A vehicle control method, device and terminal equipment

Abstract

The application is suitable for the technical field of intelligent automobile, and provides a vehicle control method, device and terminal equipment, the method comprises the following steps: after detecting a first operation, acquiring environment information of a vehicle, determining a target driving function from a driving function corresponding to the first operation based on the environment information, the driving function corresponding to the first operation comprises a parking function and an auxiliary driving function; activating the target driving function to drive the vehicle. One operation corresponds to multiple driving functions, after detecting the first operation, the driving function that needs to be triggered at the current time is further determined according to the environment information, so that the user only needs to perform the same operation when different functions need to be triggered, the operation of the user is simplified, the function operation of the vehicle is simpler, and convenience is brought to the user.

Description

Technical Field

[0001] This application belongs to the field of intelligent vehicle technology, and in particular relates to a vehicle control method, device and terminal equipment. Background Technology

[0002] With the development of the automotive industry, automobiles have become an indispensable means of transportation for people. In order to meet various scenarios and needs, vehicle intelligence has become a key research focus.

[0003] Currently, in vehicles with integrated driving and parking systems, one operation corresponds to one function. Users need to click the corresponding button to activate the function. For example, clicking the automatic parking button will activate the automatic parking function. As vehicles have more and more functions, the corresponding operations to achieve these functions are also increasing, making the operation complex and inconvenient. Summary of the Invention

[0004] This application provides a vehicle control method, device, and terminal equipment, which can solve the problems of complicated operation and inconvenience in using the functions in a vehicle.

[0005] In a first aspect, embodiments of this application provide a vehicle control method, including:

[0006] After detecting the first operation, obtain the environmental information of the vehicle;

[0007] Based on the environmental information, a target driving function is determined from the driving functions corresponding to the first operation, wherein the driving functions corresponding to the first operation include parking function and driving assistance function;

[0008] Activate the target driving function to drive the vehicle.

[0009] Secondly, embodiments of this application provide a vehicle, including:

[0010] The environmental information acquisition module is used to acquire the environmental information of the vehicle after the first operation is detected.

[0011] The function determination module is used to determine the target driving function from the driving functions corresponding to the first operation based on the environmental information, wherein the driving functions corresponding to the first operation include parking function and driving assistance function;

[0012] The vehicle control module is used to activate the target driving function to drive the vehicle.

[0013] Thirdly, embodiments of this application provide a terminal device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the vehicle control method described in any one of the first aspects above.

[0014] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the vehicle control method described in any one of the first aspects above.

[0015] Fifthly, embodiments of this application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the vehicle control method described in any one of the first aspects.

[0016] The beneficial effects of the first aspect of this application compared with the prior art are as follows: after detecting the first operation, this application obtains the environmental information of the vehicle, determines the target driving function from the driving functions corresponding to the first operation based on the environmental information, and the driving functions corresponding to the first operation include parking function and assisted driving function; and activates the target driving function to drive the vehicle.

[0017] This application allows one operation to correspond to two driving functions. After detecting the first operation, it further determines the driving function that needs to be triggered at the current moment based on environmental information. This allows the user to perform only one operation when different functions need to be triggered, simplifying the user's operation, making the vehicle's function operation simpler, and bringing convenience to the user.

[0018] It is understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the entire route structure for vehicle travel provided in one embodiment of this application;

[0021] Figure 2 This is a schematic diagram of the parking operation interface provided in an embodiment of this application;

[0022] Figure 3This is a schematic diagram of the structure of an existing vehicle provided in an embodiment of this application;

[0023] Figure 4 This is a schematic diagram of the structure of the vehicle provided in one embodiment of this application;

[0024] Figure 5 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application;

[0025] Figure 6 This is a schematic diagram of the structure of a vehicle provided in one embodiment of this application;

[0026] Figure 7 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. Detailed Implementation

[0027] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0028] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0029] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0030] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0031] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized.

[0032] When people drive from the starting point to the destination, the route may include city roads, highways, etc., before finally arriving at the parking lot. Figure 1 The diagram shown illustrates a full-scenario vehicle driving experience. Providing full-scenario assisted driving during vehicle operation is currently a key research focus. Full-scenario assisted driving can include assisted parking and assisted driving itself.

[0033] Currently, the parking function can only be activated or deactivated after the vehicle has come to a complete stop. For example, after the vehicle has stopped, the user can activate / deactivate the parking function by clicking the controls on the central control display. Figure 2 As shown, when a vehicle enters the parking lot and is stationary, the parking function can be triggered by clicking the "Start Parking" area shown in the image to park the vehicle.

[0034] The activation and deactivation of driver assistance functions can be triggered via physical mechanisms such as levers or buttons located around the steering wheel. The specific operations and corresponding functions are shown in Table 1 below.

[0035] Table 1. Operation and Function Comparison Table

[0036]

[0037] ACC stands for Adaptive Cruise Control.

[0038] like Figure 3 The diagram shows the structure of an existing vehicle, which includes a parking function switch 10, a driver assistance function physical switch 20, an intelligent driving sensor module 30, an intelligent driving controller 40, a vehicle steering controller 50, a vehicle braking controller 60, a vehicle power controller 70, and a vehicle information acquisition module 80. The vehicle information acquisition module 80 is used to collect information such as vehicle speed, gear position, and inertia. The intelligent driving sensor module 30 can be used to collect information about the surrounding environment.

[0039] The intelligent driving controller 40 receives vehicle information sent by the vehicle information acquisition module 80, receives surrounding environment information collected by the intelligent driving sensor module 30, receives user's parking function activation / deactivation operation information, and receives user's driver assistance function activation / deactivation operation information.

[0040] The intelligent driving controller 40 determines the vehicle's control strategy based on received user operation information, surrounding environment information, and vehicle information to perform longitudinal control of the vehicle. Longitudinal control includes acceleration, deceleration, departure, and parking. User operation information includes information on enabling / disabling the user's parking function and driver assistance functions. The control strategy may include vehicle acceleration / deceleration requests, gear shift requests, steering requests, and electronic parking brake (EPB) requests.

[0041] Among them, the acceleration request is a positive torque request. The intelligent driving controller 40 sends a positive torque request to the vehicle power controller 70 so that the vehicle power controller 70 controls the vehicle to accelerate.

[0042] The deceleration request is a negative torque request. The intelligent driving controller 40 sends a negative torque request to the vehicle brake controller 60 so that the vehicle brake controller 60 controls the vehicle to decelerate.

[0043] The steering request is a turning angle request. The intelligent driving controller 40 sends a steering request to the vehicle steering controller 50 so that the vehicle steering controller 50 can control the vehicle to turn.

[0044] The shift request is a gear position request. The intelligent driving controller 40 sends a shift request to the vehicle power controller 70 so that the vehicle power controller 70 controls the vehicle to shift gears.

[0045] An EPB request is sent by the intelligent driving controller 40 to the vehicle brake controller 60 so that the vehicle brake controller 60 can control the vehicle to brake.

[0046] The structure of the above vehicles, which includes a parking function switch 10 and a driver assistance function physical switch 20, is suitable for vehicles with separate driving (driver assistance) and parking functions. That is, the driver assistance function uses one controller and the parking function uses one controller. The driver assistance function and the parking function are mutually exclusive. The parking function is mainly used in scenarios where the vehicle speed is below 5 kph.

[0047] The physical switches for parking and driver assistance functions in the above-mentioned vehicles are cumbersome to operate and result in a poor user experience for vehicles that integrate driving and parking functions.

[0048] To address the above issues, this application proposes a vehicle control method where a first operation on the vehicle corresponds to both parking and driver assistance functions. Upon detecting the first operation, the method determines the function to be triggered based on environmental information collected by the vehicle; or it determines the function to be triggered based on the collected environmental information and vehicle speed. This application allows one operation to correspond to two driving functions, simplifying user operations and making switching between driving functions easier and providing a better user experience.

[0049] Specifically, such as Figure 4 The diagram shows the structural structure of the vehicle described in this application. The vehicle includes an intelligent driving quick switch 90, an intelligent driving sensor module 30, an intelligent driving controller 40, a vehicle steering controller 50, a vehicle braking controller 60, a vehicle power controller 70, and a vehicle information acquisition module 80. The intelligent driving quick switch 90 corresponds to parking and driver assistance functions. After the user operates the intelligent driving quick switch 90, the vehicle determines whether to trigger the parking function or the driver assistance function based on the collected surrounding environmental information.

[0050] The following combination Figure 4 The vehicle control method of the embodiments of this application will be described in detail.

[0051] Figure 5 A schematic flowchart of the vehicle control method provided in this application is shown. This method can be executed in a central control unit or processor in a vehicle. (Refer to...) Figure 5 The method is described in detail below:

[0052] S101, after detecting the first operation, obtains the environmental information of the vehicle.

[0053] In this embodiment, the first operation can be the user clicking a physical button, clicking a virtual control, or moving a shortcut lever. For example, physical button A on the steering wheel is a button for changing driving functions, and the user's action of pressing physical button A is the first operation.

[0054] Environmental information refers to information about the external environment in which the vehicle is located. This information can be obtained through sensors installed on the vehicle. For example, environmental information can be obtained by capturing images from cameras installed on the vehicle; alternatively, the vehicle's current position can be determined using position sensors, and then the vehicle's environmental information can be determined using a pre-set map.

[0055] S102, based on the environmental information, determine the target driving function from the driving functions corresponding to the first operation, wherein the driving functions corresponding to the first operation include parking function and driving assistance function.

[0056] In this embodiment, environmental information is input into a pre-trained neural network model to obtain the target driving function, which is either a parking function or a driver assistance function.

[0057] The driving function corresponding to the first operation is preset. For example, it is preset that when physical button B is pressed, a function can be selected between parking function and driver assistance function. That is, the operation corresponding to physical button B corresponds to parking function and driver assistance function.

[0058] S103, activate the target driving function to drive the vehicle.

[0059] In this embodiment, after the target driving function is activated, the corresponding usable buttons / or functions on the vehicle are activated, and the user can adjust the vehicle's control parameters, such as vehicle speed and following distance, under the target driving function.

[0060] If the target driving function is parking, the vehicle can assist the user in parking after the parking function is activated. For example, the vehicle can perform automatic parking or activate the corresponding parking sensors.

[0061] If the target driving function is an assisted driving function, after the assisted driving function is activated, the vehicle will start using the sensors corresponding to the assisted driving function to perform assisted driving. The sensors corresponding to the assisted driving function may include following distance detection sensors, road detection sensors, and steering angle detection sensors, etc.

[0062] In this embodiment, after detecting the first operation, the environmental information of the vehicle is obtained. Based on the environmental information, the target driving function is determined from the driving functions corresponding to the first operation. The driving functions corresponding to the first operation include parking function and driver assistance function. The target driving function is then activated to drive the vehicle. In this application, one operation corresponds to multiple driving functions. After detecting the first operation, the driving function to be triggered at the current moment is further determined based on the environmental information. This allows the user to perform only one operation when different functions need to be triggered, simplifying the user's operation, making the vehicle's function operation simpler, and bringing convenience to the user.

[0063] In one possible implementation, the driver assistance function may include multiple sub-functions, such as automatic cruise control, automatic lane changing, and / or automatic driving.

[0064] In one embodiment, if the target driving function is a driver assistance function, after activating the driver assistance function, the above method may further include:

[0065] The vehicle's display shows the sub-functions under the driver assistance system, prompting the user to select the sub-function they wish to use at the moment. Upon detecting a second user action, the corresponding sub-function is activated, allowing the vehicle to operate under that sub-function. For example, if the user selects autonomous driving, the vehicle is switched to autonomous driving mode.

[0066] In one embodiment, if the target driving function is a driver assistance function, the environmental information includes the vehicle's location information and the road information. After activating the driver assistance function, the above method may further include:

[0067] Based on environmental information, the vehicle's current speed, and a preset map, the system recommends the appropriate driver assistance features to the user. For example, environmental information, vehicle speed, and a preset map are input into a predictive model to predict the driver assistance feature that should be used. After determining the appropriate feature, the system displays the selected feature and prompts the user to confirm whether to switch to it.

[0068] For example, if the vehicle is currently on a highway and its speed is within a preset range, it is predicted that automatic cruise control or automatic driving should be used at this moment.

[0069] This application can recommend suitable driver assistance functions to users at the current moment, bringing convenience to novice users.

[0070] In one possible implementation, step S102 may include:

[0071] If the environmental information is a parking lot environment, the parking function corresponding to the first operation is determined as the target driving function.

[0072] If the environmental information is not a parking lot environment, the assisted driving function corresponding to the first operation is determined as the target driving function.

[0073] In this embodiment, environmental information is determined using video images captured by a camera. Specifically, if a parking lot sign is present in the video image, the environmental information is determined to be a parking lot environment. If no parking lot sign is present in the video image, the environmental information is determined to be a non-parking lot environment.

[0074] The vehicle's location is determined by position sensors. If the vehicle is located in a parking lot, the environmental information is determined to be a parking lot environment. If the vehicle is not located in a parking lot, the environmental information is determined to be a non-parking lot environment.

[0075] If the environment information indicates a parking lot, the user may need to park, and the parking function will be designated as the target driving function. If the environment information indicates a non-parking lot, the user does not need to park and needs to continue driving, and the driver assistance function will be designated as the target driving function.

[0076] In one possible implementation, prior to step S102, the method may further include:

[0077] Obtain the vehicle speed.

[0078] Accordingly, step S102 may include:

[0079] Based on the environmental information and the vehicle speed, a target driving function is determined from the driving functions corresponding to the first operation. Using both environmental information and vehicle speed as conditions for determining the target driving function makes the determined target driving function more consistent with the current state of the vehicle, thus making the determined target driving function more accurate.

[0080] In this embodiment, vehicle speed can be collected using a speed sensor. Environmental information and vehicle speed are input together into a preset neural network model to determine the target driving function.

[0081] Specifically, if the environmental information is a non-parking environment and the vehicle speed is less than or equal to a second preset value, the assisted driving function corresponding to the first operation is determined as the target driving function.

[0082] In this embodiment, the second preset value can be set as needed. For example, the second preset value can be set to 30kph or 35kph, etc.

[0083] In one possible implementation, the parking function may include automatic parking, exploratory parking, and cruise parking.

[0084] The automatic parking function is a feature that allows the vehicle to park itself without user intervention.

[0085] The parking exploration function enables the vehicle to drive autonomously within a parking lot, and detects available parking spaces in the parking lot while driving, and automatically parks after identifying an available parking space.

[0086] The cruise parking function allows the vehicle to cruise automatically within the parking lot when it is far from an available parking space, and then automatically park the vehicle into the available space when it arrives.

[0087] The vehicle speed under cruise parking function is greater than the vehicle speed under exploration parking function.

[0088] In one possible implementation, based on the environmental information and the vehicle speed, determining the target driving function from the driving functions corresponding to the first operation includes:

[0089] If the environmental information is a first environment and the vehicle speed is less than or equal to a first preset value, the automatic parking function corresponding to the first operation is determined as the target driving function, wherein the first environment is the environment in which the vehicle is in a parking lot and an empty parking space is identified.

[0090] In this embodiment, the identification of vacant parking spaces can be determined by obtaining the current status information of the parking lot. The current status information includes the locations of occupied and vacant parking spaces. This current status information can be obtained from detection devices installed in the parking lot, which are used to detect the occupancy status of parking spaces.

[0091] The first preset value can be set as needed; for example, it can be set to 15 kph or 18 kph. If the vehicle speed is less than or equal to the first preset value, the speed is considered relatively slow. If the vehicle is already in the parking lot and an empty parking space is detected, automatic parking can proceed.

[0092] Optionally, the first environment can also be an environment where the vehicle is in a parking lot, an available parking space is identified, and the distance between the available parking space and the vehicle is less than a preset distance. The preset distance can be set as needed; for example, it can be set to 10 meters or 5 meters. If the distance between the available parking space and the vehicle is less than the preset distance, it means that the distance between the vehicle and the available parking space is small, and the vehicle can park at the current time.

[0093] In one possible implementation, based on the environmental information and the vehicle speed, determining the target driving function from the driving functions corresponding to the first operation includes:

[0094] If the environmental information is a second environment and the vehicle speed is less than or equal to a second preset value, the exploration parking function corresponding to the first operation is determined as the target driving function, wherein the second environment is an environment in which the vehicle is in a parking lot and no vacant parking space is identified.

[0095] In this embodiment, if the vehicle is in the parking lot and no available parking space is detected, and the vehicle speed is less than or equal to the second preset value, the vehicle may have the intention to park. Therefore, the vehicle can explore for available parking spaces while driving in the parking lot. Thus, the parking exploration function is determined as the target driving function.

[0096] In one possible implementation, based on the environmental information and the vehicle speed, determining the target driving function from the driving functions corresponding to the first operation includes:

[0097] If the environmental information is a first environment and the vehicle speed meets the preset conditions, the cruise parking function corresponding to the first operation is determined as the target driving function. The first environment is the environment in which the vehicle is in the entrance area of ​​the parking lot and it is determined that there are vacant parking spaces in the parking lot. The preset conditions are that the vehicle speed is greater than a first preset value and less than a second preset value.

[0098] In this embodiment, if the vehicle is in the entrance area of ​​the parking lot and its speed is relatively low, it can be determined that the vehicle needs to enter the parking lot for parking. Since the vehicle is far from an available parking space when in the entrance area, its speed can be increased slightly to reach an available space as quickly as possible. Therefore, cruise control is determined as the target driving function. The speed under cruise control is greater than the speed under the exploration parking function. The speed under exploration parking is greater than the speed under automatic parking.

[0099] In one possible implementation, based on the environmental information and the vehicle speed, determining the target driving function from the driving functions corresponding to the first operation includes:

[0100] If the vehicle speed is greater than the second preset value and the environmental information indicates that the environment is not a parking lot, then the assisted driving function will be determined as the target driving function.

[0101] In one possible implementation, the available operations for the user differ depending on the driving function. Specifically, the available operations corresponding to different driving functions are shown in Table 2 below. After activating the target driving function, the corresponding available operations are also activated.

[0102] Table 2. Available Operations for Different Driving Functions

[0103] Table 2 shows the activation / deactivation buttons for the driving functions under the automatic parking, exploration parking, and cruise parking functions. These buttons represent the activation / deactivation buttons for the automatic parking function. Similarly, the activation / deactivation buttons for the driving assistance functions represent the activation / deactivation buttons for those functions.

[0104] In one possible implementation, a lookup table of judgment conditions and corresponding driving functions is set in the vehicle, as shown in Table 3 below, and the target driving function is determined according to the judgment conditions.

[0105] Table 3. Comparison of Judgment Criteria and Driving Functions

[0106] Based on Table 3 above, in one possible implementation, the method may further include:

[0107] After detecting the user's first action, the vehicle's speed and environmental information are acquired. The environmental information includes the positioning results and the perception results.

[0108] If the vehicle speed is less than or equal to the first preset value, and the environmental information includes the vehicle being in a parking lot and an empty parking space being identified, then the automatic parking function will be determined as the target driving function.

[0109] If the vehicle speed is less than or equal to the first preset value, and the environmental information includes the vehicle being in a parking lot and no available parking space being identified, then the Exploration Parking function will be identified as the target driving function.

[0110] If the vehicle speed is less than or equal to the first preset value and the environmental information includes that the vehicle is not in a parking lot, then the assisted driving function will be determined as the target driving function.

[0111] If the vehicle speed is greater than the first preset value, less than or equal to the second preset value, and the environmental information includes the vehicle being in the entrance area of ​​the parking lot and an empty parking space being identified, then the cruise parking function will be determined as the target driving function.

[0112] If the vehicle speed is greater than the first preset value, the vehicle speed is less than or equal to the second preset value, and the environmental information includes the vehicle being in a parking lot and no available parking space being identified, then the Exploration Parking function will be identified as the target driving function.

[0113] If the vehicle speed is greater than the first preset value, the vehicle speed is less than or equal to the second preset value, and the environmental information includes that the vehicle is not in a parking lot, then the assisted driving function will be determined as the target driving function.

[0114] Trigger the target driving function.

[0115] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0116] Corresponding to the vehicle control method described in the above embodiments, Figure 6 A structural block diagram of a vehicle provided in an embodiment of this application is shown. For ease of explanation, only the parts related to the embodiment of this application are shown.

[0117] Reference Figure 6 The vehicle 200 may include: an environmental information acquisition module 210, a function determination module 220, and a vehicle control module 230.

[0118] Among them, the environmental information acquisition module 210 is used to acquire the environmental information of the vehicle after detecting the first operation;

[0119] The function determination module 220 is used to determine a target driving function from the driving functions corresponding to the first operation based on the environmental information, wherein the driving functions corresponding to the first operation include parking function and driving assistance function;

[0120] The vehicle control module 230 is used to activate the target driving function to drive the vehicle.

[0121] In one possible implementation, the function determination module 220 can specifically be used for:

[0122] If the environmental information is a parking lot environment, the parking function corresponding to the first operation is determined as the target driving function.

[0123] In one possible implementation, the function determination module 220 can specifically be used for:

[0124] If the environmental information is not a parking lot environment, the assisted driving function corresponding to the first operation is determined as the target driving function.

[0125] In one possible implementation, the module connected to the function determination module 220 also includes:

[0126] The vehicle speed acquisition module is used to acquire the vehicle speed.

[0127] Accordingly, the function determination module 220 can be specifically used for:

[0128] Based on the environmental information and the vehicle speed, the target driving function is determined from the driving functions corresponding to the first operation.

[0129] In one possible implementation, the function determination module 220 can specifically be used for:

[0130] If the environmental information is a first environment and the vehicle speed is less than or equal to a first preset value, the automatic parking function corresponding to the first operation is determined as the target driving function, wherein the first environment is the environment in which the vehicle is in a parking lot and an empty parking space is identified.

[0131] In one possible implementation, the function determination module 220 can specifically be used for:

[0132] If the environmental information is a second environment and the vehicle speed is less than or equal to a second preset value, the exploratory parking function corresponding to the first operation is determined as the target driving function. The second environment is an environment in which the vehicle is in a parking lot and no vacant parking space is detected. The exploratory parking function is used to detect vacant parking spaces in the parking lot while driving in the parking lot and to automatically park after detecting the vacant parking space.

[0133] In one possible implementation, the function determination module 220 can specifically be used for:

[0134] If the environmental information is a first environment and the vehicle speed meets the preset conditions, the cruise parking function corresponding to the first operation is determined as the target driving function. The first environment is an environment where the vehicle is in the entrance area of ​​the parking lot and it is determined that there are vacant parking spaces in the parking lot. The preset conditions are that the vehicle speed is greater than a first preset value and less than a second preset value, and the vehicle speed when the vehicle is in the cruise parking function is greater than the vehicle speed when the vehicle is in the automatic parking function.

[0135] In one possible implementation, the function determination module 220 can specifically be used for:

[0136] If the environmental information is a non-parking environment and the vehicle speed is less than or equal to the second preset value, the assisted driving function corresponding to the first operation is determined as the target driving function.

[0137] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0138] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0139] This application also provides a terminal device, see [link to relevant documentation] Figure 7 The terminal device 400 may include: at least one processor 410, a memory 420, and a computer program stored in the memory 420 and executable on the at least one processor 410. When the processor 410 executes the computer program, it implements the steps in any of the above method embodiments, for example... Figure 5 Steps S101 to S103 in the illustrated embodiment. Alternatively, when the processor 410 executes the computer program, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 6The functions of the environmental information acquisition module 210 to the vehicle control module 230 are shown.

[0140] For example, a computer program may be divided into one or more modules / units, one or more of which are stored in memory 420 and executed by processor 410 to complete this application. The one or more modules / units may be a series of computer program segments capable of performing a specific function, which are used to describe the execution process of the computer program in terminal device 400.

[0141] Those skilled in the art will understand that Figure 6 This is merely an example of a terminal device and does not constitute a limitation on the terminal device. It may include more or fewer components than shown, or combine certain components, or different components, such as input / output devices, network access devices, buses, etc.

[0142] The processor 410 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0143] The memory 420 can be an internal storage unit of the terminal device or an external storage device, such as a plug-in hard drive, a smart media card (SMC), a secure digital card (SD), or a flash card. The memory 420 is used to store the computer program and other programs and data required by the terminal device. The memory 420 can also be used to temporarily store data that has been output or will be output.

[0144] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0145] The vehicle control method provided in this application can be applied to terminal devices such as computers, tablets, laptops, netbooks, and personal digital assistants (PDAs). This application does not impose any restrictions on the specific type of terminal device.

[0146] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0147] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0148] In the embodiments provided in this application, it should be understood that the disclosed terminal devices, apparatuses, and methods can be implemented in other ways. For example, the terminal device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, apparatuses, or units, and may be electrical, mechanical, or other forms.

[0149] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0150] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0151] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by one or more processors, it can implement the steps of the various method embodiments described above.

[0152] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by one or more processors, it can implement the steps of the various method embodiments described above.

[0153] Similarly, as a computer program product, when the computer program product is run on a terminal device, it enables the terminal device to implement the steps in the above-described method embodiments.

[0154] The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media may not include electrical carrier signals and telecommunication signals.

[0155] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A vehicle control method, characterized in that, include: After detecting the first operation, obtain the environmental information of the vehicle; Based on the environmental information, a target driving function is determined from the driving functions corresponding to the first operation, wherein the driving functions corresponding to the first operation include parking function and driving assistance function; Activate the target driving function to drive the vehicle.

2. The vehicle control method as described in claim 1, characterized in that, The step of determining the target driving function from the driving functions corresponding to the first operation based on the environmental information includes: If the environmental information is a parking lot environment, the parking function corresponding to the first operation is determined as the target driving function.

3. The vehicle control method as described in claim 1, characterized in that, The step of determining the target driving function from the driving functions corresponding to the first operation based on the environmental information includes: If the environmental information is not a parking lot environment, the assisted driving function corresponding to the first operation is determined as the target driving function.

4. The vehicle control method as described in claim 1, characterized in that, Before determining the target driving function from the driving functions corresponding to the first operation based on the environmental information, the method further includes: Obtain the vehicle speed; Accordingly, determining the target driving function from the driving functions corresponding to the first operation based on the environmental information includes: Based on the environmental information and the vehicle speed, the target driving function is determined from the driving functions corresponding to the first operation.

5. The vehicle control method as described in claim 4, characterized in that, The parking function includes an automatic parking function. The step of determining the target driving function from the driving functions corresponding to the first operation based on the environmental information and the vehicle speed includes: If the environmental information is a first environment and the vehicle speed is less than or equal to a first preset value, the automatic parking function corresponding to the first operation is determined as the target driving function, wherein the first environment is the environment in which the vehicle is in a parking lot and an empty parking space is identified.

6. The vehicle control method as described in claim 4, characterized in that, The parking function includes an exploratory parking function. The step of determining the target driving function from the driving functions corresponding to the first operation based on the environmental information and the vehicle speed includes: If the environmental information is a second environment and the vehicle speed is less than or equal to a second preset value, the exploratory parking function corresponding to the first operation is determined as the target driving function. The second environment is an environment in which the vehicle is in a parking lot and no vacant parking space is detected. The exploratory parking function is used to detect vacant parking spaces in the parking lot while driving in the parking lot and to automatically park after detecting the vacant parking space.

7. The vehicle control method as described in claim 4, characterized in that, The parking function includes a cruise parking function. The step of determining the target driving function from the driving functions corresponding to the first operation based on the environmental information and the vehicle speed includes: If the environmental information is a first environment and the vehicle speed meets the preset conditions, the cruise parking function corresponding to the first operation is determined as the target driving function. The first environment is an environment where the vehicle is in the entrance area of ​​the parking lot and it is determined that there are vacant parking spaces in the parking lot. The preset conditions are that the vehicle speed is greater than a first preset value and less than a second preset value, and the vehicle speed when the vehicle is in the cruise parking function is greater than the vehicle speed when the vehicle is in the automatic parking function.

8. The vehicle control method as described in claim 4, characterized in that, The step of determining the target driving function from the driving functions corresponding to the first operation based on the environmental information and the vehicle speed includes: If the environmental information is a non-parking environment and the vehicle speed is less than or equal to the second preset value, the assisted driving function corresponding to the first operation is determined as the target driving function.

9. A vehicle control device, characterized in that, include: The environmental information acquisition module is used to acquire the environmental information of the vehicle after the first operation is detected. The function determination module is used to determine the target driving function from the driving functions corresponding to the first operation based on the environmental information, wherein the driving functions corresponding to the first operation include parking function and driving assistance function; The vehicle control module is used to activate the target driving function to drive the vehicle.

10. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the vehicle control method as described in any one of claims 1 to 8.

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