to the vehicle-mounted image information on the human-computer interaction interface, so that a user can judge whether the vehicle needs to escape according to the vehicle-mounted image information and how to control the vehicle to escape under the condition that the vehicle needs to escape.

The escaping instruction is sent to the vehicle through the terminal when the user judges whether the vehicle needs to escape according to the vehicle-mounted image information or under the condition that the vehicle needs to escape, and the escaping instruction carries control information for controlling the vehicle, so that the vehicle can realize operation corresponding to the escaping instruction according to the escaping instruction, and further the user can remotely control the vehicle to escape.

For example, in the process of automatic parking, if it is determined that an obstacle exists around the vehicle and automatic parking cannot be performed, a escaping request can be sent to the terminal; the user looks up the escaping request sent by the vehicle on the terminal, and determines that the vehicle cannot avoid the dynamic barrier through automatic driving under the condition that the dynamic barrier exists around the vehicle, and at the moment, the user can issue an escaping instruction to the vehicle through the terminal to indicate the vehicle to whistle so as to warn the dynamic barrier to avoid, thereby realizing the escaping of the current vehicle condition.

In a possible implementation, since the vehicle may encounter different road conditions, the following schemes may be divided to send the escaping instruction to the vehicle, and the following schemes are independent from each other, may be combined in pairs, or may be combined in multiple combinations to form a new technical scheme.

Scheme 1: responding to a trap removal operation performed by a user according to a first trap removal request and first vehicle-mounted image information, and sending a first trap removal instruction to the vehicle, wherein the first trap removal instruction is used for indicating the vehicle to output alarm information.

The first escaping request is a dynamic barrier such as a pedestrian, a bicycle, a manned vehicle, an animal and the like, and a moving object remote escaping request generated by the vehicle is blocked; the first vehicle-mounted image information comprises image information of dynamic obstacles around the vehicle; the first escaping instruction is used for indicating the vehicle to warn the dynamic barrier to avoid the vehicle; the warning message comprises a sound prompt message and a light prompt message, wherein the sound prompt message can be a whistle, and the light prompt message can be that the light of the vehicle flickers at a target frequency.

In an example, after the terminal receives a first escaping request and first vehicle-mounted image information of a vehicle, a user determines that pedestrians exist around the vehicle through the terminal, at the moment, the user can control the terminal to issue a first escaping instruction to the vehicle, instruct the vehicle to whistle and instruct the left and right turn lamps of the vehicle to flash together, and after hearing the whistle of the pedestrians and seeing that the light of the vehicle flashes, the pedestrians can avoid the vehicle.

The vehicle has an automatic driving mode, a parking mode and a escaping mode. In the automatic driving mode, the vehicle performs autonomous parking or automatic driving under the control of the vehicle controller; in the parking mode, the vehicle sends a distress removal request to the terminal, and the vehicle is parked automatically, so that the reliable braking and stopping of the vehicle are ensured; and in the escaping mode, the vehicle executes the escaping instruction sent by the terminal and executes the escaping instruction so as to realize escaping of the vehicle. The autonomous driving mode may be referred to as an AVP mode and the vehicle controller may be an AVP controller.

The method comprises the steps that when the vehicle determines that dynamic obstacles exist around, the vehicle is switched from an automatic driving mode to a parking mode, and in the parking mode, the vehicle sends a first escaping request and first vehicle-mounted image information to a terminal; the user sends a first escaping instruction to the vehicle by using the terminal according to the first escaping request and the first vehicle-mounted image information; the vehicle responds to the first escaping instruction, and is switched to an escaping mode from the parking mode, in the escaping mode, the vehicle outputs alarm information according to the first escaping instruction, and in the escaping mode, the vehicle can also send the first vehicle-mounted image information to the terminal in real time; the user continuously checks the first vehicle-mounted image information through the terminal to determine whether the dynamic barrier bypasses the vehicle, when the vehicle executes the first escaping instruction, first feedback information is sent to the terminal, and the terminal responds to the first feedback information to pop up a window so that the user can determine whether the dynamic barrier bypasses the vehicle according to the image seen by the user; when a user views an image at a terminal and determines that a dynamic barrier bypasses a vehicle, corresponding confirmation operation is executed at a window, and the terminal sends first confirmation information to the vehicle; and the vehicle is switched from the escaping mode to the automatic driving mode according to the first confirmation information.

The first feedback information carries information that the vehicle has executed the first escaping instruction, and whether the dynamic barrier has bypassed the vehicle or not needs to be determined again by the user according to a window popped up by the image at the terminal.

Scheme 2: responding to a second escaping operation carried out by a user according to a second escaping request and second vehicle-mounted image information, and sending a second escaping instruction to the vehicle, wherein the second escaping instruction is used for indicating the vehicle to reduce a self safe driving area, and the safe driving area comprises a safe distance between the vehicle and an obstacle.

The second escaping request is a remote escaping request for static objects generated by vehicles obstructed by static obstacles such as vehicles parked on roads, cone barrels and roadblocks; the second vehicle-mounted image information comprises image information of static obstacles around the vehicle; the second escaping instruction is used for instructing the vehicle to narrow the self safe driving area so as to bypass the static obstacle; the step of reducing the self safe driving area comprises reducing the safe distance between the vehicle and the static obstacle, wherein the safe distance is a preset distance between the vehicle and the static obstacle, and if the safe distance is smaller than the safe distance, the vehicle is likely to collide with the static obstacle.

After the safe driving area is reduced, the driving conditions of the representative vehicle are looser.

For example, the original safe driving area of the vehicle is a circular area 50m away from the vehicle, which means that the vehicle will pass by a static obstacle when the distance between the vehicle and the static obstacle is 50m and above; when the safe driving area is reduced to a circular area 30m away from the host vehicle, meaning that the distance between the vehicle and the static obstacle is 30m or more, the vehicle can pass by the static obstacle. It can be seen that the running condition of the vehicle passing through the static obstacle is adjusted to a more relaxed range after the safe running area is reduced.

In the case where a static obstacle exists around the vehicle, the vehicle is also switched among an automatic driving mode, a parking mode, and a escaping mode.

Exemplarily, the vehicle is switched from an automatic driving mode to a parking mode under the condition that static obstacles exist around the vehicle, and the vehicle sends a second escaping request and second vehicle-mounted image information to the terminal under the parking mode; the user determines that the vehicle can bypass the static barrier under the road condition according to the second escaping request and the second vehicle-mounted image information, and the user can use the terminal to send a second escaping instruction to the vehicle; the vehicle responds to a second escaping instruction, and is switched to an escaping mode from the parking mode, the vehicle reduces a self safe driving area according to the second escaping instruction in the escaping mode, and the vehicle can also send second vehicle-mounted image information to the terminal in real time in the escaping mode; the user continuously checks the second vehicle-mounted image information through the terminal to determine whether the vehicle bypasses the static obstacle, after the vehicle executes a second escaping instruction, second feedback information is sent to the terminal, and the terminal responds to the second feedback information to pop up a window so that the user can determine whether the vehicle bypasses the static obstacle according to the image seen by the user; when a user views the image at the terminal and determines that the vehicle bypasses the static obstacle, corresponding confirmation operation is executed at the window, and the terminal sends second confirmation information to the vehicle; and the vehicle is switched from the escaping mode to the automatic driving mode according to the second confirmation information.

The second feedback information carries information that the vehicle has executed the second escape instruction, and as to whether the vehicle successfully gets around the static obstacle, the user needs to determine again in the window popped up by the terminal according to the image.

Scheme 3: responding to a trap removal operation performed by the user according to the third trap removal request and the third vehicle-mounted image information, and sending a third trap removal instruction to the vehicle; and controlling a driving system of the vehicle to execute a specified driving operation based on the third escaping instruction.

The third escaping request is a road limited remote escaping request generated by the fact that vehicles cannot pass due to complex road conditions such as too small curve, continuous static objects and the like; the third vehicle-mounted image information comprises image information of narrow roads around the vehicle; the third escaping instruction is used for indicating the vehicle and the terminal to perform handshake operation, and the terminal is operated on the vehicle driving system based on the handshake operation; the driving system comprises a transmission system, a running system, a steering system, a braking system, a gear shifting system and the like, and the driving operation comprises steering operation, braking operation, parking operation, gear shifting operation and the like.

However, even when the vehicle cannot pass through a narrow road, the vehicle is switched among an automatic driving mode, a parking mode, and a escaping mode.

For example, when the vehicle cannot pass through a narrow road around the vehicle, the automatic driving mode is switched to the parking mode, and in the parking mode, the vehicle sends a third escaping request and third vehicle-mounted image information to the terminal; the user determines that the vehicle cannot pass through a narrow road under the condition of the road condition according to the third escaping request and the third vehicle-mounted image information, and the user can use the terminal to send a third escaping instruction to the vehicle; the vehicle responds to a third escaping instruction and is switched to an escaping mode from the parking mode, and in the escaping mode, the vehicle performs handshake operation with the terminal according to the third escaping instruction; after the handshake operation is carried out, a user uses the terminal to operate a steering system, a braking system and the like of the vehicle, and controls the vehicle to carry out driving operations such as steering, braking and accelerating so that the vehicle can pass through a narrow road under the operation of the user; when the vehicle passes through the narrow road, third feedback information is sent to the terminal, and the terminal pops up a window in response to the third feedback information so that a user can determine that the vehicle passes through the narrow road; after the user performs corresponding determination operation on the window, the terminal sends third confirmation information to the vehicle; and the vehicle is switched to the automatic driving mode from the escaping mode according to the third confirmation information.

Scheme 4: responding to a user's escaping operation carried out according to the escaping request and the vehicle-mounted image information, and sending a fourth escaping instruction to the vehicle, wherein the fourth escaping instruction is used for indicating the vehicle to be switched from a parking mode to an automatic driving mode.

After receiving the escaping request and the vehicle-mounted image information through the terminal, the user may also confirm vehicle misjudgment according to the vehicle-mounted image information, and at this time, a fourth escaping instruction may be sent to the vehicle to instruct the vehicle to switch from the parking mode to the automatic driving mode.

Exemplarily, after a user receives a first escaping request and first vehicle-mounted image information through a terminal, the user checks the first vehicle-mounted image information on the terminal and confirms that no dynamic obstacle exists around a vehicle, at this time, the user can execute corresponding negative operation on a pop-up window to indicate that the vehicle misjudges that a dynamic obstacle exists around the vehicle, and the terminal sends first negative information to the vehicle; the terminal releases the parking mode according to the first negative information and switches to the automatic driving mode.

Exemplarily, after the user receives the second escaping request and the second vehicle-mounted image information through the terminal, the user checks the second vehicle-mounted image information on the terminal and confirms that no static obstacle exists around the vehicle, at this time, the user can execute corresponding negative operation on a pop-up window to indicate that the vehicle misjudges that the static obstacle exists around the vehicle, and the terminal sends second negative information to the vehicle; and the terminal releases the parking mode according to the second negative information and switches to the automatic driving mode.

Exemplarily, after the user receives the third escaping request and the third vehicle-mounted image information through the terminal, the user checks the third vehicle-mounted image information on the terminal and confirms that the vehicle can pass through the narrow passage, at this time, the user can execute corresponding negative operation on a pop-up window to indicate that the vehicle misjudges that the vehicle cannot pass through the narrow passage, and the terminal sends the third negative information to the vehicle; and the terminal releases the parking mode according to the third negative information and switches to the automatic driving mode.

The parking mode is a transition mode between an automatic driving mode and a escaping mode and is used for parking under the condition that the vehicle finds abnormal road conditions and cannot process the abnormal road conditions so as to avoid collision between the vehicle and other obstacles.

In the above-mentioned schemes 1 to 4, please refer to fig. 3, after receiving the escaping request, the terminal may first display the escaping request and the vehicle-mounted image information to the user, and the user determines whether the escaping request sent by the vehicle is misjudged according to the vehicle-mounted image information, and if the escaping request is misjudged, sends a fourth escaping instruction to instruct the vehicle to switch from the parking mode to the automatic driving mode; if the first escaping request is not misjudged, judging whether the first escaping request is received, if the first escaping request is received, sending a first escaping instruction to the vehicle according to the operation of the user on the terminal, and if the first escaping request is not received, judging whether a second escaping request is received; and if the second escaping request is received, sending a second escaping instruction to the vehicle according to the operation of the user on the terminal, and if the second escaping request is not received, sending a third escaping instruction to the vehicle to perform handshake operation with the vehicle, so that the user can control the vehicle to bypass the obstacle through the control terminal.

According to the technical scheme, the terminal can issue different escaping instructions for the vehicle according to different road conditions so as to indicate the vehicle to escape under different road conditions. In the process, the user does not need to go to the position of the vehicle, and different escaping instructions are directly issued to the vehicle through the terminal, so that convenience is brought to the user.

In a possible embodiment, after the vehicle executes the escaping instruction, the vehicle may not escape within a preset time period, and in order to escape the vehicle, the disclosure further includes the following steps:

in step S21, in response to a user performing a trap elimination operation according to a first trap elimination request and the first vehicle-mounted image information, a first trap elimination instruction is sent to the vehicle, where the first trap elimination instruction is used to instruct the vehicle to output warning information.

This step is the same as in scheme 1 above and will not be described herein.

In step S22, when the vehicle is not getting rid of the trouble within a first preset time period, a second getting rid of the trouble request and second vehicle-mounted image information sent by the vehicle are received.

As shown in fig. 5, when the vehicle is still not getting out of the way within the first preset time period, it means that the dynamic obstacle still does not get out of the way within the first preset time period, at this time, the vehicle is switched from the getting out of the way mode to the parking mode, and a second getting out of the way request and second vehicle-mounted image information are sent to the terminal to request the terminal to issue a second getting out of the way instruction, so as to avoid the dynamic obstacle.

In step S23, in response to a user performing a second escaping operation according to the second escaping request and the second vehicle-mounted image information, a second escaping instruction is sent to the vehicle, where the second escaping instruction is used to instruct the vehicle to reduce its own safe driving area.

This scheme is the same as scheme 2 above and will not be described again.

In step S24, when the vehicle does not get rid of difficulty within a second preset time period, a third difficulty getting rid of difficulty request and third vehicle-mounted image information sent by the vehicle are received.

As shown in fig. 5, when the vehicle is still not getting out of the way within the second preset time period, the vehicle still cannot avoid the static obstacle within the second preset time period, at this time, the vehicle is switched from the getting out of the way mode to the parking mode, and sends a third getting out of the way request and third vehicle-mounted image information to the terminal to request the terminal to issue a third getting out of the way instruction, so as to perform a handshake with the terminal, and after the handshake, the terminal controls operations such as steering and braking, so as to avoid the static obstacle.

In step S25, a third escaping instruction is sent to the vehicle in response to an escaping operation performed by the user according to the third escaping request and the third vehicle-mounted image information; and controlling a driving system of the vehicle to execute a specified driving operation based on the third escaping instruction.

This scheme is the same as scheme 3 above, and is not described in detail here.

In the above scheme, the first preset time period and the second preset time period may be the same or different, and the disclosure is not limited herein.

The levels of the first, second and third escaping requests are sequentially increased, and correspondingly, the levels of the first, second and third escaping instructions are sequentially increased.

According to the technical scheme, under the condition that the vehicle is not trapped in the first preset time, the vehicle cannot warn that the dynamic obstacle is avoided by means of whistling or double flashing, at the moment, the vehicle can send a second trapping removal request and second vehicle-mounted image information to the terminal, so that the safe driving area of the vehicle is reduced through a second trapping removal instruction issued by the terminal, the driving condition is relaxed, and the vehicle passes by the dynamic obstacle; under the condition that the vehicle is not trapped within the second preset time, it is indicated that the vehicle cannot avoid the dynamic obstacle and/or the static obstacle by reducing the safe driving area of the vehicle, at this time, the vehicle sends a third trapping removal request and third vehicle-mounted image information to the terminal, so that after a third trapping removal instruction issued by the terminal, the vehicle is controlled to perform operations such as steering, braking, gear shifting and the like through the user control terminal, and then the dynamic obstacle and/or the static obstacle are avoided.

Fig. 4 is a vehicle control method proposed by the present disclosure, which is performed by a vehicle, and includes the steps of:

in step S31, a escaping request and in-vehicle image information are sent to the terminal.

When the vehicle meets the narrow road, the radius of the curve is too small, the road construction is carried out, and the obstacle (the obstacle comprises a dynamic obstacle and a static obstacle) blocks the road, a escaping request and real-time vehicle-mounted image information around the vehicle are sent to the terminal.

The escaping request is used for requesting a corresponding escaping instruction from the terminal so as to assist the vehicle to escape from the current road condition; the vehicle-mounted image information is used for providing an image basis for a user to trigger the escaping instruction.

This step is similar to step S11 described above and will not be described herein.

In step S32, according to a trap removal instruction sent by the terminal, an operation corresponding to the trap removal instruction is executed, where the trap removal instruction is an instruction triggered by the user after the terminal performs a trap removal operation according to the trap removal request and the vehicle-mounted image information.

This step is similar to step S12 described above and will not be described again here.

For example, referring to fig. 6, in a case where the automatic driving function of the vehicle is activated, the vehicle is in an automatic driving mode and is performing automatic driving; and when the vehicle determines that abnormal road conditions exist, the vehicle is switched from the automatic driving mode to the parking mode, and the vehicle is braked under the parking mode. At the moment, the vehicle judges whether the vehicle receives a fourth escaping instruction, and if the fourth escaping instruction is received, the vehicle is switched to an automatic driving mode; if the fourth escaping instruction is not received, judging whether the vehicle receives a non-fourth escaping instruction, if the non-fourth escaping instruction is received, controlling the vehicle to be in an escaping mode, and executing the non-fourth escaping instruction; and under the condition that the vehicle does not complete the non-fourth escaping instruction, the vehicle is switched from the escaping mode to the parking mode. The non-fourth escape instruction comprises any one of a first escape instruction, a second escape instruction and a third escape instruction.

According to the technical scheme, the vehicle can send the escaping request and the vehicle-mounted image information to the terminal, after a user uses the terminal to check the escaping request and the vehicle-mounted image information, escaping operation can be carried out on the terminal, the terminal generates an escaping instruction according to the escaping operation carried out on the terminal by the user and sends the escaping instruction to the vehicle, and the vehicle carries out operation corresponding to escaping designation so as to finish escaping of the vehicle. In the process, the user can control the vehicle to get rid of the trouble only by remotely controlling the terminal, and the user does not need to go to the position where the vehicle is located to control the vehicle to park, so that convenience is brought to the user.

Scheme 5: under the condition that a dynamic barrier exists around the vehicle, sending a first escaping request and first vehicle-mounted image information to the terminal; and outputting alarm information according to the first escaping instruction sent by the terminal.

The vehicle is provided with a sensing device, environmental information around the vehicle is obtained in real time through the sensing device, and the environmental information is converted into vehicle-mounted image information to be sent to the terminal.

For example, when sensing that a dynamic obstacle exists around a vehicle, a sensing device on the vehicle sends a first escaping request and first vehicle-mounted image information to a terminal through an AVP controller on the vehicle; and outputting alarm information according to a first escaping instruction issued by the terminal so as to warn the dynamic barrier to avoid the vehicle.

Scheme 6: sending a second escaping request and second vehicle-mounted image information to the terminal under the condition that a static obstacle exists around the vehicle; and narrowing the safe driving area of the vehicle according to a second escaping instruction sent by the terminal.

The sensing equipment on the vehicle sends a second escaping request and second vehicle-mounted image information to the terminal under the condition that the sensing equipment senses that the static obstacle exists around the vehicle, and then reduces the safe driving area of the vehicle according to a second escaping instruction issued by the terminal so as to relax the driving condition of the vehicle and pass around the static obstacle.

When the user issues the second escaping instruction according to the terminal, the user judges that the vehicle can pass by the static obstacle through the second vehicle-mounted image information, and at the moment, the safe driving area of the vehicle can be reduced so as to relax the driving condition and pass by the periphery of the static obstacle in order that the vehicle can pass by the periphery of the static obstacle.

Scheme 7: sending a third escaping request and third vehicle-mounted image information to the terminal under the condition that the vehicle cannot pass through a target obstacle; and under the condition that the handshake operation is completed, controlling a driving system of the vehicle to execute a specified driving operation according to a control command sent by the terminal.

The sensing equipment on the vehicle can send a third escaping request and third vehicle-mounted image information to the terminal under the condition that the sensing equipment senses that the periphery of the vehicle cannot pass through the target obstacle, three-time handshaking or four-time handshaking operation is carried out on the sensing equipment and the terminal according to a third escaping instruction issued by the terminal, and after the handshaking is finished, the vehicle can receive a control instruction sent by the terminal to control the driving system to execute specified driving operation according to the control instruction.

The control instruction comprises information for controlling a vehicle driving system; the target obstacle may be a narrow road, a continuous static obstacle, or the like.

Scheme 8: receiving a fourth escaping instruction sent by the terminal; and switching to an automatic driving mode according to the fourth escaping instruction.

The sensing equipment on the vehicle sends a escaping request to the terminal when sensing at least one of the static obstacle, the dynamic obstacle and the target obstacle, if the user determines that the vehicle is misjudged in the terminal and the escaping request is triggered by mistake, a fourth escaping instruction is issued to the vehicle, and the vehicle is recovered from the parking mode to the automatic driving mode according to the fourth escaping instruction.

In the schemes 5 to 8, please refer to fig. 7, a vehicle is automatically driven, when the vehicle encounters an abnormal road condition and cannot be automatically driven, whether a dynamic barrier blocks the vehicle from advancing is determined, if so, a first escaping request is sent to a terminal, and if not, whether a static barrier exists is determined; and if the static obstacle exists, the vehicle is blocked from moving forward, a second escaping request is sent to the terminal, and if the static obstacle does not exist, a third escaping request is sent to the terminal.

According to the technical scheme, the vehicle can send different escaping requests to the terminal aiming at different road conditions so as to request the terminal to assist the vehicle to escape under different road conditions. In the process, the user does not need to go to the position of the vehicle, and different escaping instructions are directly issued to the vehicle through the terminal, so that convenience is brought to the user.

In a possible embodiment, after the vehicle executes the escaping instruction, the vehicle may still not escape within a preset time period, and in order to escape the vehicle, the disclosure further includes the following steps:

in step S41, the vehicle is controlled to switch from the parking mode to the escaping mode according to the first escaping instruction sent by the terminal, so as to output warning information.

This step can refer to scheme 5 above, and is not described herein again.

In step S42, when the vehicle is not getting rid of the trouble within a first preset time period, the vehicle is controlled to switch from the getting rid of the trouble mode to the parking mode, and a second getting rid of the trouble request and second vehicle-mounted image information are sent to the terminal.

This step can refer to step S22, which is not described herein again.

In step S43, the vehicle is controlled to switch from the parking mode to the escaping mode according to a second escaping instruction sent by the terminal, so as to narrow the safe driving area of the vehicle.

This step can refer to scheme 6 above, and is not described herein again.

In step S44, when the vehicle is not getting rid of the trouble within a second preset time period, the vehicle is controlled to switch from the getting rid of the trouble mode to the parking mode, and a third getting rid of the trouble request and third vehicle-mounted image information are sent to the terminal.

This step can refer to step S24, which is not described herein again.

In step S45, according to a third escape instruction sent by the terminal, the vehicle is controlled to be switched from the parking mode to the escape mode, so as to perform a handshake operation with the terminal. And under the condition that the handshake operation is completed, controlling a driving system of the vehicle to execute a specified driving operation according to a control command sent by the terminal.

This step can refer to scheme 7 above, and is not described herein again.

For example, please refer to fig. 5, after receiving the escaping instruction, the vehicle determines whether the vehicle is the fourth escaping instruction, and if the vehicle is not the fourth escaping instruction, determines whether the vehicle is the first escaping instruction; if the vehicle is in the first escape instruction, warning information is output, if the vehicle still does not escape from the automobile, a second escape request is sent to the terminal by the vehicle within a first preset time length of the warning information output by the vehicle, and if the vehicle escapes from the automobile, the parking mode is switched to the automatic driving mode; if the instruction is not the first escaping instruction, judging whether the instruction is the second escaping instruction; if the vehicle is in the second escape instruction, reducing the self safe driving area, and within a second preset time period for reducing the self safe driving area by the vehicle, if the vehicle is not in the escape, sending a third escape request to the terminal by the vehicle, and if the vehicle is in the escape, switching from the parking mode to the automatic driving mode; and if the second escape instruction is not the second escape instruction, executing a third escape instruction sent by the terminal so that the user can remotely control the vehicle through the terminal.

According to the technical scheme, under the condition that the vehicle is not getting rid of the trouble within the first preset time, the vehicle cannot warn the dynamic obstacle to avoid in a whistling or double-flashing mode, at the moment, the vehicle can send a second getting rid of the trouble request and second vehicle-mounted image information to the terminal, so that the safe driving area of the vehicle is reduced through a second getting rid of the trouble instruction sent by the terminal, the driving condition is relaxed, and the vehicle passes by the dynamic obstacle; under the condition that the vehicle is not trapped within the second preset time, it is indicated that the vehicle cannot avoid the dynamic obstacle and/or the static obstacle by reducing the safe driving area of the vehicle, at this time, the vehicle sends a third trapping removal request and third vehicle-mounted image information to the terminal, so that after a third trapping removal instruction issued by the terminal, the vehicle is controlled to perform operations such as steering, braking, gear shifting and the like through the user control terminal, and then the dynamic obstacle and/or the static obstacle are avoided.

Based on the same inventive concept, an embodiment of the present disclosure further provides a vehicle control apparatus, as shown in fig. 8, where the vehicle control apparatus is applied to a terminal, and the vehicle control apparatus 100 includes: an information receiving module 200 and an instruction sending module 300.

The information receiving module 200 is configured to receive a trap-escaping request and vehicle-mounted image information sent by a vehicle;

the instruction sending module 300 is configured to send a trap removal instruction to the vehicle in response to a trap removal operation performed by a user according to the trap removal request and the vehicle-mounted image information, where the trap removal instruction is used to instruct the vehicle to perform an operation corresponding to the trap removal instruction.

Optionally, the instruction sending module 300 includes:

the first instruction sending submodule is configured to respond to a trap-free operation performed by a user according to a first trap-free request and first vehicle-mounted image information, and send a first trap-free instruction to the vehicle, wherein the first trap-free instruction is used for indicating the vehicle to output alarm information.

Optionally, the instruction sending module 300 includes:

and the second instruction sending submodule is configured to send a second escaping instruction to the vehicle in response to an escaping operation performed by a user according to a second escaping request and second vehicle-mounted image information, wherein the second escaping instruction is used for instructing the vehicle to reduce a safe driving area of the vehicle, and the safe driving area comprises a safe distance between the vehicle and an obstacle.

Optionally, the instruction sending module 300 includes:

the third instruction sending submodule is configured to respond to a trap-free operation performed by a user according to a third trap-free request and third vehicle-mounted image information, and send a third trap-free instruction to the vehicle;

a driving operation control sub-module configured to control a driving system of the vehicle to perform a specified driving operation based on the third escape instruction.

Optionally, the instruction sending module 300 includes:

and the fourth instruction sending submodule is configured to respond to a trap-free operation performed by a user according to the trap-free request and the vehicle-mounted image information, and send a fourth trap-free instruction to the vehicle, wherein the fourth trap-free instruction is used for indicating the vehicle to be switched from a parking mode to an automatic driving mode.

Optionally, the instruction sending module 300 includes:

a fifth instruction sending submodule configured to send a first escaping instruction to the vehicle in response to escaping operation performed by a user according to a first escaping request and the first vehicle-mounted image information, wherein the first escaping instruction is used for instructing the vehicle to output alarm information;

the second escaping request receiving submodule is configured to receive a second escaping request and second vehicle-mounted image information sent by the vehicle under the condition that the vehicle is not escaping within a first preset time length;

a sixth instruction sending submodule configured to send a second escape instruction to the vehicle in response to an escape operation performed by a user according to the second escape request and the second vehicle-mounted image information, wherein the second escape instruction is used for instructing the vehicle to reduce a safe driving area of the vehicle.

Alternatively, the vehicle control device 100 includes:

the third escaping request receiving module is configured to receive a third escaping request and third vehicle-mounted image information sent by the vehicle under the condition that the vehicle is not escaping within a second preset time length;

a third escaping instruction sending module, configured to send a third escaping instruction to the vehicle in response to an escaping operation performed by a user according to the third escaping request and the third vehicle-mounted image information;

a driving operation control module configured to control a driving system of the vehicle to perform a specified driving operation based on the third escape instruction.

Based on the same inventive concept, an embodiment of the present disclosure further provides a vehicle control apparatus, please refer to fig. 9, the vehicle control apparatus is applied to a vehicle, and the vehicle control apparatus 110 includes: the information sending module 210 and the executing module 310.

An information sending module 210 configured to send a escaping request and vehicle-mounted image information to the terminal;

the execution module 310 is configured to execute an operation corresponding to the escaping instruction according to the escaping instruction sent by the terminal, where the escaping instruction is an instruction triggered by a user after the escaping operation is performed on the terminal according to the escaping request and the vehicle-mounted image information.

Optionally, the information sending module 210 includes:

the first information sending submodule is configured to send a first escaping request and first vehicle-mounted image information to the terminal under the condition that a dynamic obstacle exists around the vehicle;

the execution module 310 includes:

and the first execution submodule is configured to output alarm information according to the first escaping instruction sent by the terminal.

Optionally, the information sending module 210 includes:

a second information sending submodule configured to send a second escaping request and second in-vehicle image information to the terminal in a case where a static obstacle exists around the vehicle;

the execution module 310 includes:

and the second execution submodule is configured to narrow the safe driving area of the vehicle according to a second escaping instruction sent by the terminal.

Optionally, the information sending module 210 includes:

a third information sending submodule configured to send a third escaping request and third vehicle-mounted image information to the terminal under the condition that the vehicle cannot pass through a target obstacle;

the execution module 310 includes:

the handshake sub-module is configured to perform handshake operation with the terminal based on a third trapped eliminating instruction sent by the terminal;

and the first control sub-module is configured to control a driving system of the vehicle to execute a specified driving operation according to the control instruction sent by the terminal under the condition that the handshake operation is completed.

Optionally, the executing module 310 includes:

the fourth escaping instruction receiving submodule is configured to receive a fourth escaping instruction sent by the terminal;

and the first switching submodule is configured to switch to an automatic driving mode according to the fourth escaping instruction.

Optionally, the executing module 310 includes:

the second switching submodule is configured to control the vehicle to be switched from the parking mode to the escaping mode according to the first escaping instruction sent by the terminal so as to output alarm information;

the third switching submodule is configured to control the vehicle to be switched from the escaping mode to the parking mode under the condition that the vehicle is not escaping from the automobile in a first preset time length, and send a second escaping request and second vehicle-mounted image information to the terminal;

and the fourth switching submodule is configured to control the vehicle to be switched from the parking mode to the escaping mode according to a second escaping instruction sent by the terminal so as to narrow the safe driving area of the vehicle.

Alternatively, the vehicle control device 110 includes:

the fifth switching module is configured to control the vehicle to be switched from the escaping mode to the parking mode under the condition that the vehicle does not escape from the escaping mode within a second preset time period, and send a third escaping request and third vehicle-mounted image information to the terminal;

a sixth switching module, configured to control the vehicle to switch from the parking mode to the escaping mode according to a third escaping instruction sent by the terminal, so as to perform a handshake operation with the terminal;

and the seventh switching module is configured to control a driving system of the vehicle to execute a specified driving operation according to the control instruction sent by the terminal under the condition that the handshaking operation is completed.

FIG. 10 is a block diagram illustrating a vehicle 600, according to an exemplary embodiment. For example, the vehicle 600 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other type of vehicle. Vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

Referring to fig. 10, a vehicle 600 may include various subsystems such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. The vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components, among other things. In addition, the interconnection between each subsystem and each component of the vehicle 600 may be achieved through wired or wireless means.

In some embodiments, infotainment system 610 may include a communication system, an entertainment system, and a navigation system, among others.

The sensing system 620 may include several sensors for sensing information about the environment surrounding the vehicle 600. For example, the sensing system 620 may include a global positioning system (the global positioning system may be a GPS system, a beidou system or other positioning systems), an Inertial Measurement Unit (IMU), a laser radar, a millimeter-wave radar, an ultrasonic radar, and a camera.

Decision control system 630 may include a computing system, a vehicle control unit, a steering system, a throttle, and a braking system.

The drive system 640 may include components that provide powered motion to the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of more of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

Some or all of the functionality of the vehicle 600 is controlled by the computing platform 650. Computing platform 650 may include at least one processor 651 and memory 652, processor 651 may execute instructions 653 stored in memory 652.

The processor 651 can be any conventional processor, such as a commercially available CPU. The processor may also include a processor such as a Graphics Processing Unit (GPU), a Field Programmable Gate Array (FPGA), a System On Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

The memory 652 may be implemented by any type or combination of volatile or non-volatile storage devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

In addition to instructions 653, memory 652 may store data such as road maps, route information, location, direction, speed, etc. of the vehicle. Memory 652 stores data that may be used by computing platform 650.

In the disclosed embodiment, processor 651 can execute instructions 653 to perform all or some of the steps of the vehicle control method described above.

FIG. 11 is a block diagram illustrating an apparatus 1900 for vehicle control according to an exemplary embodiment. For example, the apparatus 1900 may be provided as a server. Referring to fig. 11, the device 1900 includes a processing component 1922 further including one or more processors and memory resources, represented by memory 1932, for storing instructions, e.g., applications, executable by the processing component 1922. The application programs stored in memory 1932 may include one or more modules that each correspond to a set of instructions. Further, the processing component 1922 is configured to execute instructions to perform the vehicle control method described above.

The device 1900 may also include a power component 1926 configured to perform power management of the device 1900, a wired or wireless network interface 1950 configured to connect the device 1900 to a network, and an input/output interface 1958. The device 1900 may operate based on an operating system stored in the memory 1932.

In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-mentioned vehicle control method when executed by the programmable apparatus.

An exemplary embodiment of the present disclosure also provides an Integrated Circuit (IC) or a chip, where the IC may be one IC or a collection of multiple ICs; the chip may include, but is not limited to, the following categories: a GPU (Graphics Processing Unit), a CPU (Central Processing Unit), an FPGA (Field Programmable Gate Array), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an SOC (System on Chip, SOC, system on Chip, or System on Chip), and the like. The integrated circuit or chip described above may be configured to execute executable instructions (or code) to implement the vehicle control method described above. Where the executable instructions may be stored in the integrated circuit or chip or may be retrieved from another device or apparatus, such as an integrated circuit or chip that includes a processor, memory, and an interface for communicating with other devices. The executable instructions may be stored in the memory, which when executed by the processor implement the vehicle control method described above; alternatively, the integrated circuit or chip may receive executable instructions through the interface and transmit the executable instructions to the processor for execution, so as to implement the vehicle control method described above.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice in the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A vehicle control method, characterized in that the method is executed by a terminal, the method comprising:

responding to a user's trap removal operation carried out according to the trap removal request and the vehicle-mounted image information, and sending a trap removal instruction to the vehicle, wherein the trap removal instruction is used for indicating the vehicle to execute an operation corresponding to the trap removal instruction.

2. The method according to claim 1, wherein the sending a trap removal instruction to the vehicle in response to a trap removal operation performed by a user according to the trap removal request and the vehicle-mounted image information comprises:

responding to a trap removal operation performed by a user according to a first trap removal request and first vehicle-mounted image information, and sending a first trap removal instruction to the vehicle, wherein the first trap removal instruction is used for indicating the vehicle to output alarm information.

3. The method according to claim 1, wherein the sending of the instruction for getting rid of the trouble to the vehicle in response to the operation for getting rid of the trouble performed by the user according to the request for getting rid of the trouble and the vehicle-mounted image information comprises:

4. The method according to claim 1, wherein the sending a trap removal instruction to the vehicle in response to a trap removal operation performed by a user according to the trap removal request and the vehicle-mounted image information comprises:

5. The method according to claim 1, wherein the sending of the instruction for getting rid of the trouble to the vehicle in response to the operation for getting rid of the trouble performed by the user according to the request for getting rid of the trouble and the vehicle-mounted image information comprises:

responding to a user's escaping operation carried out according to the escaping request and the vehicle-mounted image information, and sending a fourth escaping instruction to the vehicle, wherein the fourth escaping instruction is used for indicating the vehicle to be switched from a parking mode to an automatic driving mode.

6. The method according to claim 1, wherein the sending a trap removal instruction to the vehicle in response to a trap removal operation performed by a user according to the trap removal request and the vehicle-mounted image information comprises:

responding to a trap removal operation performed by a user according to a first trap removal request and first vehicle-mounted image information, and sending a first trap removal instruction to the vehicle, wherein the first trap removal instruction is used for indicating the vehicle to output alarm information;

and responding to a trap removal operation performed by a user according to the second trap removal request and the second vehicle-mounted image information, and sending a second trap removal instruction to the vehicle, wherein the second trap removal instruction is used for indicating the vehicle to reduce the safe driving area of the vehicle.

7. The method of claim 6, further comprising:

receiving a third escaping request and third vehicle-mounted image information sent by the vehicle under the condition that the vehicle does not escape from the trouble within a second preset time period;

8. A vehicle control method, characterized in that the method is performed by a vehicle, the method comprising:

sending a escaping request and vehicle-mounted image information to a terminal;

and executing operation corresponding to the escaping instruction according to the escaping instruction sent by the terminal, wherein the escaping instruction is an instruction triggered by the user after the escaping operation is carried out on the terminal according to the escaping request and the vehicle-mounted image information.

9. The method according to claim 8, wherein the sending the escaping request and the vehicle-mounted image information to the terminal comprises: under the condition that a dynamic barrier exists around the vehicle, sending a first escaping request and first vehicle-mounted image information to the terminal;

10. The method according to claim 8, wherein the sending the escaping request and the vehicle-mounted image information to the terminal comprises: under the condition that static obstacles exist around the vehicle, sending a second escaping request and second vehicle-mounted image information to the terminal;

11. The method according to claim 8, wherein the sending the escaping request and the vehicle-mounted image information to the terminal comprises: sending a third escaping request and third vehicle-mounted image information to the terminal under the condition that the vehicle cannot pass through a target obstacle;

the executing the operation corresponding to the instruction for getting rid of poverty according to the instruction for getting rid of poverty sent by the terminal comprises the following steps: performing handshake operation with the terminal based on a third trapped eliminating instruction sent by the terminal;

12. The method according to claim 8, wherein the performing, according to the instruction for getting rid of difficulty sent by the terminal, an operation corresponding to the instruction for getting rid of difficulty comprises:

receiving a fourth escaping instruction sent by the terminal;

13. The method according to claim 8, wherein the executing, according to the instruction for getting rid of poverty sent by the terminal, an operation corresponding to the instruction for getting rid of poverty comprises:

under the condition that the vehicle is not trapped in a first preset time period, controlling the vehicle to be switched from the trapping mode to the parking mode, and sending a second trapping removal request and second vehicle-mounted image information to the terminal;

14. The method of claim 13, further comprising:

15. A vehicle control apparatus, characterized in that the apparatus is applied to a terminal, the apparatus comprising:

16. A vehicle control apparatus, characterized in that the apparatus is applied to a vehicle, the apparatus comprising:

and the execution module is configured to execute an operation corresponding to the difficulty-overcoming instruction according to the difficulty-overcoming instruction sent by the terminal, wherein the difficulty-overcoming instruction is an instruction triggered by a user after the terminal performs difficulty-overcoming operation according to the difficulty-overcoming request and the vehicle-mounted image information.

17. A vehicle control apparatus characterized by comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

executing the executable instructions to implement the steps of the method according to any one of claims 1 to 7.

18. A vehicle control apparatus, characterized by comprising a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

executing the executable instructions to realize the steps of the method according to any one of claims 8 to 14.

19. A computer readable storage medium having computer program instructions stored thereon, which when executed by a processor, implement the steps of the method of any one of claims 1 to 7, or implement the steps of the method of any one of claims 8 to 14.

20. A chip comprising a processor and an interface; the processor is configured to read instructions to perform the steps of the method according to any one of claims 1 to 7, or to perform the steps of the method according to any one of claims 8 to 14.