Vehicle control methods, devices, equipment and storage media

Abstract

This application provides a vehicle control method, apparatus, device, and storage medium. The method includes: responding to a mode activation command sent by a terminal, activating the vehicle in a third-party control mode; receiving a control command sent by the terminal, and controlling the vehicle to activate an autonomous driving mode within the third-party control mode according to the control command; wherein the control command is sent by a second user after operating the terminal; in the autonomous driving mode, obtaining the location of a first user, and determining trajectory information between the vehicle's current location and the user's location based on the first user's location; and controlling the vehicle to travel to the first user's location based on the trajectory information. Using this technical solution, the vehicle can be moved without waiting for the owner to return, saving the user's time.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a vehicle control method, device, equipment and storage medium. Background Technology

[0002] In real life, we often encounter situations where we need to park temporarily or in busy areas, and in such cases, the car owner may not be there, but the car needs to be moved.

[0003] Currently, in such situations, it is necessary to wait for the car owner to return and move the car, which can result in a long waiting time. Therefore, there is an urgent need for a vehicle control method that can control the vehicle to be moved without waiting for the car owner to return, thus saving pedestrians a long wait and saving time. Summary of the Invention

[0004] This application provides a vehicle control method, device, equipment, and storage medium that can control the vehicle to move without waiting for the owner to return, saving pedestrians from long waits and saving time.

[0005] In a first aspect, this application provides a vehicle control method, comprising:

[0006] In response to the mode activation command sent by the terminal, the vehicle is put into third-party control mode;

[0007] The system receives control commands sent by the terminal and controls the vehicle to activate the autonomous driving mode in the third-party control mode according to the control commands; wherein the control commands are sent by the second user after operating the terminal.

[0008] In the autonomous driving mode, the location of the first user is obtained, and the trajectory information between the current vehicle location and the user location is determined based on the location of the first user.

[0009] Based on the trajectory information, the vehicle is controlled to travel to the user's location of the first user.

[0010] In one example, based on the user's location, the trajectory information between the vehicle's current location and the user's location is determined, including:

[0011] Calculate the distance and angle between the user's location and the vehicle's current location;

[0012] The trajectory information is determined based on the distance value and the angle value.

[0013] In one example, determining the trajectory information based on the distance value and the angle value includes:

[0014] Based on the distance value and the angle value, at least two path information are determined; wherein, the path information includes environmental information;

[0015] The trajectory information is determined based on the environmental information in the at least two path information.

[0016] In one example, the method further includes:

[0017] Obtain user environment information at the location represented by the user's location;

[0018] The user environment information is sent to the terminal; wherein the user environment information is used for display.

[0019] After receiving the confirmation message from the terminal, the autonomous driving mode of the vehicle is turned off; wherein, the confirmation message is generated by the second user after performing an operation on the terminal based on the user environment information.

[0020] In one example, if controlling the vehicle to activate autonomous driving mode according to the control command fails, the method further includes:

[0021] The system receives a verification command from the terminal and activates the vehicle's camera; wherein the verification command is used to instruct the camera to be activated and to verify facial information.

[0022] The camera device is used to acquire the facial information of the first user and to verify the facial information of the first user.

[0023] If the verification is successful, the vehicle door will be opened and the manual driving mode will be activated.

[0024] In one example, verifying the facial information of the first user includes:

[0025] The facial information of the first user is encrypted to obtain encrypted facial information, and the encrypted facial information is sent to the credit data system; wherein, the encrypted facial information is used for verification based on a preset correspondence, the preset correspondence being the correspondence between facial information and credit value;

[0026] The system receives verification information sent by the credit data system; wherein the verification information is used to indicate the credit value corresponding to the facial information of the first user.

[0027] If the credit value indicated by the verification information is determined to be greater than or equal to the first preset threshold, then the verification is deemed successful.

[0028] In one example, after opening the vehicle door and activating manual driving mode, the process further includes:

[0029] After determining that the first user has started to control the vehicle, the vehicle's driving information is monitored; wherein, the driving information includes driving speed value, driving time value, and driving distance value;

[0030] If the driving information is determined to meet the preset conditions, an alarm message is sent to the terminal;

[0031] The preset conditions are: the driving speed value exceeds the second preset threshold and the driving time value exceeds the third preset threshold; or, the preset conditions are: the driving speed value exceeds the second preset threshold and the driving distance value exceeds the fourth preset threshold; or, the preset conditions are: the vehicle's driving speed value exceeds the second preset threshold, the driving time value exceeds the third preset threshold, and the driving distance value exceeds the fourth preset threshold.

[0032] In one example, the method further includes:

[0033] The system receives a message instruction from the terminal to switch the vehicle from manual driving mode to autonomous driving mode; wherein the message instruction is used to instruct the vehicle to switch from manual driving mode to autonomous driving mode.

[0034] The vehicle is controlled to travel to its initial position, and a prompt message is sent to the first user; wherein the prompt message is used to prompt the first user to get off the vehicle.

[0035] Secondly, this application provides a vehicle control device, comprising:

[0036] The response unit is used to respond to the mode activation command sent by the terminal and activate the vehicle in third-party control mode.

[0037] A receiving unit is configured to receive control commands sent by a terminal and control the vehicle to activate autonomous driving mode according to the control commands; wherein the control commands are sent by a second user after operating the terminal;

[0038] The determining unit is configured to, in the autonomous driving mode, acquire the user location of a first user, and, based on the user location of the first user, determine the trajectory information between the current vehicle location and the user location;

[0039] The control unit is used to control the vehicle to travel to the user's location of the first user based on the trajectory information.

[0040] In one example, the identified unit includes:

[0041] The calculation module is used to calculate the distance and angle between the user's location and the vehicle's current location;

[0042] The determination module is used to determine the trajectory information based on the distance value and the angle value.

[0043] In one example, the module is identified, including:

[0044] The first determining submodule is used to determine at least two path information based on the distance value and the angle value; wherein the path information includes environmental information;

[0045] The second determining submodule is used to determine the trajectory information based on the environmental information in the at least two path information.

[0046] In one example, the device further includes:

[0047] The acquisition unit is used to acquire user environment information at the location represented by the user location;

[0048] The first sending unit is used to send the user environment information to the terminal; wherein the user environment information is used for display.

[0049] The closing unit is used to close the autonomous driving mode of the vehicle after receiving a confirmation message from the terminal; wherein the confirmation message is generated by the second user after performing an operation on the terminal based on the user environment information.

[0050] In one example, if controlling the vehicle to activate autonomous driving mode according to the control command fails, the device further includes:

[0051] The first activation unit is used to receive a verification command sent by the terminal and activate the camera device of the vehicle; wherein the verification command is used to instruct the camera device to be activated and to verify facial information.

[0052] The verification unit is used to acquire the facial information of the first user through the recording device and to verify the facial information of the first user.

[0053] The second opening unit is used to open the vehicle door and start the manual driving mode if the verification is successful.

[0054] In one example, the verification unit includes:

[0055] The sending module is used to encrypt the facial information of the first user to obtain encrypted facial information, and send the encrypted facial information to the credit data system; wherein, the encrypted facial information is used for verification based on a preset correspondence relationship, the preset correspondence relationship being the correspondence between facial information and credit value;

[0056] A receiving module is used to receive verification information sent by the credit data system; wherein the verification information is used to indicate the credit value corresponding to the facial information of the first user;

[0057] The determination module is used to determine that the verification is successful if the credit value indicated by the verification information is greater than or equal to a first preset threshold.

[0058] In one example, the device further includes:

[0059] The monitoring unit is used to monitor the vehicle's driving information after determining that the first user has started controlling the vehicle; wherein the driving information includes driving speed value, driving time value, and driving distance value.

[0060] The second sending unit is used to send an alarm message to the terminal if it is determined that the driving information meets the preset conditions;

[0061] The preset conditions are: the driving speed value exceeds the second preset threshold and the driving time value exceeds the third preset threshold; or, the preset conditions are: the driving speed value exceeds the second preset threshold and the driving distance value exceeds the fourth preset threshold; or, the preset conditions are: the vehicle's driving speed value exceeds the second preset threshold, the driving time value exceeds the third preset threshold, and the driving distance value exceeds the fourth preset threshold.

[0062] In one example, the device further includes:

[0063] The switching unit is used to receive a message instruction sent by the terminal to switch the vehicle from manual driving mode to autonomous driving mode; wherein the message instruction is used to instruct the vehicle to switch from manual driving mode to autonomous driving mode.

[0064] The third sending unit is used to control the vehicle to drive to the initial position and send a prompt message to the first user; wherein the prompt message is used to prompt the first user to get off the vehicle.

[0065] Thirdly, this application provides an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0066] The memory stores computer-executed instructions;

[0067] The processor executes computer execution instructions stored in the memory to implement the method as described in the first aspect.

[0068] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method described in the first aspect.

[0069] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the method described in the first aspect.

[0070] This application provides a vehicle control method, apparatus, device, and storage medium. The method includes: responding to a mode activation command sent by a terminal, activating the vehicle in a third-party control mode; receiving a control command sent by the terminal, and controlling the vehicle to activate an autonomous driving mode within the third-party control mode according to the control command; wherein the control command is sent by a second user after operating the terminal; in the autonomous driving mode, obtaining the location of a first user, and determining trajectory information between the vehicle's current location and the user's location based on the first user's location; and controlling the vehicle to travel to the first user's location based on the trajectory information. Using this technical solution, the vehicle can be moved without waiting for the owner to return, saving the user's time. Attached Figure Description

[0071] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0072] Figure 1 This is a schematic flowchart of a vehicle control method according to Embodiment 1 of this application;

[0073] Figure 2 This is a schematic flowchart of a vehicle control method according to Embodiment 2 of this application;

[0074] Figure 3 This is a schematic diagram of a vehicle control device according to Embodiment 3 of this application;

[0075] Figure 4 This is a schematic diagram of a vehicle control device according to Embodiment 4 of this application;

[0076] Figure 5 This is a block diagram illustrating a terminal device according to an exemplary embodiment.

[0077] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0078] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0079] This application provides a vehicle control method aimed at solving the above-mentioned technical problems of the prior art.

[0080] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0081] Figure 1 This is a schematic flowchart of a vehicle control method according to Embodiment 1 of this application. Embodiment 1 includes the following steps:

[0082] S101. In response to the mode activation command sent by the terminal, the vehicle is activated into third-party control mode.

[0083] In one example, the terminal and the vehicle can communicate, which may be pre-established. The terminal can be a mobile device, a tablet, or a smart device with a display screen. The terminal has an application installed that can be operated by a second user, who is the vehicle owner. Third-party control mode refers to a method where control is exercised by a non-second user with the second user's consent.

[0084] S102, Receive control commands sent by the terminal, and control the vehicle to activate the autonomous driving mode in the third-party control mode according to the control commands; wherein, the control commands are sent by the second user operating the terminal.

[0085] In one example, the control command refers to the command sent by the second user after operating through the terminal. In this embodiment, the second user sends the control command to the vehicle through the background control center via the terminal. After receiving the control command sent by the terminal, the vehicle activates the autonomous driving mode.

[0086] S103. In autonomous driving mode, obtain the location of the first user, and determine the trajectory information between the current vehicle location and the user location based on the location of the first user.

[0087] In one example, in autonomous driving mode, the sensors installed on the vehicle are activated to obtain the location of the first user. These sensors include: a front-view camera, side-view cameras, a rear-view camera, a surround-view camera, a forward-facing millimeter-wave radar, an angular millimeter-wave radar, a lidar, and an ultrasonic radar.

[0088] In this embodiment, in autonomous driving mode, the vehicle can communicate with the terminal in a walkie-talkie mode, allowing the first and second users to communicate in real time. Under good network conditions, voice dialogue can be achieved.

[0089] In this embodiment, after the second user confirms that the vehicle can be controlled, the system will display "Please assist in moving the vehicle. Please find a new parking space or open space within the visible range around the vehicle, move to the middle of the parking space or open space, and remain still for 10 seconds" through a vehicle prompt sound or on the windshield. After the first user selects a suitable location, the vehicle will obtain the user's location in autonomous driving mode and then remind the user "Location confirmed. Please move aside. The vehicle will be moved soon. Please wait."

[0090] After determining the location information of the first user and the current vehicle location information, trajectory information is generated so that the vehicle can drive according to the trajectory information.

[0091] S104. Based on the trajectory information, control the vehicle to travel to the location of the first user.

[0092] In one example, in autonomous driving mode, the vehicle is controlled to travel to the first user's location according to trajectory information. The first user's location is the position where the first user is standing, which is a suitable parking location selected by the first user. After the vehicle obtains the first user's location through sensors, it is controlled to travel to the first user's location.

[0093] This application provides a vehicle control method, apparatus, device, and storage medium. In response to a mode activation command sent by a terminal, the vehicle is activated into a third-party control mode. The method receives a control command sent by the terminal and, based on the control command, controls the vehicle to activate an autonomous driving mode within the third-party control mode. The control command is sent by a second user after operating the terminal. In autonomous driving mode, the method obtains the location of a first user and, based on the first user's location, determines the trajectory information between the vehicle's current location and the user's location. Based on the trajectory information, the method controls the vehicle to travel to the first user's location. This technical solution eliminates the need to wait for the owner to return and allows for vehicle relocation, saving the user's time.

[0094] Figure 2 This is a schematic flowchart of a vehicle control method according to Embodiment 2 of this application. Embodiment 2 includes the following steps:

[0095] S201. In response to the mode activation command sent by the terminal, the vehicle is activated into third-party control mode.

[0096] For example, this step can refer to step S101 above, and will not be repeated here.

[0097] S202, Receive control commands sent by the terminal, and control the vehicle to activate the autonomous driving mode in the third-party control mode according to the control commands; wherein, the control commands are sent by the second user after operating the terminal.

[0098] For example, this step can refer to step S102 above, and will not be repeated here.

[0099] S203. In autonomous driving mode, obtain the user's location and calculate the distance and angle between the user's location and the vehicle's current location.

[0100] In one example, the vehicle's ADAS (Advanced Driver Assistance System) senses the first user's position. Specifically, the user's position can be obtained through the vehicle's camera, and the distance and angle between the user's position and the current vehicle position can be obtained through forward millimeter-wave radar and / or angular millimeter-wave radar and ultrasonic radar.

[0101] S204. Determine the trajectory information based on the distance and angle values.

[0102] In one example, the vehicle plans its trajectory information in real time based on the onboard high-precision map and positioning data, and sends the trajectory information to the terminal for a second user to view.

[0103] In one example, trajectory information is determined based on distance and angle values, including:

[0104] Based on the distance and angle values, at least two path information is determined; the path information includes environmental information.

[0105] The trajectory information is determined based on the environmental information from at least two path information sources.

[0106] In this embodiment, multiple path information can be calculated based on distance and angle values. Each path information includes environmental information, which may include obstacle information. After eliminating path information with obstacle information, the optimal path information is selected as the trajectory information from the remaining path information. The optimal path information may be the one with the smallest distance value or the one that is easiest to implement.

[0107] S205. Based on the trajectory information, control the vehicle to travel to the location of the first user.

[0108] For example, this step can refer to step S103 above, and will not be repeated here.

[0109] S206. Obtain user environment information at the location represented by the user's location.

[0110] In one example, the vehicle's ADAS obtains information about the user's location environment, including information about surrounding buildings, vehicles, and people.

[0111] S207. Send the user environment information to the terminal; wherein, the user environment information is used for display.

[0112] In this embodiment, the user's environment information is sent to the terminal and displayed on the terminal's screen.

[0113] S208. After receiving the confirmation message from the terminal, the vehicle's autonomous driving mode is turned off; wherein, the confirmation message is generated by the second user after performing an operation on the terminal based on the user's environment information.

[0114] In this embodiment, after receiving a confirmation message from the terminal, the vehicle's autonomous driving mode is turned off, and the vehicle remains stationary at the user's location. In this embodiment, after the second user sees the user environment information on the terminal, they perform an operation on the terminal and generate a confirmation message.

[0115] In one example, if controlling the vehicle to activate autonomous driving mode according to control commands fails, the method also includes:

[0116] The system receives a verification command from the terminal and activates the vehicle's camera; the verification command instructs the camera to be activated and facial information to be verified.

[0117] The system acquires the facial information of the first user through a recording device and verifies the facial information of the first user.

[0118] If the verification is successful, the vehicle door will be opened and the manual driving mode will be activated.

[0119] In this embodiment, if the control command fails to activate the vehicle's autonomous driving mode, it means that the vehicle cannot drive in autonomous driving mode. Therefore, it is necessary to activate the manual driving mode. Since the first user is not the owner of the vehicle, a verification command needs to be sent to confirm that the first user is safe.

[0120] The second user generates a verification command on the terminal and sends it to the vehicle. After receiving the verification command, the vehicle turns on its camera and obtains the first user's facial information through the camera. The first user's facial information is then verified. If the verification is successful, it means that the first user is safe and can drive the vehicle in manual driving mode, and the vehicle door is opened.

[0121] In one example, verifying the facial information of the first user includes:

[0122] The facial information of the first user is encrypted to obtain encrypted facial information, and then the encrypted facial information is sent to the credit data system. The encrypted facial information is used for verification based on a preset correspondence, which is the correspondence between facial information and credit value.

[0123] Receive verification information sent by the credit data system; wherein the verification information is used to indicate the credit value corresponding to the facial information of the first user;

[0124] If the credit value indicated by the verification information is greater than or equal to the first preset threshold, then the verification is deemed successful.

[0125] In this embodiment, the facial information of the first user is encrypted through a TBox (Telematics-BOX, vehicle networking system) and then sent to the credit data system. The credit data system includes the cyber police data system, the Skynet data system, Alipay, WeChat, the citizen credit system, and the public security data system. After the credit data system confirms the facial information of the first user, it sends verification information to the vehicle. The vehicle determines whether the verification is successful by comparing the credit value in the verification information with a first preset threshold.

[0126] Specifically, if the credit data system is the cyber police data system or the Skynet data system, and there is no matching case information in the cyber police data system or the Skynet data system, then a credit value of 100 is returned to the vehicle. The vehicle then determines that the verification has passed and displays a green indicator light or an OK sign. If the cyber police data system or the Skynet data system contains the first user's case information, then a credit value of 0 is returned to the vehicle. The vehicle then determines that the verification has failed and displays a red indicator light or an exclamation mark to notify the second user.

[0127] Specifically, if the credit data system is Alipay or WeChat, Alipay or WeChat can use the user's current credit score or Sesame Credit score as the credit value and return it. If the vehicle's score exceeds 600, the verification is successful, and a green indicator light or an "OK" message is displayed. If the credit score is below 600, the verification fails, and a red indicator light or an exclamation mark is displayed to alert the second user.

[0128] Specifically, if the credit data system is a citizen credit reporting system, and the first user has a good credit history, a credit score of 100 will be returned to the vehicle. The vehicle will then determine that the verification has passed and display a green indicator light or an OK sign. If the user has a poor credit history, the vehicle will determine that the verification has failed and display a red indicator light or an exclamation mark to notify the second user.

[0129] Specifically, if the credit data system is a public security data system, and the first user has a valid driver's license, a credit score of 100 will be returned to the vehicle. The vehicle will then determine that the verification has passed and display a green indicator light or an "OK" message. If the first user does not have a valid driver's license, the vehicle will determine that the verification has failed and display a red indicator light or an exclamation mark to notify the second user.

[0130] Specifically, if the verification fails, the first user can reconfirm the accuracy of the information.

[0131] In one example, after opening the vehicle door and activating manual driving mode, the process also includes:

[0132] Once it is determined that the first user has taken control of the vehicle, the vehicle's driving information is monitored, including driving speed, driving time, and driving distance.

[0133] If the driving information is determined to meet the preset conditions, an alarm message is sent to the terminal;

[0134] The preset conditions are: the driving speed exceeds the second preset threshold and the driving time exceeds the third preset threshold; or, the driving speed exceeds the second preset threshold and the driving distance exceeds the fourth preset threshold; or, the driving speed exceeds the second preset threshold, the driving time exceeds the third preset threshold, and the driving distance exceeds the fourth preset threshold.

[0135] In this embodiment, after the vehicle door is opened, the driver's side window is opened, the driving lights are turned on, and a prompt tone is emitted saying "Please get in the vehicle to assist in moving the vehicle." Then, the first user enters the vehicle and begins to control the vehicle. The first user can communicate with the second user in real time. The first user manually shifts the gear and controls the brake, accelerator, and gear position to complete the entire vehicle moving process. After moving the vehicle, the first user can manually shift to P gear, engage the handbrake, get out of the vehicle, and close the door. The vehicle prompt tone then says "Please press the lock button."

[0136] The first user presses the door lock button, the driver's side window automatically closes, and the vehicle reports its status to the control center. The control center then sends this information to the terminal, including gear position, handbrake, lights, and the status of all four doors and hoods. Simultaneously, the system uploads real-time photos from the vehicle's surround-view camera to the control center and sends them to the terminal so the second user is aware of the vehicle's parking environment. The vehicle is turned off approximately one minute later. The first user can then leave by pressing the door lock button. After the vehicle is turned off, the second user will see that the manual driving mode is deactivated on the terminal. In manual driving mode, only essential functions for moving the vehicle, such as the brake, accelerator, gear shift, and lights, are active; other functions are uncontrollable.

[0137] In this embodiment, to prevent vehicle theft, the vehicle's DMS (Database Management System) monitors the vehicle's driving information, limiting the vehicle's speed to below 15 km / h, i.e., the second preset threshold is 15 km / h. The second user can adjust this second preset threshold. The throttle can only be adjusted from 0 to 15 km / h. Furthermore, the vehicle defaults to a third preset threshold, which can be 5 minutes. The second user can adjust this third preset threshold as well. When the time is up, the vehicle automatically brakes to a stop, shifts to Park (P), automatically engages EPB (Electronic Power Brake), activates the hazard lights, and sounds a prompt saying, "Please get out of the vehicle after moving it, thank you." If no action is taken after 5 minutes... The vehicle will activate its alarm, power off in the ON position, and send an alarm message to the terminal. Simultaneously, the in-vehicle DMS camera will transmit data back to the terminal in real time. The vehicle will default to a fourth preset threshold value, which is 30m. The second user can adjust the fourth preset threshold value. The on-board high-precision positioning system will calculate the vehicle's driving distance value in real time. When the distance is about to exceed the fourth preset threshold, the vehicle will automatically brake and shift to P gear, automatically engage EPB, activate hazard lights, and sound a prompt saying "Please get out of the vehicle after moving it, thank you." If no action is taken after 5 minutes, the vehicle will activate its alarm, power off in the ON position, and send an alarm message to the terminal.

[0138] In one example, the receiving terminal sends a message instruction to switch the vehicle from manual driving mode to autonomous driving mode; the message instruction is used to instruct the vehicle to switch from manual driving mode to autonomous driving mode.

[0139] The vehicle is controlled to move to the initial position and a prompt message is sent to the first user; the prompt message is used to prompt the first user to get out of the vehicle.

[0140] In this embodiment, after the second user determines that the vehicle has malfunctioned, a message command is sent to the vehicle to switch the vehicle from manual driving mode to automatic driving mode, and the second user remotely controls the vehicle to the initial position through the terminal.

[0141] This application provides a vehicle control method that acquires user environment information at the location represented by the user's location and sends this information to a terminal. The user environment information is used for display. After receiving a confirmation message from the terminal, the vehicle's autonomous driving mode is deactivated. The confirmation message is generated by a second user performing an operation on the terminal based on the user environment information. This technical solution can resolve the issue of vehicle owners being suddenly notified to move their vehicles, allowing them to move the vehicle without being physically present, ensuring vehicle safety, and also promptly addressing the problem of other people being blocked or obstructed by vehicles.

[0142] Figure 3 This is a schematic diagram of a vehicle control device according to Embodiment 3 of this application. The device 30 in Embodiment 3 includes:

[0143] The response unit 301 is used to respond to the mode activation command sent by the terminal and activate the vehicle in third-party control mode.

[0144] The receiving unit 302 is used to receive control commands sent by the terminal and control the vehicle to start the autonomous driving mode according to the control commands; wherein the control commands are sent by the second user after operating the terminal;

[0145] The determining unit 303 is used to obtain the user location of the first user in autonomous driving mode, and determine the trajectory information between the current vehicle location and the user location based on the user location of the first user.

[0146] The control unit 304 is used to control the vehicle to travel to the user's location of the first user based on the trajectory information.

[0147] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the above-described device can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0148] Figure 4 This is a schematic diagram of a vehicle control device according to Embodiment 4 of this application. The device 40 in Embodiment 4 includes:

[0149] The response unit 401 is used to respond to the mode activation command sent by the terminal and activate the vehicle in third-party control mode.

[0150] The receiving unit 402 is used to receive control commands sent by the terminal and control the vehicle to activate the autonomous driving mode according to the control commands; wherein the control commands are sent by the second user after operating the terminal;

[0151] The determining unit 403 is used to obtain the user location of the first user in the autonomous driving mode, and determine the trajectory information between the current vehicle location and the user location based on the user location of the first user.

[0152] The control unit 404 is used to control the vehicle to travel to the user's location of the first user based on the trajectory information.

[0153] In one example, unit 403 is defined as including:

[0154] The calculation module 4031 is used to calculate the distance and angle between the user's location and the current vehicle location.

[0155] The determination module 4032 is used to determine the trajectory information based on the distance value and the angle value.

[0156] In one example, module 4032 is identified, including:

[0157] The first determining submodule 40321 is used to determine at least two path information based on distance and angle values; wherein the path information includes environmental information.

[0158] The second determining submodule 40322 is used to determine trajectory information based on environmental information from at least two path information.

[0159] In one example, the device also includes:

[0160] The acquisition unit 405 is used to acquire user environment information at the location represented by the user's location.

[0161] The first sending unit 406 is used to send user environment information to the terminal; wherein the user environment information is used for display.

[0162] The closing unit 407 is used to turn off the vehicle's autonomous driving mode after receiving a confirmation message from the terminal; wherein the confirmation message is generated by the second user after performing an operation on the terminal based on user environment information.

[0163] In one example, if controlling the vehicle to activate autonomous driving mode according to control commands fails, the device also includes:

[0164] The first activation unit 408 is used to receive a verification command sent by the terminal and activate the vehicle's camera device; wherein, the verification command is used to instruct the camera device to be activated and to verify facial information.

[0165] The verification unit 409 is used to acquire the facial information of the first user through the camera device and to verify the facial information of the first user.

[0166] The second opening unit 410 is used to open the vehicle door and start the manual driving mode if the verification is successful.

[0167] In one example, verification unit 409 includes:

[0168] The sending module 4091 is used to encrypt the facial information of the first user to obtain encrypted facial information, and send the encrypted facial information to the credit data system; wherein, the encrypted facial information is used for verification based on a preset correspondence relationship, which is the correspondence between facial information and credit value.

[0169] The receiving module 4092 is used to receive verification information sent by the credit data system; wherein the verification information is used to indicate the credit value corresponding to the facial information of the first user.

[0170] The determination module 4093 is used to determine that the verification is successful if the credit value indicated by the verification information is greater than or equal to a first preset threshold.

[0171] In one example, the device also includes:

[0172] The monitoring unit 411 is used to monitor the vehicle's driving information after determining that the first user has started controlling the vehicle; the driving information includes driving speed, driving time and driving distance.

[0173] The second sending unit 412 is used to send an alarm message to the terminal if it is determined that the driving information meets the preset conditions.

[0174] The preset conditions are: the driving speed exceeds the second preset threshold and the driving time exceeds the third preset threshold; or, the driving speed exceeds the second preset threshold and the driving distance exceeds the fourth preset threshold; or, the driving speed exceeds the second preset threshold, the driving time exceeds the third preset threshold, and the driving distance exceeds the fourth preset threshold.

[0175] In one example, the device also includes:

[0176] The switching unit 413 is used to receive a message instruction sent by the terminal to switch the vehicle from manual driving mode to autonomous driving mode; wherein the message instruction is used to instruct the vehicle to switch from manual driving mode to autonomous driving mode.

[0177] The third sending unit 414 is used to control the vehicle to drive to the initial position and send a prompt message to the first user; wherein, the prompt message is used to prompt the first user to get off the vehicle.

[0178] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the above-described device can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0179] Figure 5 This is a block diagram illustrating a terminal device according to an exemplary embodiment. The device may be a mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, medical device, fitness device, personal digital assistant, etc.

[0180] The device 500 may include one or more of the following components: a processing component 502, a memory 504, a power supply component 506, a multimedia component 508, an audio component 510, an input / output (I / O) interface 512, a sensor component 514, and a communication component 516.

[0181] Processing component 502 typically controls the overall operation of device 500, such as operations associated with display, telephone calls, data communication, camera operation, and recording. Processing component 502 may include one or more processors 520 to execute instructions to complete all or part of the steps of the methods described above. Furthermore, processing component 502 may include one or more modules to facilitate interaction between processing component 502 and other components. For example, processing component 502 may include a multimedia module to facilitate interaction between multimedia component 508 and processing component 502.

[0182] Memory 504 is configured to store various types of data to support the operation of device 500. Examples of such data include instructions for any application or method operating on device 500, contact data, phonebook data, messages, pictures, videos, etc. Memory 504 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0183] Power supply component 506 provides power to various components of device 500. Power supply component 506 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to device 500.

[0184] Multimedia component 508 includes a screen that provides an output interface between the device 500 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 508 includes a front-facing camera and / or a rear-facing camera. When the device 500 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0185] Audio component 510 is configured to output and / or input audio signals. For example, audio component 510 includes a microphone (MIC) configured to receive external audio signals when device 500 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 504 or transmitted via communication component 516. In some embodiments, audio component 510 also includes a speaker for outputting audio signals.

[0186] I / O interface 512 provides an interface between processing component 502 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0187] Sensor assembly 514 includes one or more sensors for providing status assessments of various aspects of device 500. For example, sensor assembly 514 may detect the on / off state of device 500, the relative positioning of components such as the display and keypad of device 500, changes in the position of device 500 or a component of device 500, the presence or absence of user contact with device 500, the orientation or acceleration / deceleration of device 500, and temperature changes of device 500. Sensor assembly 514 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 514 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 514 may also include an accelerometer, a gyroscope, a magnetometer, a pressure sensor, or a temperature sensor.

[0188] Communication component 516 is configured to facilitate wired or wireless communication between device 500 and other devices. Device 500 can access wireless networks based on communication standards, such as WiFi, 2G, or 3G, or combinations thereof. In one exemplary embodiment, communication component 516 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 516 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0189] In an exemplary embodiment, the apparatus 500 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the methods described above.

[0190] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 504 including instructions, which can be executed by a processor 520 of the device 500 to perform the above-described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0191] A non-transitory computer-readable storage medium, wherein instructions in the storage medium, when executed by a processor of a terminal device, enable the terminal device to perform the aforementioned vehicle control method.

[0192] This application also discloses a computer program product, including a computer program that, when executed by a processor, implements the method described in this embodiment.

[0193] Various embodiments of the systems and technologies described above in this application can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0194] The program code used to implement the methods of this application may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing device, such that when executed by the processor or controller, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or electronic device.

[0195] In the context of this application, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0196] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0197] The systems and technologies described herein can be implemented in computing systems that include back-end components (e.g., as data electronic devices), or computing systems that include middleware components (e.g., application electronic devices), or computing systems that include front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and technologies described herein), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0198] Computer systems can include client and electronic devices. Clients and electronic devices are generally geographically separated and typically interact via communication networks. The client-electronic device relationship is created by computer programs running on the respective computers and having a client-electronic device relationship with each other. The electronic device can be a cloud electronic device, also known as a cloud computing electronic device or cloud host, a host product within the cloud computing service system, addressing the shortcomings of traditional physical hosts and VPS services ("Virtual Private Server," or simply "VPS") in terms of management difficulty and weak business scalability. The electronic device can also be an electronic device in a distributed system or an electronic device incorporating blockchain technology. It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this application is achieved, and this is not limited herein.

[0199] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0200] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A vehicle control method, characterized in that, The method includes: In response to a mode activation command sent by the terminal, the vehicle is put into a third-party control mode, which includes an autonomous driving mode and a manual driving mode. The manual driving mode is activated when the autonomous driving mode fails. The system receives control commands sent by the terminal and controls the vehicle to activate the autonomous driving mode in the third-party control mode according to the control commands; wherein the control commands are sent by the second user after operating the terminal. In the autonomous driving mode, the location of the first user is obtained, and the trajectory information between the current vehicle location and the user location is determined based on the location of the first user. The first user and the second user communicate in real time through a walkie-talkie mode between the vehicle and the terminal. Based on the trajectory information, control the vehicle to travel to the first user's location; If controlling the vehicle to activate the autonomous driving mode according to the control command fails, the method further includes: The system receives a verification command from the terminal and activates the vehicle's camera; wherein the verification command is used to instruct the camera to be activated and to verify facial information. The camera device is used to acquire the facial information of the first user and to verify the facial information of the first user. If the verification is successful, the vehicle door will be opened and the manual driving mode will be activated. Verification of the first user's facial information includes: The facial information of the first user is encrypted to obtain encrypted facial information, and the encrypted facial information is sent to the credit data system; wherein, the encrypted facial information is used for verification based on a preset correspondence, the preset correspondence being the correspondence between facial information and credit value; The system receives verification information sent by the credit data system; wherein the verification information is used to indicate the credit value corresponding to the facial information of the first user. If the credit value indicated by the verification information is determined to be greater than or equal to the first preset threshold, then the verification is deemed successful.

2. The method according to claim 1, characterized in that, Based on the user's location, determine the trajectory information between the vehicle's current location and the user's location, including: Calculate the distance and angle between the user's location and the vehicle's current location; The trajectory information is determined based on the distance value and the angle value.

3. The method according to claim 2, characterized in that, Determining the trajectory information based on the distance value and the angle value includes: Based on the distance value and the angle value, at least two path information are determined; wherein, the path information includes environmental information; The trajectory information is determined based on the environmental information in the at least two path information.

4. The method according to any one of claims 1-3, characterized in that, The method further includes: Obtain user environment information at the location represented by the user's location; The user environment information is sent to the terminal; wherein the user environment information is used for display. After receiving the confirmation message from the terminal, the autonomous driving mode of the vehicle is turned off; wherein, the confirmation message is generated by the second user after performing an operation on the terminal based on the user environment information.

5. The method according to claim 1, characterized in that, After opening the vehicle door and activating the manual driving mode, the process further includes: After determining that the first user has started to control the vehicle, the vehicle's driving information is monitored; wherein, the driving information includes driving speed value, driving time value, and driving distance value; If the driving information is determined to meet the preset conditions, an alarm message is sent to the terminal; The preset conditions are: the driving speed value exceeds the second preset threshold and the driving time value exceeds the third preset threshold; or, the preset conditions are: the driving speed value exceeds the second preset threshold and the driving distance value exceeds the fourth preset threshold; or, the preset conditions are: the vehicle's driving speed value exceeds the second preset threshold, the driving time value exceeds the third preset threshold, and the driving distance value exceeds the fourth preset threshold.

6. The method according to claim 5, characterized in that, The method further includes: The system receives a message instruction from the terminal to switch the vehicle from manual driving mode to autonomous driving mode; wherein the message instruction is used to instruct the vehicle to switch from manual driving mode to autonomous driving mode. The vehicle is controlled to travel to its initial position, and a prompt message is sent to the first user; wherein the prompt message is used to prompt the first user to get off the vehicle.

7. A vehicle control device, characterized in that, The device includes: A response unit is used to respond to a mode activation command sent by the terminal to activate the vehicle in a third-party control mode, wherein the third-party control mode includes an autonomous driving mode and a manual driving mode, and to activate the manual driving mode when the autonomous driving mode fails. A receiving unit is configured to receive control commands sent by a terminal and control the vehicle to activate autonomous driving mode according to the control commands; wherein the control commands are sent by a second user after operating the terminal; The determining unit is configured to acquire the user location of the first user in the autonomous driving mode, and determine the trajectory information between the current vehicle location and the user location based on the user location of the first user, wherein the first user and the second user communicate in real time through a walkie-talkie mode between the vehicle and the terminal. The control unit is used to control the vehicle to travel to the user's location of the first user based on the trajectory information; If the control command to activate the vehicle's autonomous driving mode fails, the device further includes: The first activation unit is used to receive a verification command sent by the terminal and activate the camera device of the vehicle; wherein, the verification command is used to instruct the camera device to be activated and to verify facial information. The verification unit is used to acquire the facial information of the first user through the recording device and to verify the facial information of the first user. The second opening unit is used to open the vehicle door and start the manual driving mode if the verification is successful. The verification unit includes: The sending module is used to encrypt the facial information of the first user to obtain encrypted facial information, and send the encrypted facial information to the credit data system; wherein, the encrypted facial information is used for verification based on a preset correspondence relationship, the preset correspondence relationship being the correspondence between facial information and credit value; The receiving module is used to receive verification information sent by the credit data system; wherein the verification information is used to indicate the credit value corresponding to the facial information of the first user; The determination module is used to determine that the verification is successful if the credit value indicated by the verification information is greater than or equal to a first preset threshold.

8. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-6.

10. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method as described in any one of claims 1-6.

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