A control method, device and vehicle for calling a turn signal service

Abstract

The present invention discloses a control method, device and vehicle for invoking a turn signal service, which are applied to a vehicle equipped with a third-party development platform. The method includes: if a turn signal service request is received, determining whether the request source of the turn signal service request comes from a whitelist, wherein the request sources in the whitelist are request sources trusted by the vehicle; if so, executing the turn signal service request; if not, determining whether the current vehicle speed is within a safe vehicle speed range; if it is within the safe vehicle speed range, executing the turn signal service request. By adding a security policy for service invocation when the vehicle service is opened to the third-party development platform, this application not only ensures that the vehicle's safety attributes are not damaged, but also can greatly expand the application scenarios of vehicle safety services.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular, to a control method, device, and vehicle for invoking a turn signal service. Background Art

[0002] The transformation brought about by the SOA architecture is software-defined vehicles. In the future, more third-party developers will participate in the development of automotive application software. However, since vehicles have safety attributes, how to ensure that third-party applications do not affect vehicle safety when installed on vehicles is a major safety challenge faced by the SOA architecture.

[0003] The prior art mainly focuses on two extreme solutions. The first is to completely ignore the vehicle safety attributes and expose all applications on the vehicle to the third-party development platform. This solution is very likely to cause interference and call conflicts between third-party application software and vehicle safety software, interfering with the normal driving of the vehicle and thus causing danger to the vehicle. For example, in a tunnel, the low beam is on, but a third-party application requests the low beam to be turned off, resulting in the low beam being turned off and affecting the driver's forward vision. Another example is that the vehicle is driving at high speed, and a third-party application requests to disconnect the vehicle's high-voltage system, causing the vehicle to suddenly lose power. If such unreasonable requests are not restricted, the vehicle will be extremely dangerous during driving, making the driver extremely nervous and accidents may occur at any time.

[0004] The second is to completely not open any vehicle services related to safety to the third-party development platform. Although this solution achieves extreme safety, it restricts software-defined vehicles without any room for development, and the performance of vehicle entertainment and experience will be greatly reduced. Summary of the Invention

[0005] Embodiments of the present application provide a control method, device, and vehicle for invoking a turn signal service. This method can ensure that the vehicle safety attributes are not damaged while greatly expanding the application scenarios of vehicle safety services, which is beneficial to enriching the functions of the vehicle and improving the use safety of the vehicle.

[0006] In a first aspect, the present invention provides the following technical solution through an embodiment of the present invention:

[0007] A control method for invoking a turn signal service, which is applied to a vehicle equipped with a third-party development platform. The method includes: if a turn signal service request is received, determining whether the request source of the turn signal service request comes from a whitelist, where the request sources in the whitelist are request sources trusted by the vehicle; if so, executing the turn signal service request; if not, determining whether the current speed of the vehicle is within a safe speed range; if it is within the safe speed range, executing the turn signal service request.

[0008] Preferably, if the vehicle is not within the safe vehicle speed range, it is determined whether the content of the turn signal service request is consistent with the turn signal of the vehicle; if it is consistent, the turn signal service request is executed.

[0009] Preferably, if the content of the turn signal service request is inconsistent with the turn signal, it is determined whether there is an oncoming vehicle in the oncoming lane in front of the vehicle; if there is no oncoming vehicle, the turn signal service request is executed.

[0010] Preferably, if there is an oncoming vehicle, the driving trajectory of the vehicle is determined; based on the driving trajectory of the vehicle, it is determined whether to execute the turn signal service request.

[0011] Preferably, determining whether to execute the turn signal service request based on the driving trajectory of the vehicle includes: if the driving trajectory of the vehicle is not a right turn, determining the driving trajectory of the oncoming vehicle; based on the driving trajectory of the oncoming vehicle, determining whether to execute the turn signal service request.

[0012] Preferably, determining the driving trajectory of the vehicle includes: obtaining the steering angle of the front wheels of the vehicle and the rotation time maintained at the steering angle; based on the steering angle and the rotation time, determining the driving trajectory of the vehicle.

[0013] Preferably, determining the driving trajectory of the oncoming vehicle includes: when the oncoming vehicle meets the vehicle, obtaining the lateral distance between the oncoming vehicle and the vehicle; based on the lateral distance, determining the driving trajectory of the oncoming vehicle.

[0014] Preferably, determining whether the current vehicle speed of the vehicle is within the safe vehicle speed range includes: determining whether the current vehicle speed of the vehicle is less than or equal to 6 km / h.

[0015] In a second aspect, through an embodiment of the present invention, the following technical solutions are provided:

[0016] A control device for invoking a turn signal service, which is applied to a vehicle equipped with a third-party development platform, and the device includes:

[0017] A first judgment module, configured to, if a turn signal service request is received, determine whether the request source of the turn signal service request comes from a whitelist, where the request sources in the whitelist are request sources trusted by the vehicle;

[0018] A first execution module, configured to execute the turn signal service request when it is determined that the request source of the turn signal service request comes from the whitelist;

[0019] A second determination module, configured to determine whether the current vehicle is within a safe vehicle speed range when it is determined that the request source of the turn signal service request does not come from the whitelist;

[0020] A second execution module, configured to execute the turn signal service request when it is determined that the vehicle is within a safe vehicle speed range.

[0021] In a third aspect, through an embodiment of the present invention, the following technical solution is provided:

[0022] An electronic device includes: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the steps of the method described in any one of the foregoing first aspects are implemented.

[0023] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0024] The control method for invoking the turn signal service provided in the embodiments of the present invention, when receiving a turn signal service request, first determines whether the request source of the turn signal service request is a request source trusted by the vehicle. If so, it indicates that the current request source is the request source before opening to the third-party development platform, such as a turn signal manual switch request. If not, the request source is a request source not trusted by the vehicle. To ensure the safety of vehicle use, it is necessary to further determine whether the current vehicle speed of the vehicle meets the requirements of safe driving, that is, whether it is within the safe vehicle speed range. If the vehicle speed is within the safe vehicle speed range, it indicates that the turn signal service request can be executed. Thus, by adding a security policy for invoking the turn signal service, the third-party development platform applied to the vehicle can be effectively operated, thereby ensuring that the original functions of the vehicle are not damaged while maximizing the expansion of the application scenarios of vehicle safety services, enriching the functions of the vehicle, and improving the safety of vehicle use, which is conducive to promoting the development of "software-defined vehicles". Description of the Drawings

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0026] Figure 1 It is a flowchart of a control method for invoking a turn signal service provided in an embodiment of the present invention;

[0027] Figure 2 It is a schematic diagram for calculating the safe vehicle speed range provided in an embodiment of the present invention;

[0028] Figure 3 It is a flowchart of a specific control method for invoking a turn signal service provided by an embodiment of the present invention;

[0029] Figure 4 It is a schematic structural diagram of a control device for invoking a turn signal service provided by an embodiment of the present invention;

[0030] Figure 5 It is a schematic structural diagram of a vehicle provided by an embodiment of the present invention. Detailed implementation manners

[0031] By providing a control method, device and vehicle for invoking a turn signal service in the embodiments of the present application, this method can, while ensuring that the safety attributes of the vehicle are not damaged, greatly expand the application scenarios of vehicle safety services, which is beneficial to enriching the functions of the vehicle while improving the use safety of the vehicle.

[0032] The general idea of the technical solution in the embodiments of the present application is as follows:

[0033] A control method for invoking a turn signal service, which is applied to a vehicle equipped with a third-party development platform. The method includes: if a turn signal service request is received, determining whether the request source of the turn signal service request comes from a whitelist, where the request sources in the whitelist are request sources trusted by the vehicle; if so, executing the turn signal service request; if not, determining whether the current vehicle speed is within a safe vehicle speed range; if it is within the safe vehicle speed range, executing the turn signal service request.

[0034] To better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings of the specification and specific implementation manners.

[0035] In a first aspect, a control method for invoking a turn signal service provided by an embodiment of the present invention, specifically, as Figure 1 shown, the control method includes the following steps S101 to step S104.

[0036] Step S101, if a turn signal service request is received, determining whether the request source of the turn signal service request comes from a whitelist, where the request sources in the whitelist are request sources trusted by the vehicle;

[0037] Step S102, if so, executing the turn signal service request;

[0038] Step S103, if not, determining whether the current vehicle speed is within a safe vehicle speed range;

[0039] Step S104, if within the safe vehicle speed range, then execute the turn signal service request.

[0040] In the specific implementation process, the turn signal service request may include: the control range of the turn signal, the control mode, the brightness, the lighting time, the extinguishing time, and the number of flashes, etc. This application is applied to vehicles equipped with a third-party development platform. When receiving the turn signal service request sent by the vehicle, first determine whether the request source of the turn signal service request comes from the white list, where the request sources in the white list are the request sources trusted by the vehicle.

[0041] Specifically, the black and white list refers to whether the service request source belongs to the request source trusted by the vehicle (i.e., the credit request source). The request source that belongs to the request source trusted by the vehicle is the white list; otherwise, it is the black list. This credit request source generally refers to the request source before the vehicle is mass-produced and not opened to the third-party development platform. For example, the credit request sources for the turn signal service can include: the turn signal manual switch request.

[0042] If the turn signal service request is from the white list, then execute the request content and directly perform the processing and execution logic. If the turn signal service request is from the black list, then it is necessary to further perform a safe vehicle speed judgment to ensure that the turn signal service is carried out within a safe vehicle speed range. Only if within the safe vehicle speed range can the request be executed.

[0043] The vehicle safe vehicle speed judgment here refers to the current driving state of the vehicle. When the vehicle is opened to the third-party development platform, a safe value of the vehicle driving speed needs to be defined for services related to vehicle body safety, and this safe value comes from vehicle calibration.

[0044] Among them, the safe vehicle speed range can be determined according to the vehicle model, vehicle weight, and vehicle length, etc. Different vehicles can be correspondingly matched with different influence coefficients to determine the corresponding safe vehicle speed range.

[0045] For example, as Figure 2 shown, the safe vehicle speed range can be determined by the following calculation method: Assume a pedestrian stands at point A, which is two meters away from the front of the vehicle. If the turn signal accidentally lights up at this time and the pedestrian walks straight through, then it is only safe when the time for the pedestrian to walk from point A to point B is less than the time for the vehicle's front wheels to reach point AB, that is, T 人 ≤T 车 . Assume the average walking speed of an adult is 1.5 m / s, so T 人 =D AB / V 人 =1.8 m / 1.5 m / s = 1.2 s, V 车 ≤(S1 + S2) / T 人=(1.0 m + 2.0 m / s) / 1.2 s = 2.5 m / s = 9 km / h. To further ensure the safety of pedestrians, the distance from the wheel to the vehicle head is discarded, and only the distance from the vehicle head to the pedestrian is calculated. Therefore, V 车 ≤ S2 / T 人 = 2.0 m / 1.2 s = 1.667 m / s = 6 km / h.

[0046] From the above calculation, the safe speed range can be less than or equal to 6 km / h.

[0047] Furthermore, if the current speed of the vehicle is not within the safe speed range, it can be further determined whether the content of the turn signal service request is consistent with the turn signal of the vehicle; if they are consistent, the request is executed.

[0048] In a specific embodiment, determining whether the content of the turn signal service request is consistent with the turn signal of the vehicle may include: comparing the turn signal service request with the operation instruction value collected by the vehicle switch assembly of the driver; based on the comparison result of the turn signal service request and the operation instruction value, determining whether the turn signal service request is consistent with the turn signal.

[0049] Specifically, determining whether the request signal is consistent with the signal collected by the vehicle switch assembly means that when the vehicle receives a service request from a third-party development platform, it is determined whether the service request is consistent with the driver's intention. The switch assembly collects the operation instruction value of the driver and sends it to the vehicle computer. The computer compares the received instruction value with the service request value. If the two are equal, it is determined to be consistent; otherwise, it is inconsistent.

[0050] If the request signal is inconsistent with the signal collected by the switch assembly, it is further determined whether there is an oncoming vehicle in the oncoming lane in front of the current vehicle; if there is no oncoming vehicle, the turn signal service request is executed. In this application, determining whether there is an oncoming vehicle in the oncoming lane in front also means determining whether there is an obstacle on the oncoming lane in front. If there is no obstacle, it indicates that the current vehicle can pass smoothly, and the request is executed.

[0051] In other embodiments, it can also be determined whether the content of the turn signal service request is consistent with the turn signal of the vehicle collected by the turn signal acquisition device. If they are consistent, the request is executed.

[0052] Among them, the method for determining whether there is an oncoming vehicle in the oncoming lane in front may include: monitoring whether there is an obstacle in the oncoming lane in front based on an image acquisition device installed on the vehicle.

[0053] Specifically, on-vehicle cameras and radars and other devices are used to monitor the driving conditions of vehicles on the oncoming road in front of the vehicle. If the radar and camera detect a vehicle (a large-volume obstacle) in the oncoming lane in front, it is determined that there is an oncoming vehicle; otherwise, there is no oncoming vehicle.

[0054] Further, if there is an oncoming vehicle in the oncoming lane, the driving trajectory of the vehicle is further determined, and based on the driving trajectory of the vehicle, it is determined whether to execute the turn signal service request.

[0055] In a specific embodiment, determining whether to execute the turn signal service request based on the driving trajectory of the vehicle may include:

[0056] 1. If the driving trajectory of the vehicle is a right turn, the request is executed;

[0057] 2. If the driving trajectory of the vehicle is not a right turn, the driving trajectory of the oncoming vehicle is determined, and based on the driving trajectory of the oncoming vehicle, it is determined whether to execute the turn signal service request, including:

[0058] 2.1. If the driving trajectory of the vehicle is a left turn, the driving trajectory of the oncoming vehicle is determined; if the driving trajectory of the oncoming vehicle is a left turn, the request is executed; if the driving trajectory of the oncoming vehicle is not a left turn, the request is not executed;

[0059] 2.2. If the driving trajectory of the vehicle is not a left turn, the driving trajectory of the oncoming vehicle is determined; if the driving trajectory of the oncoming vehicle is a left turn, the request is not executed; if the driving trajectory of the oncoming vehicle is not a left turn, the request is executed.

[0060] Among them, determining the driving trajectory of the vehicle may include: obtaining the steering angle of the front wheels of the vehicle and the rotation time maintained at this steering angle; based on the steering angle and the rotation time, determining the driving trajectory of the vehicle.

[0061] Specifically, the steering angle of the front wheels of the vehicle can be collected by an angle sensor, and the rotation time maintained at this rotation angle can be obtained through a timer. For example, determining whether the vehicle turns left includes: determining whether the left steering angle of the front wheels exceeds 30 degrees and whether the rotation time at this steering angle exceeds 1500 ms. If both are satisfied, it is determined that the driving trajectory of the vehicle is a left turn; similarly, determining whether the vehicle turns right includes: determining whether the right steering angle of the front wheels exceeds 30 degrees and whether the rotation time at this steering angle exceeds 1500 ms. If both are satisfied, it is determined that the driving trajectory of the vehicle is a right turn.

[0062] It should be noted that the steering angle (30 degrees) and the rotation time (1500 ms) here can be adaptively adjusted according to information such as the vehicle model and vehicle weight, and this application does not make a limitation.

[0063] In other alternative embodiments, determining the driving trajectory of the vehicle may further include: obtaining the steering angle of the steering wheel of the vehicle and the rotation time maintained at the steering angle; based on the steering angle and the rotation time, determining the driving trajectory of the vehicle.

[0064] Specifically, when determining whether the vehicle is turning right (left), the driver's driving intention and the vehicle's driving trajectory can be judged by monitoring the steering angle, steering force, and steering torque of the steering wheel through a steering wheel force angle meter. If the steering wheel rotates clockwise by more than 60 degrees and the rotation angle lasts for more than 1500 ms, it is judged that the vehicle's driving trajectory is a right turn; if the steering wheel rotates counterclockwise by more than 60 degrees and the rotation angle lasts for more than 1500 ms, it is judged that the vehicle's driving trajectory is a left turn.

[0065] It should be noted that the steering angle (60 degrees) and the rotation time (1500 ms) here can be adjusted adaptively according to information such as the vehicle model and vehicle weight, and this application does not make a limitation.

[0066] Of course, the vehicle's driving trajectory can also be judged by other means, which will not be elaborated in this application.

[0067] Among them, judging the driving trajectory of an oncoming vehicle can include: when the oncoming vehicle meets the vehicle, obtaining the lateral distance between the oncoming vehicle and the vehicle; and judging the driving trajectory of the oncoming vehicle based on the lateral distance.

[0068] Specifically, the driving trajectory of the oncoming vehicle can be monitored through a radar and a camera. If the lateral distance between the two vehicles is getting smaller and smaller when meeting the oncoming vehicle, it is judged that the oncoming vehicle is turning left. Or, the radar and the camera monitor the body tilt state, wheel steering state, and the state of the road ahead of the oncoming vehicle, etc., to determine the vehicle's driving trajectory.

[0069] Therefore, if the driving trajectory of this vehicle is a right turn, there is no need to consider the oncoming vehicle, and the request can be directly executed; otherwise, it is necessary to further judge whether this vehicle is turning left. If this vehicle will not turn left, it is necessary to judge the driving trajectory of the oncoming vehicle. When the oncoming vehicle will not turn left, the request can be executed. If the oncoming vehicle turns left, the request will not be executed; if this vehicle is about to turn left, it is still necessary to further judge the driving trajectory of the oncoming vehicle: if the oncoming vehicle also turns left, the request can be executed. If the oncoming vehicle does not turn left, it is judged that the request cannot be executed.

[0070] Such as Figure 3As shown in the figure, the control method for the turn signal service request proposed in this application includes: when receiving a turn signal service request, judging the request against a white and black list. If the request is on the white list, execute the request. If the request is on the black list, judge whether the current vehicle speed of the vehicle is within the safe speed range. If it is, execute the request. If not, judge whether the request is consistent with the signal collected by the switch assembly. If it is consistent, execute the request. If it is not consistent, judge whether there is an oncoming vehicle in the oncoming lane ahead of the vehicle. If there is no oncoming vehicle, execute the request. If there is an oncoming vehicle, judge whether the current vehicle is turning right. If it is turning right, execute the request. If it is not turning right, judge whether the vehicle is turning left. If it is turning left, continue to judge whether the oncoming vehicle is turning left. If the oncoming vehicle is turning left, execute the request. If the oncoming vehicle is not turning left, do not execute the request. If the vehicle is not turning left, continue to judge whether the oncoming vehicle is turning left. If the oncoming vehicle is not turning left, execute the request. If the oncoming vehicle is turning left, do not execute the request.

[0071] In summary, through a control method for invoking the turn signal service provided by an embodiment of the present invention, by adding a security policy for invoking the turn signal service and considering elements such as the request source of the vehicle service call, vehicle state, and request instruction, the third-party development platform applied to the vehicle can be effectively operated. Thus, while ensuring that the original functions of the vehicle are not damaged, the application scenario of vehicle safety services can be maximally expanded, solving the security problems in the process of opening the SOA architecture to the third-party developer platform and ensuring that the third-party application does not affect the driving safety of the vehicle when installed on the vehicle.

[0072] In a second aspect, based on the same inventive concept, this embodiment provides a control device for invoking the turn signal service, which is applied to a vehicle equipped with a third-party development platform, as Figure 4 shown, the device includes:

[0073] A first judgment module 401, configured to judge whether the request source of the turn signal service request comes from the white list if a turn signal service request is received, where the request sources in the white list are request sources trusted by the vehicle;

[0074] A first execution module 402, configured to execute the turn signal service request when it is judged that the request source of the turn signal service request comes from the white list;

[0075] A second judgment module 403, configured to judge whether the current vehicle is within the safe speed range when it is determined that the request source of the turn signal service request does not come from the white list;

[0076] A second execution module 404, configured to execute the turn signal service request when it is determined that the vehicle is within the safe speed range.

[0077] As an optional embodiment, the device further includes:

[0078] A third judgment module, configured to judge whether the content of the turn signal service request is consistent with the turn signal of the vehicle if the vehicle is not within the range of the safe vehicle speed;

[0079] A third execution module, configured to execute the turn signal service request if the content of the turn signal service request is consistent with the turn signal of the vehicle.

[0080] As an optional embodiment, the device further includes:

[0081] A fourth judgment module, configured to judge whether there is an oncoming vehicle in the oncoming lane ahead of the vehicle if the content of the turn signal service request is inconsistent with the turn signal;

[0082] A fourth execution module, configured to execute the turn signal service request if there is no oncoming vehicle in the oncoming lane.

[0083] As an optional embodiment, the device further includes:

[0084] A fifth judgment module, configured to judge the driving trajectory of the vehicle if there is an oncoming vehicle;

[0085] A fifth execution module, configured to determine whether to execute the turn signal service request based on the driving trajectory of the vehicle.

[0086] As an optional embodiment, the fifth execution module specifically includes:

[0087] A judgment sub-module, configured to judge the driving trajectory of the oncoming vehicle if the driving trajectory of the vehicle is not a right turn;

[0088] An execution sub-module, configured to determine whether to execute the turn signal service request based on the driving trajectory of the oncoming vehicle.

[0089] As an optional embodiment, the fifth judgment module is specifically configured to:

[0090] Obtain the steering angle of the front wheels of the vehicle and the rotation time maintained at the steering angle;

[0091] Judge the driving trajectory of the vehicle based on the steering angle and the rotation time.

[0092] As an optional embodiment, the judgment sub-module is specifically configured to:

[0093] Obtain the lateral distance between the oncoming vehicle and the vehicle when the oncoming vehicle meets the vehicle;

[0094] Judge the driving trajectory of the oncoming vehicle based on the lateral distance.

[0095] As an alternative embodiment, the second determination module 403 is specifically configured to:

[0096] Determine whether the current vehicle speed of the vehicle is less than or equal to 6 km / h.

[0097] Each of the above modules may be implemented by software code. In this case, each of the above modules may be stored in the memory of the control device. Each of the above modules may also be implemented by hardware, such as an integrated circuit chip.

[0098] A control device for invoking a turn signal service provided by an embodiment of the present invention has the same implementation principle and technical effects as those of the foregoing method embodiment. For a brief description, for parts not mentioned in the device embodiment, reference may be made to the corresponding content in the foregoing method embodiment.

[0099] In a third aspect, based on the same inventive concept, this embodiment provides a vehicle 500, as Figure 5 shown, including: a memory 501, a processor 502, and a computer program 503 stored on the memory and executable on the processor. When the processor 501 executes the program, the steps of the control method for invoking a turn signal service described in the foregoing first aspect are implemented.

[0100] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0101] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A control method for invoking a turn signal service, characterized in that, Applied to a vehicle equipped with a third-party development platform, the method includes: If a turn signal service request is received, determine whether the request source of the turn signal service request comes from a whitelist, where the request sources in the whitelist are request sources trusted by the vehicle; If so, execute the turn signal service request; If not, determine whether the current vehicle speed of the vehicle is within a safe vehicle speed range; If it is within the safe vehicle speed range, execute the turn signal service request.

2. The method according to claim 1, characterized in that, Including: If the vehicle is not within the safe vehicle speed range, determine whether the content of the turn signal service request is consistent with the turn signal of the vehicle; If they are consistent, execute the turn signal service request.

3. The method according to claim 2, characterized in that, Including: If the content of the turn signal service request is inconsistent with the turn signal, determine whether there is an oncoming vehicle in the oncoming lane ahead of the vehicle; If there is no oncoming vehicle, execute the turn signal service request.

4. The method according to claim 3, characterized in that, Including: If there is an oncoming vehicle, determine the driving trajectory of the vehicle; Based on the driving trajectory of the vehicle, determine whether to execute the turn signal service request.

5. The method according to claim 4, characterized in that, The determining whether to execute the turn signal service request based on the driving trajectory of the vehicle includes: If the driving trajectory of the vehicle is not a right turn, determine the driving trajectory of the oncoming vehicle; Based on the driving trajectory of the oncoming vehicle, determine whether to execute the turn signal service request.

6. The method according to claim 4, characterized in that, The determining the driving trajectory of the vehicle includes: Obtain the steering angle of the front wheels of the vehicle and the rotation time maintained at the steering angle; Based on the steering angle and the rotation time, determine the driving trajectory of the vehicle.

7. The method according to claim 5, characterized in that, The determining the driving trajectory of the oncoming vehicle includes: When the oncoming vehicle meets the vehicle, obtain the lateral distance between the oncoming vehicle and the vehicle; Based on the lateral distance, determine the driving trajectory of the oncoming vehicle.

8. The method according to claim 1, characterized in that, The determining whether the current vehicle speed of the vehicle is within a safe vehicle speed range includes: Determine whether the current vehicle speed of the vehicle is less than or equal to 6 km / h.

9. A control device for invoking a turn signal service, characterized in that, Applied to a vehicle equipped with a third-party development platform, the device includes: A first judgment module, configured to, if a turn signal service request is received, determine whether the request source of the turn signal service request comes from a whitelist, where the request sources in the whitelist are request sources trusted by the vehicle; A first execution module, configured to execute the turn signal service request when it is determined that the request source of the turn signal service request comes from the whitelist; A second judgment module, configured to, when it is determined that the request source of the turn signal service request does not come from the whitelist, determine whether the current vehicle is within a safe vehicle speed range; A second execution module, configured to execute the turn signal service request when it is determined that the vehicle is within a safe vehicle speed range.

10. A vehicle, characterized in that, Including: A memory, a processor, and a computer program stored on the memory and executable on the processor, where when the processor executes the program, the steps of the method according to any one of claims 1-8 are implemented.

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