CN116442928A - Vehicle control method, device and readable storage medium - Google Patents
Vehicle control method, device and readable storage medium Download PDFInfo
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- CN116442928A CN116442928A CN202310216564.8A CN202310216564A CN116442928A CN 116442928 A CN116442928 A CN 116442928A CN 202310216564 A CN202310216564 A CN 202310216564A CN 116442928 A CN116442928 A CN 116442928A
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- 238000001514 detection method Methods 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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Abstract
The present disclosure provides a vehicle control method, apparatus, and readable storage medium, the method comprising: in response to receiving a first activation instruction, controlling a first auxiliary driving function module to be connected with the unified interface, and controlling the unified interface to establish handshake connection with a chassis domain controller; and in response to receiving a second activation instruction, controlling the second auxiliary driving function module to be connected with the unified interface, and controlling the first auxiliary driving function module to be disconnected with the unified interface. According to the scheme, under the condition that the unified interface and the chassis domain controller are kept in handshake connection, the intelligent driving domain controller is internally switched with the auxiliary driving function module, so that the intelligent driving function of the vehicle can be switched seamlessly, time gaps and out-of-control risks can not occur, and the safety of the vehicle and a user is improved.
Description
Technical Field
The disclosure relates to the technical field of vehicle control, and in particular relates to a vehicle control method, a vehicle control device and a readable storage medium.
Background
Currently, as intelligent automobiles represented by electric automobiles are becoming more popular, the need for a user to assist driving experience is also increasing. However, because different auxiliary driving modules of the current vehicle are respectively and independently connected with the control system of the vehicle, when the vehicle switches different auxiliary driving functions, a short time gap without any auxiliary driving function can appear, and at the moment, the vehicle has a risk of losing control and brings potential safety hazard to users.
Disclosure of Invention
Accordingly, the present disclosure provides a vehicle control method, device and readable storage medium to solve at least the technical problems in the related art.
According to a first aspect of embodiments of the present disclosure, there is provided a vehicle control method applied to a vehicle provided with an intelligent driving domain controller including at least two intelligent driving function modules and provided with a unified interface for establishing handshake connection with a chassis domain controller, the method comprising:
in response to receiving a first activation instruction, controlling a first auxiliary driving function module to be connected with the unified interface, and controlling the unified interface to establish handshake connection with a chassis domain controller;
and in response to receiving a second activation instruction, controlling the second auxiliary driving function module to be connected with the unified interface, and controlling the first auxiliary driving function module to be disconnected with the unified interface.
In combination with any of the embodiments of the present disclosure, the method further comprises:
and in response to receiving an exit instruction of the auxiliary driving function, controlling the intelligent driving domain controller to disconnect handshake connection with the chassis domain controller.
In combination with any of the embodiments of the present disclosure, the method further comprises:
detecting whether the vehicle currently meets an intelligent driving function starting condition or not in response to power-on of the vehicle;
and acquiring an activation instruction of the first auxiliary driving function under the condition that the vehicle currently meets the intelligent driving function starting condition.
In combination with any one of the embodiments of the present disclosure, the detecting whether the vehicle currently meets the intelligent driving function starting condition includes:
determining the current vehicle condition state:
under the condition that the current vehicle does not have a fault and the current vehicle electric quantity is not lower than a preset electric quantity value, determining that the vehicle currently meets an intelligent driving function starting condition;
otherwise, determining that the vehicle does not meet the intelligent driving function starting condition currently.
In combination with any of the embodiments of the present disclosure, in the case where the vehicle is provided with a parking field controller, the method further includes:
and in response to receiving an activation instruction of a parking function, controlling the parking domain controller to be connected with the unified interface through the intelligent driving domain controller, and controlling the intelligent driving domain controller to establish handshake connection with the chassis domain controller through the unified interface so as to start the parking function.
According to a second aspect of embodiments of the present disclosure, there is provided a vehicle control apparatus applied to a vehicle provided with an intelligent driving domain controller including at least two intelligent driving function modules and provided with a unified interface for establishing handshake connection with a chassis domain controller, the apparatus comprising:
the first connection module is used for: in response to receiving a first activation instruction, controlling a first auxiliary driving function module to be connected with the unified interface, and controlling the unified interface to establish handshake connection with a chassis domain controller;
a second connection module for: and in response to receiving a second activation instruction, controlling the second auxiliary driving function module to be connected with the unified interface, and controlling the first auxiliary driving function module to be disconnected with the unified interface.
In combination with any of the embodiments of the present disclosure, the apparatus further comprises an exit module for:
and in response to receiving an exit instruction of the auxiliary driving function, controlling the intelligent driving domain controller to disconnect handshake connection with the chassis domain controller.
In combination with any of the embodiments of the present disclosure, the apparatus further comprises a detection module for:
detecting whether the vehicle currently meets an intelligent driving function starting condition or not in response to power-on of the vehicle;
and acquiring an activation instruction of the first auxiliary driving function under the condition that the vehicle currently meets the intelligent driving function starting condition.
In combination with any one of the embodiments of the present disclosure, when detecting whether the vehicle currently satisfies an intelligent driving function starting condition, the detection module is specifically configured to:
determining the current vehicle condition state:
under the condition that the current vehicle does not have a fault and the current vehicle electric quantity is not lower than a preset electric quantity value, determining that the vehicle currently meets an intelligent driving function starting condition;
otherwise, determining that the vehicle does not meet the intelligent driving function starting condition currently.
In combination with any of the embodiments of the present disclosure, in case the vehicle is provided with a parking field controller, the apparatus further comprises a third connection module for:
and in response to receiving an activation instruction of a parking function, controlling the parking domain controller to be connected with the unified interface through the intelligent driving domain controller, and controlling the intelligent driving domain controller to establish handshake connection with the chassis domain controller through the unified interface so as to start the parking function.
According to a third aspect of the disclosed embodiments, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method according to any of the embodiments of the first aspect described above.
According to a fourth aspect of embodiments of the present disclosure, there is provided an electronic device, comprising:
a memory for storing the processor-executable instructions;
a processor configured to execute executable instructions in the memory to implement the steps of the method of any of the embodiments of the first aspect described above.
The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects:
under the condition that the unified interface and the chassis domain controller are kept in handshake connection, the intelligent driving domain controller is internally switched with the auxiliary driving function module, so that the intelligent driving function of the vehicle can be switched seamlessly, time gaps and out-of-control risks can not occur, and the safety of the vehicle and a user is improved.
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 disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 illustrates a vehicle control method schematic diagram according to an exemplary embodiment of the present disclosure;
FIG. 2 is a flow chart of a vehicle control method according to an exemplary embodiment of the present disclosure;
FIG. 3 illustrates another vehicle control method schematic diagram of the present disclosure, according to an exemplary embodiment;
FIG. 4 is a diagram of a vehicle control system architecture according to an exemplary embodiment of the present disclosure;
fig. 5 is a schematic diagram of a vehicle control apparatus according to an exemplary embodiment of the present disclosure.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.
Currently, as intelligent automobiles represented by electric automobiles are becoming more popular, the need for a user to assist driving experience is also increasing. However, because different auxiliary driving modules of the current vehicle are respectively connected with the control system of the vehicle, when the current vehicle switches different auxiliary driving functions, a short time gap without any auxiliary driving function can appear, and at the moment, the vehicle has a risk of losing control and brings potential safety hazard to users.
As shown in fig. 1, in the current intelligent driving domain controller, different driving assistance modules are respectively connected with a control system (such as a chassis threshold controller) of a vehicle through independent interfaces, in one example, a user switches a current first driving assistance function to a second driving assistance function, and then the first driving assistance function module is disconnected with the chassis threshold controller first, and then the second driving assistance function module is connected with the chassis threshold controller, and in the process, a short time gap without any driving assistance function exists, and at the moment, the vehicle has a risk of losing control and brings a safety hazard to the user.
In view of this, the present disclosure provides a vehicle control method to at least solve the technical problems existing in the related art, where the method described in the present disclosure is applied to a vehicle provided with an intelligent driving domain controller, the intelligent driving domain controller includes at least two intelligent driving function modules, and a unified interface for establishing handshake connection with a chassis domain controller is provided.
Wherein the intelligent driving domain controller characterizes elements integrating intelligent driving related function information of the vehicle, including auxiliary driving functions and/or automatic driving functions, such as an automatic driving domain controller (ADCU, automated Driving Control Unit). The intelligent driving domain controller includes at least two intelligent driving function modules, which may be used to perform auxiliary driving functions of the vehicles L1 to L4 class, such as a High speed auxiliary driving function (HWA), an automatic auxiliary navigation driving function (NOP, navigate on Pilot), a City Pilot function (CPT), and the like.
In addition, the intelligent driving domain controller is further provided with a unified interface for establishing handshake connection with the chassis domain controller, so that each intelligent driving function module in the intelligent domain controller can interact with other domain controllers through the same interface.
FIG. 2 illustrates a vehicle control method flowchart according to an exemplary embodiment of the present disclosure.
In step S101, in response to receiving the first activation instruction, the first driving support function module is controlled to connect with the unified interface, and the unified interface is controlled to establish handshake connection with the chassis domain controller.
Optionally, the first activation instruction characterizes a control instruction for triggering the first auxiliary driving function, and may be actively triggered by a user or automatically triggered by the intelligent driving domain controller. The first driving assistance function module characterizes a relevant control algorithm for performing the first driving assistance function, may comprise any advanced driving assistance system (ADAS, advanced Driving Assistance System) function of the at least two intelligent driving functions, such as a High speed driving assistance function (HWA), an automatic navigation driving assistance function (NOP, navigate on Pilot), a City Pilot function (CPT), etc. The chassis threshold controller characterizes a motion control actuator of a vehicle including a transverse braking system and a longitudinal braking system.
Under the condition that the first activation instruction is received, the first auxiliary driving function module can be controlled to be connected with the unified interface, and the unified interface is controlled to be connected with the chassis domain controller in a handshake mode, so that the first auxiliary driving function module can perform handshake interaction with the chassis threshold controller, information transmission, alphabet verification or other protocol verification is facilitated, and the vehicle can start the first auxiliary driving function.
In step S102, in response to receiving the second activation instruction, the second auxiliary driving function module is controlled to connect to the unified interface, and the first auxiliary driving function module is controlled to disconnect from the unified interface.
Optionally, the second activation instruction characterizes a control instruction for triggering the second auxiliary driving function, and may be actively triggered by a user or automatically triggered by the intelligent driving domain controller. The second driving assistance function module characterizes a relevant control algorithm for executing the second driving assistance function, and may include any one of the at least two intelligent driving functions in addition to the first driving assistance function.
Fig. 3 illustrates a schematic diagram of a vehicle control method according to an exemplary embodiment of the present disclosure.
And under the condition that the second activation instruction is received, representing that the current vehicle needs to execute the switching operation of the intelligent driving function, controlling the second auxiliary driving function module to be connected with the unified interface and controlling the first auxiliary driving function module to be disconnected with the unified interface. That is, under the condition that the unified interface is in handshake connection with the chassis domain controller, the switching process of the auxiliary driving function module is completed inside the intelligent driving domain controller. The second driving assistance function module can be enabled to start the second driving assistance function in case of handshake interaction with the chassis threshold controller.
According to the scheme, under the condition that the unified interface is kept in handshake connection with the chassis domain controller, the intelligent driving domain controller is internally switched with the auxiliary driving function module, so that the intelligent driving function of the vehicle is switched seamlessly, time gaps and out-of-control risks are avoided, and the safety of the vehicle and a user is improved.
In an alternative embodiment, the method further comprises:
and in response to receiving an exit instruction of the auxiliary driving function, controlling the intelligent driving domain controller to disconnect handshake connection with the chassis domain controller.
Specifically, in the case that the intelligent driving function currently executed by the vehicle exits, the handshake connection between the intelligent driving domain controller and the chassis domain controller may be directly interrupted, so as to control the intelligent driving domain controller to end the current intelligent driving function.
In an alternative embodiment, the method further comprises:
detecting whether the vehicle currently meets an intelligent driving function starting condition or not in response to power-on of the vehicle;
and acquiring an activation instruction of the first auxiliary driving function under the condition that the vehicle currently meets the intelligent driving function starting condition.
Specifically, before the method is executed, after the vehicle is electrified, the chassis threshold controller can be controlled to perform self-checking on the health state of the vehicle, and whether the activation instruction is received or not is determined according to the health state of the vehicle.
Illustratively, the detecting whether the vehicle currently satisfies the intelligent driving function starting condition includes:
determining the current vehicle condition state:
under the condition that the current vehicle does not have a fault and the current vehicle electric quantity is not lower than a preset electric quantity value, determining that the vehicle currently meets an intelligent driving function starting condition;
otherwise, determining that the vehicle does not meet the intelligent driving function starting condition currently.
Specifically, whether the current vehicle satisfies the intelligent driving function turning-on condition may be determined by determining whether the current vehicle has a complete vehicle failure, such as by detecting whether the vehicle has a tire pressure monitoring system display abnormality (TMPS lamp on) or a motor failure (TM lamp on) by an electronic control unit (ECU, electronic Control Unit). Or the vehicle power management controller acquires the residual electric quantity of the vehicle, and after the residual electric quantity is lower than a preset electric quantity value, the intelligent driving function is forbidden to be started to prompt a user so as to avoid danger caused by closing of a vehicle system.
In an alternative embodiment, in case the vehicle is provided with a parking field controller, the method further comprises:
and in response to receiving an activation instruction of a parking function, controlling the parking domain controller to be connected with the unified interface through the intelligent driving domain controller, and controlling the intelligent driving domain controller to establish handshake connection with the chassis domain controller through the unified interface so as to start the parking function.
The parking domain controller can be connected with the chassis domain controller in a handshake way through a unified interface of the intelligent driving domain controller to realize the parking function, and the interface integration of the parking domain controller and the intelligent driving domain controller is realized.
For the foregoing method embodiments, for simplicity of explanation, the methodologies are shown as a series of acts, but one of ordinary skill in the art will appreciate that the present disclosure is not limited by the order of acts described, as some steps may occur in other orders or concurrently in accordance with the disclosure.
Further, those skilled in the art will also appreciate that the embodiments described in the specification are all alternative embodiments, and that the acts and modules referred to are not necessarily required by the present disclosure.
Corresponding to the embodiment of the application function implementation method, the disclosure also provides an embodiment of the application function implementation device and a corresponding terminal.
A block diagram of a device for controlling a vehicle according to an exemplary embodiment of the present disclosure is shown in fig. 4, and is applied to a vehicle provided with an intelligent driving domain controller, where the intelligent driving domain controller includes at least two intelligent driving function modules, and is provided with a unified interface for establishing handshake connection with a chassis domain controller, and the device includes:
a first connection module 401 for: in response to receiving a first activation instruction, controlling a first auxiliary driving function module to be connected with the unified interface, and controlling the unified interface to establish handshake connection with a chassis domain controller;
a second connection module 402 for: and in response to receiving a second activation instruction, controlling the second auxiliary driving function module to be connected with the unified interface, and controlling the first auxiliary driving function module to be disconnected with the unified interface.
In combination with any of the embodiments of the present disclosure, the apparatus further comprises an exit module for:
and in response to receiving an exit instruction of the auxiliary driving function, controlling the intelligent driving domain controller to disconnect handshake connection with the chassis domain controller.
In combination with any of the embodiments of the present disclosure, the apparatus further comprises a detection module for:
detecting whether the vehicle currently meets an intelligent driving function starting condition or not in response to power-on of the vehicle;
and acquiring an activation instruction of the first auxiliary driving function under the condition that the vehicle currently meets the intelligent driving function starting condition.
In combination with any one of the embodiments of the present disclosure, when detecting whether the vehicle currently satisfies an intelligent driving function starting condition, the detection module is specifically configured to:
determining the current vehicle condition state:
under the condition that the current vehicle does not have a fault and the current vehicle electric quantity is not lower than a preset electric quantity value, determining that the vehicle currently meets an intelligent driving function starting condition;
otherwise, determining that the vehicle does not meet the intelligent driving function starting condition currently.
In combination with any of the embodiments of the present disclosure, in case the vehicle is provided with a parking field controller, the apparatus further comprises a third connection module for:
and in response to receiving an activation instruction of a parking function, controlling the parking domain controller to be connected with the unified interface through the intelligent driving domain controller, and controlling the intelligent driving domain controller to establish handshake connection with the chassis domain controller through the unified interface so as to start the parking function.
For the device embodiments, reference is made to the description of the method embodiments for the relevant points, since they essentially correspond to the method embodiments. The apparatus embodiments described above are merely illustrative, wherein the elements described above as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, 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 objectives of the disclosed solution. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
Corresponding to the embodiments of the aforementioned method, the present specification also provides embodiments of the apparatus and the terminal to which it is applied.
Embodiments of the present document processing apparatus may be applied to a computer device, such as a server or a terminal device. The apparatus embodiments may be implemented by software, or may be implemented by hardware or a combination of hardware and software. Taking software implementation as an example, the device in a logic sense is formed by reading corresponding computer program instructions in the nonvolatile memory into the memory through a processor of the file processing where the device is located. In terms of hardware, as shown in fig. 5, a hardware structure diagram of a computer device where the file processing apparatus according to the embodiment of the present invention is located is shown in fig. 5, and in addition to the processor 510, the memory 530, the network interface 520, and the nonvolatile memory 540 shown in fig. 5, a server or an electronic device where the apparatus is located in the embodiment may generally include other hardware according to an actual function of the computer device, which will not be described herein.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any adaptations, uses, or adaptations of the disclosure following the general principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within 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 is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (12)
1. A vehicle control method, characterized by being applied to a vehicle provided with an intelligent driving domain controller including at least two intelligent driving function modules and provided with a unified interface for establishing handshake connection with a chassis domain controller, the method comprising:
in response to receiving a first activation instruction, controlling a first auxiliary driving function module to be connected with the unified interface, and controlling the unified interface to establish handshake connection with a chassis domain controller;
and in response to receiving a second activation instruction, controlling the second auxiliary driving function module to be connected with the unified interface, and controlling the first auxiliary driving function module to be disconnected with the unified interface.
2. The method according to claim 1, wherein the method further comprises:
and in response to receiving an exit instruction of the auxiliary driving function, controlling the intelligent driving domain controller to disconnect handshake connection with the chassis domain controller.
3. The method according to claim 1, wherein the method further comprises:
detecting whether the vehicle currently meets an intelligent driving function starting condition or not in response to power-on of the vehicle;
and acquiring an activation instruction of the first auxiliary driving function under the condition that the vehicle currently meets the intelligent driving function starting condition.
4. A method according to claim 3, wherein said detecting whether the vehicle currently satisfies an intelligent driving function on condition comprises:
determining the current vehicle condition state:
under the condition that the current vehicle does not have a fault and the current vehicle electric quantity is not lower than a preset electric quantity value, determining that the vehicle currently meets an intelligent driving function starting condition;
otherwise, determining that the vehicle does not meet the intelligent driving function starting condition currently.
5. The method of claim 1, wherein, in the event that the vehicle is provided with a parking field controller, the method further comprises:
and in response to receiving an activation instruction of a parking function, controlling the parking domain controller to be connected with the unified interface through the intelligent driving domain controller, and controlling the intelligent driving domain controller to establish handshake connection with the chassis domain controller through the unified interface so as to start the parking function.
6. A vehicle control device, characterized by being applied to a vehicle provided with an intelligent driving domain controller comprising at least two intelligent driving function modules and provided with a unified interface for establishing a handshake connection with a chassis domain controller, the device comprising:
the first connection module is used for: in response to receiving a first activation instruction, controlling a first auxiliary driving function module to be connected with the unified interface, and controlling the unified interface to establish handshake connection with a chassis domain controller;
a second connection module for: and in response to receiving a second activation instruction, controlling the second auxiliary driving function module to be connected with the unified interface, and controlling the first auxiliary driving function module to be disconnected with the unified interface.
7. The apparatus of claim 6, further comprising an exit module to:
and in response to receiving an exit instruction of the auxiliary driving function, controlling the intelligent driving domain controller to disconnect handshake connection with the chassis domain controller.
8. The apparatus of claim 6, further comprising a detection module for:
detecting whether the vehicle currently meets an intelligent driving function starting condition or not in response to power-on of the vehicle;
and acquiring an activation instruction of the first auxiliary driving function under the condition that the vehicle currently meets the intelligent driving function starting condition.
9. The device according to claim 8, wherein the detection module is configured to, when detecting whether the vehicle currently satisfies the intelligent driving function starting condition:
determining the current vehicle condition state:
under the condition that the current vehicle does not have a fault and the current vehicle electric quantity is not lower than a preset electric quantity value, determining that the vehicle currently meets an intelligent driving function starting condition;
otherwise, determining that the vehicle does not meet the intelligent driving function starting condition currently.
10. The apparatus of claim 6, wherein, in the event that the vehicle is provided with a parking field controller, the apparatus further comprises a third connection module for:
and in response to receiving an activation instruction of a parking function, controlling the parking domain controller to be connected with the unified interface through the intelligent driving domain controller, and controlling the intelligent driving domain controller to establish handshake connection with the chassis domain controller through the unified interface so as to start the parking function.
11. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of the method according to any one of claims 1 to 5.
12. An electronic device, the electronic device comprising:
a memory for storing processor-executable instructions;
a processor configured to execute executable instructions in the memory to implement the steps of the method of any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310216564.8A CN116442928A (en) | 2023-03-02 | 2023-03-02 | Vehicle control method, device and readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310216564.8A CN116442928A (en) | 2023-03-02 | 2023-03-02 | Vehicle control method, device and readable storage medium |
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| CN116442928A true CN116442928A (en) | 2023-07-18 |
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| CN202310216564.8A Pending CN116442928A (en) | 2023-03-02 | 2023-03-02 | Vehicle control method, device and readable storage medium |
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| CN (1) | CN116442928A (en) |
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