Vehicle control methods, devices, vehicles and storage media

Abstract

This invention relates to the field of vehicle technology and discloses a vehicle control method, device, vehicle, and storage medium. The method includes: acquiring first road condition information of the road where the vehicle is traveling; if the first road condition information meets preset collection conditions, controlling a drone associated with the vehicle to collect second road condition information of the road where the vehicle is traveling; generating a planned path for the vehicle based on the vehicle's driving parameters and the second road condition information, and controlling the vehicle to travel according to the planned path. Applying the technical solution of this invention can improve the safety performance of vehicles.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, specifically to a vehicle control method, device, vehicle, and storage medium. Background Technology

[0002] With the development of vehicle technology and the upgrading of user needs, the comfort of vehicle interior space has become one of the main factors for users when choosing a vehicle. Therefore, in order to improve vehicle comfort, vehicle manufacturers increase the vehicle's interior space by increasing the wheelbase, optimizing the engine layout, and improving the vehicle's appearance, thereby meeting users' requirements for comfort.

[0003] However, as the wheelbase and other dimensions of a vehicle increase, its overall size may also increase accordingly. This makes it much easier for users to experience minor scrapes or even collisions while driving. Consequently, the vehicle's driving convenience is compromised, and its safety performance needs further improvement. Summary of the Invention

[0004] In view of the above problems, embodiments of the present invention provide a vehicle control method, device, vehicle and storage medium to solve the problems of insufficient driving convenience and low safety in the prior art.

[0005] According to one aspect of the present invention, a vehicle control method is provided, the method comprising: acquiring first road condition information of a road on which the vehicle travels; if the first road condition information meets preset acquisition conditions, controlling a drone associated with the vehicle to acquire second road condition information of the road on which the vehicle travels; generating a planned path for the vehicle based on the vehicle's driving parameters and the second road condition information, and controlling the vehicle to travel according to the planned path.

[0006] In one optional approach, the vehicle driving parameters include vehicle gear information, the vehicle's current position, and the vehicle's recorded historical driving paths. The planned path for the vehicle includes a first planned path and a second planned path. Generating the planned path based on the vehicle driving parameters and the second road condition information, and controlling the vehicle to drive along the planned path, includes: if the vehicle gear information indicates that the vehicle is in reverse, determining the historical driving path as the first planned path; determining whether the first planned path meets the driving conditions based on the second road condition information; if the first planned path meets the driving conditions, controlling the vehicle to drive along the first planned path; if the first planned path does not meet the driving conditions, generating the second planned path based on the vehicle's current position and the second road condition information, and controlling the vehicle to drive along the second planned path.

[0007] In an optional embodiment, the method further includes: during the process of controlling the vehicle to travel according to the planned path of the vehicle, determining whether the planned path of the vehicle meets the driving conditions; if the planned path of the vehicle does not meet the driving conditions, obtaining the updated second road condition information, and returning to execute the step of generating the planned path of the vehicle based on the vehicle driving parameters and the second road condition information, and controlling the vehicle to travel according to the planned path of the vehicle.

[0008] In one optional approach, determining whether the planned path of the vehicle meets the driving conditions specifically includes: determining whether there are obstacles in the planned path of the vehicle based on the second road condition information; if there are obstacles in the planned path of the vehicle, and the distance between the vehicle and the obstacles is less than a safe distance, then determining that the planned path of the vehicle does not meet the driving conditions.

[0009] In one alternative approach, the method further includes: if the planned path of the vehicle does not meet the driving conditions and regenerating the planned path fails, then outputting a warning message or controlling the vehicle to brake; the warning message is used to alert the driver that the path planning has failed, so that the driver can take over the vehicle.

[0010] In one optional embodiment, the method further includes: acquiring the vehicle's speed; if the speed is lower than a preset speed, sending a data transmission instruction to the drone and recording the vehicle's travel path; the data transmission instruction instructing the drone to send the second road condition information to the vehicle; if the speed is higher than the preset speed, sending a stop transmission instruction to the drone and stopping recording the vehicle's travel path; the stop transmission instruction instructing the drone to stop sending the second road condition information to the vehicle.

[0011] In one alternative approach, after recording the vehicle's travel path, the method further includes: clearing the vehicle's recorded historical travel path.

[0012] In one alternative approach, the first road condition information includes at least one of the road width of the road on which the vehicle travels and the distance between the vehicle and an obstacle; the method further includes: if the road width is less than the width threshold, then determining that the first road condition information meets the preset collection conditions; and / or, if the distance between the vehicle and the obstacle is less than the distance threshold, then determining that the first road condition information meets the preset collection conditions.

[0013] According to another aspect of the present invention, a vehicle control device is provided, the device comprising: an acquisition module for acquiring first road condition information of the road on which the vehicle travels; a collection module for controlling a drone associated with the vehicle to collect second road condition information of the road on which the vehicle travels if the first road condition information meets preset collection conditions; and a control module for generating a planned path for the vehicle based on the vehicle's driving parameters and the second road condition information, and controlling the vehicle to travel according to the planned path.

[0014] In one optional embodiment, the vehicle driving parameters include vehicle gear information, the vehicle's current position, and the vehicle's recorded historical driving path. The vehicle's planned path includes a first planned path and a second planned path. The control module is configured to determine the historical driving path as the first planned path if the vehicle gear information indicates that the vehicle is in reverse, and determine whether the first planned path meets the driving conditions based on the second road condition information. If the first planned path meets the driving conditions, the control module controls the vehicle to drive according to the first planned path. If the first planned path does not meet the driving conditions, the control module generates the second planned path based on the vehicle's current position and the second road condition information, and controls the vehicle to drive according to the second planned path.

[0015] In an optional embodiment, the control module is further configured to determine whether the planned path of the vehicle meets the driving conditions during the process of controlling the vehicle to drive according to the planned path of the vehicle; if the planned path of the vehicle does not meet the driving conditions, obtain the updated second road condition information, and return to execute the step of generating the planned path of the vehicle based on the vehicle driving parameters and the second road condition information, and controlling the vehicle to drive according to the planned path of the vehicle.

[0016] In one optional approach, the control module is configured to determine whether there are obstacles in the planned path of the vehicle based on the second road condition information. If there are obstacles in the planned path of the vehicle and the distance between the vehicle and the obstacles is less than a safe distance, then it is determined that the planned path of the vehicle does not meet the driving conditions.

[0017] In an alternative embodiment, the control module is further configured to output a warning message or control the vehicle to brake if the planned path of the vehicle does not meet the driving conditions and the regeneration of the planned path fails; the warning message is used to prompt the driver that the path planning has failed so that the driver can take over the vehicle.

[0018] In one optional embodiment, the control module is further configured to acquire the vehicle's speed; if the speed is lower than a preset speed, a data transmission instruction is sent to the drone, and the vehicle's travel path is recorded. The data transmission instruction is used to instruct the drone to send the second road condition information to the vehicle. If the speed is higher than the preset speed, a stop transmission instruction is sent to the drone, and the recording of the vehicle's travel path is stopped. The stop transmission instruction is used to instruct the drone to stop sending the second road condition information to the vehicle.

[0019] In one alternative approach, after recording the vehicle's driving path, the control module is further configured to clear the vehicle's recorded historical driving path.

[0020] In one alternative approach, the first road condition information includes at least one of the road width of the road on which the vehicle travels and the distance between the vehicle and an obstacle; the acquisition module is further configured to determine that the first road condition information meets the preset acquisition conditions if the road width is less than the width threshold, and / or, determine that the first road condition information meets the preset acquisition conditions if the distance between the vehicle and the obstacle is less than the distance threshold.

[0021] According to another aspect of the present invention, a vehicle is provided, comprising: a processor; and a memory for storing at least one executable instruction; the executable instruction causing the processor to perform operations of the vehicle control method as described in any of the preceding embodiments.

[0022] According to another aspect of the present invention, a computer-readable storage medium is provided, the storage medium storing at least one executable instruction, which, when executed on a vehicle, causes the vehicle to perform the operation of the vehicle control method described in any of the preceding embodiments.

[0023] In summary, the vehicle control method, device, vehicle, and storage medium provided in the embodiments of the present invention can acquire first road condition information of the road on which the vehicle travels. When the first road condition information meets preset acquisition conditions, the UAV associated with the vehicle is controlled to acquire second road condition information of the road on which the vehicle travels. Then, based on the vehicle's driving parameters and the second road condition information, a planned path for the vehicle is generated, and the vehicle is controlled to travel according to the planned path.

[0024] In this way, when the first road condition information of the road the vehicle is traveling on meets the preset collection conditions, the vehicle's driving parameters and the second road condition information collected by the drone can be combined to generate a planned route for the vehicle. This can enhance the driver's understanding of the road conditions, plan a safe driving route for the vehicle, and improve driving safety and convenience.

[0025] The above description is merely an overview of the technical solutions of the embodiments of the present invention. In order to better understand the technical means of the embodiments of the present invention and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0026] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0027] Figure 1 A flowchart of a vehicle control method provided by the present invention is shown;

[0028] Figure 2 A flowchart of another vehicle control method provided by the present invention is shown;

[0029] Figure 3 A flowchart of yet another vehicle control method provided by the present invention is shown;

[0030] Figure 4 A flowchart of yet another vehicle control method provided by the present invention is shown;

[0031] Figure 5 A flowchart of yet another vehicle control method provided by the present invention is shown;

[0032] Figure 6 A flowchart of yet another vehicle control method provided by the present invention is shown;

[0033] Figure 7 A flowchart of yet another vehicle control method provided by the present invention is shown;

[0034] Figure 8 A flowchart of yet another vehicle control method provided by the present invention is shown;

[0035] Figure 9 A flowchart of yet another vehicle control method provided by the present invention is shown;

[0036] Figure 10 A schematic diagram of a vehicle driving scenario provided by the present invention is shown;

[0037] Figure 11 A schematic diagram of the structure of a vehicle control device provided by the present invention is shown;

[0038] Figure 12 A schematic diagram of the structure of an electronic device provided by the present invention is shown. Detailed Implementation

[0039] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0040] Figure 1 The diagram illustrates a vehicle control method according to an embodiment of the present invention, which can be executed by a vehicle. Specifically, it can be executed by a device equipped with vehicle control functions mounted on the vehicle. This device acquires first road condition information of the road the vehicle is traveling on. When the first road condition information meets preset acquisition conditions, it acquires second road condition information of the road the vehicle is traveling on via a drone associated with the vehicle. Then, based on the vehicle's driving parameters and the second road condition information, it generates a planned path for the vehicle. This allows the driver to drive according to the planned path, or control the vehicle to drive automatically according to the planned path, thereby improving the convenience of driving and the safety of the driver.

[0041] like Figure 1 As shown, the vehicle control method provided in this embodiment may include the following steps:

[0042] Step 110: Obtain the first road condition information of the road on which the vehicle is traveling.

[0043] The first road condition information of the road on which the vehicle travels refers to the road condition information of the road on which the vehicle travels, which may include the road type, road width, road gradient, lane type, number of lanes, as well as the number of obstacles, the volume of obstacles, the distance between the vehicle and the obstacles, and other information that affects the vehicle's travel, such as visibility of the road.

[0044] The road type can include urban roads, rural roads, mountain roads, etc.; the lane type can include one-way lanes, two-way lanes, etc.; the number of lanes can include the number of one-way lanes and the number of lanes in each direction of a two-way lane.

[0045] During vehicle operation, sensors installed on the vehicle can collect basic road condition information about the road conditions. For example, image sensors can capture road images of the road the vehicle is traveling on, and image processing modules can be used to identify information such as road type, road width, and road slope.

[0046] Step 120: If the first road condition information meets the preset collection conditions, control the drone associated with the vehicle to collect the second road condition information of the road on which the vehicle is traveling.

[0047] Vehicle-associated drones refer to drones mounted on vehicles. These can be external drones that have established a communication connection with the vehicle, or fixed drones that are integrated into the vehicle.

[0048] Preset collection conditions refer to the conditions under which vehicle-linked drones collect road condition information. These conditions can be set based on the road conditions and the environment in which the vehicle is located. For example, certain threshold conditions can be set. When the parameters of the road or environment in which the vehicle is located meet a certain threshold condition, it can be determined that the first road condition information meets the preset collection conditions.

[0049] The threshold conditions mentioned above may include the road width of the road on which the vehicle travels, the number of obstacles, and the visibility threshold, traffic jam time threshold, and number of obstacles threshold of the environment in which the vehicle is located.

[0050] Therefore, when the road width of the road on which the vehicle is traveling is less than the width threshold, it can be determined that the vehicle's first road condition information meets the preset collection conditions; when the number of obstacles on the road on which the vehicle is traveling is greater than the obstacle number threshold, it can also be determined that the vehicle's first road condition information meets the preset collection conditions; when the visibility of the environment in which the vehicle is located is less than the visibility threshold, it can also be determined that the vehicle's first road condition information meets the preset collection conditions; when the traffic jam time on the road on which the vehicle is traveling is greater than the traffic jam time threshold, it can also be determined that the vehicle's first road condition information meets the preset collection conditions.

[0051] Based on the first road condition information of the road the vehicle is traveling on, it can be determined whether the first road condition information meets the preset collection conditions. If it does, it means that the road conditions of the road the vehicle is traveling on are relatively complex. At this time, the drone associated with the vehicle can be controlled to collect the second road condition information of the road the vehicle is traveling on, so as to obtain the second road condition information from the perspective of the drone.

[0052] The second road condition information of the vehicle's travel route can include information on the road conditions within a certain range of the vehicle, such as road conditions within 1km in the direction of the vehicle's travel, or road conditions within a radius of 2km around the vehicle.

[0053] When controlling a drone to collect secondary road condition information, the vehicle's center console can provide a control interface for the drone. The driver can select to view the drone's operating status, battery level, and other information on the center console, and control the drone to fly in the manner controlled by the driver, or fly in a specific mode, such as flying with the vehicle at a fixed angle and altitude, and collecting secondary road condition information of the road on which the vehicle is traveling.

[0054] It should be noted that the threshold conditions in the above preset data collection conditions are only illustrative examples. Depending on the actual driving scenario of the vehicle, multiple preset data collection conditions can be set. For example, multiple composite conditions can be set, and each composite condition can be composed of multiple conditions.

[0055] Due to the advantages of drones in terms of size, configuration, and operation methods, by combining primary road condition information with secondary road condition information collected by drones, the comprehensiveness of road condition information can be enhanced, enabling drivers to have a comprehensive understanding of road conditions, reducing blind spots, and improving driving safety and convenience.

[0056] Step 130: Based on the vehicle's driving parameters and the second road condition information, generate the vehicle's planned path and control the vehicle to drive according to the planned path.

[0057] Vehicle driving parameters can include parameters related to vehicle movement, such as the vehicle's driving status, speed, and current position. The driving status can include whether the vehicle is moving or stationary; if moving, it can further specify whether it is moving forward or in reverse. The vehicle's position can include its location and orientation.

[0058] To ensure vehicle safety during operation, the vehicle's driving parameters and road conditions can be comprehensively analyzed. For example, based on the vehicle's driving direction, obstacles in the road can be analyzed, and the possible routes can be calculated to avoid obstacles and obtain the planned path for the vehicle.

[0059] After generating the planned path for the vehicle, the vehicle can be controlled to travel along that path. Specifically, during vehicle control, the vehicle's driver assistance system can guide the driver along the planned path. For example, if the system detects that the vehicle's route deviates from the planned path, it can use audio or steering wheel vibration to prompt the driver to return the vehicle to the lane indicated by the planned path.

[0060] For example, when the road conditions are good, such as a wide road and a small number of vehicles, if the driver activates the automatic driving function in the driver assistance system, the vehicle can activate the automatic driving function to control the vehicle to drive automatically according to the planned path.

[0061] According to the vehicle control method provided in this embodiment, first road condition information of the road on which the vehicle travels can be obtained. When the first road condition information meets the preset collection conditions, the UAV associated with the vehicle is controlled to collect second road condition information of the road on which the vehicle travels. Then, based on the vehicle's driving parameters and the second road condition information, the planned path of the vehicle is generated, and the vehicle is controlled to travel according to the planned path.

[0062] In this way, when the first road condition information of the road the vehicle is traveling on meets the preset collection conditions, the vehicle's driving parameters and the second road condition information collected by the drone can be combined to generate a planned route for the vehicle. This can enhance the driver's understanding of the road conditions, plan a safe driving route for the vehicle, and improve driving safety and convenience.

[0063] In one alternative approach, the first road condition information may include at least one of the road width of the road on which the vehicle travels and the distance between the vehicle and an obstacle.

[0064] Based on this, Figure 2 A flowchart of another vehicle control method provided in this embodiment is shown, such as... Figure 2 As shown, the vehicle control method may include the following steps 210-240:

[0065] Step 210: Obtain the first road condition information of the road on which the vehicle is traveling.

[0066] When obtaining the road width of the road on which the vehicle is traveling and the distance between the vehicle and obstacles, the road width can be measured by images and radar sensors installed on the vehicle, and obstacles around the vehicle can be detected and the distance between the vehicle and obstacles can be calculated.

[0067] Taking radar sensors as an example, the principle of electromagnetic wave reflection can be used to emit electromagnetic waves and receive the reflected signals from obstacles. The distance between the vehicle and the obstacle can be calculated based on the time of emission and reception of the reflected signals.

[0068] Correspondingly, when obtaining the road width, the distance between the vehicle and the two lane lines can be calculated based on the time it takes for the electromagnetic waves emitted by the radar sensor to reach each lane line and the time it takes for the reflected signals to be received. The distance between the two lane lines can then be calculated using the correlation relationship of triangles, thus obtaining the road width.

[0069] Step 220: If the road width is less than the width threshold, then the first road condition information is determined to meet the preset collection conditions; and / or, if the distance between the vehicle and the obstacle is less than the distance threshold, then the first road condition information is determined to meet the preset collection conditions.

[0070] The width threshold can be set according to vehicle width, road type, etc.; the distance threshold can also be set according to road type, for example, for rural roads with relatively poor road conditions, the distance threshold can be set to a larger value.

[0071] When the width of the road on which the vehicle is traveling is less than a width threshold, meaning the vehicle is traveling on a narrow road, the first road condition information can be determined to meet preset collection conditions to facilitate the user's driving through the narrow road. Similarly, if there is an obstacle in the road on which the vehicle is traveling, and the distance between the vehicle and the obstacle is less than a distance threshold, the first road condition information can be determined to meet preset collection conditions to facilitate the user's driving through the obstacle.

[0072] Step 230: If the first road condition information meets the preset collection conditions, control the drone associated with the vehicle to collect the second road condition information of the road on which the vehicle is traveling.

[0073] When the first road condition information meets the preset collection conditions, the drone can be controlled to collect road condition information of the road on which the vehicle is traveling. This road condition information may include information on the road conditions within the range where the vehicle is located. For example, it may include road condition information within a distance ahead of a vehicle traveling in the same direction as the vehicle, or road condition information within a distance already traveled by a vehicle traveling in the opposite direction to the vehicle.

[0074] Step 240: Based on the vehicle's driving parameters and the second road condition information, generate the vehicle's planned path and control the vehicle to drive according to the planned path.

[0075] Using the above method, it is possible to determine whether the first road condition information meets the preset collection conditions based on the road threshold of the road on which the vehicle is traveling or the distance between the vehicle and obstacles on the road. When the first road condition information meets the preset collection conditions, a planned path for the vehicle is generated based on the vehicle's driving parameters and the second road condition information collected by the drone. The vehicle is then controlled to travel along the planned path, avoiding the possibility of safety accidents caused by narrow roads or obstacles, thereby improving the driver's driving safety.

[0076] In one alternative approach, vehicle driving parameters may include vehicle gear information, the vehicle's current location, and the vehicle's recorded historical driving routes. The vehicle gear information refers to the gear the vehicle is currently in.

[0077] Depending on whether the vehicle has an automatic or manual transmission, different gear information can be included. For example, for an automatic transmission vehicle, the gear information can include P (Park), R (Reverse), N (Neutral), D (Drive), and S (Slow).

[0078] The vehicle's current location refers to its geographical location at the current moment. The historical driving path refers to the driving path recorded in the vehicle's historical journey. It can be the driving path recorded while the vehicle is moving, and it can be recorded in real time by the vehicle's panoramic camera system and radar devices, etc., during the vehicle's journey.

[0079] Based on this, Figure 3 A flowchart of another vehicle control method provided in this embodiment is shown, such as... Figure 3 As shown, the vehicle control method may include the following steps 310-360:

[0080] Step 310: Obtain the first road condition information of the road on which the vehicle is traveling.

[0081] Step 320: If the first road condition information meets the preset collection conditions, control the drone associated with the vehicle to collect the second road condition information of the road the vehicle is traveling on.

[0082] Step 330: If the vehicle gear information indicates that the vehicle is in reverse, the historical driving path is determined as the first planned path.

[0083] When the vehicle is determined to be in reverse based on the vehicle's gear information, in order to ensure reversing safety, the historical driving path can be selected as the first planned path.

[0084] Specifically, when determining the historical driving route as the first planned route, if the vehicle has multiple driving routes, the most recent driving route can be determined as the historical driving route based on the recorded time.

[0085] Step 340: Based on the second road condition information, determine whether the first planned route meets the driving conditions.

[0086] Among them, driving conditions refer to the conditions that a vehicle must meet for safe driving, such as the absence of obstacles in the road and the road width being greater than a certain width threshold.

[0087] Since the second road condition information is collected by the vehicle-linked drone, it can supplement the vehicle's own blind spots and road conditions that cannot be observed. Therefore, in order to determine whether the vehicle can travel along the first planned route, the second road condition information can be used to determine whether the first planned route meets the driving conditions.

[0088] For example, based on the second road condition information, it can be determined whether there are obstacles on the route corresponding to the first planned path and whether the road width is greater than the width threshold. If it is determined that there are no obstacles on the route corresponding to the first planned path and the road width is greater than the width threshold, then the first planned path is determined to meet the driving conditions. Conversely, if it is determined that there are obstacles on the route corresponding to the first planned path or the road width is less than the width threshold, then the first planned path is determined not to meet the driving conditions.

[0089] Step 350: If it is determined that the first planned path meets the driving conditions, then control the vehicle to drive according to the first planned path.

[0090] If the first planned path meets the driving conditions, it means that there is no safety hazard in driving the vehicle according to the first planned path. Therefore, the vehicle can be controlled to drive automatically according to the first planned path, or the driver can be prompted to reverse according to the first planned path.

[0091] Step 360: If it is determined that the first planned path does not meet the driving conditions, then a second planned path is generated based on the vehicle's current location and the second road condition information, and the vehicle is controlled to drive according to the second planned path.

[0092] If the first planned path does not meet the driving conditions, it means that there is a safety hazard in driving the vehicle according to the first planned path. Therefore, in order to ensure the safety of reversing the vehicle, a second planned path can be generated based on the vehicle's current position and second road condition information, and the vehicle can be controlled to automatically reverse according to the second planned path. Alternatively, the driver can be prompted to reverse according to the second planned path.

[0093] When generating the second planned path, the vehicle's current position and second road condition information can be used to determine the possible driving route for the vehicle to reverse to a fixed position, such as 500m behind the current position, as well as obstacles and road widths on each route. This allows for the selection of driving routes without obstacles and with road widths greater than a width threshold, thus obtaining the second planned path.

[0094] Through steps 310-360 above, when the vehicle is in reverse, the historical driving path can be prioritized as the first planned path. Based on the second road condition information, it is determined whether the first planned path meets the driving conditions. If the first planned path meets the driving conditions, the vehicle is controlled to drive along the first planned path. If the first planned path does not meet the driving conditions, a second planned path is generated, and the vehicle is controlled to drive along the second planned path. This not only controls the vehicle to reverse along the planned path, improving the safety of the vehicle during reversing, but also ensures that the vehicle prioritizes driving along the planned path corresponding to the historical driving path when it is safe to do so, i.e., controlling the vehicle to "return along the original route," which can further improve the efficiency of path planning while ensuring the safety of vehicle reversing.

[0095] It should be noted that the specific implementation of steps 310 to 320 above can be found in the specific implementation of steps 110 to 120 in the aforementioned embodiments, and will not be repeated here.

[0096] When controlling a vehicle to travel along a planned route, road conditions may change. To adapt to sudden changes in road conditions, Figure 4 A flowchart of another vehicle control method provided in this embodiment is shown, such as... Figure 4 As shown, the following steps may be included:

[0097] Step 410: Obtain the first road condition information of the road on which the vehicle is traveling.

[0098] Step 420: If the first road condition information meets the preset collection conditions, control the drone associated with the vehicle to collect the second road condition information of the road the vehicle is traveling on.

[0099] Step 430: Based on the vehicle's driving parameters and the second road condition information, generate the vehicle's planned path and control the vehicle to drive according to the planned path.

[0100] Step 440: While controlling the vehicle to travel along the planned path, determine whether the planned path meets the driving conditions.

[0101] Among them, driving conditions refer to the conditions that a vehicle must meet for safe driving, such as the absence of obstacles in the road and the road width being greater than a certain width threshold.

[0102] During the reversing process, the vehicle can continuously determine whether the planned path meets the driving conditions, such as detecting whether new obstacles appear in the planned path or whether the road conditions have changed.

[0103] If it is determined that no new obstacles appear in the planned path and the road conditions do not change, or the changes do not affect safe reversing, then the planned path of the vehicle meets the driving conditions; otherwise, the planned path of the vehicle does not meet the driving conditions.

[0104] Step 450: If the planned route of the vehicle does not meet the driving conditions, obtain the updated second road condition information and return to execute step 430.

[0105] The updated second road condition information can be road condition information collected and returned in real time by drones associated with vehicles.

[0106] When the planned route does not meet the driving conditions, in order to generate a new planned route, updated second road condition information can be obtained, and step 430 can be executed, that is, based on the vehicle's driving parameters and the updated second road condition information, the planned route of the vehicle is generated, and the vehicle is controlled to drive according to the planned route of the vehicle.

[0107] Using the above method, it is possible to monitor whether the original planned path can meet the driving conditions during the process of controlling the vehicle to reverse. If it can, the vehicle can continue to drive according to the planned path. If it cannot, a new planned path can be regenerated based on the newly acquired second road condition information and vehicle driving parameters, so as to realize the real-time update of the planned path and ensure the safety of the vehicle during the reversing process.

[0108] It should be noted that the specific implementation of steps 410 to 430 above can be found in the specific implementation of steps 110 to 130 in the aforementioned embodiments, and will not be repeated here.

[0109] Because drivers need to constantly pay attention to their surroundings while reversing, and there are blind spots, it is important to ensure safety during the reversing process. Figure 5 A flowchart of another vehicle control method provided in this embodiment is shown, such as... Figure 5 As shown, the following steps may be included:

[0110] Step 510: Obtain the first road condition information of the road on which the vehicle is traveling.

[0111] Step 520: If the first road condition information meets the preset collection conditions, control the drone associated with the vehicle to collect the second road condition information of the road the vehicle is traveling on.

[0112] Step 530: Based on the vehicle's driving parameters and the second road condition information, generate the vehicle's planned path and control the vehicle to drive according to the planned path.

[0113] Step 540: While controlling the vehicle to travel along the planned path, determine whether there are obstacles in the planned path based on the second road condition information.

[0114] During the reversing process, the vehicle can continue to monitor the road conditions around the vehicle based on the second road condition information collected by the drone to determine whether there are any obstacles.

[0115] Step 550: If there are obstacles in the vehicle's planned path and the distance between the vehicle and the obstacles is less than the safe distance, then the vehicle's planned path does not meet the driving conditions.

[0116] The safe distance can be set according to actual needs.

[0117] When an obstacle is detected in the vehicle's planned path, the distance between the vehicle and the obstacle can be detected using radar sensors installed on the vehicle.

[0118] If the distance between the vehicle and the obstacle is less than the safe distance, it means that the vehicle is very close to the obstacle. In order to avoid a collision, it can be determined that the vehicle's planned path does not meet the driving conditions.

[0119] Step 560: If the planned route of the vehicle does not meet the driving conditions, obtain the updated second road condition information and return to execute step 530.

[0120] When the planned route does not meet the driving conditions, updated second road condition information can be obtained, and a new planned route can be generated by executing step 530, and the vehicle can be controlled to drive according to the new planned route.

[0121] Using the above method, during the process of controlling the vehicle to reverse along the planned path, it is possible to determine whether there are obstacles in the planned path based on the second road condition information, and update the planned path when the distance between the vehicle and the obstacle is less than the safe distance, thereby ensuring that the vehicle travels along the safe planned path and ensuring driving safety.

[0122] It should be noted that the specific implementation methods of steps 510-530 and 560 above can be found in the specific implementation methods of steps 410-430 and 450 in the aforementioned embodiments, and will not be repeated here.

[0123] In one alternative approach, when obstacles exist in the vehicle's planned path, the vehicle can determine whether a new planned path needs to be generated based on its distance from the obstacles. Specifically, if the distance between the vehicle and the obstacle is greater than a safe distance, the vehicle's position can be adjusted based on this distance so that the vehicle can avoid the obstacles without generating a new planned path.

[0124] In another alternative approach, if there are obstacles in the vehicle's planned path and the distance between the vehicle and the obstacles is less than a safe distance, it can be further determined whether the distance between the vehicle and the obstacles is less than a preset braking distance, wherein the preset braking distance is less than the safe distance.

[0125] If the distance between the vehicle and the obstacle is not less than the preset braking distance, a braking warning message can be output first to prompt the driver to control the vehicle to brake. If the driver presses the brake, the vehicle will be taken over by the driver. If the driver does not press the brake, the vehicle can be automatically controlled to brake after the braking warning message reaches the preset time, such as 5 seconds.

[0126] If the distance between the vehicle and the obstacle is less than the preset braking distance, the vehicle can be automatically controlled to brake immediately without prompting the driver to brake via braking warning information.

[0127] Using the methods described above, the vehicle can be controlled to correct its position or brake based on the distance between it and an obstacle, ensuring safety during reversing.

[0128] Road conditions are constantly changing while a vehicle is in motion; therefore, to ensure vehicle safety, Figure 6 A flowchart of another vehicle control method provided in this embodiment is shown, such as... Figure 6 As shown, the following steps may be included:

[0129] Step 610: Obtain the first road condition information of the road on which the vehicle is traveling.

[0130] Step 620: If the first road condition information meets the preset collection conditions, control the drone associated with the vehicle to collect the second road condition information of the road on which the vehicle is traveling.

[0131] Step 630: Based on the vehicle's driving parameters and the second road condition information, generate the vehicle's planned path and control the vehicle to drive according to the planned path.

[0132] Step 640: While controlling the vehicle to travel along the planned path, determine whether the planned path meets the driving conditions.

[0133] Step 650: If the planned route of the vehicle does not meet the driving conditions, obtain the updated second road condition information and return to execute step 630.

[0134] Step 660: If the planned path of the vehicle does not meet the driving conditions and the regeneration of the planned path fails, then output a warning message or control the vehicle to brake.

[0135] The warning message is used to alert the driver that the route planning has failed, so that the driver can take over the vehicle.

[0136] If the planned path of the vehicle does not meet the driving conditions and the re-planning of the path fails, meaning that a new planned path cannot be generated, the risk of driving the vehicle according to the planned path is high. Therefore, a warning message can be output to prompt the driver to take over the vehicle, or the vehicle can be braked in time.

[0137] By using the above methods, it can be ensured that the planned path can be updated in a timely manner during the reversing process. If a planned path cannot be generated, the driver can be promptly prompted to control the vehicle or directly control the vehicle's brakes to ensure safety during the reversing process.

[0138] It should be noted that the specific implementation of steps 610 to 650 above can be found in the specific implementation of steps 410 to 450 in the aforementioned embodiments, and will not be repeated here.

[0139] In order to reduce the energy consumption of drones and extend their operating time, Figure 7 A flowchart of another vehicle control method provided in this embodiment is shown, such as... Figure 7 As shown, the following steps may be included:

[0140] Step 710: Obtain the first road condition information of the road on which the vehicle is traveling.

[0141] Step 720: If the first road condition information meets the preset collection conditions, control the drone associated with the vehicle to collect the second road condition information of the road on which the vehicle is traveling.

[0142] Step 730: Based on the vehicle's driving parameters and the second road condition information, generate the vehicle's planned path and control the vehicle to travel according to the planned path.

[0143] Step 740: Obtain the vehicle's speed.

[0144] During vehicle operation, the vehicle's speed can be obtained. For example, the vehicle's speed can be determined by calculating the frequency shift of the received reflected waves using radar sensors.

[0145] Step 750: If the driving speed is lower than the preset speed, send a data transmission command to the drone and record the vehicle's driving path.

[0146] The data transmission command instructs the drone to send secondary road condition information to the vehicle. The preset speed can be customized according to actual needs, such as setting it to 30km / h.

[0147] When a vehicle's speed is lower than the preset speed, it indicates that the road conditions may be complex, or the vehicle needs to slow down or stop. Therefore, in order to help the driver understand the road conditions, a data transmission command can be sent to the drone so that the vehicle can receive the second road condition information transmitted back by the drone.

[0148] Meanwhile, since vehicles may need to reverse or turn around to return to their original route, the vehicle can also record its own driving path while the drone collects secondary road condition information.

[0149] Step 760: If the driving speed is higher than the preset speed, send a stop transmission command to the drone and stop recording the vehicle's driving path.

[0150] The stop transmission command is used to instruct the drone to stop sending second road condition information to the vehicle.

[0151] When the vehicle's speed is higher than or equal to the preset speed, it indicates that the road conditions are good and there is no need to obtain additional road condition information. Therefore, the vehicle can send a stop transmission command to the drone, causing the drone to stop sending the second road condition information to the vehicle, and the vehicle can stop recording the driving path.

[0152] After the drone stops sending the second road condition information to the vehicle, it can continue flying, waiting for the next data transmission command to collect the second road condition information and send it to the vehicle, or it can stop flying, that is, fly back to the vehicle and enter standby mode.

[0153] Using the above method, it can be determined whether the drone needs to collect and transmit secondary road condition information based on the actual driving speed of the vehicle, which can save the drone's power and extend its usage time.

[0154] It should be noted that the specific implementation of steps 710 to 730 above can be found in the specific implementation of steps 110 to 130 in the aforementioned embodiments, and will not be repeated here.

[0155] To avoid the problem of excessive storage space being occupied due to vehicles continuously recording historical driving routes. Figure 8 A flowchart of another vehicle control method provided in this embodiment is shown, such as... Figure 8 As shown, the following steps may be included:

[0156] Step 810: Obtain the first road condition information of the road on which the vehicle is traveling.

[0157] Step 820: If the first road condition information meets the preset collection conditions, control the drone associated with the vehicle to collect the second road condition information of the road on which the vehicle is traveling.

[0158] Step 830: Based on the vehicle's driving parameters and the second road condition information, generate the vehicle's planned path and control the vehicle to drive according to the planned path.

[0159] Step 840: Obtain the vehicle's speed.

[0160] Step 850: If the driving speed is lower than the preset speed, send a data transmission command to the drone and record the vehicle's driving path.

[0161] Step 860: Clear the vehicle's recorded historical driving routes.

[0162] After recording the vehicle's driving path, other driving paths recorded at historical moments can be cleared, i.e., historical driving paths.

[0163] Step 870: If the driving speed is higher than the preset speed, send a stop transmission command to the drone and stop recording the vehicle's driving path.

[0164] The stop transmission command is used to instruct the drone to stop sending second road condition information to the vehicle.

[0165] In one alternative approach, to save storage space, the vehicle can clear its recorded historical driving routes at fixed time intervals. These fixed time intervals can be customized to meet specific needs, such as being set to 2 days or 1 week.

[0166] In an alternative approach, the vehicle can also clear all historical driving paths other than the most recently recorded N historical driving paths, based on the number of recorded historical driving paths and the recording time of each historical driving path. Here, N is a positive integer.

[0167] In other words, a vehicle can continuously retain the N most recently recorded historical driving routes in chronological order.

[0168] The above method can be used to store and manage historical driving routes, reducing the storage space occupied by historical driving routes.

[0169] It should be noted that the specific implementation methods of steps 810-850 and 870 above can be found in the specific implementation methods of steps 710-760 in the aforementioned embodiments, and will not be repeated here.

[0170] To illustrate the application scenarios of the embodiments of the present invention, Figure 9 A flowchart of another vehicle control method provided in this embodiment is shown, such as... Figure 9 As shown, the following steps may be included:

[0171] Step 910: Obtain the first road condition information and vehicle driving parameters of the road on which the vehicle is traveling.

[0172] The first road condition information may include at least one of the road width of the road on which the vehicle is traveling and the distance between the vehicle and obstacles; the vehicle driving parameters may include the vehicle gear information, the vehicle's current position, and the vehicle's recorded historical driving paths.

[0173] Step 920: When the first road condition information meets the preset collection conditions, control the drone associated with the vehicle to collect the second road condition information of the road on which the vehicle is traveling.

[0174] Specifically, the control status of the drone can be determined based on the initial road condition information. For example, if the initial road condition information indicates that a vehicle is about to enter a road with a width less than a certain threshold, it can be determined that the initial road condition information meets the preset data collection conditions, and at this time, the drone can be controlled to enter the preparation state.

[0175] When a vehicle enters a road whose width is less than a certain threshold, a drone can be controlled to fly 5 meters directly above the vehicle, follow the vehicle, and film the vehicle's journey, thus obtaining secondary road condition information of the road on which the vehicle is traveling.

[0176] During the process of controlling the drone to collect secondary road condition information, the data collection status of the drone can also be controlled according to the vehicle's speed. Specifically, when the vehicle's speed is less than or equal to a preset speed, a data transmission command is sent to the drone to instruct it to send secondary road condition information to the vehicle and record the vehicle's travel path. When the vehicle's speed is greater than the preset speed, a stop transmission command is sent to the drone to instruct it to stop sending secondary road condition information to the vehicle and stop recording the vehicle's travel path.

[0177] Figure 10 This embodiment illustrates a vehicle driving scenario, as shown in the diagram. Figure 10 As shown, according to the time sequence of vehicle control, at time t1, based on the vehicle gear information in the vehicle driving parameters, when it is determined that the vehicle is in forward mode (D gear) and the vehicle speed is less than 40km / h, the driving route is recorded starting from time t2 (when the vehicle enters the narrow road), such as recording the historical driving path with the most recent driving distance of 100m.

[0178] When the vehicle's speed exceeds 40 km / h, the vehicle can send a stop transmission command to the drone, causing the drone to stop transmitting the second road condition information it captured back to the vehicle; at the same time, the vehicle stops recording the current historical driving route.

[0179] Step 930: When the vehicle enters the reversing state based on the vehicle driving parameters, generate the planned path for the vehicle based on the vehicle driving parameters and the second road condition information.

[0180] Among them, vehicle driving parameters may include vehicle location information, historical driving routes, vehicle gear information, etc.

[0181] For example, such as Figure 10 As shown, when it is determined that the vehicle will enter the reverse state (R gear) at time t3 based on the vehicle gear information, in order to ensure reversing safety, the historical driving path can be determined as the first planned path.

[0182] Then, based on the second road condition information, it can be determined whether the first planned path meets the driving conditions. Driving conditions refer to the conditions that a vehicle must meet for safe driving, such as the absence of obstacles in the road and a road width greater than a certain threshold.

[0183] Since the second road condition information is collected by the vehicle-linked drone, it can supplement the vehicle's own blind spots and road conditions that cannot be observed. Therefore, in order to determine whether the vehicle can travel along the first planned route, the second road condition information can be used to determine whether the first planned route meets the driving conditions.

[0184] If the first planned path meets the driving conditions, it means that there is no safety hazard in driving the vehicle according to the first planned path, so the first planned path can be determined as the planned path.

[0185] If the first planned path does not meet the driving conditions, a second planned path is generated based on the vehicle's current location and the second road condition information, thus obtaining the planned path.

[0186] Step 940: Control the vehicle to reverse along the planned path.

[0187] After generating the planned path, the vehicle's driver assistance system can control the vehicle to automatically reverse along the planned path. At this time, the vehicle's driving speed can be the default speed, such as 10km / h, or it can prompt the driver to reverse along the planned path.

[0188] Meanwhile, to enhance safety, the vehicle's driver assistance system can also activate hazard lights by controlling the vehicle's lighting module during reversing to warn pedestrians and other vehicles.

[0189] Step 950: During the reversing process of the vehicle according to the planned path, determine whether the planned path meets the driving conditions.

[0190] During the reversing process of the vehicle following the planned path, secondary road condition information can be used to determine whether the planned path meets the driving conditions, such as whether there are new obstacles in the planned path and the distance between the vehicle and the obstacles. If the distance between the vehicle and the obstacle is less than the safe distance, it can be determined that the planned path does not meet the driving conditions.

[0191] If the distance between the vehicle and the obstacle is greater than a safe distance, the vehicle's position can be adjusted so that the vehicle can avoid the obstacle.

[0192] like Figure 10 As shown, at time t4, if the distance between the vehicle and the obstacle is detected to be greater than the safe distance, the vehicle's position can be corrected, such as by controlling the vehicle to move a certain distance away from the obstacle until the reversing is completed.

[0193] Step 960: If it is determined that the planned route does not meet the driving conditions, then obtain the updated second road condition information, and re-determine the planned route based on the vehicle driving parameters and the updated second road condition information, and then control the vehicle to drive according to the re-determined planned route.

[0194] When a vehicle is reversing along a planned path, if the vehicle determines that the planned path does not meet the driving conditions, for example, if the navigation system detects that a certain road corresponding to the planned path is impassable, it will regenerate the planned path based on the latest vehicle driving parameters and second road condition information, and then control the vehicle to drive according to the regenerated planned path.

[0195] Step 970: If the planned route does not meet the driving conditions and re-planning the route fails, output a warning message or control the vehicle to brake.

[0196] If the planned route does not meet the driving conditions and no new planned route is generated, it indicates that the vehicle cannot generate a planned route at the current moment. Therefore, the vehicle can output a warning message to remind the driver that the route planning has failed, take over the vehicle, or control the vehicle to brake in time.

[0197] In summary, the vehicle control method provided by the embodiments of the present invention can, when the first road condition information meets the preset collection conditions, use a drone as a supplementary perspective to collect second road condition information, and combine the vehicle driving parameters and the second road condition information to plan a driving path for the vehicle, so as to control the vehicle to drive according to the planned path, thereby improving the driving safety and convenience of the vehicle.

[0198] Figure 11 A schematic diagram of a vehicle control device provided in an embodiment of the present invention is shown. Figure 11 As shown, the vehicle control device 1100 may include: an acquisition module 1110 for acquiring first road condition information of the road on which the vehicle travels; a collection module 1120 for controlling a drone associated with the vehicle to collect second road condition information of the road on which the vehicle travels if the first road condition information meets preset collection conditions; and a control module 1130 for generating a planned path for the vehicle based on the vehicle's driving parameters and the second road condition information, and controlling the vehicle to travel according to the planned path.

[0199] In one optional approach, the vehicle driving parameters include vehicle gear information, vehicle current position, and historical driving paths recorded by the vehicle. The planned path of the vehicle includes a first planned path and a second planned path. The control module 1130 is used to determine the historical driving path as the first planned path if the vehicle gear information indicates that the vehicle is in reverse. Based on the second road condition information, it determines whether the first planned path meets the driving conditions. If the first planned path meets the driving conditions, it controls the vehicle to drive according to the first planned path. If the first planned path does not meet the driving conditions, it generates a second planned path based on the vehicle's current position and the second road condition information, and controls the vehicle to drive according to the second planned path.

[0200] In an optional manner, the control module 1130 is further configured to determine whether the planned path of the vehicle meets the driving conditions during the process of controlling the vehicle to drive according to the planned path of the vehicle; if the planned path of the vehicle does not meet the driving conditions, obtain updated second road condition information, and return to execute the steps of generating the planned path of the vehicle based on the vehicle driving parameters and the second road condition information, and controlling the vehicle to drive according to the planned path of the vehicle.

[0201] In one alternative approach, the control module 1130 is used to determine whether there are obstacles in the planned path of the vehicle based on the second road condition information. If there are obstacles in the planned path of the vehicle and the distance between the vehicle and the obstacles is less than the safe distance, then it is determined that the planned path of the vehicle does not meet the driving conditions.

[0202] In an alternative embodiment, the control module 1130 is further configured to output a warning message or control the vehicle to brake if the planned path of the vehicle does not meet the driving conditions and the regeneration of the planned path fails; the warning message is used to prompt the driver that the path planning has failed so that the driver can take over the vehicle.

[0203] In one alternative embodiment, the control module 1130 is further configured to acquire the vehicle's speed; if the speed is lower than a preset speed, it sends a data transmission command to the drone and records the vehicle's path, the data transmission command instructing the drone to send second road condition information to the vehicle; if the speed is higher than the preset speed, it sends a stop transmission command to the drone and stops recording the vehicle's path, the stop transmission command instructing the drone to stop sending second road condition information to the vehicle.

[0204] In one alternative approach, after recording the vehicle's driving path, the control module 1130 is also used to clear the vehicle's recorded historical driving path.

[0205] In one alternative approach, the first road condition information includes at least one of the road width of the road on which the vehicle travels and the distance between the vehicle and an obstacle; the acquisition module 1120 is further configured to determine that the first road condition information meets preset acquisition conditions if the road width is less than a width threshold, and / or, determine that the first road condition information meets preset acquisition conditions if the distance between the vehicle and an obstacle is less than a distance threshold.

[0206] The specific details of each module in the above-mentioned device have been described in detail in the method section of the implementation plan. For details of the undisclosed scheme, please refer to the implementation plan of the method section, and therefore will not be repeated here.

[0207] Figure 12 The diagram shows a structural schematic of an electronic device provided by an embodiment of the present invention. The specific embodiments of the present invention do not limit the specific implementation of the electronic device.

[0208] like Figure 12 As shown, the electronic device can be the aforementioned vehicle, and the electronic device may include: a processor 1202, a communications interface 1204, a memory 1206, and a communications bus 1208.

[0209] The processor 1202, communication interface 1204, and memory 1206 communicate with each other via communication bus 1208. Communication interface 1204 is used to communicate with other network elements such as clients or other servers. The processor 1202 executes program 1210, specifically performing the relevant steps described above in the vehicle control method embodiment.

[0210] Specifically, program 1210 may include program code, which includes computer-executable instructions.

[0211] Processor 1202 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. The electronic device may include one or more processors of the same type, such as one or more CPUs; or it may include processors of different types, such as one or more CPUs and one or more ASICs.

[0212] Memory 1206 is used to store program 1210. Memory 1206 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0213] Specifically, program 1210 can be called by processor 1202 to cause the electronic device to execute the operation steps of the above-mentioned vehicle control method.

[0214] This invention provides a computer-readable storage medium storing at least one executable instruction that, when executed on a vehicle, causes the vehicle to perform the vehicle control method in any of the above-described method embodiments.

[0215] The executable instructions can be used to cause the electronic device to perform the operation steps of the above-mentioned vehicle control method.

[0216] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Furthermore, the embodiments of this invention are not directed to any particular programming language.

[0217] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. Similarly, for the sake of brevity and to aid in understanding one or more aspects of the invention, in the description of exemplary embodiments of the invention above, various features of the embodiments are sometimes grouped together in a single embodiment, figure, or description thereof. The claims, which follow the detailed description, are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of the invention.

[0218] Those skilled in the art will understand that the modules in the device of the embodiment can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiment can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components, except that at least some of such features and / or processes or units are mutually exclusive.

[0219] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. A vehicle control method, characterized in that, The method includes: Obtain first-hand road condition information for the road the vehicle is traveling on; If the first road condition information meets the preset collection conditions, then control the drone associated with the vehicle to collect the second road condition information of the road on which the vehicle travels; Based on the vehicle's driving parameters and the second road condition information, a planned path for the vehicle is generated, and the vehicle is controlled to drive according to the planned path. The vehicle driving parameters include the vehicle's gear information, the vehicle's current position, and the vehicle's recorded historical driving paths. The planned path for the vehicle includes a first planned path and a second planned path. The step of generating a planned route for the vehicle based on the vehicle driving parameters and the second road condition information, and controlling the vehicle to travel along the planned route, includes: If the vehicle gear information indicates that the vehicle is in reverse, the historical driving path will be determined as the first planned path. Based on the second road condition information, determine whether the first planned route meets the driving conditions; If it is determined that the first planned path meets the driving conditions, then the vehicle is controlled to drive along the first planned path; If it is determined that the first planned path does not meet the driving conditions, then a second planned path is generated based on the vehicle's current location and the second road condition information, and the vehicle is controlled to drive according to the second planned path.

2. The method according to claim 1, characterized in that, The method further includes: During the process of controlling the vehicle to travel along the planned path, it is determined whether the planned path of the vehicle meets the driving conditions; If the planned path of the vehicle does not meet the driving conditions, the updated second road condition information is obtained, and the process returns to the step of generating the planned path of the vehicle based on the vehicle's driving parameters and the second road condition information, and controlling the vehicle to drive according to the planned path.

3. The method according to claim 2, characterized in that, The determination of whether the planned path of the vehicle meets the driving conditions specifically includes: Based on the second road condition information, determine whether there are obstacles in the planned path of the vehicle; If the obstacle exists in the vehicle's planned path, and the distance between the vehicle and the obstacle is less than the safe distance, then the vehicle's planned path is determined not to meet the driving conditions.

4. The method according to claim 2, characterized in that, The method further includes: If the planned path of the vehicle does not meet the driving conditions and the re-generation of the planned path fails, a warning message is output or the vehicle is controlled to brake; the warning message is used to prompt the driver that the path planning has failed so that the driver can take over the vehicle.

5. The method according to claim 1, characterized in that, The method further includes: Obtain the vehicle's speed; If the driving speed is lower than the preset speed, a data transmission command is sent to the drone, and the driving path of the vehicle is recorded; the data transmission command is used to instruct the drone to send the second road condition information to the vehicle; If the driving speed is higher than the preset speed, a stop transmission command is sent to the drone, and the recording of the vehicle's driving path is stopped; the stop transmission command is used to instruct the drone to stop sending the second road condition information to the vehicle.

6. The method according to claim 5, characterized in that, After recording the vehicle's travel path, the method further includes: Clear the vehicle's recorded historical driving routes.

7. The method according to any one of claims 1 to 6, characterized in that, The first road condition information includes at least one of the road width of the road on which the vehicle travels and the distance between the vehicle and an obstacle; the method further includes: If the road width is less than a width threshold, then the first road condition information is determined to meet the preset collection conditions; and / or, If the distance between the vehicle and the obstacle is less than the distance threshold, then the first road condition information is determined to meet the preset collection conditions.

8. A vehicle control device, characterized in that, The device includes: The acquisition module is used to acquire the first road condition information of the road where the vehicle is traveling; The data acquisition module is used to control the drone associated with the vehicle to acquire second road condition information of the road on which the vehicle travels if the first road condition information meets the preset acquisition conditions. The control module is used to generate a planned path for the vehicle based on the vehicle's driving parameters and the second road condition information, and to control the vehicle to drive according to the planned path. The vehicle driving parameters include vehicle gear information, the vehicle's current position, and the vehicle's recorded historical driving paths. The vehicle's planned path includes a first planned path and a second planned path. The control module is also used to determine the historical driving path as the first planned path if the vehicle gear information indicates that the vehicle is in a reversing state; Based on the second road condition information, determine whether the first planned route meets the driving conditions; If it is determined that the first planned path meets the driving conditions, then the vehicle is controlled to drive along the first planned path; If it is determined that the first planned path does not meet the driving conditions, then a second planned path is generated based on the vehicle's current location and the second road condition information, and the vehicle is controlled to drive according to the second planned path.

9. A vehicle, characterized in that, include: processor; Memory, used to store at least one executable instruction; The executable instructions cause the processor to perform the operation of the vehicle control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The storage medium stores at least one executable instruction, which, when executed on the vehicle, causes the vehicle to perform the operation of the vehicle control method as described in any one of claims 1 to 7.

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