CN116215516A - Control method for vehicle, electronic device and storage medium - Google Patents

Control method for vehicle, electronic device and storage medium Download PDF

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Publication number
CN116215516A
CN116215516A CN202111475277.6A CN202111475277A CN116215516A CN 116215516 A CN116215516 A CN 116215516A CN 202111475277 A CN202111475277 A CN 202111475277A CN 116215516 A CN116215516 A CN 116215516A
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CN
China
Prior art keywords
vehicle
control method
bluetooth
state
distance
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Pending
Application number
CN202111475277.6A
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Chinese (zh)
Inventor
徐旻
许梅
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Zte Terminal Co ltd
ZTE Corp
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Zte Terminal Co ltd
ZTE Corp
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Priority to CN202111475277.6A priority Critical patent/CN116215516A/en
Priority to PCT/CN2022/119113 priority patent/WO2023103507A1/en
Publication of CN116215516A publication Critical patent/CN116215516A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/48—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for in-vehicle communication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The invention discloses a control method of a vehicle, electronic equipment and a storage medium, wherein the control method of the vehicle is applied to a first vehicle and comprises the steps of receiving Bluetooth networking information; responding to Bluetooth networking information and accessing the Bluetooth networking information into a Bluetooth network; acquiring a first position of a first vehicle; and acquiring a second position of a second vehicle in the Bluetooth network, and controlling the vehicle state of the first vehicle according to the first position and the second position. In the invention, the Bluetooth network is a local area network formed by a plurality of vehicles in the current road section, so that after the first vehicle is accessed to the Bluetooth network, the second position of the second vehicle in the network can be obtained, the first vehicle can be combined with the first position of the first vehicle and the second position of the second vehicle to obtain the driving environment of the first vehicle, and the vehicle state of the first vehicle is controlled based on the driving environment, including the driving state or the communication state of the first vehicle, thereby improving the order of road conditions and the convenience of driving and improving the driving safety.

Description

Control method for vehicle, electronic device and storage medium
Technical Field
The present invention relates to the field of internet of vehicles, and in particular, to a vehicle control method, an electronic device, and a storage medium.
Background
Along with the development of automobile automatic driving technology, more and more vehicles start to realize automatic driving, in real life, the situation that traffic flow is too much, traffic is frequently changed, traffic accidents occur in certain specific road sections or in specific time periods, so that road conditions are more severe is caused, the actual driving time of the automobiles is often multiple times that of the situation of good road conditions, and the road environment and driving safety are seriously affected.
Disclosure of Invention
The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.
The embodiment of the invention provides a control method, electronic equipment and a storage medium for a vehicle, which can improve the ordering of road conditions and the convenience of driving and improve the driving safety.
In a first aspect, an embodiment of the present invention provides a control method for a vehicle, which is applied to a first vehicle, and the control method includes:
receiving Bluetooth networking information;
responding to the Bluetooth networking information and accessing the Bluetooth networking information into a Bluetooth network;
acquiring a first position of the first vehicle;
and acquiring a second position of a second vehicle in the Bluetooth network, and controlling the vehicle state of the first vehicle according to the first position and the second position.
In a second aspect, an embodiment of the present invention provides an electronic device, including: the control system comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the control method of the vehicle according to any one of the embodiments of the first aspect of the invention when executing the computer program.
In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the storage medium stores a program that is executed by a processor to implement a control method of a vehicle according to any one of the embodiments of the first aspect of the present invention.
The embodiment of the invention at least comprises the following beneficial effects: the control method of the vehicle in the embodiment of the invention is applied to the first vehicle, when the control method in the embodiment of the invention is executed, the first vehicle receives Bluetooth networking information and is connected to a Bluetooth network in response to the Bluetooth networking information, and the Bluetooth network is a local area network formed by a plurality of vehicles in the current road section, so that the first vehicle can acquire the second position of the second vehicle in the network after being connected to the Bluetooth network, the first vehicle can acquire the driving environment of the first vehicle by combining the first position of the first vehicle with the second position of the second vehicle, and the driving state of the first vehicle is controlled based on the driving environment, including controlling the driving state or the communication state of the first vehicle, thereby improving the order of road conditions and the driving convenience and the driving safety.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate and do not limit the invention.
FIG. 1 is a flow chart of a method of controlling a vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of controlling vehicle status based on vehicle sequence numbers according to one embodiment of the invention;
FIG. 3 is a schematic diagram of a multi-vehicle Bluetooth network according to one embodiment of the present invention;
FIG. 4 is a schematic flow chart of controlling vehicle conditions according to current and safe spacing provided by one embodiment of the present invention;
FIG. 5 is a schematic flow chart of controlling vehicle conditions according to current and safe spacing provided by another embodiment of the present invention;
FIG. 6 is a schematic flow chart of obtaining a safe distance according to an embodiment of the present invention;
FIG. 7 is a flow chart illustrating a method for controlling a vehicle state based on a vehicle speed according to an embodiment of the present invention;
FIG. 8 is a flow chart illustrating a method for controlling a vehicle state based on a fault condition according to one embodiment of the present invention;
FIG. 9 is a flow chart of obtaining a predicted transit time for a vehicle according to one embodiment of the invention;
FIG. 10 is a flow chart for optimizing vehicle travel conditions based on projected transit time provided by one embodiment of the present invention;
FIG. 11 is a schematic illustration of a first vehicle provided in accordance with an embodiment of the present invention;
fig. 12 is a schematic diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention.
It should be understood that in the description of the embodiments of the present invention, the meaning of several is more than one, the meaning of plural (or multiple) is more than two, and that greater than, less than, exceeding, etc. are understood to not include the present number, and that greater than, less than, within, etc. are understood to include the present number. If any, the terms "first," "second," etc. are used for distinguishing between technical features only, and should not be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the embodiments of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly, and those skilled in the art may reasonably determine the specific meaning of the terms in the embodiments of the present invention in combination with the specific contents of the technical solutions.
The Bluetooth Special Interest (SIG) organization published a Bluetooth Mesh standard in 2017, and Bluetooth Mesh is different from a one-to-one and one-to-many communication manner of a conventional Bluetooth protocol (BLE), and implements many-to-many communication, so that each node in a Bluetooth Mesh network can communicate with each other, and the Bluetooth Mesh protocol is established on a physical layer and a link layer of BLE, and can communicate with Bluetooth devices of BLE 4.0 and above.
Based on the above, the embodiment of the invention provides a vehicle control method, electronic equipment and storage medium, wherein the vehicle control method can be applied to a first vehicle, and the first vehicle can improve the order of road conditions and the convenience of driving and the driving safety by executing the vehicle control method.
The following is a detailed description.
The embodiment of the invention provides a control method of a vehicle, which is applied to a first vehicle, and is shown in fig. 1, and the control method of the vehicle in the embodiment of the invention includes, but is not limited to, step S110, step S120, step S130 and step S140.
Step S110, receiving Bluetooth networking information.
And step S120, responding to the Bluetooth networking information and accessing the Bluetooth network.
Step S130, a first position of a first vehicle is acquired.
Step S140, a second location of the second vehicle in the bluetooth network is acquired, and a vehicle state of the first vehicle is controlled according to the first location and the second location.
In an embodiment of the present invention, the control method of a vehicle in the embodiment of the present invention is applied to a first vehicle, and belongs to near field communication, when the control method in the embodiment of the present invention is executed, the first vehicle receives bluetooth networking information, and is connected to a bluetooth network in response to the bluetooth networking information, where the bluetooth network is a local area network formed by a plurality of vehicles in a current road section, so that after the first vehicle is connected to the bluetooth network, the first vehicle can obtain a second position of a second vehicle in the network, and thus the first vehicle can combine the first position of the first vehicle with the second position of the second vehicle to obtain a driving environment of the first vehicle, and control a driving state or a communication state of the first vehicle based on the first position of the first vehicle, thereby improving the order of road conditions and convenience of driving, and improving driving safety.
It may be understood that the first vehicle obtains the second position of the second vehicle, where the second position may be sent by the second vehicle through a bluetooth module on board the vehicle, or may be obtained by the first vehicle based on the second vehicle existing in the bluetooth network and performing ranging obtaining according to a ranging device set in the first vehicle, for example, after the first vehicle accesses the bluetooth network, the first vehicle may learn that a plurality of vehicles exist in the network, and obtain the second position of the second vehicle according to a vehicle-mounted laser ranging device.
It can be understood that the first vehicle receives bluetooth networking information and passively accesses the bluetooth network, the bluetooth network is a local BLE MESH formed on the current road section, in the network, there may be a bluetooth node formed by a plurality of vehicles, the first vehicle may be used as one bluetooth node in the bluetooth network to send and receive bluetooth information, there may be a first vehicle, a second vehicle, a third vehicle and the like in the network, where the first vehicle obtains its own first position, and may also be sent to the bluetooth network through bluetooth for other vehicles to receive.
It may be understood that, in the control method in the embodiment of the present invention, the vehicle state of the first vehicle is controlled through the first position and the second position, including controlling the running state or the communication state of the first vehicle, it needs to be noted that, the first position and the second position may represent specific positions of the vehicle on the road, including the lane information where the vehicle is located, the front-rear information of the vehicle, etc., the road section where the vehicle is located may have multiple lanes, the vehicle state of the first vehicle may be controlled according to different lanes and front-rear conditions through the first position and the second position, when braking or lane changing is required, the running state of the first vehicle may be controlled, the acceleration, deceleration or lane changing of the first vehicle may be controlled, when braking is not required for the first vehicle, the communication state of the first vehicle may be controlled, and the first vehicle may send its own state information or notification information to other vehicles in the bluetooth network through bluetooth, thereby facilitating the running control of other vehicles, improving the order of road conditions and the convenience of driving, and improving the running safety.
In an embodiment, the step S110 may further include, but is not limited to, the following steps:
when a first vehicle enters a preset area, receiving Bluetooth networking information sent by a base station in the preset area
In an embodiment, the first vehicle executes the control method in the embodiment of the invention after driving into a specific road section to realize passive control, the specific road section in the road is defined as a preset area, a base station is arranged in the preset area, the base station is a Bluetooth-based base station, the base station can automatically emit Bluetooth signals and comprises Bluetooth networking information, and when the first vehicle drives into the preset area, the Bluetooth networking information sent by the base station can be received, so that the Bluetooth network is accessed in response to the Bluetooth networking information.
It can be understood that the location of the preset area may be set according to actual needs, in an embodiment, a specific road segment is set as the preset area, and a base station based on bluetooth is set beside a specific roadside, where the specific road segment may be a road segment where congestion occurs frequently or a road segment of a key area, such as a school road segment, a road segment near an important unit, or a dangerous road segment, etc., and the control method in the embodiment of the present invention is executed on the specific road segment, so that the order of road conditions and the convenience of driving under the specific road segment are improved, and the driving safety is improved.
Referring to fig. 2, in an embodiment, the step S140 may further include, but is not limited to, step S210 to step S220.
Step S210, a first serial number of the first vehicle in the Bluetooth network is obtained according to the corresponding relation between the first position and the second position.
Step S220, controlling the vehicle state of the first vehicle based on the first serial number and the second serial number of the second vehicle, wherein the second serial number is obtained by the second vehicle according to the corresponding relationship between the first position and the second position.
In an embodiment, after the first vehicle accesses the bluetooth network, a corresponding serial number is generated and is controlled based on the serial number, the first vehicle obtains a first serial number of the first vehicle in the bluetooth network according to a corresponding relation between the first position and the second position, and the second vehicle obtains a second serial number of the second vehicle in the bluetooth network according to a corresponding relation between the first position and the second position, where the first serial number is related to a position of the first vehicle in the bluetooth network.
Referring to fig. 3, it may be understood that, in the embodiment of the present invention, the first serial number may be obtained according to the lane information where the first vehicle is located and the front-rear information of the vehicle, the first serial number may be set to a two-digit number or a number having a first digit and a second digit, where the first digit may be separated by a decimal point, the first digit may represent the lane where the first vehicle is located, the second digit may represent the order on the lane where the first vehicle is located, for example, a vehicle with an ID of 2.3 may indicate that the first vehicle is the third vehicle in the second lane, and the number of vehicles in the bluetooth network may be changed in real time, so that the serial numbers of the vehicles may also be changed in real time.
Referring to fig. 3, it should be noted that, in the embodiment of the present invention, a plurality of preset areas may be set at different positions on the road, and a plurality of bluetooth networks may be formed based on each preset area. Vehicles within a bluetooth network may be grouped into groups (groups) into which vehicles may access in the bluetooth network. Each vehicle needs to be provided with a bluetooth chip supporting BLE specifications. Vehicles supporting the Bluetooth Mesh specification can directly join the network, and vehicles not supporting the MESH specification can also join through proxy nodes (terminal devices supporting the MESH specification, even neighboring vehicles). Because of the characteristic of Bluetooth MESH, vehicles can directly communicate with vehicles in signal coverage, and nodes outside the signal coverage can communicate with each other through base stations on each road section as relay nodes, so that wide-range multipoint-to-multipoint information interaction is realized. The control method in the embodiment of the present invention may be executed on vehicles in groups, and the vehicles in the groups may be controlled, and it may be understood that under each Group, a plurality of sub-groups may be formed between the vehicles, and driving control may be performed according to the formed sub-groups, where the sub-groups may be divided according to a lane condition in a preset area, a bluetooth signal receiving condition, or different positions in the preset area, where no specific limitation is made, for example, each sub-Group may represent a vehicle in one lane or two adjacent lanes, and during driving, the vehicle may be controlled according to the sub-Group, or may be controlled according to the whole Group, where no specific limitation is made. For another example, the sub-Group may be divided according to the intensity of the received bluetooth signal, in an embodiment, if a sub-Group is formed according to the vehicle receiving the same stronger bluetooth signal, during the running process of the vehicle, if the sub-Group is merged, the sub-groups advance sequentially according to the Group sequence number, and the sequence number on the vehicle may be updated in real time, which is not limited herein. For another example, the sub-Group may be divided according to different positions in a preset area, and in an embodiment, a plurality of segments may be set in the area according to different distance positions, and vehicles in each segment may form a sub-Group.
It may be understood that, in the embodiments of the present invention, a plurality of groups formed on a road may be divided according to the strength of a received bluetooth signal, for example, in a certain preset area, after a first base station sends out bluetooth networking information, vehicles receiving the information form a Group, when the first base station and a second base station appear in the area, the vehicles perform networking according to the strength of the received bluetooth networking information, the vehicles with stronger bluetooth networking information of the first base station received in the certain preset area form a Group1, and the vehicles with stronger bluetooth networking information of the second base station received in the certain preset area form a Group2, where the number of groups may be set according to practical situations, and no specific limitation is made herein.
It will be appreciated that different groups may be interconnected to form the same large Group, for example, when a head car or vehicles in Group1 enter the range of the next Group2 during the running of the vehicles in Group1, the vehicles in Group1 and Group2 may form the same Group, thereby controlling the vehicles in Group.
In some embodiments, the execution of the control may be controlled by the vehicle-mounted control module of the vehicle alone or by the bluetooth base station alone. The publishing/subscription system based on the MESH protocol needs to define which base stations have control authority, and the base stations also need to define vehicles which can be controlled by the base stations, and the vehicle-mounted control module can also rely on groups; of course, the two may be performed in combination.
Referring to fig. 4, in an embodiment, the step S140 may further include, but is not limited to, step S310 to step S330.
In step S310, if the first vehicle and the second vehicle are characterized as being in the same lane according to the first position and the second position, the current distance between the first vehicle and the second vehicle is obtained.
In step S320, a safe distance between the first vehicle and the second vehicle is acquired.
Step S330, controlling the vehicle state of the first vehicle according to the current pitch and the safe pitch.
In an embodiment, the first vehicle controls the vehicle state of the first vehicle according to the first position and the second position, if the first vehicle and the second vehicle are represented in the same lane according to the first position and the second position, whether the vehicles have enough safe driving distance or not needs to be judged, the current distance between the first vehicle and the second vehicle can be obtained, the current distance can be obtained according to the specific position represented by the first position and the second position, or can be obtained by ranging a ranging module arranged on the first vehicle, the safe distance of the first vehicle or the second vehicle is obtained without specific limitation, the vehicle state of the first vehicle or the second vehicle is controlled according to the current distance and the safe distance, and whether the vehicle state of the first vehicle needs to be adjusted or not can be controlled according to the size relation between the current distance and the safe distance, and the vehicle state of the first vehicle can be driven under the condition that the enough safe distance is ensured, in particular, and the driving safety of the first vehicle can be improved.
It can be understood that when the first vehicle is located in front of the second vehicle in the same lane, the first vehicle obtains the safety distance of the second vehicle, and controls the communication state of the first vehicle based on the current distance and the safety distance of the second vehicle to send a corresponding notification to the second vehicle, or controls the running state of the first vehicle based on the current distance and the safety distance of the second vehicle to control the first vehicle to accelerate running, so as to improve the safety distance between the vehicles, and the safety distance of the second vehicle can be obtained by bluetooth information sent by the second vehicle; when the first vehicle is positioned behind a second vehicle on the same lane, the first vehicle controls the communication state of the first vehicle according to the safety distance of the first vehicle, and based on the current distance and the safety distance of the first vehicle, so as to send a corresponding notice to the second vehicle to remind the second vehicle, or alternatively, controls the running state of the first vehicle based on the current distance and the safety distance of the first vehicle, so as to control the first vehicle to accelerate or decelerate, ensure the safety distance between vehicles, or ensure the running distance between vehicles, and avoid road congestion.
Referring to fig. 5, in an embodiment, the step S330 may further include, but is not limited to, steps S410 to S430.
In step S410, if the first vehicle is before the second vehicle in the same lane according to the first position and the second position, and the current distance is smaller than the safe distance of the second vehicle, a distance abnormality notification is sent to the second vehicle, so as to make the second vehicle run at a reduced speed.
In step S420, if the first vehicle is behind the second vehicle in the same lane according to the first position and the second position, and the current distance is smaller than the safe distance of the first vehicle, the first vehicle is controlled to run at a reduced speed.
In step S430, if the first vehicle is behind the second vehicle in the same lane according to the first position and the second position, and the current distance is greater than the safe distance of the first vehicle, the first vehicle is controlled to accelerate or maintain the current vehicle speed unchanged.
In an embodiment, the first vehicle controls the vehicle state according to whether the first vehicle is a front vehicle or a rear vehicle, wherein if the first vehicle is before a second vehicle in the same lane according to the first position and the second position and the current distance is smaller than the safety distance of the second vehicle, a distance abnormality notification is sent to the second vehicle to prompt the second vehicle to react, the second vehicle can respond to the distance abnormality notification and run at a reduced speed, and the first vehicle can also accelerate to run according to the fact that the current distance is smaller than the safety distance of the second vehicle on the premise that the safety of the front vehicle is not affected; if the first vehicle is behind the second vehicle on the same lane according to the first position and the second position representation, the first vehicle controls the state of the vehicle according to whether the current distance is smaller than or larger than the safe distance of the first vehicle, the current distance is smaller than the safe distance of the first vehicle, the first vehicle is controlled to run at a reduced speed, so that the driving distance between the vehicles is improved, the current distance is larger than the safe distance of the first vehicle, the vehicle state of the first vehicle can be controlled according to the difference value between the current distance and the safe distance, if the current distance is far larger than the safe distance or the difference value between the current distance and the safe distance is larger than a preset threshold value, the first vehicle is controlled to run at an accelerated speed so as to reduce the driving distance between the vehicles, and if the current distance is slightly larger than the safe distance or the difference value between the current distance and the safe distance is smaller than the preset threshold value, the first vehicle is controlled to maintain the current speed unchanged, and the first vehicle can also feed back own control information to the second vehicle of the front vehicle when the first vehicle is the rear of the second vehicle, and no specific limitation is made.
Referring to fig. 6, in an embodiment, the step S320 may further include, but is not limited to, steps S510 to S520.
Step S510 obtains a speed of one of the first vehicle or the second vehicle, vehicle information, and a safety factor.
Step S520, obtaining the safety distance according to the speed, the vehicle information and the safety coefficient.
In an embodiment, the safety distance is obtained according to the speed, the vehicle information and the safety coefficient of the vehicle, when the safety distance of the first vehicle is to be obtained, the speed, the vehicle information and the safety coefficient of the first vehicle are obtained according to the speed, the vehicle information and the safety coefficient of the first vehicle, when the safety distance of the second vehicle is to be obtained, the speed, the vehicle information and the safety coefficient of the second vehicle are obtained according to the speed, the vehicle information and the safety coefficient of the second vehicle, and the vehicle information in the embodiment of the invention can represent the braking condition of the vehicle.
It should be noted that, the embodiment of the present invention provides a calculation formula of a safe distance, and the obtained calculation formula of the safe distance is:
Figure BDA0003393329330000071
the safety distance is calculated according to the above formula in the embodiment of the present invention, and the safety distance can be obtained according to the need, so as to control the vehicle state of the first vehicle, and on the premise of meeting the requirements of the embodiment of the present invention, the safety distance can also be calculated according to other formulas, without specific limitation.
Referring to fig. 7, in an embodiment, the step S140 may further include, but is not limited to, steps S610 to S630.
In step S610, a first speed of a first vehicle and a second speed of a second vehicle are obtained.
In step S620, if the first vehicle is ahead of the second vehicle on the same lane according to the first position and the second position, the first vehicle is maintained at the first speed.
In step S630, if the first vehicle is behind the second vehicle on the same lane according to the first position and the second position, the speed of the first vehicle is adjusted to correspond to the second speed.
In an embodiment, it is required to control the vehicles in the same lane to keep a consistent running speed, the first vehicle obtains a first speed of the first vehicle, and receives a second speed sent by the second vehicle through the bluetooth network, if the first vehicle is before the second vehicle in the same lane according to the first position and the second position, the first vehicle is kept unchanged at the first speed, which means that the first vehicle is a front vehicle at this time, and the front vehicle can keep the current speed unchanged to realize a faster running time in the current road section.
And according to the first position and the second position, the speed of the first vehicle is adjusted to correspond to the second speed of the second vehicle after representing the second vehicle of the same lane, which means that the first vehicle is a rear vehicle at the moment, the speed of the rear vehicle is corresponding to the front vehicle so as to realize the faster passing time on the current road section, it can be understood that when the first vehicle is used as the rear vehicle, the first speed needs to be adjusted to be consistent with the second speed, when the first speed is smaller than the second speed, if the current speed is maintained, the distance between the two vehicles is increased, so that the risk of traffic jam is caused, the first vehicle can increase the speed to be consistent with the second speed, it can be understood that the first vehicle can accelerate to approach the distance between the first vehicle and the first vehicle, when the distance meets the requirement of the safe distance, the speed is reduced to be consistent with the second speed of the second vehicle, if the first vehicle is not controlled, the collision risk is caused, and therefore, the second vehicle is controlled to be reduced to be consistent with the second speed of the second vehicle, the second vehicle can be understood to be reduced to be in order to realize the safe passing time between the second vehicle and the first speed.
Referring to fig. 8, in an embodiment, the step S140 may further include, but is not limited to, steps S710 to S720.
In step S710, if the first vehicle is ahead of the second vehicle on the same lane according to the first position and the second position, when the first vehicle is in a failure state, the first failure information is sent to the second vehicle for the second vehicle to adjust the vehicle state.
In step S720, if the first vehicle is behind the second vehicle in the same lane according to the first position and the second position, when the second vehicle is in a failure state, the second failure information sent by the second vehicle is received, and the first vehicle is controlled to switch to an adjacent lane according to the second failure information.
In an embodiment, the vehicle is adjusted according to the road condition to avoid traffic congestion, and mainly judges whether the same lane vehicle has a fault or not, if the first vehicle is in a fault state before the second vehicle representing the first vehicle in the same lane according to the first position and the second position, the first vehicle needs to adjust the communication state, the first vehicle sends first fault information to the second vehicle to adjust the vehicle state, the second vehicle of the rear vehicle receives the first fault information, and then can respond to the first fault information to reduce the vehicle speed, stop or switch to an adjacent lane, and the like, if the second vehicle is in a fault state after the second vehicle representing the first vehicle in the same lane according to the first position and the second position, the second vehicle can send second fault information, the first vehicle needs to adjust the running state, and the first vehicle receives the second fault information sent by the second vehicle and controls the first vehicle to switch to the adjacent lane according to the second fault information, so that congestion on the lane sending the fault is avoided.
It should be noted that, the first fault information and the second fault information indicate that the vehicle cannot normally run on the current lane, and the first fault information and the second fault information may indicate that the vehicle has a fault, or may indicate that the vehicle is stopped, or may also indicate that the vehicle is turning and the speed of the vehicle is reduced, which is not limited in detail herein.
It will be appreciated that both the first fault information and the second fault information may be transmitted by a bluetooth module on the vehicle and received by a bluetooth module on another vehicle, which receives and transmits the first fault information and the second fault information via a bluetooth network.
It should be noted that, in an embodiment, the road section in the preset area may be changed in the early period, the later period is an unchangeable road area, the vehicle running may be intervened by a control module arranged on the vehicle, specifically, the early period is to allow the road to be changed in order to average the road condition of the lane, and the control module waits until the later period to control the road condition, so that the order of the road condition and the convenience of driving can be improved, and the driving safety is improved.
Referring to fig. 9, in an embodiment, the step S140 may further include, but is not limited to, steps S810 to S820.
In step S810, if the first vehicle is behind the second vehicle in the same lane according to the first position and the second position, the time information of the second vehicle passing through the current road is obtained.
In step S820, a first estimated passing time of the first vehicle through the current road is calculated according to the time information.
In an embodiment, the time that the vehicle needs to spend for passing through the current road section can be predicted, and the time is mainly determined according to the time that the preceding vehicle passes through the current road section, if the time information that the second vehicle passes through the current road section is obtained after the first vehicle is characterized by the second vehicle in the same lane according to the first position and the second position, the time information can be sent through a bluetooth network and received by the first vehicle, the first vehicle calculates the first estimated passing time that the first vehicle passes through the current road section according to the time information, in another embodiment, the first vehicle can calculate the estimated passing time of the vehicle by collecting the passing time of all vehicles in front, or only obtaining the passing time of a plurality of sub groups in front.
It will be appreciated that the first estimated time of passage may be obtained by combining the current distance between the first vehicle and the second vehicle and the first speed of the first vehicle according to the obtained time information, and when the first vehicle is used as a front vehicle on the current lane, the time of passage through the current road section may be calculated according to the remaining distance of the current road section and the first speed of the first vehicle, which is not particularly limited herein.
Referring to fig. 10, in an embodiment, the step S820 may further include, but is not limited to, steps S910 to S920.
Step S910 obtains a second estimated time of passage of the second vehicle and a third estimated time of passage of a third vehicle within the bluetooth network.
Step S920, optimally controlling the running state of the first vehicle according to the first, second, and third estimated time of passage.
In an embodiment, the vehicle combines all vehicles in the bluetooth network to obtain the estimated passing time of each vehicle, thereby optimizing the running state of the first vehicle, and realizing the optimization of the passing time in the whole bluetooth network, the first vehicle obtains the second estimated passing time of the second vehicle and the third estimated passing time of the third vehicle in the bluetooth network, and optimally controls the running state of the first vehicle according to the first estimated passing time, the second estimated passing time and the third estimated passing time, the second vehicle is the vehicle in the same lane as the first vehicle, the second estimated passing time of the second vehicle can be calculated by the steps in the embodiment, when the second vehicle is the front vehicle of the lane, the second estimated passing time is calculated according to the remaining distance of the current road section and the own vehicle speed, the third vehicle is a plurality of vehicles in other lanes, it can be understood that in order to improve the speed of the lane passing in the preset area, the embodiment of the invention integrates the estimated passing time of all vehicles in the area, and can calculate the running path of the vehicle, for example, the first vehicle can reach the first estimated passing time, the first vehicle can reach the minimum passing time, the first estimated passing time is not trained, and the first estimated passing time is calculated, and the first estimated passing time is not trained, and the first estimated passing time is limited, and the first estimated passing time can be calculated.
It may be understood that, in the embodiment of the present invention, after the first expected passing time of the first vehicle is obtained, the first expected passing time may be displayed for the user to view, and the road section length or the remaining road section length, the number of front vehicles obtained through the bluetooth network, and the like may also be displayed, which is not limited in particular herein.
Referring to fig. 11, the embodiment of the present invention further provides a first vehicle, where the first vehicle includes a bluetooth module 101, a prediction module 102, a ranging module 103, a control module 104, and a display module 105, where the bluetooth module 101 is configured to receive and send bluetooth information, including receiving bluetooth networking information, and in response to the bluetooth networking information, the first vehicle is connected to a bluetooth network, where the bluetooth module 101 is configured to connect to a peer bluetooth device, interact information, and transmit audio stream data to a plurality of bluetooth devices, etc., the prediction module 102 is configured to obtain a plurality of pieces of vehicle information on the same lane, including obtaining a transit time or a predicted transit time of another vehicle, predicting a time that the host vehicle needs to spend passing through the road, where the ranging module 103 is configured to assist in calculating whether a distance between the host vehicle and a preceding vehicle meets a requirement, and where the control module 104 is configured to perform vehicle travel control on a specific road, and where no human manipulation is performed. The display module 105 is configured to display road segment related information, including a road segment length, a number of vehicles in front, an expected passing time, and the like, where the first vehicle may execute the control method of the vehicle in the foregoing embodiment, and when executing the control method in the foregoing embodiment, the first vehicle receives bluetooth networking information and accesses the bluetooth network in response to the bluetooth networking information, where the bluetooth network is a local area network formed by a plurality of vehicles in a current road segment, so that after the first vehicle accesses the bluetooth network, the first vehicle may acquire a second location of the second vehicle in the network, and thus the first vehicle may combine the first location of the first vehicle with the second location of the second vehicle to obtain a driving environment of the first vehicle, and based on this, control a driving state or a communication state of the first vehicle, where the first vehicle may further set other modules as needed, without specific limitation.
It will be appreciated that taking fig. 3 as an example, three vehicles with no sub-Group added to lane 2 are selected, in the process of networking by using the bluetooth module 101, the vehicles 2.3 find the vehicles with the nearest adjacent lanes, i.e. vehicles 1.3 and 3.3, according to the intensity indication (Received Signal Strength Indicator, RSSI) value of the bluetooth received signal, all vehicles in front of these vehicles may form a sub-Group, where the former number in the ID represents the lane, the latter number represents the position on the lane in units of sub-Group, and the generation of sub-Group is mainly aimed at the situation of merging or vehicle failure, such as when merging occurs, the vehicles of one Group advance sequentially according to the ID, or when one of the vehicles fails, the vehicles behind the failed lane sequentially switch lanes, where no specific limitation is made.
Fig. 12 shows an electronic device 200 provided by an embodiment of the invention. The electronic device 200 includes: the vehicle control system comprises a processor 201, a memory 202 and a computer program stored in the memory 202 and executable on the processor 201, wherein the computer program is used for executing the vehicle control method.
The processor 201 and the memory 202 may be connected by a bus or other means.
The memory 202 serves as a non-transitory computer readable storage medium storing a non-transitory software program and a non-transitory computer executable program, such as the control method of the vehicle described in the embodiments of the present invention. The processor 201 implements the above-described control method of the vehicle by running a non-transitory software program and instructions stored in the memory 202.
Memory 202 may include a storage program area that may store an operating system, at least one application program required for functionality, and a storage data area; the storage data area may store a control method of the vehicle described above. Further, the memory 202 may include high-speed random access memory 202, and may also include non-transitory memory 202, such as at least one storage device memory device, flash memory device, or other non-transitory solid state memory device. In some implementations, the memory 202 optionally includes memory 202 remotely located relative to the processor 201, the remote memory 202 being connectable to the electronic device 200 through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The non-transitory software programs and instructions required to implement the above-described control method of the vehicle are stored in the memory 202, and when executed by the one or more processors 201, the above-described control method of the vehicle is performed, for example, method steps S110 to S140 in fig. 1, method steps S210 to S220 in fig. 2, method steps S310 to S330 in fig. 4, method steps S410 to S430 in fig. 5, method steps S510 to S520 in fig. 6, method steps S610 to S620 in fig. 7, method steps S710 to S720 in fig. 8, method steps S810 to S820 in fig. 9, and method steps S910 to S920 in fig. 10.
The embodiment of the invention also provides a computer readable storage medium which stores computer executable instructions for executing the vehicle control method.
In an embodiment, the computer-readable storage medium stores computer-executable instructions that are executed by one or more control processors, for example, to perform method steps S110 through S140 in fig. 1, method steps S210 through S220 in fig. 2, method steps S310 through S330 in fig. 4, method steps S410 through S430 in fig. 5, method steps S510 through S520 in fig. 6, method steps S610 through S620 in fig. 7, method steps S710 through S720 in fig. 8, method steps S810 through S820 in fig. 9, and method steps S910 through S920 in fig. 10.
The above described apparatus embodiments are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Those of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, storage device storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically include computer readable instructions, data structures, program modules, or other data in a modulated data signal, such as a carrier wave or other transport mechanism, and may include any information delivery media.
It should also be appreciated that the various embodiments provided by the embodiments of the present invention may be arbitrarily combined to achieve different technical effects.
While the preferred embodiment of the present invention has been described in detail, the present invention is not limited to the above embodiments, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit and scope of the present invention, and these equivalent modifications or substitutions are included in the scope of the present invention as defined in the appended claims.

Claims (12)

1. A control method of a vehicle, applied to a first vehicle, the control method comprising:
receiving Bluetooth networking information;
responding to the Bluetooth networking information and accessing the Bluetooth networking information into a Bluetooth network;
acquiring a first position of the first vehicle;
and acquiring a second position of a second vehicle in the Bluetooth network, and controlling the vehicle state of the first vehicle according to the first position and the second position.
2. The control method of a vehicle according to claim 1, characterized in that the receiving bluetooth networking information includes:
and when the first vehicle enters a preset area, receiving the Bluetooth networking information sent by the base station in the preset area.
3. The control method of the vehicle according to claim 1, characterized in that the controlling the vehicle state of the first vehicle according to the first position and the second position includes:
obtaining a first serial number of the first vehicle in the Bluetooth network according to the corresponding relation between the first position and the second position;
and controlling the vehicle state of the first vehicle based on the first serial number and a second serial number of the second vehicle, wherein the second serial number is obtained by the second vehicle according to the corresponding relation between the first position and the second position.
4. A control method of a vehicle according to claim 1 or 3, characterized in that the controlling the vehicle state of the first vehicle according to the first position and the second position includes:
if the first vehicle and the second vehicle are characterized to be in the same lane according to the first position and the second position, acquiring the current distance between the first vehicle and the second vehicle;
acquiring a safety distance of the first vehicle or the second vehicle;
and controlling the vehicle state of the first vehicle according to the current distance and the safety distance.
5. The control method of the vehicle according to claim 4, characterized in that the controlling the vehicle state of the first vehicle according to the current pitch and the safe pitch includes:
if the first vehicle is before the second vehicle in the same lane according to the first position and the second position, and the current distance is smaller than the safe distance of the second vehicle, sending a distance abnormality notification to the second vehicle so as to enable the second vehicle to run at a reduced speed;
if the first vehicle is characterized to be behind the second vehicle in the same lane according to the first position and the second position, and the current distance is smaller than the safety distance of the first vehicle, controlling the first vehicle to run at a reduced speed;
and if the first vehicle is characterized to be behind the second vehicle in the same lane according to the first position and the second position, and the current distance is larger than the safety distance of the first vehicle, controlling the first vehicle to run in an accelerating way or maintaining the current vehicle speed unchanged.
6. The method for controlling a vehicle according to claim 4, characterized in that the acquiring the safe distance of the first vehicle or the second vehicle includes:
Acquiring speed, vehicle information and a safety factor of one of the first vehicle or the second vehicle;
and obtaining the safety distance according to the speed, the vehicle information and the safety coefficient.
7. A control method of a vehicle according to claim 1 or 3, characterized in that the controlling the vehicle state of the first vehicle according to the first position and the second position includes:
acquiring a first speed of the first vehicle and a second speed of the second vehicle;
maintaining the first vehicle at the first speed if the first vehicle is ahead of the second vehicle on the same lane as characterized by the first and second positions;
and if the first vehicle is characterized to be behind the second vehicle in the same lane according to the first position and the second position, adjusting the speed of the first vehicle to correspond to the second speed.
8. A control method of a vehicle according to claim 1 or 3, characterized in that the controlling the vehicle state of the first vehicle according to the first position and the second position includes:
if the first vehicle is before the second vehicle in the same lane according to the first position and the second position, when the first vehicle is in a fault state, sending first fault information to the second vehicle so as to enable the second vehicle to adjust the vehicle state;
And if the first vehicle is characterized to be in the second vehicle of the same lane according to the first position and the second position, when the second vehicle is in a fault state, receiving second fault information sent by the second vehicle, and controlling the first vehicle to switch to an adjacent lane according to the second fault information.
9. A control method of a vehicle according to claim 1 or 3, characterized in that after the control of the vehicle state of the first vehicle according to the first position and the second position, the control method further comprises:
if the first vehicle is characterized to be behind the second vehicle in the same lane according to the first position and the second position, acquiring time information of the second vehicle passing through a current road section;
and calculating the first estimated passing time of the first vehicle passing through the current road section according to the time information.
10. The control method of a vehicle according to claim 9, characterized in that after the first estimated passage time of the first vehicle through the current road section is calculated from the time information, the control method further comprises:
acquiring a second estimated time of passage of the second vehicle and a third estimated time of passage of a third vehicle in the Bluetooth network;
And optimally controlling the running state of the first vehicle according to the first expected passing time, the second expected passing time and the third expected passing time.
11. An electronic device, comprising: a memory, a processor storing a computer program, the processor executing the computer program implementing the control method of a vehicle according to any one of claims 1 to 10.
12. A computer-readable storage medium, characterized in that the storage medium stores a program that is executed by a processor to realize the control method of the vehicle according to any one of claims 1 to 10.
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