WO2023241562A1

WO2023241562A1 - Vehicle control method and apparatus, vehicle, and storage medium

Info

Publication number: WO2023241562A1
Application number: PCT/CN2023/099885
Authority: WO
Inventors: 杜建宇; 李超; 王恒凯; 曹天书; 王皓南; 黄显晴; 李佳骏; 吴岗岗; 宋新丽; 刘清宇
Original assignee: 中国第一汽车股份有限公司
Priority date: 2022-06-15
Filing date: 2023-06-13
Publication date: 2023-12-21
Also published as: CN114995440A

Abstract

Embodiments of the present application relate to the technical field of computers. Disclosed are a vehicle control method and apparatus, a vehicle, and a storage medium. The vehicle control method comprises: sending a historical driving path of the vehicle to a mobile terminal; receiving a target return path sent by the mobile terminal, wherein the target return path is created for the vehicle by the mobile terminal according to a return starting point and a return end point which are set on the historical driving path; and controlling the vehicle to return according to the target return path.

Description

Vehicle control method, device, vehicle and storage medium

This application claims priority to the Chinese patent application with application number 202210676543.X, which was submitted to the China Patent Office on June 15, 2022. The entire content of this application is incorporated into this application by reference.

Technical field

Embodiments of the present application relate to the field of computer technology, such as vehicle control methods, devices, vehicles, and storage media.

Background technique

With the advancement of science and technology, the intelligence of cars has continued to develop. As the number of cars increases, parking has become a worry for most people. In an environment where parking spaces are tight and the driving area is small, it is often difficult to park, accidentally occupying other people's parking spaces, or parked vehicles impede the movement of other vehicles. Generally, car owners are required to quickly return to the vehicle to move the vehicle.

The L2 level remote parking technology equipped on some vehicles can realize the automatic parking function, but it requires the owner to control the vehicle-related function keys in the cab to realize automatic parking, or to control the mobile terminal near the vehicle to complete the movement of the vehicle.

However, the automatic parking technology in related technologies requires the car owner to be near the vehicle, and after controlling the movement of the vehicle by controlling the vehicle or a mobile terminal, there may be situations where the vehicle needs to be returned to its original position. At this time, the user needs to continue to control the vehicle again. , not easy to operate.

Contents of the invention

Embodiments of the present application provide a vehicle control method, device, vehicle and storage medium, which can perform one-click return for a vehicle that has been moved, so as to improve existing vehicle control solutions.

Embodiments of the present application provide a vehicle control method, which includes: sending the historical driving path of the vehicle to a mobile terminal; receiving a target return path sent by the mobile terminal, where the target return path is determined by the mobile terminal according to the historical The return starting point and return end point set on the driving path are created by the vehicle; the vehicle's return journey is controlled according to the target return path.

Optionally, the historical driving path is generated by: obtaining the initial position of the vehicle, where the initial position is the position of the vehicle before traveling at the historical moment; receiving the information sent by the mobile terminal at the historical moment. The end position: generate an initial driving path of the vehicle based on the initial position and the end position; and obtain the historical driving path after controlling the vehicle to move based on the initial driving path.

Optionally, obtaining the historical driving path after controlling the vehicle to move based on the initial driving path includes: obtaining a real-time driving path generated by the real-time movement of the vehicle according to the initial driving path; When the curvature radius of the driving path is greater than the preset value, the real-time driving path is marked to obtain path marking points; the historical driving path is obtained according to the positional relationship between the current path marking points and the historical path marking points.

Optionally, the historical path marker points include: a first path marker point and a second path marker point, where the first path marker point is a path marker point recorded in the previous time period of the current path marker point, The second path marker point is a path marker point recorded in a previous time period of the first path marker point; wherein the current path marker point and the first path marker point form a first road segment, and the The first path marker point and the second path marker point form a second road segment; obtaining the historical driving path based on the positional relationship between the current path marker point and the historical path marker point includes: judging the current path marker point and the Whether the distance between the second path marker points is greater than the first road segment; in response to the determination result that the distance between the current path marker point and the second path marker point is not greater than the first road segment, discard all The first road segment is retained, the second road segment is retained, and the historical driving path is obtained; in response to the determination result that the distance between the current path marking point and the second path marking point is greater than the first road segment, retaining The first road segment and the second road segment are used to obtain the historical driving path.

Optionally, the historical driving path also includes driving obstacle information, and the driving obstacle information is obtained by: determining the driving obstacles in the process of controlling the vehicle to move based on the initial driving path; When it is predicted that the distance value between the driving obstacle and the vehicle is less than a preset value at the next moment, the position information of the driving obstacle relative to the vehicle is determined as the driving obstacle information.

Optionally, the prediction that the distance value between the driving obstacle and the vehicle at the next moment is less than a preset value includes: obtaining the speed, driving direction of the vehicle at the current moment, and the steering angle of the steering wheel at the next moment. ; Obtain the distance value between the driving obstacle and the vehicle at the next moment based on the vehicle speed, the driving direction and the steering wheel angle.

Optionally, controlling the vehicle's return journey according to the target return path includes: obtaining the driving obstacle information contained on the target return path; and controlling the driving obstacle information contained on the target return path. Obstacle avoidance processing is performed on the driving obstacles on the target return path to realize the return journey of the vehicle.

An embodiment of the present application provides a vehicle control device. The device includes: a sending module configured to send the historical driving path of the vehicle to a mobile terminal; a receiving module configured to receive the target return path sent by the mobile terminal. The target return path is created by the mobile terminal for the vehicle based on the return starting point and return end point set on the historical driving path; the return module is configured to control the vehicle's return trip according to the target return path.

An embodiment of the present application also provides a vehicle, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores information that can be executed by the at least one processor. A computer program, the computer program is executed by the at least one processor, so that the at least one processor can execute the vehicle control method described in any embodiment of the present application.

In a fourth aspect, embodiments of the present application also provide a computer-readable storage medium that stores computer instructions, and the computer instructions are used to implement any of the embodiments of the present application when executed by a processor. The vehicle control method described above.

Description of the drawings

The drawings needed to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For ordinary people in the art Technical personnel can also obtain other related drawings based on these drawings without exerting creative work.

Figure 1 is a schematic flow chart of a vehicle control method provided by an embodiment of the present application;

Figure 2 is a system architecture diagram of the parking method provided by the embodiment of the present application;

Figure 3 is another schematic flowchart of a vehicle control method provided by an embodiment of the present application;

Figure 4 is another schematic flow chart of the vehicle control method provided by the embodiment of the present application;

Figure 5 is a schematic diagram of a vehicle driving path provided by the embodiment of the present application;

Figure 6 is a schematic structural diagram of a vehicle control device provided by an embodiment of the present application;

Figure 7 is a schematic structural diagram of a vehicle provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts should fall within the scope of protection of this application.

The present application will be described below in conjunction with the drawings and embodiments. It can be understood that the embodiments described here are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for convenience of description, only part of the structure related to the present application is shown in the drawings.

Figure 1 is a schematic flow chart of a vehicle control method provided by an embodiment of the present application. This embodiment can be applied to the situation where the vehicle needs to be returned through remote control after the mobile terminal remotely controls the vehicle. This method can be performed by the vehicle control device to perform, the vehicle control device may employ hardware and/or Implemented in the form of software, the vehicle control device can be configured in the parking controller of the vehicle. Referring to Figure 1, the method may include the following steps.

S110. Send the historical driving path of the vehicle to the mobile terminal.

The historical driving path can be understood as the path that the vehicle traveled during the historical time period. The parking method provided by the embodiment of the present application is mainly used to control the vehicle to perform a one-click return trip. The current historical driving path is the path that the current vehicle traveled at the last moment, that is, the vehicle stops after completing the driving according to the historical driving path at the previous moment. at the current location.

In an optional embodiment, the above historical driving route can be generated through the following steps.

a) Obtain the initial position of the vehicle, which is the position of the vehicle before traveling at the historical moment.

Before obtaining the initial position of the vehicle, it is first necessary to obtain the communication request sent by the mobile terminal, and establish a communication connection with the mobile terminal according to the communication request. When the mobile terminal sends a connection request to the vehicle, the connection can be made through communication between the third-party application (Application, App) downloaded on the mobile terminal and the telematics box (T-box) integrated on the vehicle. .

Please refer to Figure 2, which is a system architecture diagram of the parking method provided by the embodiment of the present application. After the mobile terminal establishes a communication connection with the vehicle, the mobile terminal can send the control command to the T-box. After receiving the control command sent by the mobile terminal, the T-box sends the control command to the parking controller. The parking controller Execute the current control command. After the parking controller executes the current control command and obtains the execution result (such as the movement of the vehicle), the execution result can be sent to the mobile terminal by the T-box for remote viewing by the user.

After establishing a communication connection with the mobile terminal according to the communication request, the vehicle's initial location acquisition method may be to mark the current location information of the vehicle at a historical moment to obtain the vehicle's initial location.

b) Receive the end position sent by the mobile terminal at the historical moment, and generate the initial driving path of the vehicle based on the initial position and the end position.

First, a preset number of visual devices are integrated on the vehicle. The environmental information of the vehicle at historical moments can be obtained through multiple visual devices. After establishing a communication connection between the vehicle and the mobile terminal, the environmental information obtained by the vehicle can be Synchronized to the user's mobile terminal, so that the user can remotely understand the real environment of the vehicle.

The user can mark the end position on the visual screen of the mobile terminal based on the environmental information and the initial position displayed by the mobile terminal. The current end position can be understood as the target position where the user wants the vehicle to move at the historical moment (that is, the position where the vehicle stops at the current moment). At historical moments, path planning can be performed based on the initial position and end position to obtain the vehicle's initial driving path.

The current initial driving path can be understood as the ideal driving route planned for the vehicle by the vehicle's controller based on the initial position, end position and current environmental information; the historical driving path is the actual driving path that occurred after the completion of driving based on the initial driving path. path of.

c) Control the vehicle to move based on the initial driving path and obtain the historical driving path.

Controlling the vehicle to move based on the planned initial driving path can obtain the historical driving route, and send the historical driving route to the mobile terminal.

Optionally, after establishing a communication connection between the vehicle and the mobile terminal, first select the control mode of the vehicle on the mobile terminal. For example, the control mode may be parking in, parking out, searching for a parking space, and one-click return. After the vehicle receives the one-key return mode sent by the mobile terminal, the vehicle's historical driving path is sent to the mobile terminal; or after the communication connection between the vehicle and the mobile terminal is established, the vehicle's historical driving path can be directly sent to the mobile terminal. , save the historical driving route of the vehicle on the mobile terminal so that the user can view the historical driving route. The conditions for sending historical driving routes to the mobile terminal are not limited here.

S120. Receive the target return path sent by the mobile terminal. The target return path is created by the mobile terminal for the vehicle based on the return starting point and return end point set on the historical driving path.

After the mobile terminal receives the historical driving route, the vehicle's return starting point and return destination can be set based on the historical driving route.

The starting point of the vehicle's return journey is the actual position of the vehicle at the current moment (it can also be understood as the end position where the vehicle stopped at the historical moment). The purpose of the return journey is to enable the vehicle to return based on the historical driving path. During the return process, the vehicle can Automatic control is performed without the need for remote real-time control by users, making it easy for users to operate.

The return destination can be any location on the historical driving route. That is, the user makes a selection based on the actual control requirements for the vehicle.

According to the return starting point and the return end point set by the user on the mobile terminal, the mobile terminal can generate a target return path based on the historical driving path. The target return path can be understood as the entire path or part of the historical driving path, which is opposite to the driving direction of the historical driving path.

Whether the target return route is the entire route or part of the historical driving route is related to the return destination set by the user in the mobile terminal. When the return end point is the initial position in the historical driving path, the target return path is the entire historical driving path; when the return end point is any position in the historical driving path, the target return path is part of the historical driving path. The establishment of the target return route is not restricted here.

S130. Control the vehicle's return journey according to the target return path.

When the vehicle obtains the target return path, the vehicle can perform a return operation based on the path information recorded on the target return path, allowing the vehicle to return to the user's desired location with one click.

It should be noted that when performing the one-key return control mode, it can be applied to the scenario where the user performs remote control based on the mobile terminal, and is also applicable to the scenario where the user is sitting in the car and making the return journey. The scenario for the one-key return mode is here No restrictions.

An application example takes the scenario where the user moves the vehicle through remote control based on the mobile terminal. After the user parks the vehicle and leaves and enters the mall, the vehicle may not be parked in a standardized manner, which affects the travel of other vehicles. The user can The vehicle is connected through communication in the mall, and based on the received environmental information of the vehicle, the current parking method of the vehicle is selected as "park out" through the mobile terminal, thereby controlling the vehicle to move from the current location. After the vehicle movement is completed, if the vehicle affecting travel has been removed, you can select the one-click return mode to control the vehicle to automatically return to the original position. When the vehicle returns to its initial position, there may still be a problem that the vehicle parking does not meet the specifications. The user can select the "parking" control mode based on the mobile terminal and the received vehicle's environmental information to control the movement of the vehicle to move the vehicle. Park in a regular parking space.

Another application scenario takes the user's remote search for a parking space based on a mobile terminal as an example. When the user turns on the parking space search mode in the parking lot, the suitable parking space may not be found as the vehicle moves. At this time, the user may want to drive in the opposite direction. Path to continue searching for parking spaces. Currently, you can select the one-click return mode to control the vehicle to drive to the initial position, thereby continuing the task of searching for parking spaces in another direction. There is no need to control the vehicle to drive a large circle to search, saving users time.

The vehicle control method provided by the embodiment of the present application first sends the historical driving path of the vehicle to the mobile terminal; and then receives the target return path sent by the mobile terminal. The target return path is the return starting point and return journey set by the mobile terminal on the historical driving path. The end point is created for the vehicle; finally, the vehicle's return is controlled based on the target return path. By creating a target return path based on the historical driving route from the mobile terminal, the vehicle can be controlled to perform a one-click return operation, which solves the problem in related technologies that the user needs to perform real-time control when the vehicle needs to return, making it easier for the user to operate and improving the user experience. .

FIG. 3 is another schematic flowchart of a vehicle control method provided by an embodiment of the present application. The relationship between this embodiment and the above-mentioned embodiments explains the corresponding features of the above-mentioned embodiments. As shown in Figure 3, the method may include the following steps.

S210. Obtain the initial position of the vehicle. The initial position is the position of the vehicle before traveling at the historical time.

S220: Receive the end position sent by the mobile terminal at the historical moment, and generate the initial driving path of the vehicle based on the initial position and the end position.

S230. Control the vehicle to move based on the initial driving path and obtain the historical driving path.

Please refer to FIG. 4 , which is another schematic flowchart of a vehicle control method provided by an embodiment of the present application.

In the vehicle control method provided by the embodiment of the present application, the process of obtaining the historical driving path after controlling the vehicle to move based on the initial driving path can be implemented by the following steps.

S310. Obtain the real-time driving path generated by the real-time movement of the vehicle according to the initial driving path.

The real-time driving path means that during the actual driving process according to the initial driving path, the actual driving path of the vehicle is not completely consistent with the ideal path in the initial driving path. When the user remotely controls the movement of the vehicle on the mobile terminal, it may There is a sudden operation, for example, it can be a gear shift operation, a sharp steering operation, or a sudden braking operation, etc. At this time, the real-time driving path obtained when the vehicle moves according to the initial driving path will have a certain difference compared with the initial driving path. deviation.

When the real-time driving path has a certain deviation from the initial driving path, steps S320 and subsequent operations can be performed to perform corresponding processing operations on the real-time driving path, so that subsequent steps can control the vehicle to perform a one-click return trip based on the processed driving path.

S320. When the curvature radius of the real-time driving path is greater than the preset value, mark the real-time driving path to obtain path marking points.

When the user remotely controls the movement of the vehicle on the mobile terminal, if sudden operations such as shifting gears, turning the steering wheel, or braking suddenly occur, the real-time driving path will save the path based on the sudden operation. When the generated path is subsequently used for one-click return based on the historical driving path, when the vehicle returns to a location where sudden operations occur, the system can no longer execute the user's sudden operations. Therefore, the real-time driving path needs to be spliced and smoothed to ensure smooth operation. This allows the vehicle to return in a relatively ideal way when making a one-click return trip.

When splicing and smoothing the real-time driving path, you can first mark the real-time driving path generated by the vehicle to obtain the path marking points.

The method of marking the real-time driving path may be to determine whether the curvature radius of the real-time driving path is greater than a preset value. If the curvature radius of the real-time driving path is greater than the preset value, it indicates that the current real-time path has Inflection point, mark the position where the curvature radius of the real-time driving path is greater than the preset value to obtain the path marking point.

Generally, in the process of the vehicle moving according to the initial driving path, the path marking points on the real-time driving path obtained may be 0 (that is, the vehicle driving path is a straight line), or there may be multiple paths on the real-time driving path. Marking points are not limited here.

The above preset values are not limited here and are subject to the actual needs of developers.

Optionally, the above-mentioned preset value can also be transformed accordingly according to the initial driving path, that is, the complexity of the vehicle's driving path can be obtained according to the initial driving path, and the current preset value is determined according to the initial driving path, so as to measure the real-time The curvature radius of the driving path is compared with the preset value. The setting method of the above preset value is not limited here.

S330. Obtain the historical driving route according to the positional relationship between the current route marking point and the historical route marking point.

After the vehicle movement is controlled based on the initial driving path, the obtained real-time driving path contains multiple historical mark points. Please refer to FIG. 5 , which is a schematic diagram of a vehicle driving path provided by an embodiment of the present application.

Please refer to Figure a in Figure 5, which can be understood as the path obtained when there is a sudden operation when the vehicle is traveling according to the initial driving path, and Figure B in Figure 5 can be understood as the path that the vehicle travels in a normal state.

Taking the path marker point including three points as an example, assuming that the current path marker point is N+2, the historical path marker points include: the first path marker point N+1 and the second path marker point N. The first path marker point is the path marker point recorded in the previous time period of the current path marker point, and the second path marker point is the path marker point recorded in the previous time period of the first path marker point.

The current path marker point N+2 and the first path marker point N+1 form the first path segment l, and the first path marker point N+1 and the second path marker point N form the second path segment m.

Step S330: Obtain the historical driving route based on the positional relationship between the current route marking point and the historical route marking point, including the following steps.

Determine whether the distance between the current path marker point and the second path marker point is greater than the first road segment.

That is, determine whether the distance from N+2 to N is greater than l. If the distance from N+2 to N is not greater than l, discard the first road segment l, retain the second road segment m, and obtain the historical driving path. In Figure a, the current historical driving path only determines three path marking points N, N+1 and N+2, and N+2 has been discarded in the current marking point, then for the new path marking point N+3, The positional relationship between N+3, N+1 and N is determined in the same way as above, which will not be described in detail here. Until all path marking points on the real-time driving path are judged, a complete historical driving path is obtained.

If the distance from N+2 to N is greater than l, the first road segment l and the second road segment m are retained to obtain the historical driving path (see Figure b).

In an optional embodiment, the historical driving route also includes driving obstacle information. Driving obstacle information indicates that during driving based on the initial path information, the ultrasonic radar integrated on the vehicle can detect obstacle information around the vehicle, and display the obstacle information on the vehicle's display screen in combination with the environmental information obtained by the visual device. Or on the visual interface of the user's mobile terminal.

When the obstacle information is displayed on the visual interface, the obstacle information may include: the position, direction and distance of the detected obstacle compared to the vehicle.

The driving obstacle information is obtained in the following ways: in the process of controlling the vehicle to move based on the initial driving path, the driving obstacle is determined; when the distance value between the driving obstacle and the vehicle is predicted at the next moment When it is less than the preset value, the position information of the driving obstacle relative to the vehicle is determined as the driving obstacle information.

During the vehicle's movement based on the initial driving path, when the ultrasonic radar detects that the distance between the vehicle and other items is less than the preset distance (for example, 5 meters), the current item can be regarded as an obstacle and the vehicle can be identified through text, sound, or Warning information is generated through screen prompts and other methods, and the warning information is sent to the mobile terminal to remind users of the risk of collision, thereby avoiding collision between vehicles and obstacles.

When obtaining obstacle information, the vehicle control method provided by the embodiment of the present application does not simply rely on the distance between the obstacle and the vehicle for obstacle avoidance processing, but instead combines the vehicle's driving direction, the vehicle's steering wheel angle at the next moment, and the current vehicle speed comprehensively Predict the vehicle's driving path, and then determine whether there is a risk of collision between the vehicle's driving path and the perceived obstacles. The following method is used to predict that the distance between the obstacle and the vehicle at the next moment will be less than the preset value:

Obtain the vehicle's speed, driving direction and steering wheel angle at the current moment; obtain the distance value between the driving obstacle and the vehicle at the next moment based on the vehicle speed, driving direction and steering wheel angle.

When the vehicle controller determines to drive at the current vehicle speed, driving direction, and steering wheel angle at the next moment, the distance between the vehicle and the perceived obstacle will gradually decrease, and the distance will be less than the preset distance (for example, 3m). At this time, the vehicle The controller will perform obstacle avoidance processing in advance; if the distance between the obstacle and the vehicle sensed by the system is less than the preset distance, but the vehicle controller uses the vehicle's current driving direction and speed, the distance between the vehicle and the obstacle will not decrease at the next moment, and the vehicle Steering will occur, and the vehicle controller will not perform obstacle avoidance processing at this time.

S240. Send the historical driving path of the vehicle to the mobile terminal.

The historical driving path obtained in the mobile terminal includes the path moving from the initial position to the end position in the historical time period, as well as obstacle information on the driving path.

S250. Receive the target return path sent by the mobile terminal. The target return path is created by the mobile terminal for the vehicle based on the return starting point and return end point set on the historical driving path.

S260. Obtain the driving obstacle information included on the target return path.

Generally speaking, if a one-click return operation is performed based on the historical driving path in a short period of time, the obstacle information contained in the historical driving path and the obstacle information on the target return path will not change significantly; After a long one-click return trip, the driving obstacle information contained on the return path will be different from the driving obstacle information contained on the historical driving path.

It should be noted that the embodiment of the present application does not use the length of the time interval to determine whether the obstacle information on the return path has changed compared with the obstacle information on the historical driving path. It is based on the actual detection of the vehicle during the return journey. obstacles.

S270. Based on the traffic obstacle information on the target return path, determine the traffic obstacles on the target return path. Obstacles are dealt with to avoid obstacles to achieve the return journey of the vehicle.

If the obstacle information contained in the historical driving path is consistent with the obstacle information on the target return path, then one-click return can be performed based on the route used to avoid obstacles on the historical driving path.

If the driving obstacle information contained on the target return path is significantly different from the driving obstacle information contained on the historical driving path, the vehicle needs to execute "Get the vehicle's speed at the current moment" when an obstacle is detected during the return journey. , driving direction and the steering wheel angle at the next moment; the operation of obtaining the distance value between the driving obstacle and the vehicle at the next moment based on the vehicle speed, driving direction and steering wheel angle. When the predicted distance value is less than the preset value, the vehicle is controlled to avoid obstacles. processing to ensure that the vehicle can return safely.

The vehicle control method provided by the embodiment of the present application can obtain the vehicle's environmental information through vehicle integrated sensor fusion (surround view camera and ultrasonic radar), and synchronize it to the user's mobile terminal. The user can remotely control the vehicle through the mobile terminal to park, park, and exit the vehicle. Parking operations such as searching for parking spaces, parking, and one-click return can realize remote control of vehicles beyond visual range; automatic obstacle avoidance can be achieved during driving based on the driving path, and the vehicle driving path and obstacle information at the previous moment can always be remembered. The historical driving path will be spliced together to display the historical driving path and obstacle information on the mobile terminal. At the same time, the user can set the return point at will to achieve a safe and reliable one-click return operation, providing users with great convenience.

FIG. 6 is a schematic structural diagram of a vehicle control device provided by an embodiment of the present application. The device is suitable for executing the vehicle control method provided by an embodiment of the present application. As shown in Figure 6, the device may include: a sending module 410, a receiving module 420 and a return module 430, wherein: the sending module 410 is configured to send the historical driving path of the vehicle to the mobile terminal; the receiving module 420 is configured to receive all The target return path sent by the mobile terminal, the target return path is created by the mobile terminal for the vehicle according to the return starting point and return end point set on the historical driving path; the return module 430 is configured to according to the The target return path controls the vehicle's return journey.

The vehicle control device provided by the embodiment of the present application first sends the historical driving path of the vehicle to the mobile terminal; and then receives the target return path sent by the mobile terminal. The target return path is the return starting point and return journey set by the mobile terminal on the historical driving path. The end point is created for the vehicle; finally, the vehicle's return is controlled based on the target return path. By creating a target return path based on the historical driving route from the mobile terminal, the vehicle can be controlled to perform a one-click return operation, which solves the problem in related technologies that the user needs to perform real-time control when the vehicle needs to return, making it easier for the user to operate and improving the user experience. experience.

In one embodiment, the device includes: an acquisition module, a generation module and a control module, wherein: the acquisition module is configured to acquire the initial position of the vehicle, where the initial position is the position of the vehicle before traveling at a historical moment; The generation module is configured to receive the end position sent by the mobile terminal at the historical moment, and generate the initial driving path of the vehicle based on the initial position and the end position; the control module is configured to control the vehicle based on the After moving the initial driving path, the history is obtained. History driving route.

In one embodiment, the control module includes: a first acquisition unit, a marking unit and a first acquisition unit, wherein: the first acquisition unit is configured to acquire the real-time driving path generated by the real-time movement of the vehicle according to the initial driving path. ; The marking unit is configured to mark the real-time driving path when the curvature radius of the real-time driving path is greater than a preset value, and obtain path marking points; the first obtaining unit is configured to mark the real-time driving path according to the current path marking point and the historical path. The historical driving route is obtained from the positional relationship of the marked points.

In one embodiment, the historical path marker points include: a first path marker point and a second path marker point, and the first path marker point is a path marker point recorded in the previous time period of the current path marker point. , the second path marker point is a path marker point recorded in the previous time period of the first path marker point; wherein the current path marker point and the first path marker point form a first road segment, so The first path marking point and the second path marking point form a second road segment; the first obtaining unit includes: a judging subunit, a discarding subunit and a retaining subunit, wherein: the judging subunit is configured to judge the current path Whether the distance between the marking point and the second path marking point is greater than the first road segment; if the distance between the current path marking point and the second path marking point is not greater than the first road segment, discard it A subunit configured to discard the first road segment, retain the second road segment, and obtain the historical driving path; if the distance between the current path marking point and the second path marking point is greater than the first Road segment, reserved sub-list, is set to retain the first road segment and the second road segment to obtain the historical driving path.

In one embodiment, the historical driving path also includes driving obstacle information, and the device further includes: a first determination module and a second determination module, wherein: the first determination module is configured to control the vehicle based on the During the movement of the initial driving path, the driving obstacle is determined; the second determination module is used to determine the driving obstacle when the distance between the driving obstacle and the vehicle is predicted to be less than a preset value at the next moment. The position information relative to the vehicle is determined as the driving obstacle information.

In one embodiment, the second determination module includes: a second acquisition unit and a second acquisition unit, wherein: the second acquisition unit is configured to acquire the speed, driving direction of the vehicle at the current moment and the direction of the steering wheel at the next moment. Turning angle; a second obtaining unit configured to obtain the distance value between the driving obstacle and the vehicle at the next moment based on the vehicle speed, the driving direction and the steering wheel angle.

In one embodiment, the second obtaining unit includes: an obtaining subunit and a processing subunit, wherein: the obtaining subunit is configured to obtain the driving obstacle information contained on the target return path; and the processing subunit is configured to Obstacle avoidance processing is performed on the driving obstacles on the target return path according to the driving obstacle information contained on the target return path, so as to realize the return journey of the vehicle.

Those skilled in the art can understand that for the convenience and simplicity of description, only the division of the above multiple functional modules is used as an example. In practical applications, the above functions can be allocated by different methods according to needs. The same functional modules are completed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. For the working process of the functional module described above, reference may be made to the corresponding process in the foregoing method embodiment, which will not be described again here.

Embodiments of the present application also provide a computer-readable medium. The computer-readable storage medium stores computer instructions. The computer instructions are used to enable the processor to implement the vehicle control method described in any embodiment of the present application when executed. .

Referring now to FIG. 7 , a schematic structural diagram of a vehicle computer system 500 suitable for implementing embodiments of the present application is shown. The vehicle shown in FIG. 7 is only an example and should not impose any restrictions on the functions and scope of use of the embodiments of the present application.

As shown in Figure 7, the computer system 500 includes a central processing unit (Central Processing Unit, CPU) 501, which can be loaded into a random accessory according to a program stored in a read-only memory (Read-Only Memory, ROM) 502 or from a storage part 508. Access the program in the memory (Random Access Memory, RAM) 503 to perform various appropriate actions and processes. In the RAM 503, various programs and data required for the operation of the system 500 are also stored. CPU 501, ROM 502 and RAM 503 are connected to each other through bus 504. An input/output (I/O) interface 505 is also connected to bus 504.

The following components are connected to the I/O interface 505: an input part 506 including a keyboard, a mouse, etc.; an output part 507 including a cathode ray tube (Cathode Ray Tube, CRT), a liquid crystal display (Liquid Crystal Display, LCD), etc., and a speaker, etc. ; a storage part 508 including a hard disk, etc.; and a communication part 509 including a network interface card such as a Local Area Network (LAN) card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. Driver 510 is also connected to I/O interface 505 as needed. Removable media 511, such as magnetic disks, optical disks, magneto-optical disks, semiconductor memories, etc., are installed on the drive 510 as needed, so that a computer program read therefrom is installed into the storage portion 508 as needed.

According to embodiments disclosed in the present application, the process described above with reference to the flowchart may be implemented as a computer software program. For example, embodiments disclosed in the present application include a computer program product including a computer program carried on a computer-readable medium, the computer program including program code for executing the method shown in the flowchart. In such embodiments, the computer program may be downloaded and installed from the network via communication portion 509 and/or installed from removable media 511 . When this computer program is executed by the CPU 501, the above functions defined in the system of the present application are executed.

It should be noted that the computer-readable medium shown in this application may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the above two. The computer-readable storage medium may be, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any combination thereof. Examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard drives, RAM, ROM, Erasable Programmable Read-Only Memory (EPROM) ) or flash memory, optical fiber, portable compact disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. As used herein, a computer-readable storage medium may be any tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, in which computer-readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device . Program code contained on a computer-readable medium can be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, radio frequency (Radio Frequency, RF), etc., or any suitable combination of the above.

The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functions and operations of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more logic functions that implement the specified executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown one after another may actually execute substantially in parallel, or they may sometimes execute in the reverse order, depending on the functionality involved. It will also be noted that each block in the block diagram or flowchart illustration, and combinations of blocks in the block diagram or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or operations, or may be implemented by special purpose hardware-based systems that perform the specified functions or operations. Achieved by a combination of specialized hardware and computer instructions.

The modules and/or units involved in the embodiments of this application can be implemented in software or hardware. The described modules and/or units may also be provided in a processor. For example, it may be described as follows: a processor includes a sending module, a receiving module and a return module. Among them, the names of these modules do not constitute a limitation on the module itself.

This application also provides a computer-readable medium. The computer-readable medium may be included in the device described in the above embodiments; it may also exist separately without being assembled into the device. The above-mentioned computer-readable medium carries one or more programs. When the above-mentioned one or more programs are loaded by a When the device is executed, the device includes: sending the historical driving path of the vehicle to the mobile terminal; receiving a target return path sent by the mobile terminal, where the target return path is set by the mobile terminal on the historical driving path. The return starting point and return end point are created for the vehicle; the vehicle's return is controlled according to the target return path.

According to the technical solution of the embodiment of the present application, by creating a target return path based on the historical driving route from the mobile terminal, the vehicle can be controlled to perform a one-click return operation, which solves the problem in related technologies that the user needs to perform real-time control when the vehicle has a need to return. problem, which facilitates user operation and improves user experience.

Claims

A vehicle control method including:

Send the vehicle's historical driving path to the mobile terminal;

Receive the target return path sent by the mobile terminal, the target return path is created by the mobile terminal for the vehicle based on the return starting point and return end point set on the historical driving path;

The vehicle's return journey is controlled according to the target return path.
The method according to claim 1, wherein the historical driving route is generated by:

Obtain the initial position of the vehicle, which is the position of the vehicle before traveling at the historical moment;

Receive the end position sent by the mobile terminal at the historical moment, and generate the initial driving path of the vehicle based on the initial position and the end position;

The historical driving path is obtained after controlling the vehicle to move based on the initial driving path.
The method according to claim 2, wherein the controlling the vehicle to move based on the initial driving path to obtain the historical driving path includes:

Obtain the real-time driving path generated by the real-time movement of the vehicle according to the initial driving path;

When the curvature radius of the real-time driving path is greater than a preset value, mark the real-time driving path to obtain path marking points;

The historical driving route is obtained according to the positional relationship between the current route marking point and the historical route marking point.
The method according to claim 3, wherein the historical path marker point includes: a first path marker point and a second path marker point, and the first path marker point is the previous time of the current path marker point. The path mark point recorded in the segment, the second path mark point is the path mark point recorded in the previous time period of the first path mark point;

Wherein, the current path marking point and the first path marking point form a first road section, and the first path marking point and the second path marking point form a second road section;

Obtaining the historical driving path based on the positional relationship between the current path marker point and the historical path marker point includes:

Determine whether the distance between the current path marking point and the second path marking point is greater than the first road segment;

In response to the determination result that the distance between the current path marker point and the second path marker point is not greater than the first road segment, the first road segment is discarded, the second road segment is retained, and the history is obtained driving path;

In response to a determination result that the distance between the current path marker point and the second path marker point is greater than the first road segment, the first road segment and the second road segment are retained, and the historical driving path is obtained.
The method according to claim 2, wherein the historical driving path also includes driving obstacle information, and the driving obstacle information is obtained in the following manner:

In the process of controlling the vehicle to move based on the initial driving path, determining driving obstacles;

When it is predicted that the distance value between the driving obstacle and the vehicle at the next moment is less than a preset value, the position information of the driving obstacle relative to the vehicle is determined as the driving obstacle information.
The method according to claim 5, wherein the prediction that the distance value between the driving obstacle and the vehicle at the next moment is less than a preset value includes:

Obtain the speed, driving direction of the vehicle at the current moment and the steering wheel angle at the next moment;

The distance value between the driving obstacle and the vehicle at the next moment is obtained based on the vehicle speed, the driving direction and the steering wheel angle.
The method according to claim 5, wherein the controlling the vehicle return trip according to the target return path includes:

Obtain the driving obstacle information contained on the target return path;

Obstacle avoidance processing is performed on the driving obstacles on the target return path according to the driving obstacle information contained on the target return path, so as to realize the return journey of the vehicle.
A vehicle control device including:

A sending module, configured to send the historical driving path of the vehicle to the mobile terminal;

A receiving module configured to receive a target return path sent by the mobile terminal, where the target return path is created by the mobile terminal for the vehicle based on the return starting point and return end point set on the historical driving path;

A return module is configured to control the vehicle's return according to the target return path.
A vehicle including:

at least one processor; and

a memory communicatively connected to the at least one processor; wherein,

The memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor, so that the at least one processor can execute any one of claims 1-7 The vehicle control method.
A computer-readable storage medium on which a computer program is stored, wherein when the program is executed by a processor, the vehicle control method according to any one of claims 1-7 is implemented.