Vehicle control method and device, electronic equipment and storage medium

Abstract

The invention discloses a vehicle control method and device, electronic equipment and a storage medium. The method may be applied at least in the field of vehicles, the method may include: determining an initial vehicle for moving from an origin to a destination during a future trip; in the process that the initial vehicle moves from the starting place to the destination, a replacement request is obtained, and the replacement request is used for requesting to replace the initial vehicle; the initial vehicle is replaced with a target vehicle in response to the replacement request, and the matching degree between the target vehicle and the destination is higher than that between the initial vehicle and the destination; and controlling the target vehicle to drive to the destination. The technical problem that the riding experience feeling of the user is poor is solved.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a vehicle control method, device, electronic equipment and storage medium. Background Art

[0002] At present, in self-driving public vehicles, in order to ensure the user's car-using experience, priority is given to vehicles with more battery power remaining. However, this selection method is likely to cause waste of electric vehicle resources.

[0003] If an electric vehicle breaks down during driving and cannot transport passengers to their destination, or if a passenger changes their destination and the remaining power of the electric vehicle's battery cannot support the transportation of the passenger to the destination, the passenger needs to get off the vehicle and re-initiate an order, resulting in a poor riding experience for the user.

[0004] Currently, no effective solution has been proposed to the above-mentioned technical problem of poor riding experience for users. Summary of the invention

[0005] Embodiments of the present invention provide a vehicle control method, device, electronic device, and storage medium to at least solve the technical problem of poor riding experience for users.

[0006] According to one aspect of an embodiment of the present invention, a vehicle control method is provided. The method may include: determining an initial vehicle, wherein the initial vehicle is used to move from an origin to a destination in a future trip; obtaining a replacement request during the process of the initial vehicle moving from the origin to the destination, wherein the replacement request is used to request replacement of the initial vehicle; in response to the replacement request, replacing the initial vehicle with a target vehicle, wherein the degree of match between the target vehicle and the destination is higher than the degree of match between the initial vehicle and the destination; and controlling the target vehicle to travel to the destination.

[0007] Optionally, determining an initial vehicle comprises: in response to a vehicle request from a client, allocating an initial vehicle to the client, wherein the vehicle request is used to indicate that the initial vehicle moves from an origin to a destination in a future trip; or, determining a vehicle that receives input information as the initial vehicle, wherein the input information is used to indicate the destination; obtaining a replacement request during the process of the initial vehicle moving from the origin to the destination, comprising: determining biometric information of an object in the initial vehicle and / or current performance indicators of the initial vehicle during the process of the initial vehicle moving to the destination, wherein the biometric information is used to indicate the physical state of the object in the current trip, and the current performance indicators are used to indicate the performance of the initial vehicle in the current trip; obtaining a replacement request based on the biometric information and / or the current performance indicators.

[0008] Optionally, the current performance indicator includes: at least one of the following information of the initial vehicle: the amount of electricity allowed to continue to be consumed, the amount of electricity consumed and the cruising range, wherein, based on the biometric information and / or the current performance indicator, obtaining a replacement request includes: obtaining a replacement request in response to the biometric information indicating that the object is in a healthy state, and / or in response to the current performance indicator not meeting a performance indicator threshold.

[0009] Optionally, in response to a replacement request, the initial vehicle is replaced with a target vehicle, comprising: in response to the replacement request, determining at least one transfer location, wherein the at least one transfer location is at least one location that the initial vehicle passes through before traveling to the destination; based on the at least one transfer location and the remaining distance, determining the target vehicle, and replacing the initial vehicle with the determined target vehicle, wherein the remaining distance is used to represent the distance between the transfer location and the destination; the method also includes: controlling the target vehicle to move to the transfer location.

[0010] Optionally, in response to a replacement request, determining a transfer location to be reached by the initial vehicle from a starting location, comprising: in response to the replacement request, determining a transferable path of the initial vehicle, wherein the transferable path is used to represent a path between a first target position of the initial vehicle and a second target position of the initial vehicle, the first target position being the position of the initial vehicle when it is determined that the initial vehicle needs to be replaced, the second target position being used to represent a position that the initial vehicle is allowed to reach before driving to a charging station, the transferable path comprising at least one transfer location, the charging station being used to charge the initial vehicle; determining a transfer location from at least one transfer location in the transferable path.

[0011] Optionally, the transferable path includes a first sub-transferable path and a second sub-transferable path, wherein if the initial vehicle moves from the first target position to the second target position, the initial vehicle first passes through the first sub-transferable path, and then passes through the second sub-transferable path, and based on the transfer location and the remaining journey, the target vehicle is determined, and the initial vehicle is replaced with the determined target vehicle, including: if at least one candidate vehicle in an unassigned state is screened out through the first sub-transferable path within a first preset time, it is determined that the transfer location is in the first sub-transferable path, and a target vehicle allowed to travel in the remaining journey is determined from at least one candidate vehicle, wherein the unassigned state is used to indicate that the candidate vehicle is not assigned to other clients; or, if no candidate vehicle in an unassigned state is screened out through the first sub-transferable path within the first preset time, then Based on the current positioning information of the initial vehicle, the second sub-transferable path is adjusted, and in response to the existence of at least one candidate vehicle in an unassigned state at any position corresponding to the adjusted second sub-transferable path, a target vehicle that is allowed to travel in the remaining journey is determined from the at least one candidate vehicle; or, if no candidate vehicle in an unassigned state is screened out through the first sub-transferable path within a first preset time, the remaining transferable path is adjusted based on the current positioning information of the initial vehicle, and in response to the existence of at least one candidate vehicle in an unassigned state at any position corresponding to the adjusted remaining transferable path, a target vehicle that is allowed to travel in the remaining journey is determined from the at least one candidate vehicle, wherein the remaining transferable path is used to represent a transferable path other than the path that the initial vehicle has traveled in the transferable path.

[0012] Optionally, controlling the target vehicle to travel to the destination includes: in response to the target vehicle having traveled to a transfer location, determining a current position to which the initial vehicle has traveled; in response to the current position being within a second preset distance range of the transfer location, controlling the target vehicle to travel from the transfer location to the destination.

[0013] Optionally, the method also includes: in response to a malfunction of the target vehicle, determining a target candidate vehicle from at least one candidate vehicle that is a third distance away from the target vehicle and is in an unassigned state, wherein the third distance is within a first preset distance range; and replacing the target vehicle with the target candidate vehicle.

[0014] Optionally, the method further includes: in response to the current position being within a second preset distance range, controlling the client to output prompt information, wherein the prompt information is used to prompt a change from the initial vehicle to the target vehicle.

[0015] According to another aspect of an embodiment of the present invention, a vehicle control method is provided. The method can be applied to a target vehicle, comprising: driving to a destination, wherein the degree of match between the target vehicle and the destination is higher than the degree of match between the initial vehicle and the destination, the target vehicle is obtained by replacing the initial vehicle in response to a replacement request, the replacement request is used to request replacement of the initial vehicle, the replacement request is obtained during the process of the initial vehicle moving from the origin to the destination, and the initial vehicle is used to move from the origin to the destination in a future trip.

[0016] According to another aspect of an embodiment of the present invention, a vehicle control method is provided. The method can be applied to an initial vehicle, comprising: obtaining a destination, wherein the initial vehicle is used to move from a starting point to a destination in a future trip; in the process of the initial vehicle moving from the starting point to the destination, issuing a replacement request, wherein the replacement request is used to request a server to replace the initial vehicle; obtaining vehicle information of a target vehicle issued by the server in response to the replacement request, wherein the matching degree between the target vehicle and the destination is higher than the matching degree between the initial vehicle and the destination; and performing a vehicle replacement operation based on the vehicle information of the target vehicle, so that the initial vehicle is replaced with the target vehicle to travel to the destination.

[0017] According to another aspect of an embodiment of the present invention, a vehicle control system is provided. The system may include: an initial vehicle, which moves from a starting point to a destination in a future trip; and during the process of the initial vehicle moving from the starting point to the destination, sending a replacement request to a server, wherein the replacement request is used to request replacement of the initial vehicle; the server, which is used to replace the initial vehicle with a target vehicle in response to the replacement request, wherein the matching degree between the target vehicle and the destination is higher than the matching degree between the initial vehicle and the destination; and the target vehicle, which is used to travel to the destination.

[0018] According to another aspect of an embodiment of the present invention, a vehicle control device is also provided. The device may include: a determination unit, used to determine an initial vehicle, wherein the initial vehicle is used to move from a starting point to a destination in a future trip; an acquisition unit, used to acquire a replacement request during the process of the initial vehicle moving from the starting point to the destination, wherein the replacement request is used to request replacement of the initial vehicle; a replacement unit, used to replace the initial vehicle with a target vehicle in response to the replacement request, wherein the matching degree between the target vehicle and the destination is higher than the matching degree between the initial vehicle and the destination; and a control unit, used to control the target vehicle to travel to the destination.

[0019] Optionally, the determination unit includes: an allocation module, used to allocate an initial vehicle to the client in response to a vehicle request from the client, wherein the vehicle request is used to indicate that the initial vehicle moves from a starting point to a destination in a future trip; a first determination module, used to determine the vehicle that receives input information as the initial vehicle, wherein the input information is used to indicate the destination; the acquisition unit includes: a second determination module, used to determine the biometric information of an object in the initial vehicle and / or the current performance indicators of the initial vehicle during the process of the initial vehicle moving to the destination, wherein the biometric information is used to indicate the physical state of the object in the current trip and the current performance indicators are used to indicate the performance of the initial vehicle in the current trip; an acquisition module, used to obtain a replacement request based on the biometric information and / or the current performance indicators.

[0020] Optionally, the current performance indicator includes: at least one of the following information of the initial vehicle: the amount of electricity allowed to continue to be consumed, the amount of electricity consumed and the cruising range, and the acquisition module includes: an acquisition sub-module for obtaining a replacement request in response to the biological information indicating that the object is in a healthy state, and / or in response to the current performance indicator not meeting the performance indicator threshold.

[0021] Optionally, the replacement unit includes: a third determination module, used to determine at least one transfer location in response to a replacement request, wherein the at least one transfer location is at least one location that the initial vehicle passes through before traveling to the destination; a fourth determination module, used to determine a target vehicle based on at least one transfer location and a remaining journey, and replace the initial vehicle with the determined target vehicle, wherein the remaining journey is used to represent the journey between the transfer location and the destination; the method also includes: controlling the target vehicle to move to the transfer location.

[0022] Optionally, the third determination module includes: a first determination submodule, used to determine a transferable path of the initial vehicle in response to a replacement request, wherein the transferable path is used to represent a path between a first target position of the initial vehicle and a second target position of the initial vehicle, the first target position being the position of the initial vehicle when it is determined that the initial vehicle needs to be replaced, and the second target position being used to represent a position that the initial vehicle is allowed to reach before driving to the charging station, the transferable path including at least one transfer location, and the charging station being used to charge the initial vehicle; a second determination submodule, used to determine a transfer location from at least one transfer location in the transferable path.

[0023] Optionally, the transferable path includes a first sub-transferable path and a second sub-transferable path, wherein if the initial vehicle moves from the first target location to the second target location, the initial vehicle first passes through the first sub-transferable path and then passes through the second sub-transferable path, and the fourth determination module includes: a third determination submodule, for determining that the transfer location is in the first sub-transferable path if at least one candidate vehicle in an unassigned state is screened out through the first sub-transferable path within a first preset time, and determining a target vehicle that is allowed to travel in the remaining journey from the at least one candidate vehicle, wherein the unassigned state is used to indicate that the candidate vehicle is not assigned to other clients; or, if no candidate vehicle in an unassigned state is screened out through the first sub-transferable path within the first preset time, then determining the transfer location based on the initial vehicle The method further comprises the following steps: adjusting the second sub-transferable path based on the current positioning information of the initial vehicle, and in response to the presence of multiple vehicles in an unassigned state at any position corresponding to the adjusted second sub-transferable path, determining a target vehicle allowed to travel in the remaining journey from the multiple vehicles; or, if no unassigned candidate vehicle is screened out through the first sub-transferable path within the first preset time, adjusting the remaining transferable path based on the current positioning information of the initial vehicle, and in response to the presence of at least one unassigned candidate vehicle at any position corresponding to the adjusted remaining transferable path, determining a target vehicle allowed to travel in the remaining journey from the at least one candidate vehicle, wherein the remaining transferable path is used to represent a transferable path other than the path that the initial vehicle has traveled in the transferable path.

[0024] Optionally, the device may also include: a first determination unit, used to determine the target to-be-selected vehicle from at least one to-be-selected vehicle that is separated from the target vehicle by a third distance and is in an unassigned state in response to a failure of the target vehicle, wherein the third distance is within a first preset distance range; and a first replacement unit, used to replace the target vehicle with the target to-be-selected vehicle.

[0025] Optionally, the control unit may include: a fifth determination module, for determining the current position to which the initial vehicle has traveled in response to the target vehicle having traveled to the transfer location; and a control module, for controlling the target vehicle to travel from the transfer location to the destination in response to the current position being within a second preset distance range of the transfer location.

[0026] Optionally, the device may further include: an output unit, configured to control the client to output prompt information in response to the current position being within a second preset distance range, wherein the prompt information is used to prompt a change from an initial vehicle to a target vehicle.

[0027] According to another aspect of an embodiment of the present invention, another vehicle control device is provided. The device can be applied to a target vehicle, comprising: a driving unit, used to travel to a destination, wherein the degree of match between the target vehicle and the destination is higher than the degree of match between the initial vehicle and the destination, the target vehicle is obtained by replacing the initial vehicle in response to a replacement request, the replacement request is used to request the replacement of the initial vehicle, the replacement request is obtained during the process of the initial vehicle moving from the origin to the destination, and the initial vehicle is used to move from the origin to the destination in a future trip.

[0028] According to another aspect of an embodiment of the present invention, another vehicle control device is provided. The device can be applied to an initial vehicle, and includes: a first acquisition unit, used to acquire a destination, wherein the initial vehicle is used to move from a starting point to a destination in a future trip; a sending unit, used to issue a replacement request during the process of the initial vehicle moving from the starting point to the destination, wherein the replacement request is used to request a server to replace the initial vehicle; a second acquisition unit, used to acquire vehicle information of a target vehicle sent by the server in response to the replacement request, wherein the matching degree between the target vehicle and the destination is higher than the matching degree between the initial vehicle and the destination; and a replacement unit, used to perform a vehicle replacement operation based on the vehicle information of the target vehicle, so that the initial vehicle is replaced with the target vehicle and travels to the destination.

[0029] According to another aspect of an embodiment of the present invention, a vehicle is provided, including: a memory storing an executable program; and a processor for running the program, wherein the program executes any one of the above methods when running.

[0030] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium including a stored executable program, wherein when the executable program runs, the device where the storage medium is located is controlled to execute any one of the above methods.

[0031] According to another aspect of an embodiment of the present invention, a computer program product is provided. The computer program product includes a computer program. When the computer program is executed by a processor, any one of the above methods is implemented.

[0032] In an embodiment of the present invention, when controlling a vehicle, an initial vehicle may be allocated to the client in response to a vehicle use request from the client. In the process of the allocated initial vehicle moving from the origin to the destination, a replacement request may be obtained, and in response to the obtained replacement request, the initial vehicle may be replaced with a target vehicle, and the replaced target vehicle may be controlled to travel to the destination. Since the embodiment of the present application may replace the initial vehicle with a target vehicle, and control the replaced target vehicle to continue to travel to the destination, the purpose of passengers not having to re-initiate orders on their own is achieved, thereby solving the technical problem of poor user riding experience, and further achieving the technical effect of improving the user riding experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0034] FIG1( a ) is a schematic diagram of an application scenario of a vehicle control method according to an embodiment of the present invention;

[0035] FIG1( b ) is a flow chart of a method for controlling a vehicle according to an embodiment of the present invention;

[0036] FIG. 2( a ) is a flow chart of a vehicle control method according to the related art;

[0037] FIG2( b ) is a flow chart of a passenger docking method according to an embodiment of the present invention;

[0038] FIG2( c ) is a schematic diagram of data interaction between a vehicle and a server according to an embodiment of the present invention;

[0039] Figure 3 is a structural block diagram of a control system of a vehicle according to an embodiment of the present invention;

[0040] FIG4( a) is a structural block diagram of a control device for a vehicle according to an embodiment of the present invention;

[0041] FIG4( b ) is a structural block diagram of another vehicle control device according to an embodiment of the present invention;

[0042] FIG4( c ) is a structural block diagram of another vehicle control device according to an embodiment of the present invention;

[0043] Figure 5 is a structural block diagram of a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0045] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0046] According to an embodiment of the present invention, a vehicle control method is provided.

[0047] As an optional implementation, the control method of the above-mentioned vehicle can be applied to, but not limited to, the application scenario shown in FIG1(a). FIG1(a) is a schematic diagram of an application scenario of a control method for a vehicle according to an embodiment of the present invention. As shown in FIG1(a), in the application scenario, the terminal device 10 can be, but not limited to, communicating with the server 13 through the network 11, and the server 13 can be, but not limited to, performing operations on the database, such as writing data operations or reading data operations. The above-mentioned terminal device 10 can include, but is not limited to, a human-computer interaction screen, a processor, and a memory. The above-mentioned human-computer interaction screen can be, but is not limited to, used to display a virtual machine on the terminal device 10, etc. The above-mentioned vehicle 12 can be, but is not limited to, used to respond to the above-mentioned human-computer interaction operation, perform corresponding operations, or generate corresponding instructions, and send the generated instructions to the server 13.

[0048] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0049] FIG. 1( b ) is a flow chart of a method for controlling a vehicle according to an embodiment of the present invention. As shown in FIG. 1( b ), the method comprises the following steps:

[0050] Step S112, determining the initial vehicle.

[0051] In the technical solution provided in the above step S112 of the present invention, the above initial vehicle can be used to move from the origin to the destination in the future trip.

[0052] In this embodiment, if the vehicle receives the order information, the vehicle that receives the order information is the initial vehicle. The order information can be used to record at least one of the following information: the departure point selected by the user, the destination to be reached by the user, the time the user needs to complete boarding, and the fee the user needs to pay. Alternatively, if the user directly intercepts a vehicle in an unallocated state in a certain section of road and takes the intercepted vehicle, the vehicle is the initial vehicle. The user may be a passenger who needs to take a vehicle, and the unallocated state may be used to indicate that the selected vehicle is not allocated to other clients. For example, the unallocated state may be that the vehicle does not carry other users, which is only used as an example here and is not specifically limited.

[0053] Step S114, obtaining a replacement request during the process of the initial vehicle moving from the origin to the destination.

[0054] In the technical solution provided in step S114 of the present invention, the replacement request can be used to request replacement of the initial vehicle. For example, the replacement request can be displayed in at least one of the following forms: voice form, text form, and animation form, etc. The voice form can play the driving information of the initial vehicle in the form of sound, the text form can display the driving information of the initial vehicle in the form of text, and the animation form can play the driving information of the initial vehicle in the form of dynamic effects, which is only an example and is not specifically limited.

[0055] In this embodiment, the driving information can be used to indicate the transfer place to be reached by the initial vehicle and the destination to be moved to by the client, wherein the transfer place is located between the origin and the destination.

[0056] In this embodiment, after the initial vehicle is determined, a replacement request is obtained during the process of the initial vehicle moving from the origin to the destination. Optionally, based on the determination of the initial vehicle, this embodiment monitors at least the status of the initial vehicle during the process of the initial vehicle carrying the client from the origin to the destination. Based on the monitored status of the initial vehicle, a replacement request can be obtained, thereby achieving the purpose of requesting to replace the initial vehicle for the client.

[0057] It should be noted that the above method of obtaining a replacement request during the process of the initial vehicle moving from the origin to the destination is only an example and is not specifically limited here. As long as the process and method of obtaining a replacement request during the process of the initial vehicle moving from the origin to the destination are within the protection scope of the embodiments of the present application, they will not be described one by one here.

[0058] Step S116, in response to the replacement request, replacing the initial vehicle with the target vehicle.

[0059] In the technical solution provided in step S116 of the present invention, the matching degree between the target vehicle and the destination may be higher than the matching degree between the initial vehicle and the destination. The matching degree may be used to indicate the degree of completion of the vehicle carrying the user to the destination. For example, the degree of completion of the target vehicle carrying the user to the destination may be higher than the degree of completion of the initial vehicle carrying the user to the destination.

[0060] In this embodiment, during the process of the initial vehicle moving from the origin to the destination, after obtaining the replacement request, the initial vehicle is replaced with the target vehicle in response to the replacement request. Optionally, based on obtaining the replacement request, the embodiment can determine the transfer point to be reached by the initial vehicle, and according to the determined transfer point, the initial vehicle can be replaced with the target vehicle to carry the client.

[0061] It should be noted that the above method of replacing the initial vehicle with the target vehicle in response to the replacement request is only an example and is not specifically limited here. As long as the process and method of replacing the initial vehicle with the target vehicle in response to the replacement request are within the protection scope of the embodiments of the present application, they will not be described one by one here.

[0062] Step S118, controlling the target vehicle to travel to the destination.

[0063] In the technical solution provided in step S118 of the present invention, after the initial vehicle is replaced with the target vehicle in response to the replacement request, the target vehicle is controlled to travel to the destination. Optionally, in this embodiment, on the basis of replacing the initial vehicle with the target vehicle to be carried by the client, if the replaced target vehicle has traveled to the transfer place, the target vehicle traveling to the transfer place is controlled to carry the client, and then the target vehicle carrying the client is controlled to travel from the transfer place to the destination, thereby achieving the purpose of passengers not having to re-initiate orders by themselves.

[0064] As an optional example, in the above steps S112 to S118 of the present application, when the same route is chosen for driving this time as the last driving, the AI ​​driver can be activated. The AI ​​driver controls the initial vehicle to move from the starting point to the destination. If during the movement, the initial vehicle requests to change the vehicle for the client, after the initial vehicle is replaced with the target vehicle, the AI ​​driver controls the target vehicle and drives to the destination.

[0065] It should be noted that the vehicle control method in the present application can also be applied to at least the following scenarios: assisted driving scenario and passive driving scenario (which can be referred to as human driving scenario). Among them, the assisted driving scenario can be used to indicate the scenario in which the vehicle control system provides assistance during the driving process, but the driving subject still needs to maintain control and supervision of the driving, and the passive driving scenario can be used to indicate the scenario in which the driving subject controls the vehicle to complete the driving operation.

[0066] In the artificial intelligence AI driving of autonomous vehicles, commuting mode usually refers to a driving mode designed for commuting or daily commuting. Among them, the AI ​​driving can collect data by learning the user's driving route and driving behavior. When all the learning is completed, the collected data is screened and checked, and then the full segment of data after screening and checking is automatically transmitted back to the cloud server to execute the construction of the cloud map. The next time you drive and choose the same route, the AI ​​driving will be activated, and the vehicle will be driven to the destination of the route according to the constructed cloud map. Among them, matching and complementing the offline map with the constructed cloud map can improve the accuracy of the map.

[0067] In the above steps S112 to S118 of the present application, when controlling the vehicle, the initial vehicle can be determined. In the process of the determined initial vehicle moving from the origin to the destination, a replacement request can be obtained, and in response to the obtained replacement request, the initial vehicle can be replaced with the target vehicle, and the replaced target vehicle can be controlled to travel to the destination. Since the embodiment of the present application can replace the initial vehicle with the target vehicle in response, and control the replaced target vehicle to continue to travel to the destination, the purpose of passengers not having to re-initiate orders by themselves is achieved, thereby solving the technical problem of poor user experience, and further achieving the technical effect of improving the user experience.

[0068] The above method of this embodiment is further introduced below.

[0069] As an optional implementation method, step S112, determining the initial vehicle, includes: in response to a vehicle request from the client, allocating the initial vehicle to the client, wherein the vehicle request is used to indicate that the initial vehicle moves from the origin to the destination in the future trip; or, determining the vehicle that receives the input information as the initial vehicle; step S114, obtaining a replacement request during the process of the initial vehicle moving from the origin to the destination, including: during the process of the initial vehicle moving to the destination, determining the biometric information of the objects in the initial vehicle and / or the current performance indicators of the initial vehicle; obtaining the replacement request based on the biometric information and / or the current performance indicators.

[0070] In this embodiment, the vehicle request can be used to indicate that the initial vehicle moves from the origin to the destination in the future trip. For example, the client can be a user-operable medium, for example, the medium can include: an application (Application, referred to as App) and a web page, etc. The vehicle request can be displayed in at least one of the following forms: voice form, text form and animation form, etc. The voice form can play the client's order information in the form of sound, the text form can display the client's order information in the form of text, and the animation form can play the client's order information in the form of motion effects. This is only an example and is not specifically limited.

[0071] In this embodiment, the order information can be used to record the origin of the client at the current moment and the destination to which the client is to move. The order information can be stored in the storage space of the client in at least one of the following storage forms: document form, data table form, and compressed package form, etc., which are only used as examples and are not specifically limited.

[0072] In this embodiment, in response to the vehicle use request from the client, an initial vehicle is allocated to the client. Optionally, if the embodiment receives a vehicle use request sent by the client, an initial vehicle is determined from a plurality of vehicles whose distances from the departure point where the client is currently located are within a first preset distance range, and the determined initial vehicle is allocated to the client, which is only an example and not specifically limited here.

[0073] Optionally, the initial vehicle is determined from a plurality of vehicles whose distances from the origin of the client at the current moment are within a first preset distance range. For example, from a plurality of vehicles whose distances from the origin are within the first preset distance range, any vehicle in an unassigned state is determined as the initial vehicle, or any vehicle in an assigned state and whose current order is about to end is determined as the initial vehicle, which is only an example and not specifically limited here.

[0074] In this embodiment, the input information may be used to indicate the destination. The input information may include but is not limited to information in text form and voice form, and the content of the input information may include the destination. For example, the input information may be a text including a keyword / keyword, or may be a voice including voice key information, the keyword / keyword may be a text of the destination name, and the voice key information may be an audio of the destination name, which is only an example and is not specifically limited here.

[0075] In this embodiment, the vehicle receiving the input information is determined as the initial vehicle. Optionally, in this embodiment, if the user directly intercepts a vehicle in an unassigned state on a certain road section, the user directly inputs information on the intercepted vehicle, and the vehicle sends the input information input by the user to the server. If the server parses the input information to include the destination to be driven to, the vehicle receiving the input information is determined as the initial vehicle. This is only an example and is not specifically limited.

[0076] It should be noted that the above-mentioned first preset distance range can be customized according to the client's preference. For example, if the first preset distance range is an area range consisting of a circle with the origin as the center and a radius of 3km, and the client adjusts 3km to 2km, then the first preset distance range becomes an area range consisting of a circle with the origin as the center and a radius of 2km. This is only an example and is not specifically limited.

[0077] In this embodiment, the above biological information can be used to indicate the physical state of the subject in the current trip. The above biological information can include at least one of the following information: the subject's breathing rate, heart rate, and body temperature data, etc. That is, at least one of the above information can indicate whether the passenger's physical state in the current trip is a healthy state or an abnormal state. The abnormal state may include but is not limited to: a fainting state, a convulsion state, and a trembling state, etc., which are only given as examples and are not specifically limited.

[0078] In this embodiment, the above-mentioned current performance index can be used to represent the performance of the initial vehicle in the current trip. Among them, the above-mentioned current performance index can include at least one of the following information: the current energy consumption of the initial vehicle, the remaining power of the battery of the initial vehicle, and the mileage of the initial vehicle. For example, when the road condition of the road where the initial vehicle is located is a rough road condition, the current performance index of the initial vehicle may not meet the performance index threshold, thereby obtaining a replacement request for the initial vehicle, which is only an example and not specifically limited here. In this embodiment, after the initial vehicle is allocated to the client in response to the client's request for a vehicle, the biometric information of the object matching the client and / or the attribute information of the initial vehicle are determined during the process of the initial vehicle moving to the destination. Optionally, this embodiment, on the basis of allocating the initial vehicle to the client, monitors the state of the object matching the client during the process of the allocated initial vehicle carrying the client from the origin to the destination, and the biometric information of the object matching the client can be determined according to the monitored state of the object; and, or, monitors the state of the initial vehicle, and determines the current performance index of the initial vehicle according to the monitored state of the initial vehicle.

[0079] In this embodiment, during the process of the initial vehicle moving to the destination, after determining the biological information of the object in the initial vehicle and / or the current performance index of the initial vehicle, a replacement request is obtained based on the biological information and / or the attribute information. Optionally, this embodiment can obtain the replacement demand based on the determined biological information and the determined current performance index of the initial vehicle on the basis of determining the biological information of the object in the initial vehicle and / or the attribute information of the initial vehicle, or can obtain the replacement demand based on the determined biological information or the determined current performance index of the initial vehicle, thereby achieving the technical effect of increasing the speed of requesting a replacement vehicle.

[0080] Optionally, the replacement requirement may be obtained based on the determined biological information and the determined current performance index of the initial vehicle. That is, the replacement requirement may be obtained by judging the relationship between the determined biological information and the physical health status, and judging the relationship between the determined current performance index of the initial vehicle and the performance index threshold.

[0081] Optionally, the replacement requirement may be obtained based on the determined biological information or the determined current performance index of the initial vehicle. That is, the replacement requirement may be obtained by judging the relationship between the determined biological information and the physical health status, or judging the relationship between the determined current performance index of the initial vehicle and the performance index threshold.

[0082] The method for obtaining a replacement request based on biological information and / or current performance indicators in this embodiment is further described below.

[0083] As an optional implementation method, based on biometric information and / or current performance indicators, obtaining a replacement request includes: in response to the biometric information indicating that the object is in a healthy state, and / or, in response to the current performance indicator not satisfying the performance indicator threshold, obtaining a replacement request. In this embodiment, the above-mentioned physical health status can be used to indicate the normal physical state of the object to autonomously board the initial vehicle or the target vehicle. For example, if the initial vehicle is an order vehicle A, the above-mentioned physical health status can be the normal physical state of the passenger to autonomously board the order vehicle A. If the initial vehicle is a shuttle vehicle B, the above-mentioned physical health status can be the normal physical state of the user to autonomously board the shuttle vehicle B. This is only an example and is not specifically limited here.

[0084] In this embodiment, the current performance index may include at least one of the following information of the initial vehicle: the amount of electricity allowed to continue to be consumed, the amount of electricity consumed, and the cruising range. The amount of electricity allowed to continue to be consumed may be used to indicate the amount of electricity that can continue to be used by the battery of the initial vehicle. The amount of electricity consumed may be used to indicate the amount of electricity that has been used by the battery of the initial vehicle. The cruising range may be used to indicate the total mileage to be traveled by the initial vehicle.

[0085] In this embodiment, the performance index thresholds may be used to represent the values ​​of various performances that allow the initial vehicle to move from the origin to the destination. For example, the performance index thresholds may include at least one of the following information: the amount of electricity that is allowed to continue to be consumed by the initial vehicle to move from the origin to the destination, the upper limit of the amount of electricity that has been consumed by the initial vehicle, and the range that is allowed to move the initial vehicle from the origin to the destination, etc., which are only given as examples and are not specifically limited.

[0086] In this embodiment, during the process of the initial vehicle moving to the destination, after determining the biological information of the object in the initial vehicle and / or the current performance index of the initial vehicle, in response to the biological information indicating that the object is in a healthy state, and / or in response to the current performance index not meeting the performance index threshold, a replacement request is obtained. Optionally, based on the determination of the biological information of the object in the initial vehicle and / or the current performance index of the initial vehicle, the embodiment determines the relationship between the determined biological information and the health state, and determines the relationship between the determined current performance index of the initial vehicle and the performance index threshold. If it is determined that the above-mentioned biological information indicates that the object is in a healthy state, and the above-mentioned current performance index does not meet the performance index threshold, a replacement requirement can be obtained; or, the relationship between the determined biological information and the health state is determined, or the relationship between the determined current performance index of the initial vehicle and the performance index threshold is determined. If it is determined that the above-mentioned biological information indicates that the object is in a healthy state, or if it is determined that the above-mentioned current performance index does not meet the performance index threshold, a replacement requirement can be obtained, thereby achieving a technical effect of increasing the speed of requesting a replacement vehicle.

[0087] The method for replacing an initial vehicle with a target vehicle in response to a replacement request of this embodiment is further described below.

[0088] As an optional implementation mode, step S116, in response to a replacement request, replaces the initial vehicle with a target vehicle, including: in response to the replacement request, determining at least one transfer location of the initial vehicle; based on at least one transfer location and the remaining trip, determining the target vehicle, and replacing the initial vehicle with the determined target vehicle; the method also includes: controlling the target vehicle to move to the transfer location.

[0089] In this embodiment, the at least one transfer location may be at least one location that the initial vehicle passes before traveling to the destination. For example, the transfer location may be used to indicate a docking point where the target vehicle picks up passengers.

[0090] In this embodiment, the remaining trip may be used to represent the trip between the transfer point and the destination, and may be the trip of the client from the origin to the destination, excluding the trip between the origin and the transfer point.

[0091] In this embodiment, in the process of the initial vehicle moving from the starting point to the destination, after obtaining the change request, at least one transfer place is determined in response to the change request. Optionally, this embodiment can determine at least one transfer place based on the current performance indicators of the initial vehicle after obtaining the change request. For example, based on the determination of the charging station closest to the initial vehicle, the amount of electricity required for the initial vehicle to travel to the charging station can be calculated. Based on the remaining power of the battery of the initial vehicle and the above-mentioned required power consumption, the amount of electricity that allows the initial vehicle to continue traveling in the direction of the destination can be determined, thereby determining the location to which the initial vehicle can travel under this power, and determining the location as at least one transfer place, thereby achieving the purpose of determining the transfer place to be reached by the initial vehicle, and then achieving the technical effect of improving the efficiency of determining the transfer place.

[0092] In this embodiment, after determining at least one transfer location in response to a change request, a target vehicle is determined based on at least one transfer location and the remaining trip, and the initial vehicle is replaced with the determined target vehicle. Optionally, this embodiment can determine a target vehicle from at least one candidate vehicle in an unassigned state based on at least one transfer location and the remaining trip, and replace the initial vehicle with the determined target vehicle, thereby achieving the purpose of determining the target vehicle, and further achieving the technical effect of improving the efficiency of vehicle replacement.

[0093] In this embodiment, the target vehicle is controlled to move to the transfer location. Optionally, this embodiment controls the target vehicle to move from its current location to the transfer location on the basis of replacing the initial vehicle with the determined target vehicle, until the location to which the target vehicle moves is the transfer location, or the location to which the target vehicle moves is around the transfer location, thereby achieving the purpose of moving the target vehicle, and further achieving the technical effect of improving the efficiency of vehicle replacement.

[0094] The following further describes the method of determining the transfer point to be reached by the initial vehicle from the departure point in response to the change request of this embodiment.

[0095] As an optional embodiment, in response to a change request, determining a transfer point to be reached by the initial vehicle from a starting point includes: in response to the change request, determining a transferable path for the initial vehicle; and determining a transfer point from at least one transfer point in the transferable path.

[0096] In this embodiment, the transferable path may be used to represent a path between the first target position of the initial vehicle and the second target position of the initial vehicle, wherein the transferable path may include at least one transfer location.

[0097] In this embodiment, the first target position may be the position of the initial vehicle when it is determined that the initial vehicle needs to be replaced, and the second target position may be used to indicate the position that the initial vehicle is allowed to reach before driving to the charging station, and the charging station may be used to charge the initial vehicle.

[0098] In this embodiment, the second target position may be the farthest position to which the initial vehicle can navigate and travel, provided that the initial vehicle can travel to the charging station. The charging station may be determined based on the current performance index of the initial vehicle. For example, based on the current performance index of the initial vehicle, the farthest distance to which the initial vehicle can navigate and travel may be determined, and then the difference between the current total power of the battery of the initial vehicle in the current performance index of the vehicle and the power of the battery consumed by the initial vehicle to travel to the farthest distance may be determined as the power available for the initial vehicle to travel to the charging station. Based on the power available for the initial vehicle to travel to the charging station, a charging station to which the vehicle can travel is determined from a plurality of candidate charging stations.

[0099] In this embodiment, the total distance that the initial vehicle can travel with the current total power can be determined based on the current total power of the battery of the initial vehicle (for example, in kWh) and the unit power consumed per kilometer of the vehicle (for example, in kWh / km). If the charging station is the charging station closest to the position of the initial vehicle in the total distance, the second target position is the position of the target interval length of the nearest charging station. If the charging station is the charging station that is the second closest to the position of the initial vehicle in the total distance, the second target position is the position of the target interval length of the second closest charging station. Among them, the distance between the initial vehicle and the position of the target interval length of the charging station is less than the distance between the initial vehicle and the charging station. The target interval length can be the distance to ensure that other vehicles can enter or exit the charging station normally. The target interval length can be adjusted autonomously according to the user's preferences. This is only an example and is not specifically limited.

[0100] In this embodiment, after obtaining the replacement request, the transferable path of the initial vehicle is determined in response to the replacement request. Optionally, based on obtaining the replacement request, in response to the obtained request to replace the initial vehicle, the path between the first target position of the initial vehicle and the second target position of the initial vehicle is used as the transferable path of the initial vehicle, thereby achieving the purpose of determining the path of the initial vehicle from the transfer location to the charging station, thereby achieving the technical effect of improving the efficiency of vehicle charging.

[0101] In this embodiment, after determining the transferable path of the initial vehicle in response to the change request, a transfer location is determined from at least one transfer location in the transferable path. Optionally, based on the determination of the transferable path of the initial vehicle, according to the user's preference for pedestrian flow and vehicle flow, from at least one transfer location in the transferable path, a transfer location with a pedestrian flow lower than the peak pedestrian flow and a vehicle flow lower than the peak vehicle flow can be determined as the transfer location, thereby achieving the purpose of determining the transfer location, and further achieving the technical effect of improving the efficiency of determining the transfer location.

[0102] The determination of the target vehicle based on the transfer point and the remaining trip of this embodiment is further described below.

[0103] As an optional embodiment, determining the target vehicle based on the transfer location and the remaining journey includes: if at least one candidate vehicle in an unassigned state is screened out through the first sub-transferable path within a first preset time, determining that the transfer location is in the first sub-transferable path, and determining the target vehicle allowed to travel in the remaining journey from the at least one candidate vehicle; or, if no candidate vehicle in an unassigned state is screened out through the first sub-transferable path within the first preset time, adjusting the second sub-transferable path based on the current positioning information of the initial vehicle, and in response to the presence of multiple vehicles in an unassigned state at any position corresponding to the adjusted second sub-transferable path, determining the target vehicle allowed to travel in the remaining journey from the multiple vehicles; or, if no candidate vehicle in an unassigned state is screened out through the first sub-transferable path within the first preset time, adjusting the remaining transferable path based on the current positioning information of the initial vehicle, and in response to the presence of at least one candidate vehicle in an unassigned state at any position corresponding to the adjusted remaining transferable path, determining the target vehicle allowed to travel in the remaining journey from the at least one candidate vehicle.

[0104] In this embodiment, the above transferable path may include a first sub-transferable path and a second sub-transferable path. If the initial vehicle moves from the first target position to the second target position, the initial vehicle first passes through the first sub-transferable path and then passes through the second sub-transferable path. For example, the first sub-transferable path may account for the first 60% of the above transferable path, and the second sub-transferable path may account for the last 40% of the above transferable path, which is only used as an example and is not specifically limited.

[0105] In this embodiment, the above-mentioned allocation state can be used to indicate that multiple vehicles carry other clients. The above-mentioned unallocated state can be used to indicate that the selected vehicle is not allocated to other clients.

[0106] In this embodiment, if other vehicles move toward the transferable path during the movement of the initial vehicle, it is determined whether at least one unassigned vehicle can be selected through the first sub-transferable path within the first preset time. The first preset time can be used to represent the time taken by other vehicles to move toward the transferable path. In this embodiment, the initial vehicle can be represented by the order vehicle A, and the target vehicle can be represented by the connecting vehicle B, which is only used as an example and is not specifically limited.

[0107] In this embodiment, after determining at least one transfer place in response to a change request, if at least one candidate vehicle in an unassigned state is screened out through the first sub-transferable path within a first preset time, it is determined that the transfer place is in the first sub-transferable path, and a target vehicle allowed to travel in the remaining journey is determined from the at least one candidate vehicle. Optionally, based on determining the transfer place to be reached by the initial vehicle from the departure place, this embodiment determines whether at least one candidate vehicle in an unassigned state is screened out through the first sub-transferable path within the first preset time. If it is determined that at least one candidate vehicle in an unassigned state is screened out through the first sub-transferable path within the first preset time, it is determined that the transfer place is in the first sub-transferable path, and the state of the vehicle at any position whose first distance from the transfer place is within the first preset distance range is detected. If it is detected that there is at least one candidate vehicle in an unassigned state among the above-mentioned vehicles, a target vehicle allowed to travel in the remaining journey is determined from the at least one candidate vehicle, thereby achieving the purpose of determining the target vehicle, and further achieving the technical effect of improving the efficiency of vehicle replacement.

[0108] Optionally, if the first sub-transferable path is in the first 60% of the transferable paths, a judgment is made as to whether at least one unassigned vehicle for selection is screened out through the first 60% of the transferable paths within the first preset time; if it is determined that at least one unassigned idle vehicle is screened out through the first 60% of the transferable paths within the first preset time, a connecting vehicle B allowed to travel in the remaining journey is determined from the idle vehicles, and the order vehicle A is replaced with the determined connecting vehicle B.

[0109] In this embodiment, the current positioning information can be used to indicate the position of the initial vehicle in the current period. The current positioning information can be displayed in the form of coordinates, which is only used as an example and is not specifically limited.

[0110] In this embodiment, after at least one transfer location is determined in response to a change request, if no candidate vehicle in an unassigned state is screened out through the first sub-transferable path within a first preset time, the second sub-transferable path is adjusted based on the current positioning information of the initial vehicle, and in response to the existence of at least one candidate vehicle in an unassigned state at any position corresponding to the adjusted second sub-transferable path, a target vehicle allowed to travel in the remaining journey is determined from the at least one candidate vehicle. Optionally, this embodiment, based on determining at least one transfer place, determines whether at least one unassigned candidate vehicle is screened out through the first sub-transferable path within the first preset time; if it is determined that at least one unassigned candidate vehicle is not screened out through the first sub-transferable path within the first preset time, the second sub-transferable path is adjusted according to the current positioning information of the initial vehicle, and the state of the vehicle at any position corresponding to the adjusted second sub-transferable path is detected; if it is detected that there is at least one unassigned candidate vehicle among the above-mentioned vehicles, a target vehicle allowed to travel in the remaining journey is determined from the at least one candidate vehicle, thereby achieving the purpose of determining the target vehicle and further realizing the technical effect of improving the efficiency of vehicle replacement.

[0111] Optionally, if the first sub-transferable path is in the first 55% of the transferable paths, it is determined whether at least one unassigned vehicle to be selected is screened out through the first 55% of the transferable paths within the first preset time. If it is determined that at least one unassigned vehicle to be selected is not screened out through the first 55% of the transferable paths within the first preset time, the second sub-transferable path is adjusted according to the current positioning information of the order vehicle A. For example, if the second sub-transferable path is a path traveling on the main road, the second sub-transferable path is adjusted to a path traveling through the auxiliary road and then returning to the main road. The state of the vehicle at any position corresponding to the adjusted second sub-transferable path is detected. If it is detected that there is an idle vehicle among the above vehicles, a connecting vehicle B allowed to travel in the remaining journey is determined from the idle vehicles, and the order vehicle A is replaced with the determined connecting vehicle B.

[0112] In this embodiment, the remaining transferable paths may be used to indicate transferable paths other than the paths that the initial vehicle has traveled among the transferable paths.

[0113] In this embodiment, if no unassigned candidate vehicle is screened out through the first sub-transferable path within the first preset time, then the remaining transferable path is adjusted based on the current positioning information of the initial vehicle, and in response to the presence of at least one unassigned candidate vehicle at any position corresponding to the adjusted remaining transferable path, a target vehicle allowed to travel in the remaining journey is determined from the at least one candidate vehicle. Optionally, based on the determination of at least one transfer place, this embodiment determines whether at least one unassigned candidate vehicle is screened out through the first sub-transferable path within the first preset time, and if it is determined that at least one unassigned candidate vehicle is not screened out through the first sub-transferable path within the first preset time, then the remaining transferable path is adjusted based on the current positioning information of the initial vehicle, and the state of the vehicle at any position corresponding to the adjusted remaining transferable path is detected, and if it is detected that there is at least one unassigned candidate vehicle among the above vehicles, then the target vehicle allowed to travel in the remaining journey can be determined from the at least one candidate vehicle, thereby achieving the purpose of determining the target vehicle, and further achieving the technical effect of improving the efficiency of vehicle replacement.

[0114] Optionally, if the first sub-transferable path is in the first 58% of the transferable paths, it is determined whether at least one unassigned vehicle to be selected is screened out through the first 58% of the transferable paths within the first preset time. If it is determined that at least one unassigned vehicle to be selected is not screened out through the first 58% of the transferable paths within the first preset time, the remaining transferable paths are adjusted according to the current positioning information of the order vehicle A. For example, if the remaining transferable paths are paths traveling on the auxiliary roads, the remaining transferable paths are adjusted to paths traveling through the main roads and then returning to the auxiliary roads. The status of the vehicle at any position corresponding to the adjusted remaining transferable paths is detected. If it is detected that there is an idle vehicle among the above vehicles, a connecting vehicle B allowed to travel in the remaining trip is determined from the idle vehicles, and the order vehicle A is replaced with the determined connecting vehicle B.

[0115] Optionally, this embodiment determines the relationship between the transfer place and the first sub-transferable path and the second sub-transferable path based on the determination of at least one transfer place. If it is determined that the transfer place to be reached by the initial vehicle from the departure place is in the second sub-transferable path, the state of the vehicle at any position whose first distance from the transfer place is within the first preset distance range is detected. If it is detected that there are multiple vehicles in the allocated state among the above-mentioned vehicles, at least one candidate vehicle in the unallocated state is searched at any position between the transfer place and the destination, and a target vehicle allowed to travel in the remaining journey can be determined from the at least one candidate vehicle; or, the state of the vehicle at any position whose second distance from the destination is within the first preset distance range is detected. If it is detected that there is at least one candidate vehicle in the unallocated state among the above-mentioned vehicles, a target vehicle allowed to travel in the remaining journey can be determined from the at least one candidate vehicle. Thus, the purpose of determining the target vehicle is achieved, and the technical effect of improving the efficiency of vehicle replacement is achieved.

[0116] Optionally, if there is no idle vehicle at any position within the first preset distance range from the docking point, an idle vehicle is searched at any position between the docking point and the destination according to the navigation route, and the idle vehicle found is determined as the docking vehicle B. Alternatively, if there is no idle vehicle at any position within the first preset distance range from the docking point, the status of the vehicle at any position within the first preset distance range from the destination is detected, and if an idle vehicle is detected among the above vehicles, a docking vehicle B that is allowed to travel in the remaining journey is determined from the existing multiple idle vehicles, and the order vehicle A is replaced with the determined docking vehicle B.

[0117] The control method of the vehicle in this embodiment is further described below.

[0118] As an optional embodiment, the method further includes: in response to a malfunction of the target vehicle, determining a target candidate vehicle from at least one candidate vehicle that is a third distance away from the target vehicle and is in an unassigned state; and replacing the target vehicle with the target candidate vehicle.

[0119] In this embodiment, the third distance may be within the first preset distance range.

[0120] In this embodiment, in response to a failure of the target vehicle, the target vehicle to be selected is determined from at least one vehicle to be selected that is a third distance away from the target vehicle and is not in an assigned state. Alternatively, if the target vehicle is detected to have a failure, the target vehicle to be selected can be determined from at least one vehicle to be selected that is a third distance away from the target vehicle and is not in an assigned state. For example, if a failure of the connecting vehicle B is detected, the target vehicle to be selected can be determined from at least one idle vehicle that is a third distance away from the connecting vehicle B and is not in an assigned state.

[0121] In this embodiment, in response to a failure of the target vehicle, after determining the target candidate vehicle from at least one candidate vehicle that is a third distance away from the target vehicle and in an unassigned state, the target vehicle is replaced with the target candidate vehicle. Optionally, based on the determination of the target candidate vehicle, this embodiment replaces the target vehicle with the target candidate vehicle to be carried by the client, for example, replacing the connecting vehicle B with the target candidate vehicle to be carried by the client, thereby achieving the purpose of replacing the connecting vehicle in the event of a failure of the connecting vehicle.

[0122] The method for controlling the target vehicle to travel to the destination of this embodiment is further described below.

[0123] As an optional implementation method, step S118, controlling the target vehicle to travel to the destination, includes: in response to the target vehicle having traveled to the transfer location, determining the current position to which the initial vehicle has traveled; in response to the current position being within a second preset distance range of the transfer location, controlling the target vehicle to travel from the transfer location to the destination.

[0124] In this embodiment, the second preset distance range may be smaller than the first preset distance range.

[0125] In this embodiment, after the initial vehicle is replaced with the target vehicle in response to the replacement request, the current position to which the initial vehicle has traveled is determined in response to the target vehicle having traveled to the transfer location. Optionally, on the basis of replacing the initial vehicle with the target vehicle to be carried by the client, if the replaced target vehicle has traveled to the transfer location, the current position to which the initial vehicle has traveled can be determined from the server, thereby achieving the purpose of being able to determine the current position of the initial vehicle.

[0126] In this embodiment, in response to the target vehicle having traveled to the transfer place, after determining the current position to which the initial vehicle has traveled, in response to the current position being within the second preset distance range of the transfer place, the target vehicle is controlled to travel from the transfer place to the destination. Optionally, this embodiment determines the relationship between the current position to which the initial vehicle has traveled and the transfer place on the basis of determining the current position to which the initial vehicle has traveled, and if it is determined that the current position to which the initial vehicle has traveled is within the second preset distance range of the transfer place, the replaced target vehicle is controlled to carry the client from the transfer place to the destination, thereby achieving the purpose of passengers not having to get off the vehicle by themselves or re-initiating an order.

[0127] Optionally, if the shuttle vehicle B has arrived at the docking point, the current position of the order vehicle A is determined. If the current position of the order vehicle A is the front side or the rear side adjacent to the docking point arrived at by the shuttle vehicle B, the replaced shuttle vehicle B is controlled to carry the client from the docking point and drive to the destination.

[0128] The control method of the vehicle in this embodiment is further described below.

[0129] As an optional implementation manner, the method further includes: in response to the current position being within a second preset distance range, controlling the client to output prompt information.

[0130] In this embodiment, the prompt information can be used to prompt the change from the initial vehicle to the target vehicle. The prompt information can be displayed in at least one of the following forms: voice form, text form, animation form, etc., which are only used as examples and are not specifically limited.

[0131] In this embodiment, in response to the current position being within the second preset distance range, the control client outputs prompt information. Optionally, this embodiment determines the relationship between the current position to which the initial vehicle has traveled and the transfer location based on the determination of the current position to which the initial vehicle has traveled, and if it is determined that the current position to which the initial vehicle has traveled is within the second preset distance range of the transfer location, the control client outputs prompt information, thereby achieving the purpose of prompting the client to transfer to the target vehicle.

[0132] Optionally, when the ordered vehicle A travels within x meters of the docking point, the control client outputs a prompt message in voice form to remind the user to transfer to the connecting vehicle B: the ordered vehicle A has arrived at the docking point, the connecting vehicle B is on your seat side, the license plate number is xxxxx, please take your belongings and prepare to transfer. This is just an example and is not specifically limited.

[0133] According to an embodiment of the present invention, a vehicle control method is also provided. The method can be applied to a target vehicle. The method may include the following steps:

[0134] The first step is to drive to the destination, wherein the degree of match between the target vehicle and the destination is higher than the degree of match between the initial vehicle and the destination, and the target vehicle is obtained by replacing the initial vehicle in response to a replacement request, and the replacement request is used to request to replace the initial vehicle, and the replacement request is obtained during the process of the initial vehicle moving from the origin to the destination, and the initial vehicle moves from the origin to the destination in the future trip.

[0135] In the technical solution provided in the first step of the present invention, after the target vehicle determines the biometric information of the object matching the client in response to having arrived at the transfer place, the target vehicle responds to the biometric information indicating that the object is in a healthy state and travels from the transfer place to the destination. Optionally, this embodiment determines the relationship between the determined biometric information and the health state based on the determination of the biometric information of the object matching the client, and if it is determined that the above biometric information indicates that the object is in a healthy state, the target vehicle travels from the transfer place to the destination.

[0136] In the first step of the present application, when controlling the vehicle, the target vehicle responds to having arrived at the transfer location, determines the biometric information of the object that matches the client, and then responds to the biometric information that the object is in good health, and drives from the transfer location to the destination. Since the embodiment of the present application can replace the initial vehicle with the target vehicle, and control the replaced target vehicle to continue to drive to the destination, the purpose of passengers not having to re-initiate orders by themselves is achieved, thereby solving the technical problem of poor user experience, and further achieving the technical effect of improving the user experience.

[0137] According to an embodiment of the present invention, a vehicle control method is also provided. The method can be applied to an initial vehicle. The method may include the following steps:

[0138] The first step is to get the destination.

[0139] In the technical solution provided in the first step of the present invention, the initial vehicle can be used to move from a starting point to a destination in a future trip.

[0140] In this embodiment, if the vehicle receives the order information, the vehicle that receives the order information is the initial vehicle. The order information can be used to record at least one of the following information: the departure point selected by the user, the destination to be reached by the user, the time the user needs to complete the boarding, and the fee the user needs to pay. Alternatively, if the user directly intercepts a vehicle in an unassigned state on a certain road section and takes the intercepted vehicle, the vehicle is the initial vehicle. The user can be a passenger who needs to take a vehicle, and the unassigned state can be used to indicate that the selected vehicle has not been assigned to other clients.

[0141] In the second step, while the initial vehicle is moving from the origin to the destination, a replacement request is issued, wherein the replacement request is used to request the server to replace the initial vehicle.

[0142] In the technical solution provided in the second step of the present invention, after the destination is obtained, a replacement request is issued during the process of the initial vehicle moving from the origin to the destination. Optionally, based on the destination being obtained, if the initial vehicle has carried the client, the embodiment at least monitors the status of the initial vehicle. According to the monitored status of the initial vehicle, a replacement request can be issued to the server, thereby achieving the purpose of replacing the initial vehicle with the target vehicle.

[0143] In this embodiment, after the initial vehicle sends a change request in response to having carried the client, the initial vehicle drives toward the transfer location in response to having been replaced with the target vehicle until the current position of the initial vehicle is within the second preset distance range of the transfer location. Optionally, in this embodiment, upon sending the change request, if the initial vehicle has been replaced with the target vehicle to carry the client, the initial vehicle drives toward the transfer location until the current position of the initial vehicle is within the second preset distance range of the transfer location.

[0144] The third step is to obtain the vehicle information of the target vehicle sent by the server in response to the replacement request, wherein the matching degree between the target vehicle and the destination is higher than the matching degree between the initial vehicle and the destination.

[0145] In the technical solution provided in the third step of the present invention, the vehicle information can be used to indicate the identity and type of the target vehicle. For example, the identity can be the license plate number of the target vehicle, and the type can be the type of new energy vehicle, which is only used as an example and is not specifically limited.

[0146] In this embodiment, during the process of the initial vehicle moving from the origin to the destination, after issuing a replacement request, the vehicle information of the target vehicle sent by the server in response to the replacement request is obtained. Optionally, when the server responds to the replacement request issued by the initial vehicle, a target vehicle is allocated to the user in the initial vehicle, and the vehicle information of the target vehicle is sent to the initial vehicle, so that the initial vehicle can obtain the vehicle information of the target vehicle sent by the server in response to the replacement request.

[0147] The fourth step is to perform a vehicle replacement operation based on the vehicle information of the target vehicle so that the initial vehicle is replaced with the target vehicle and travels to the destination.

[0148] In the technical solution provided in the fourth step of the present invention, after obtaining the vehicle information of the target vehicle sent by the server in response to the replacement request, a vehicle replacement operation is performed based on the vehicle information of the target vehicle, so that the initial vehicle is replaced with the target vehicle and travels to the destination. Optionally, based on the vehicle information of the target vehicle obtained, the initial vehicle continues to travel to the transfer location, and when the target vehicle has also traveled to the transfer location, a vehicle replacement operation is performed, so that the initial vehicle is replaced with the target vehicle and continues to carry the user from the transfer location to the destination, and then the initial vehicle travels from the transfer location to the charging station.

[0149] In the first to fourth steps of the present application, when controlling the vehicle, after the initial vehicle obtains the destination, during the process of the initial vehicle moving from the origin to the destination, a change request is issued, and the vehicle information of the target vehicle sent by the server in response to the above change request is obtained, and based on the vehicle information of the target vehicle, a vehicle change operation can be performed to change the initial vehicle to the target vehicle and drive to the destination. Since the embodiment of the present application can change the initial vehicle to the target vehicle and control the changed target vehicle to continue to drive to the destination, the purpose of passengers not having to re-initiate orders by themselves is achieved, thereby solving the technical problem of poor user experience, and further achieving the technical effect of improving the user experience.

[0150] The technical solution of the embodiment of the present invention is illustrated below in conjunction with preferred implementation modes.

[0151] At present, in self-driving public vehicles, in order to ensure the user's car-using experience, priority is given to vehicles with more battery power remaining. However, this selection method is likely to cause waste of electric vehicle resources.

[0152] If an electric vehicle breaks down during driving and cannot transport passengers to their destinations. Or, if a passenger changes their destination, the remaining power of the electric vehicle's battery cannot support the transportation of the passenger to the destination, and the passenger needs to get off the vehicle and re-initiate an order, which leads to a technical problem of poor riding experience for the user. For example, FIG2(a) is a flow chart of a vehicle control method according to the related art. As shown in FIG2(a), the vehicle control method may include the following steps:

[0153] Step S201, based on manual judgment, whether the itinerary of the order becomes longer, whether the battery power of the vehicle does not allow the passenger to be transported to the destination, and whether the vehicle has a malfunction.

[0154] If it is determined that the trip of the order has become longer, and the battery power of the vehicle does not allow the passenger to be transported to the destination, or the vehicle has a fault, then the process proceeds to step S202, the current order is terminated, and another order is initiated. If it is determined that the trip of the order has not become longer, and the battery power of the vehicle allows the passenger to be transported to the destination, and the vehicle has not a fault, then the process proceeds to step S203, and the vehicle is controlled to continue traveling.

[0155] However, an embodiment of the present invention proposes a vehicle control method, which responds to a request to replace the initial vehicle, replaces the initial vehicle with a target vehicle, and controls the target vehicle to carry the client, completes the order information, and transports the object to the destination, thereby achieving the purpose of passengers not having to get off the vehicle by themselves or re-initiate the order, thereby solving the technical problem of poor user riding experience, and further achieving the technical effect of improving the user riding experience.

[0156] In this embodiment, through the passenger docking method, it is possible to control the changed target vehicle to carry the client and drive to the destination. For example, FIG2(b) is a flow chart of a passenger docking method according to an embodiment of the present invention. As shown in FIG2(b), the passenger docking method may include the following steps:

[0157] Step S211, the passenger places an order.

[0158] In the technical solution provided in the above step S211 of the present invention, a request for a vehicle can be issued from the passenger side by the passenger submitting an order.

[0159] After the passenger places an order, the process proceeds to step S212, where the cloud platform allocates the ordered vehicle A to the client.

[0160] In the technical solution provided in the above step S212 of the present invention, the cloud platform receives the order submitted by the passenger and sends a vehicle that can carry the client from the departure point to the destination, making it an ordered vehicle, thereby completing the allocation of the ordered vehicle.

[0161] In this embodiment, a vehicle is assigned as order vehicle A only if it meets the following conditions: Condition 1: the vehicle is in autonomous driving mode and has autonomous driving capabilities; Condition 2: the vehicle's status, pick-up distance, and cruising range can meet the submitted order.

[0162] After the cloud platform allocates the order vehicle A to the client, the process proceeds to step S213 to determine, through the local central control module, whether the order vehicle A issues a docking request.

[0163] In the technical solution provided in the above step S213 of the present invention, the order vehicle A determines whether the attribute information of the order vehicle A can meet the target attribute information based on the current status of the passengers therein, as well as the current energy consumption, road conditions, vehicle status and estimated remaining power of the order vehicle A. If the attribute information of the order vehicle A does not meet the target attribute information, a docking request can be issued.

[0164] If it is determined that the order vehicle A does not issue a docking request, the process proceeds to step S214 to control the order vehicle A to travel to the destination. If it is determined that the order vehicle A issues a docking request, the process proceeds to step S215 to send a docking request parameter to the cloud platform through the local central control module.

[0165] In the technical solution provided in the above step S215 of the present invention, the above connection request parameters may include: navigation route, location of order vehicle A, precise navigation information, user reminder, road condition of the road where order vehicle A is located, energy consumption of order vehicle A, status of order vehicle A and model of order vehicle A, etc. These are merely examples without specific limitation.

[0166] After sending the docking request parameters to the cloud platform through the local central control module, the process proceeds to step S216, where the cloud platform replaces the assigned order vehicle A with the docking vehicle B.

[0167] In the technical solution provided in the above step S216 of the present invention, a vehicle is determined as a docking vehicle B if it meets the following conditions: Condition 1: if there is an idle vehicle at any position within the first preset distance range from the docking point; Condition 2: if there is no idle vehicle at any position within the first preset distance range from the docking point, then according to the navigation route, an idle vehicle is found at any position between the docking point and the destination, or if there is no idle vehicle at any position within the first preset distance range from the docking point, then the status of the vehicle at any position within the first preset distance range from the destination is detected, and if it is detected that there is an idle vehicle among the above vehicles.

[0168] After the cloud platform replaces the assigned order vehicle A with the shuttle vehicle B, the process proceeds to step S217, and the local central control module determines whether the shuttle vehicle B has arrived at the docking point and whether the order vehicle A has arrived near the docking point.

[0169] In the technical solution provided in the above step S217 of the present invention, the time when the above shuttle vehicle B arrives at the docking point can be earlier than the time when the order vehicle A arrives near the docking point.

[0170] If it is determined that the shuttle vehicle B has arrived at the docking point and the ordered vehicle A has arrived near the docking point, the process proceeds to step S218 and step S219, and the client is controlled to output prompt information in the form of voice to prompt the passenger to transfer to the shuttle vehicle B, and to detect whether the passenger has successfully transferred to the shuttle vehicle B. If it is detected that the passenger has not successfully transferred to the shuttle vehicle B, the process proceeds to step S218. If it is detected that the passenger has successfully transferred to the shuttle vehicle B, the process proceeds to step S220, and the shuttle vehicle B is controlled to travel to the destination.

[0171] In the technical solution provided in the above step S218 of the present invention, after the shuttle vehicle B arrives at the docking point, the precise location is sent to the cloud platform through the local central control module. The precise location allows passengers to find the vehicle quickly and conveniently. For example, if the shuttle vehicle B is parked on the roadside, the order vehicle A can drive to the front side or rear side adjacent to the shuttle vehicle B.

[0172] In this embodiment, after the passenger transfers to the shuttle vehicle B, the shuttle vehicle B continues to drive according to the navigation information until the destination, and at the same time, the order vehicle A can recharge itself or wait for operation processing. After the shuttle vehicle B completes the order, the shuttle vehicle B is released and returns to the pending order state.

[0173] In the technical solution provided in the above step S219 of the present invention, when the ordered vehicle A travels to within x meters of the docking point, the control client outputs a prompt message in the form of voice to remind the user to transfer to the connecting vehicle B: the ordered vehicle A has arrived at the docking point, the connecting vehicle B is on your seat side, the license plate number is xxxxx, please take your belongings and prepare for the transfer. The local central control module can be used to detect whether the passenger has successfully transferred to the connecting vehicle B, wherein the local central control module can be the vehicle's own firmware, and the vehicle's own firmware can include but is not limited to: cameras in the vehicle, seat pressure sensors, and door status monitoring equipment, etc. If the passenger continues to fail to transfer, manual intervention is performed. If the state of the passenger in the ordered vehicle A is abnormal, manual intervention is performed, and the abnormality is determined to include but not limited to fainting, inability to wake up, etc., and emergency or alarm can be called. This is only an example and is not specifically limited.

[0174] In the technical solution provided in the above step S220 of the present invention, the shuttle vehicle B receives the docking request of the order vehicle A from the cloud platform, and goes to the docking point to complete the vehicle docking. After the passenger transfers to the shuttle vehicle B, the shuttle vehicle B transports the passenger to the destination, thereby completing the order submitted by the passenger.

[0175] If it is determined that the shuttle vehicle B has not arrived at the docking point, or the order vehicle A has not arrived near the docking point, the process proceeds to step S221 to determine whether the order vehicle A or the shuttle vehicle B has a fault. If it is determined that the order vehicle A or the shuttle vehicle B has a fault, the process proceeds to step S215. If it is determined that the order vehicle A and the shuttle vehicle B have not a fault, the process proceeds to step S222 to control the order vehicle A and the shuttle vehicle B to continue driving.

[0176] In this embodiment, the server can allocate an initial vehicle to the client in response to a vehicle use request, and replace the initial vehicle with a target vehicle to carry the client in response to a replacement request, wherein the degree of match between the target vehicle and the destination is higher than the degree of match between the initial vehicle and the destination. For example, FIG2(c) is a schematic diagram of data interaction between a vehicle and a server according to an embodiment of the present invention. As shown in FIG2(c), the server 231 can allocate a vehicle 232 to the client in response to a vehicle use request from the client 230, and replace the vehicle 232 with the target vehicle to carry the client in response to a replacement request for the vehicle 232.

[0177] In this embodiment, in response to the request to replace the initial vehicle, the initial vehicle is replaced with a target vehicle, and the target vehicle is controlled to carry the client to complete the order information to transport the object to the destination, thereby achieving the purpose of passengers not having to re-initiate orders on their own, thereby solving the technical problem of poor user riding experience, and further achieving the technical effect of improving the user riding experience.

[0178] According to another aspect of the embodiment of the present invention, corresponding to the embodiment of the above-mentioned vehicle control method, the present specification also provides a vehicle control system for executing the above-mentioned vehicle control method. Figure 3 is a structural block diagram of a control system of a vehicle according to an embodiment of the present invention, such as Figure 3 As shown, the control system of the vehicle may include: an initial vehicle 301 , a server 302 and a target vehicle 303 .

[0179] The initial vehicle 301 is used to move from the origin to the destination in the future trip; and when the initial vehicle moves from the origin to the destination, a replacement request is sent to the server, wherein the replacement request is used to request to replace the initial vehicle.

[0180] In the technical solution provided by the client 301 of the present invention, the initial vehicle may be an unassigned vehicle that the user directly intercepts and takes on a certain road section, or may be a vehicle assigned by the client. The client may be a medium that the user can operate, for example, the medium may include: an app and a webpage, etc., which are only exemplified here and are not specifically limited.

[0181] Optionally, through the above-mentioned client, a vehicle use request can be uploaded to the server, and a replacement request can be sent to the server during the process of the initial vehicle moving from the origin to the destination.

[0182] The server 302 is configured to replace the initial vehicle with a target vehicle in response to the replacement request, wherein the matching degree between the target vehicle and the destination is higher than the matching degree between the initial vehicle and the destination.

[0183] In the technical solution provided by the server 302 of the present invention, the server may be a cloud platform for processing orders, receiving docking requests, coordinating docking vehicles, and sending docking information.

[0184] In this embodiment, the server can allocate an initial vehicle to the client in response to a vehicle use request, and can replace the initial vehicle with a target vehicle to carry the client in response to a replacement request.

[0185] The target vehicle 303 is used to travel to the destination.

[0186] In the technical solution provided by the vehicle 303 of the present invention, the vehicle may include an initial vehicle and a target vehicle.

[0187] In this embodiment, after the initial vehicle is replaced with the target vehicle, the target vehicle can carry the client and travel to the destination.

[0188] According to another aspect of an embodiment of the present invention, corresponding to the embodiment of the above-mentioned vehicle control method, the present specification also provides a vehicle control device for executing the above-mentioned vehicle control method. Figure 4(a) is a structural block diagram of a vehicle control device according to an embodiment of the present invention. As shown in Figure 4(a), the vehicle control device 400 may include: a determination unit 402, an acquisition unit 404, a replacement unit 406 and a control unit 408.

[0189] The determination unit 402 is used to determine an initial vehicle, wherein the initial vehicle is used to move from a starting point to a destination in a future trip.

[0190] The acquisition unit 404 is used to acquire a replacement request during the process of the initial vehicle moving from the origin to the destination, wherein the replacement request is used to request to replace the initial vehicle.

[0191] The replacement unit 406 is configured to replace the initial vehicle with a target vehicle in response to the replacement request, wherein the matching degree between the target vehicle and the destination is higher than the matching degree between the initial vehicle and the destination.

[0192] The control unit 408 is used to control the target vehicle to travel to the destination.

[0193] Optionally, the determination unit 402 includes: an allocation module, used to allocate an initial vehicle to the client in response to a vehicle request from the client, wherein the vehicle request is used to indicate that the initial vehicle moves from the origin to the destination in a future trip; a first determination module, used to determine the vehicle received at the destination as the initial vehicle; the acquisition unit 404 includes: a second determination module, used to determine the biometric information of an object in the initial vehicle and / or the current performance indicators of the initial vehicle during the process of the initial vehicle moving to the destination, wherein the biometric information is used to represent the physical state of the object in the current trip, and the current performance indicators are used to represent the performance of the initial vehicle in the current trip; an acquisition module, used to obtain a replacement request based on the biometric information and / or the current performance indicators.

[0194] Optionally, the acquisition module includes: an acquisition submodule, for acquiring a replacement request in response to the biological information indicating that the object is in a healthy state, and / or in response to the current performance indicator not satisfying the performance indicator threshold.

[0195] Optionally, the replacement unit 406 includes: a third determination module, used to determine at least one transfer location in response to a replacement request, wherein the at least one transfer location is at least one location that the initial vehicle passes through before traveling to the destination; a fourth determination module, used to determine a target vehicle based on at least one transfer location and a remaining journey, and replace the initial vehicle with the determined target vehicle, wherein the remaining journey is used to represent the journey between the transfer location and the destination; the method also includes: controlling the target vehicle to move to the transfer location.

[0196] Optionally, the third determination module includes: a first determination submodule, used to determine a transferable path of the initial vehicle in response to a replacement request, wherein the transferable path is used to represent a path between a first target position of the initial vehicle and a second target position of the initial vehicle, the first target position being the position of the initial vehicle when it is determined that the initial vehicle needs to be replaced, and the second target position being used to represent a position that the initial vehicle is allowed to reach before driving to the charging station, the transferable path including at least one transfer location, and the charging station being used to charge the initial vehicle; a second determination submodule, used to determine a transfer location from at least one transfer location in the transferable path.

[0197] Optionally, the transferable path includes a first sub-transferable path and a second sub-transferable path, wherein if the initial vehicle moves from the first target location to the second target location, the initial vehicle first passes through the first sub-transferable path and then passes through the second sub-transferable path, and the fourth determination module includes: a third determination submodule, for determining that the transfer location is in the first sub-transferable path if at least one candidate vehicle in an unassigned state is screened out through the first sub-transferable path within a first preset time, and determining a target vehicle allowed to travel in the remaining journey from the at least one candidate vehicle, wherein the unassigned state is used to indicate that the candidate vehicle is not assigned to other clients; or, if no candidate vehicle in an unassigned state is screened out through the first sub-transferable path within the first preset time, then based on the initial vehicle The current positioning information is used to adjust the second sub-transferable path, and in response to the presence of multiple vehicles in an unassigned state at any position corresponding to the adjusted second sub-transferable path, a target vehicle allowed to travel in the remaining journey is determined from at least one candidate vehicle; or, if no candidate vehicle in an unassigned state is screened out through the first sub-transferable path within a first preset time, the remaining transferable path is adjusted based on the current positioning information of the initial vehicle, and in response to the presence of at least one candidate vehicle in an unassigned state at any position corresponding to the adjusted remaining transferable path, a target vehicle allowed to travel in the remaining journey is determined from at least one candidate vehicle, wherein the remaining transferable path is used to represent a transferable path other than the path that the initial vehicle has traveled in the transferable path.

[0198] Optionally, the device may also include: a first determination unit, used to determine the target to-be-selected vehicle from at least one to-be-selected vehicle that is separated from the target vehicle by a third distance and is in an unassigned state in response to a failure of the target vehicle, wherein the third distance is within a first preset distance range; and a first replacement unit, used to replace the target vehicle with the target to-be-selected vehicle.

[0199] Optionally, the control unit 408 includes: a fifth determination module, used to determine the current position to which the initial vehicle has traveled in response to the target vehicle having traveled to the transfer location; and a control module, used to control the target vehicle to travel from the transfer location to the destination in response to the current position being within a second preset distance range of the transfer location.

[0200] Optionally, the abnormal code positioning device 400 may also include: a first determination unit, used to determine the target vehicle to be selected from at least one vehicle to be selected that is separated from the target vehicle by a third distance and is not in an assigned state in response to a failure of the target vehicle, wherein the third distance is within a first preset distance range; a first replacement unit, used to replace the target vehicle with the target vehicle to be selected.

[0201] Optionally, the abnormal code positioning device 400 may further include: an output unit, used to control the client to output prompt information in response to the current position being within a second preset distance range, wherein the prompt information is used to prompt the change from the initial vehicle to the target vehicle.

[0202] In this embodiment, the following units are provided in the control device of the vehicle: a determination unit for determining an initial vehicle, wherein the initial vehicle is used to move from a starting point to a destination in a future trip; an acquisition unit for acquiring a replacement request during the process of the initial vehicle moving from the starting point to the destination, wherein the replacement request is used to request replacement of the initial vehicle; a replacement unit for replacing the initial vehicle with a target vehicle in response to the replacement request, wherein the degree of match between the target vehicle and the destination is higher than the degree of match between the initial vehicle and the destination; a control unit for controlling the target vehicle to travel to the destination, thereby achieving the purpose of passengers not having to re-initiate orders by themselves, thereby solving the technical problem of poor user riding experience, and further achieving the technical effect of improving the user riding experience.

[0203] According to another aspect of an embodiment of the present invention, corresponding to the embodiment of the above-mentioned vehicle control method, the present specification also provides a vehicle control device for executing the above-mentioned vehicle control method. Figure 4(b) is a structural block diagram of another vehicle control device according to an embodiment of the present invention. As shown in Figure 4(b), the vehicle control device 410 may include: a driving unit 412.

[0204] The driving unit 412 is used to drive to the destination, wherein the matching degree between the target vehicle and the destination is higher than the matching degree between the initial vehicle and the destination, the target vehicle is obtained by replacing the initial vehicle in response to the replacement request, the replacement request is used to request the replacement of the initial vehicle, the replacement request is obtained during the process of the initial vehicle moving from the origin to the destination, and the initial vehicle is used to move from the origin to the destination in the future trip. In this embodiment, the following units are provided in the control device of the vehicle: a driving unit is used to drive to the destination, wherein the matching degree between the target vehicle and the destination is higher than the matching degree between the initial vehicle and the destination, the target vehicle is obtained by replacing the initial vehicle in response to the replacement request, the replacement request is used to request the replacement of the initial vehicle, the replacement request is obtained during the process of the initial vehicle moving from the origin to the destination, and the initial vehicle is used to move from the origin to the destination in the future trip, thereby achieving the purpose of passengers not having to re-initiate orders by themselves, thereby solving the technical problem of poor user experience, and thus achieving the technical effect of improving user experience.

[0205] According to another aspect of an embodiment of the present invention, corresponding to the embodiment of the above-mentioned vehicle control method, the present specification also provides a vehicle control device for executing the above-mentioned vehicle control method. Figure 4(c) is a structural block diagram of another vehicle control device according to an embodiment of the present invention. As shown in Figure 4(c), the vehicle control device 420 may include: a first acquisition unit 422, a sending unit 424, a second acquisition unit 426 and a replacement unit 428.

[0206] The first acquisition unit 422 is used to acquire a destination, wherein the initial vehicle is used to move from the origin to the destination in the future trip.

[0207] The sending unit 424 is used to send a replacement request when the initial vehicle moves from the origin to the destination, wherein the replacement request is used to request the server to replace the initial vehicle.

[0208] The second acquisition unit 426 is used to acquire the vehicle information of the target vehicle sent by the server in response to the replacement request, wherein the matching degree between the target vehicle and the destination is higher than the matching degree between the initial vehicle and the destination.

[0209] The replacement unit 428 is used to perform a vehicle replacement operation based on the vehicle information of the target vehicle, so that the initial vehicle is replaced with the target vehicle and travels to the destination.

[0210] In this embodiment, the following units are provided in the control device of the vehicle: a first acquisition unit for acquiring the destination, wherein the initial vehicle is used to move from the origin to the destination in the future trip; a sending unit for issuing a replacement request during the process of the initial vehicle moving from the origin to the destination, wherein the replacement request is used to request the server to replace the initial vehicle; a second acquisition unit for acquiring vehicle information of a target vehicle sent by the server in response to the replacement request, wherein the degree of match between the target vehicle and the destination is higher than the degree of match between the initial vehicle and the destination; a replacement unit for performing a vehicle replacement operation based on the vehicle information of the target vehicle, so that the initial vehicle is replaced with the target vehicle and travels to the destination, thereby achieving the purpose of passengers not having to re-initiate orders by themselves, thereby solving the technical problem of poor riding experience of users, and further achieving the technical effect of improving the riding experience of users.

[0211] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium including a stored executable program, wherein when the executable program runs, the device where the storage medium is located is controlled to execute any one of the above methods.

[0212] According to another aspect of an embodiment of the present invention, a computer program product is provided. The computer program product includes a computer program. When the computer program is executed by a processor, any one of the above methods is implemented.

[0213] According to another aspect of an embodiment of the present invention, a vehicle is provided, including: a memory storing an executable program; and a processor running the program, wherein the program executes any one of the above methods when running.

[0214] Figure 5 is a structural block diagram of a vehicle according to an embodiment of the present invention. Figure 5 As shown, the components of the vehicle 500 include but are not limited to a memory 510 and a processor 520. The processor 520 is connected to the memory 510 via a bus 530, and the database 550 is used to store data.

[0215] The vehicle 500 may also include an access device 540 that enables the vehicle 500 to communicate via one or more networks 560. Examples of these networks include a Public Switched Telephone Network (PSTN), a Local Area Network (LAN), a Wide Area Network (WAN), a Personal Area Network (PAN), or a combination of communication networks such as the Internet. The access device 540 may include one or more of any type of network interface (e.g., a network interface controller (NIC)) of wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a Worldwide Interoperability for Microwave Access (Wi-MAX) interface, an Ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a Bluetooth interface, a Near Field Communication (NFC) interface, and the like.

[0216] In one embodiment of the present disclosure, the above components of the vehicle 500 and Figure 5 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Figure 5The vehicle structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of the present disclosure. Those skilled in the art may add or replace other components as needed.

[0217] It should be noted that the serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0218] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0219] In the several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic, for example, the division of units can be a logical function division, and there can be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0220] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0221] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0222] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, referred to as Read-Only Memory), random access memory (RAM, referred to as Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc., which can store program code.

[0223] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A vehicle control method, characterized in that: include: determining an initial vehicle, wherein the initial vehicle is used to move from an origin to a destination on a future trip; Acquire a replacement request during the process of the initial vehicle moving from the origin to the destination, wherein the replacement request is used to request replacement of the initial vehicle; In response to the replacement request, replacing the initial vehicle with a target vehicle, wherein the degree of match between the target vehicle and the destination is higher than the degree of match between the initial vehicle and the destination; Control the target vehicle to travel to the destination.

2. The method according to claim 1, characterized in that Determining the initial vehicle includes: allocating the initial vehicle to the client in response to a vehicle request from the client, wherein the vehicle request is used to indicate that the initial vehicle moves from the origin to the destination in the future trip; or determining the vehicle receiving the input information as the initial vehicle, wherein the input information is used to indicate the destination; Acquiring a replacement request during the movement of the initial vehicle from the origin to the destination includes: determining biological information of an object in the initial vehicle and / or a current performance index of the initial vehicle during the movement of the initial vehicle to the destination, wherein the biological information is used to represent the physical state of the object in the current trip, and the current performance index is used to represent the performance of the initial vehicle in the current trip; Based on the biological information and / or the current performance indicator, the replacement request is obtained.

3. The method according to claim 2, characterized in that The current performance index includes at least one of the following information of the initial vehicle: the amount of electricity allowed to continue to be consumed, the amount of electricity consumed, and the cruising range. Based on the biological information and / or the current performance index, obtaining the replacement request includes: In response to the biological information indicating that the subject is in a healthy state, and / or in response to the current performance indicator not satisfying a performance indicator threshold, the replacement request is obtained.

4. The method according to claim 1, characterized in that: In response to the replacement request, replacing the initial vehicle with a target vehicle includes: In response to the change request, determining at least one transfer location, wherein the at least one transfer location is at least one location that the initial vehicle passes before traveling to the destination; Determine the target vehicle based on the at least one transfer location and the remaining distance, and replace the initial vehicle with the determined target vehicle, wherein the remaining distance is used to represent the distance between the transfer location and the destination; The method further includes: controlling the target vehicle to move to the transfer location.

5. The method according to claim 4, characterized in that In response to the change request, determining a transfer location to be reached by the initial vehicle from the departure location, comprising: In response to the replacement request, determining a transferable path of the initial vehicle, wherein the transferable path is used to represent a path between a first target position of the initial vehicle and a second target position of the initial vehicle, the first target position being the position of the initial vehicle when it is determined that the initial vehicle needs to be replaced, the second target position being used to represent a position that the initial vehicle is allowed to reach before driving to a charging station, the transferable path including the at least one transfer location, and the charging station being used to charge the initial vehicle; The transfer point is determined from the at least one transfer point in the transferable path.

6. The method according to claim 5, characterized in that The transferable path includes a first sub-transferable path and a second sub-transferable path, wherein if the initial vehicle moves from the first target location to the second target location, the initial vehicle first passes through the first sub-transferable path and then passes through the second sub-transferable path, and the determining the target vehicle based on the at least one transfer location and the remaining trip includes: If at least one candidate vehicle in an unassigned state is screened out through the first transferable sub-path within a first preset time, it is determined that the transfer location is in the first transferable sub-path, and the target vehicle allowed to travel in the remaining trip is determined from the at least one candidate vehicle, wherein the unassigned state is used to indicate that the candidate vehicle is not assigned to other clients; or If no candidate vehicle in the unassigned state is screened out through the first sub-transferable path within the first preset time, adjusting the second sub-transferable path based on the current positioning information of the initial vehicle, and in response to the presence of at least one candidate vehicle in the unassigned state at any position corresponding to the adjusted second sub-transferable path, determining the target vehicle that is allowed to travel in the remaining trip from the at least one candidate vehicle; If no candidate vehicle in the unassigned state is screened out through the first sub-transferable path within the first preset time, the remaining transferable paths are adjusted based on the current positioning information of the initial vehicle, and in response to the existence of at least one candidate vehicle in the unassigned state at any position corresponding to the adjusted remaining transferable paths, the target vehicle allowed to travel in the remaining trip is determined from the at least one candidate vehicle, wherein the remaining transferable paths are used to represent transferable paths in the transferable paths except the paths that the initial vehicle has traveled.

7. The method according to claim 6, characterized in that The method further comprises: In response to a failure of the target vehicle, determining a target candidate vehicle from at least one candidate vehicle that is separated from the target vehicle by a third distance and is in the unassigned state, wherein the third distance is within the first preset distance range; The target vehicle is replaced with the target vehicle to be selected.

8. The method according to claim 4, characterized in that Controlling the target vehicle to travel to the destination includes: In response to the target vehicle having traveled to the transfer location, determining a current position to which the initial vehicle has traveled; In response to the current position being within a second preset distance range of the transfer location, the target vehicle is controlled to travel from the transfer location to the destination.

9. A vehicle control method, characterized in that: Applied to initial vehicles, including: Obtaining a destination, wherein the initial vehicle is used to move from an origin to the destination in a future trip; In the process of the initial vehicle moving from the origin to the destination, issuing a replacement request, wherein the replacement request is used to request a server to replace the initial vehicle; Acquire vehicle information of a target vehicle sent by the server in response to the replacement request, wherein a matching degree between the target vehicle and the destination is higher than a matching degree between the initial vehicle and the destination; Based on the vehicle information of the target vehicle, a vehicle replacement operation is performed so that the initial vehicle is replaced with the target vehicle and travels to the destination.

10. A vehicle control system, characterized in that: include: The initial vehicle, which moves from the origin to the destination in the future trip; and sending a replacement request to a server during the movement of the initial vehicle from the origin to the destination, wherein the replacement request is used to request replacement of the initial vehicle; A server, configured to replace the initial vehicle with a target vehicle in response to the replacement request, wherein a matching degree between the target vehicle and the destination is higher than a matching degree between the initial vehicle and the destination; A target vehicle is used to travel to the destination.

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