Control method of vehicle, control device of vehicle, vehicle, and storage medium

Abstract

The application relates to the technical field of vehicles and provides a control method and device for a vehicle, the vehicle and a storage medium. The control method comprises the following steps: in the process of cruise parking, obtaining a driving scene of the vehicle and the number of obstacles in a cruise parking route, the driving scene comprising a congested driving scene or a smooth driving scene; if takeover operation on the vehicle is detected, determining an exit strategy of the cruise parking according to the driving scene, the number of obstacles and the takeover operation, wherein the exit strategy comprises that the takeover operation corresponds to the exit of a target component in the vehicle from the cruise parking or the exit of the vehicle from the cruise parking. The application can control the intelligent exit of the vehicle from the cruise parking when the takeover operation of the user is detected, thereby improving the user experience.

Description

Technical Field

[0001] This application relates to the field of vehicles, and more specifically, to a vehicle control method, control device, vehicle, and storage medium in the field of vehicles. Background Technology

[0002] Assisted parking function refers to the vehicle's ability to perceive its surroundings through cameras and ultrasonic radar, analyze the environment, determine suitable parking spaces, and use parking assistance algorithms to calculate parking paths and control the vehicle to park automatically. Assisted parking function includes cruise parking function, which means that the vehicle can learn from the user's driving route and target parking space in the parking lot to form a parking route. When cruise parking is activated, the vehicle can automatically drive from the starting point of the route and park in the corresponding parking space according to the learned parking route.

[0003] When a vehicle engages cruise control, the driver may manually take over the vehicle in case of special road conditions. Upon detecting this manual intervention, the vehicle will disengage from cruise control. After avoiding an obstacle, if the driver wishes to reactivate cruise control, they must manually operate the system again, resulting in a poor user experience. Therefore, how to intelligently disengage cruise control when it detects user intervention and improve the user experience is a pressing issue that needs to be addressed. Summary of the Invention

[0004] This application provides a vehicle control method, control device, vehicle, and storage medium. The control method can control the vehicle to intelligently exit cruise parking when a user's takeover operation is detected, thereby improving the user experience.

[0005] Firstly, a vehicle control method is provided, the control method comprising:

[0006] During cruise parking, the driving scenario of the vehicle and the number of obstacles in the cruise parking route are acquired. The driving scenario includes congested driving scenario or smooth driving scenario. If a takeover operation on the vehicle is detected, the exit strategy of cruise parking is determined based on the driving scenario, the number of obstacles and the takeover operation. The exit strategy includes the target component in the vehicle corresponding to the takeover operation exiting the cruise parking, or the vehicle exiting the cruise parking.

[0007] In the embodiments of this application, during the vehicle cruise parking process, the driving scenario information of the vehicle and the number of obstacles in the cruise route are acquired. If a takeover operation is detected, the exit strategy for the vehicle cruise parking is determined based on the acquired driving scenario, the number of obstacles in the cruise route, and the takeover operation. This includes the target component corresponding to the takeover operation exiting the cruise parking, or the vehicle exiting the cruise parking. Compared with the prior art, where the vehicle directly exits the cruise parking after detecting the driver's takeover operation, the solution of this application can determine the exit strategy for the cruise parking based on the driver's takeover operation, the driving scenario, and the number of obstacles. This strategy allows some components in the vehicle to exit the cruise parking, avoiding the need for the driver to manually activate the cruise parking again after the vehicle avoids obstacles. This enables the vehicle to exit the cruise parking more intelligently, improving the user experience during vehicle cruise parking.

[0008] In conjunction with the first aspect, in some implementations of the first aspect, if a takeover operation on the vehicle is detected, determining the cruise parking exit strategy based on the driving scenario, the number of obstacles, and the takeover operation includes:

[0009] If a lateral takeover operation and / or longitudinal takeover operation of the vehicle is detected, and the driving scenario is a congested driving scenario, and the number of obstacles is greater than a preset threshold, the exit strategy is determined to be that the vehicle exits the cruise parking.

[0010] In the embodiments of this application, since the current driving scenario is detected to be a congested driving scenario and the number of obstacles on the cruise route is greater than a preset threshold, it means that the vehicle is performing cruise parking under complex road conditions. If the driver's takeover operation is detected at this time, the vehicle will exit cruise parking, thereby ensuring the driving safety of the vehicle under complex road conditions.

[0011] In conjunction with the first aspect and the above implementation methods, in some implementation methods of the first aspect, if a takeover operation on the vehicle is detected, determining the cruise parking exit strategy based on the driving scenario, the number of obstacles, and the takeover operation includes:

[0012] If a lateral or longitudinal takeover operation of the vehicle is detected, and the driving scenario is a congested driving scenario, and the number of obstacles is less than or equal to a preset threshold; or, if a lateral or longitudinal takeover operation of the vehicle is detected, and the driving scenario is a smooth driving scenario, and the number of obstacles is greater than a preset threshold, the exit strategy is determined to be that the target component in the vehicle corresponding to the lateral or longitudinal takeover operation exits the cruise parking, and a cruise parking prompt message is displayed when preset conditions are met; wherein, the preset conditions include: the current driving position of the vehicle is within the cruise parking route, no torque is detected in the target component, and no obstacles are identified within a preset range of the vehicle; the cruise parking prompt message is used to prompt the user whether to resume cruise parking.

[0013] In the embodiments of this application, when the vehicle is in a congested scenario and the number of obstacles is less than a preset threshold, or when the vehicle is in a free-flowing scenario and the number of obstacles is greater than a preset threshold, it indicates that the vehicle has a low risk of collision during cruise parking. Therefore, when the risk of collision is low, if a takeover operation is detected, the target device corresponding to the takeover operation in the vehicle can exit cruise parking, thus achieving intelligent exit from cruise parking. Furthermore, when the vehicle meets preset conditions, the user is prompted to activate cruise parking, thereby improving the user experience.

[0014] In conjunction with the first aspect and the above implementation methods, in some implementation methods of the first aspect, if a takeover operation on the vehicle is detected, determining the cruise parking exit strategy based on the driving scenario, the number of obstacles, and the takeover operation includes:

[0015] If a lateral or longitudinal takeover operation of the vehicle is detected, and the driving scenario is a smooth driving scenario, and the number of obstacles is less than or equal to a preset threshold, the exit strategy is determined to be that the target component in the vehicle corresponding to the lateral or longitudinal takeover operation exits the cruise parking, and cruise parking is resumed when preset conditions are met; wherein, the preset conditions include: the current driving position of the vehicle is located within the cruise parking route, no torque is detected in the target component, and no obstacles are identified within a preset range of the vehicle.

[0016] In the embodiments of this application, when the vehicle is in a clear environment and the number of obstacles is less than a preset threshold, it means that there is no risk of collision during the cruise parking process. Therefore, when the driver takes over the vehicle, the target component corresponding to the takeover operation exits the cruise parking, while the components not taken over by the driver maintain the cruise parking. This allows the vehicle to intelligently exit the cruise parking when there is no risk of collision. In addition, when the vehicle meets preset conditions, cruise parking can be automatically activated to improve the user experience.

[0017] In conjunction with the first aspect and the above-described implementations, in some implementations of the first aspect, obtaining the number of obstacles in the vehicle's driving scenario and cruising parking route includes:

[0018] Obtain the vehicle's current driving position, current driving time, and current driving environment; based on the current driving position and current driving time, obtain the vehicle's driving scenario; based on the current driving position and current driving environment, obtain the number of obstacles.

[0019] In the embodiments of this application, since the driving scenario of the vehicle is obtained based on the current driving position and the current driving time, and the number of obstacles on the cruise route is obtained based on the current driving position and the current driving environment, it can be guaranteed that the driving scenario of the vehicle and the number of obstacles on the cruise route under the current driving scenario can be obtained, thereby determining the exit strategy of the vehicle cruise parking based on the current driving scenario and the number of obstacles on the current cruise route.

[0020] In conjunction with the first aspect and the above implementation methods, some implementation methods of the first aspect also include:

[0021] The vehicle speed during the cruise parking is determined based on the number of obstacles in the cruise parking route.

[0022] In the embodiments of this application, the vehicle speed during cruise parking is determined based on the number of obstacles in the cruise parking route; since determining the vehicle speed during cruise parking based on the number of obstacles can reduce the risk of collision during cruise parking and improve the safety of the vehicle during cruise parking.

[0023] In conjunction with the first aspect and the above-described implementations, in some implementations of the first aspect, the vehicle exiting the cruise parking includes:

[0024] The vehicle switches from cruise parking to automatic parking.

[0025] In the embodiments of this application, when the vehicle exits cruise parking, the vehicle will switch from cruise parking to automatic parking to ensure that the vehicle can park normally after exiting cruise parking.

[0026] Secondly, a vehicle control device is provided, the device comprising:

[0027] The acquisition module is used to acquire the driving scenario of the vehicle and the number of obstacles in the cruise parking route during the cruise parking process. The driving scenario includes congested driving scenario or smooth driving scenario.

[0028] A determination module is configured to, if a takeover operation on the vehicle is detected, determine an exit strategy for the cruise parking based on the driving scenario, the number of obstacles, and the takeover operation, wherein the exit strategy includes either the target component in the vehicle corresponding to the takeover operation exiting the cruise parking, or the vehicle exiting the cruise parking.

[0029] Thirdly, a vehicle is provided, including a memory and a processor, the memory for storing executable program code, and the processor for calling and running the executable program code from the memory, causing the vehicle to perform the methods of the first aspect or any possible implementation thereof.

[0030] Fourthly, a computer program product is provided, comprising: computer program code, which, when run on a vehicle, causes the vehicle to execute the control method described in the first aspect or any possible implementation thereof.

[0031] Fifthly, a computer-readable storage medium is provided that stores computer program code, which, when run on a vehicle, causes the vehicle to perform the control method described in the first aspect or any possible implementation thereof. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of a vehicle cruise parking scenario provided in an embodiment of this application;

[0033] Figure 2 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application;

[0034] Figure 3 This is a schematic diagram of a vehicle system architecture provided in an embodiment of this application;

[0035] Figure 4 This is a schematic flowchart of another vehicle control method provided in an embodiment of this application;

[0036] Figure 5 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application;

[0037] Figure 6 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0038] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0039] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0040] Figure 1 This is a schematic diagram of a vehicle cruise parking scenario provided in an embodiment of this application.

[0041] For example, scenario 100 includes vehicle 110, cruise parking route 120, other vehicles in the parking lot 130, vehicle cruise location 140, and target parking space 150.

[0042] For example, before performing cruise parking, the vehicle uses surround-view cameras or driving sensors to create a local parking map, learns and builds a route map for intelligent parking in and out in advance. After the map is built, when the vehicle enters the parking lot and activates cruise parking, the vehicle will cruise parking according to the pre-learned route map, without requiring manual operation by the driver.

[0043] For example, when vehicle 110 activates the cruise parking function after entering a parking lot, vehicle 110 will begin the cruise phase according to the pre-learned cruise route 120. When the vehicle detects an available target parking space 150 during the cruise, it will automatically cruise to the vehicle cruise position 140 near the target parking space 150. At this time, the vehicle ends the cruise process and begins automatic parking, controlling the vehicle to automatically park in the target parking space 150. If vehicle 110 encounters a situation that requires driver intervention while on cruise route 120, such as other vehicles parking ahead or passing on a narrow road, the driver will take over vehicle 110. However, when vehicle 110 detects the driver's operation, vehicle 110 exits cruise parking. After avoiding the obstacle, if the driver wishes to restart cruise parking, the driver needs to manually operate it again, resulting in a poor user experience.

[0044] In view of this, this application provides a vehicle control method, control device, vehicle, and storage medium; through the embodiments of this application, when the vehicle is in cruise parking mode, the vehicle can be intelligently controlled to exit cruise parking mode when a user's takeover operation is detected, thereby improving the user experience.

[0045] The following is combined with Figure 2 and Figure 4 The vehicle control method provided in the embodiments of this application will be described in detail.

[0046] Figure 2 This is a flowchart of a vehicle control method provided in an embodiment of this application.

[0047] For example, Figure 2 The control method shown can be derived from Figure 1 The vehicle 110 shown is executing the command; or it may be performed by... Figure 1 The on-board terminal of the vehicle 110 shown is responsible for execution; or it can be performed by... Figure 1 The processor or chip in the vehicle 110 shown executes this. For example... Figure 2 As shown, control method 200 includes S210 to S220, which are described in detail below.

[0048] S210, during cruise parking, acquires the vehicle's driving scenario and the number of obstacles in the cruise parking route. The driving scenario includes congested driving scenario or smooth driving scenario.

[0049] For example, during cruise parking, the vehicle acquires the number of obstacles in the driving scene and the cruise parking route; wherein, the cruise parking route is learned and established in advance by the vehicle using a surround-view camera or driving sensors to create a local parking map before cruise parking (e.g., ...). Figure 1The driving scenarios (120 in the text) include congested driving scenarios and smooth driving scenarios. The division between congested and smooth driving scenarios is determined based on the current driving position of the vehicle and the traffic flow or vehicle density at the time of driving.

[0050] For example, if the vehicle's current location information indicates that the vehicle is in a large shopping mall parking lot and the current driving time is during a holiday, or if the vehicle's current location information indicates that the vehicle is in a residential or company parking lot and the current driving time is during the peak commuting hours on a weekday, then the traffic flow or vehicle density on the vehicle's cruising route is high, and the driving scenario can be determined as a congested driving scenario. Conversely, if the vehicle's current location information indicates that the vehicle is in a large shopping mall parking lot and the current driving time is during a weekday, or if the vehicle's current location information indicates that the vehicle is in a residential or company parking lot and the current driving time is during a holiday or non-peak commuting hours, then the traffic flow or vehicle density on the vehicle's cruising route is low, and the driving scenario can be determined as a smooth driving scenario.

[0051] For example, if the vehicle's navigation map and time information show that the vehicle arrived at the company parking lot at 9:00 on Tuesday, then the driving scenario is a congested scenario; if the vehicle's navigation map and time information show that the vehicle arrived at the large shopping mall parking lot at 16:00 on Wednesday, then the driving scenario can be determined to be a smooth driving scenario.

[0052] It should be noted that the above are illustrative examples of driving scenarios, and this application does not impose any limitations on them.

[0053] In one implementation, the vehicle's current driving position, current driving time, and current driving environment are obtained; based on the current driving position and current driving time, the vehicle's driving scenario is obtained; and based on the current driving position and current driving environment, the number of obstacles is obtained.

[0054] In the embodiments of this application, since the driving scenario of the vehicle is obtained based on the current driving position and the current driving time, and the number of obstacles on the cruise route is obtained based on the current driving position and the current driving environment, it can be guaranteed that the driving scenario of the vehicle and the number of obstacles on the cruise route under the current driving scenario can be obtained, thereby determining the exit strategy of the vehicle cruise parking based on the current driving scenario and the number of obstacles on the current cruise route.

[0055] If S220 detects a takeover operation on the vehicle, it determines the cruise parking exit strategy based on the driving scenario, the number of obstacles, and the takeover operation.

[0056] For example, when the vehicle detects a takeover operation by the driver, it determines the exit strategy for cruise parking based on the acquired driving scenario, the number of obstacles, and the driver's takeover operation. The exit strategy includes the target component in the vehicle corresponding to the takeover operation exiting cruise parking, or the vehicle exiting cruise parking.

[0057] In one implementation, if a takeover operation on the vehicle is detected, a cruise parking exit strategy is determined based on the driving scenario, the number of obstacles, and the takeover operation, including:

[0058] If a lateral takeover operation and / or longitudinal takeover operation of the vehicle is detected, and the driving scenario is a congested driving scenario, and the number of obstacles is greater than a preset threshold, the exit strategy is determined to be that the vehicle exits cruise parking.

[0059] For example, the preset threshold is a preset threshold for the number of obstacles. When the number of obstacles is greater than the preset threshold and the driving scenario is a congested scenario, it indicates that the road conditions are relatively complex. When a takeover operation is detected, the vehicle exits cruise parking.

[0060] For example, if the preset threshold is 5, when a takeover operation of the vehicle's steering wheel is detected, and the current driving scenario is a congested scenario, and the number of obstacles is 7, which is greater than the preset threshold, the exit strategy for cruise parking is determined to be that the vehicle exits cruise parking.

[0061] It should be noted that the above is an example of a preset threshold for obstacles, and this application does not impose any limitations on it.

[0062] In the embodiments of this application, since the current driving scenario is detected to be a congested driving scenario and the number of obstacles on the cruise route is greater than a preset threshold, it means that the vehicle is performing cruise parking under complex road conditions. If the driver's takeover operation is detected at this time, the vehicle will exit cruise parking, thereby ensuring the driving safety of the vehicle under complex road conditions.

[0063] In one implementation, if a takeover operation on the vehicle is detected, a cruise parking exit strategy is determined based on the driving scenario, the number of obstacles, and the takeover operation, including:

[0064] If a lateral or longitudinal takeover operation is detected, and the driving scenario is a congested driving scenario, and the number of obstacles is less than or equal to a preset threshold; or, if a lateral or longitudinal takeover operation is detected, and the driving scenario is a smooth driving scenario, and the number of obstacles is greater than a preset threshold, the exit strategy is determined to be that the target component in the vehicle corresponding to the lateral or longitudinal takeover operation exits cruise parking, and cruise parking prompt information is displayed when preset conditions are met; wherein, the preset conditions include: the vehicle's current driving position is within the cruise parking route, no torque is detected on the target component, and no obstacles are identified within the vehicle's preset range; the cruise parking prompt information is used to prompt the user whether to resume cruise parking.

[0065] In the embodiments of this application, when the vehicle is in a congested scenario and the number of obstacles is less than a preset threshold, or when the vehicle is in a free-flowing scenario and the number of obstacles is greater than a preset threshold, it indicates that the vehicle has a low risk of collision during cruise parking. Therefore, when the risk of collision is low, if a takeover operation is detected, the target device corresponding to the takeover operation in the vehicle can exit cruise parking, thus achieving intelligent exit from cruise parking. Furthermore, when the vehicle meets preset conditions, the user is prompted to activate cruise parking, thereby improving the user experience.

[0066] In one implementation, if a takeover operation on the vehicle is detected, a cruise parking exit strategy is determined based on the driving scenario, the number of obstacles, and the takeover operation, including:

[0067] If a lateral or longitudinal takeover operation is detected, and the driving scenario is a smooth driving scenario, and the number of obstacles is less than or equal to a preset threshold, the exit strategy is determined to be that the target component in the vehicle corresponding to the lateral or longitudinal takeover operation exits cruise parking, and cruise parking is resumed when preset conditions are met. The preset conditions include: the vehicle's current driving position is within the cruise parking route, no torque is detected in the target component, and no obstacles are identified within the vehicle's preset range.

[0068] In the embodiments of this application, when the vehicle is in a clear environment and the number of obstacles is less than a preset threshold, it means that there is no risk of collision during the cruise parking process. Therefore, when the driver takes over the vehicle, the target component corresponding to the takeover operation exits the cruise parking, while the components not taken over by the driver maintain the cruise parking. This allows the vehicle to intelligently exit the cruise parking when there is no risk of collision. In addition, when the vehicle meets preset conditions, cruise parking can be automatically activated to improve the user experience.

[0069] One implementation also includes determining the vehicle speed during cruise parking based on the number of obstacles in the cruise parking route.

[0070] In the embodiments of this application, the vehicle speed during cruise parking is determined based on the number of obstacles in the cruise parking route; since determining the vehicle speed during cruise parking based on the number of obstacles can reduce the risk of collision during cruise parking and improve the safety of the vehicle during cruise parking.

[0071] In one implementation, exiting cruise parking includes switching the vehicle from cruise parking to automatic parking.

[0072] In the embodiments of this application, when the vehicle exits cruise parking, the vehicle will switch from cruise parking to automatic parking to ensure that the vehicle can park normally after exiting cruise parking.

[0073] In one possible implementation, the exit strategy for vehicle cruise parking can be as shown in Table 1.

[0074] Table 1

[0075]

[0076]

[0077] As shown in Table 1, the vehicle speed and exit strategy for cruise parking are determined based on the vehicle's driving scenario, the number of obstacles, and the takeover operation.

[0078] Example 1: When the vehicle's driving scenario is a congested driving scenario and the number of obstacles exceeds a preset threshold, the vehicle's cruise speed is set to 10-20 km / h based on the number of obstacles. When the driver's takeover operation is detected to be lateral takeover (e.g., steering wheel takeover), longitudinal takeover (e.g., accelerator or brake pedal takeover), or both lateral and longitudinal takeover, the cruise parking exit strategy is for the vehicle to exit cruise parking.

[0079] Example 2: When the vehicle is driving in a congested traffic scenario and the number of obstacles is less than a preset threshold, the vehicle's cruising speed is set to 20-30 km / h based on the number of obstacles. After detecting a driver takeover operation, the component corresponding to the takeover operation disengages from cruise parking. For example, if the takeover operation is lateral, the vehicle's lateral component disengages from cruise parking, and driver confirmation is required to resume cruise parking. If the takeover operation is longitudinal, the vehicle's longitudinal component disengages from cruise parking, and driver confirmation is required to resume cruise parking. If the vehicle undergoes both lateral and longitudinal takeovers, the vehicle disengages from cruise parking.

[0080] Example 3: When the vehicle's driving scenario is a smooth driving scenario and the number of obstacles exceeds a preset threshold, the vehicle's cruising speed is set to 10-20 km / h based on the number of obstacles. After detecting the driver's takeover operation, the component corresponding to the takeover operation disengages from cruise parking. For example, if the takeover operation is lateral takeover, the vehicle's lateral component disengages from cruise parking, and driver confirmation is required to resume cruise parking. If the takeover operation is longitudinal takeover, the vehicle's longitudinal component disengages from cruise parking, and driver confirmation is required to resume cruise parking. If the vehicle undergoes both lateral and longitudinal takeover, the vehicle disengages from cruise parking.

[0081] Example 4: When the vehicle's driving scenario is a smooth driving scenario and the number of obstacles is less than a preset threshold, the vehicle's cruising speed is set to 20-30 km / h based on the number of obstacles. After detecting the driver's takeover operation, the component corresponding to the takeover operation disengages from cruise parking. For example, if the takeover operation is a lateral takeover, the vehicle's lateral component disengages from cruise parking and automatically resumes cruise parking when the conditions are met; if the takeover operation is a longitudinal takeover, the vehicle's longitudinal component disengages from cruise parking and automatically resumes cruise parking when the conditions are met; if the vehicle undergoes both lateral and longitudinal takeovers, the vehicle disengages from cruise parking.

[0082] It should be noted that the cruising speed is determined based on the number of obstacles. The cruising speed mentioned above is for illustrative purposes only, and this application does not impose any limitations on it.

[0083] In one situation, when the driver takes over the brake pedal, it indicates an emergency, such as a malfunction in the intelligent driving system. In this case, the driver's intention to take over takes higher priority, so the vehicle exits cruise control and the driver takes over the vehicle.

[0084] In the embodiments of this application, during the vehicle cruise parking process, the driving scenario information of the vehicle and the number of obstacles in the cruise route are acquired. If a takeover operation is detected, the exit strategy for the vehicle cruise parking is determined based on the acquired driving scenario, the number of obstacles in the cruise route, and the takeover operation. This includes the target component corresponding to the takeover operation exiting the cruise parking, or the vehicle exiting the cruise parking. Compared with the prior art, where the vehicle directly exits the cruise parking after detecting the driver's takeover operation, the solution of this application can determine the exit strategy for the cruise parking based on the driver's takeover operation, the driving scenario, and the number of obstacles. This strategy allows some components in the vehicle to exit the cruise parking, avoiding the need for the driver to manually activate the cruise parking again after the vehicle avoids obstacles. This enables the vehicle to exit the cruise parking more intelligently, improving the user experience during vehicle cruise parking.

[0085] Figure 3This is a schematic diagram of a vehicle system architecture provided in an embodiment of this application.

[0086] For example, Figure 3 The system architecture shown can Figure 1 The system architecture of vehicle 110 shown.

[0087] For example, the intelligent driving positioning module 310 is used to obtain the vehicle's current location information; the vehicle controller 320 is used to obtain the vehicle's navigation map and time information; the intelligent driving sensor module 330 is used to obtain the road environment information of the vehicle's current location; the intelligent driving sensor 310, the vehicle controller 320, and the intelligent driving sensor 330 are used to send the obtained information to the intelligent driving controller 340. After receiving the information sent by the intelligent driving sensor 310, the vehicle controller 320, and the intelligent driving sensor 330, the intelligent driving controller 340 sends a control command to the cruise parking function module 350 according to the obtained vehicle current location information, current time information, and road environment information, to control the cruise parking module to open or close, that is, to control the vehicle to enter or exit cruise parking.

[0088] Figure 4 This is a flowchart illustrating another vehicle control method provided in an embodiment of this application.

[0089] For example, Figure 4 The control method shown can be derived from Figure 1 The vehicle 110 shown is executing the command; or it may be performed by... Figure 1 The on-board terminal of the vehicle 110 shown is responsible for execution; or it can be performed by... Figure 1 The processor or chip in the vehicle 110 shown executes this. For example... Figure 4 As shown, control method 400 includes S401 to S411; S401 to S411 are described in detail below.

[0090] S401, vehicle cruise parking detected.

[0091] For example, a vehicle can detect when cruise control is activated via its in-vehicle intelligent driving module.

[0092] S402 obtains the vehicle's current driving position and current driving time during cruise parking.

[0093] For example, during cruise parking, the vehicle can obtain the vehicle's current driving position and current driving time through the intelligent driving positioning module and the vehicle controller.

[0094] S403 determines the vehicle's driving scenario and the number of obstacles in the current driving scenario based on the vehicle's current driving position and current driving time.

[0095] For example, the driving scenario and the number of obstacles in the current driving scenario are determined based on the vehicle's current driving position and driving time. The driving scenario includes congested driving scenarios or smooth driving scenarios, and the specific classification method is described in [the relevant section]. Figure 2 The embodiments have been described in detail and will not be repeated here.

[0096] S404 acquires pressure sensor data from the vehicle's steering wheel and pedals during cruise parking.

[0097] S405 detects takeover operations on the vehicle based on pressure sensor data.

[0098] For example, the pressure sensor data of the vehicle steering wheel, accelerator pedal or brake pedal is compared with a preset pressure threshold. The preset pressure threshold is used to determine the takeover operation of the vehicle steering wheel, brake pedal or accelerator pedal. When the pressure sensor data is greater than the preset pressure threshold, it is determined that there is a takeover operation of the corresponding component.

[0099] For example, if the preset pressure threshold is 25N, and the pressure sensor of a vehicle component detects a pressure of 30N, it is determined that a takeover operation has occurred on the vehicle.

[0100] S406, if a takeover operation is detected, determine whether the driving scenario is a congested scenario; if yes, execute S407; if no, execute S410.

[0101] For example, if a detection operation is performed, it is determined whether the driving scenario of the vehicle is a congested scenario. If so, it is determined that the number of obstacles is greater than a preset threshold. If not, it is determined whether the number of obstacles is greater than the preset threshold.

[0102] S407, The number of obstacles is greater than the preset threshold; if yes, proceed to S408; if no, proceed to S409.

[0103] S408, the vehicle exits cruise control parking.

[0104] For example, when the vehicle is in a congested driving scenario and the number of obstacles exceeds a preset threshold, the vehicle will exit cruise parking regardless of whether the control operation is steering wheel control or accelerator or brake pedal control.

[0105] S409, the target component corresponding to the vehicle takeover operation exits cruise parking, and a prompt message is displayed when the conditions are met.

[0106] For example, when the vehicle is driving in a congested traffic scenario and the number of obstacles is less than a preset threshold, the target component corresponding to the vehicle's takeover operation exits cruise parking. When the conditions are met, a prompt message is displayed to remind the user to activate cruise parking.

[0107] S410, The number of obstacles is greater than the preset threshold; if yes, proceed to S409; if no, proceed to S411.

[0108] S411, the target component corresponding to the vehicle takeover operation exits cruise parking, and cruise parking resumes when the conditions are met.

[0109] For example, when the vehicle's driving scenario is not a congested scenario, that is, when the vehicle's driving scenario is a smooth driving scenario, and the number of obstacles is less than or equal to a preset threshold, the target component corresponding to the vehicle takeover operation exits cruise parking, and cruise parking resumes when the conditions are met.

[0110] In the embodiments of this application, when the vehicle is detected to be in cruise parking, the current driving position and driving time of the vehicle are obtained. Based on the current driving position and driving time, the driving scenario of the vehicle and the number of obstacles in the current driving scenario are determined. At the same time, pressure sensor data of the vehicle's steering wheel and pedals are obtained. Based on the pressure sensor data, a takeover operation on the vehicle is detected. When a takeover operation is detected, the method for the vehicle to exit cruise parking is determined based on the driving scenario and the number of obstacles. When preset conditions are met, a prompt message is displayed to prompt the user to activate cruise parking or cruise parking is automatically resumed. Since the cruise parking exit strategy is determined based on the driving scenario, takeover operation, and the number of obstacles, the vehicle can more intelligently exit cruise parking while ensuring safety, thus improving the user experience during cruise parking. Since cruise parking recovery conditions are set, prompting the user or automatically activating cruise parking when preset conditions are met makes the cruise parking process more convenient.

[0111] It should be understood that the above examples are provided to help those skilled in the art understand the embodiments of this application, and are not intended to limit the embodiments of this application to the specific values ​​or scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or changes based on the above examples, and such modifications or changes also fall within the scope of the embodiments of this application.

[0112] The above text combined Figures 1 to 4 The vehicle control method provided in the embodiments of this application is described in detail below; the following will be combined with Figures 5 to 6 The control device embodiments of this application are described in detail below. It should be understood that the device in the embodiments of this application can execute the various control methods described in the foregoing embodiments of this application. That is, the specific working processes of the various products described below can be referred to the corresponding processes in the foregoing control method embodiments.

[0113] Figure 5 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application.

[0114] For example, such as Figure 5 As shown, the control device 500 includes:

[0115] The acquisition module 510 is used to acquire the driving scenario of the vehicle and the number of obstacles in the cruise parking route during the cruise parking process. The driving scenario includes congested driving scenario or smooth driving scenario.

[0116] The determination module 520 is used to determine the exit strategy of cruise parking based on the driving scenario, the number of obstacles and the takeover operation if a takeover operation is detected. The exit strategy includes the target component in the vehicle corresponding to the takeover operation exiting cruise parking, or the vehicle exiting cruise parking.

[0117] Optionally, as an embodiment, the determining module 520 is specifically used to determine the cruise parking exit strategy as vehicle exiting cruise parking if it detects a lateral takeover operation and / or a longitudinal takeover operation of the vehicle, detects that the driving scenario is a congested driving scenario, and the number of obstacles is greater than a preset threshold.

[0118] Optionally, as an embodiment, the determining module 520 is specifically used to determine the exit strategy as follows: if a lateral or longitudinal takeover operation of the vehicle is detected, and the driving scenario is a congested driving scenario, and the number of obstacles is less than or equal to a preset threshold; or, if a lateral or longitudinal takeover operation of the vehicle is detected, and the driving scenario is a smooth driving scenario, and the number of obstacles is greater than a preset threshold; determine the exit strategy as the target component in the vehicle corresponding to the lateral or longitudinal takeover operation exits cruise parking, and display cruise parking prompt information when the preset conditions are met.

[0119] Optionally, as an embodiment, the determining module 520 is specifically used to determine the exit strategy as follows if a lateral takeover operation or a longitudinal takeover operation of the vehicle is detected, and the driving scenario is a smooth driving scenario, and the number of obstacles is less than or equal to a preset threshold: the target component in the vehicle corresponding to the lateral takeover operation or the longitudinal takeover operation exits cruise parking, and cruise parking is restored when preset conditions are met.

[0120] Optionally, as an embodiment, the acquisition module 510 is specifically used to acquire the vehicle's current driving position, the vehicle's current driving time, and the current driving environment; based on the current driving position and the current driving time, to obtain the vehicle's driving scenario; and based on the current driving position and the current driving environment, to obtain the number of obstacles.

[0121] Optionally, as one embodiment, exiting cruise parking includes: switching the vehicle from cruise parking to automatic parking.

[0122] It should be noted that the aforementioned control device 500 is embodied in the form of a functional unit. The term "module" here can be implemented in software and / or hardware, without specific limitations.

[0123] For example, a "module" can be a software program, hardware circuit, or a combination of both that implements the above functions. Hardware circuits may include application-specific integrated circuits (ASICs), electronic circuits, processors (e.g., shared processors, proprietary processors, or group processors) and memory for executing one or more software or firmware programs, combined logic circuits, and / or other suitable components that support the described functions.

[0124] Therefore, the units of the various examples described in the embodiments of this application 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.

[0125] Figure 6 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0126] For example, vehicle 600 includes processor 610, memory 620 and executable program code 630.

[0127] For example, vehicle 600 and Figure 1 Vehicle 110 in the text refers to the same vehicle.

[0128] For example, vehicle 600 includes one or more processors 610 that can support the vehicle control method in the method embodiment. The processor 610 can be a general-purpose processor or a special-purpose processor. For example, the processor 610 can be a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, such as discrete gates, transistor logic devices, or discrete hardware components.

[0129] For example, processor 610 can be used to control vehicle 600, execute software programs, and process data from the software programs. Vehicle 600 may also include a communication unit for receiving and transmitting signals.

[0130] For example, the vehicle 600 may include one or more memories 620, on which executable program code 630 is stored. The executable program code 630 can be run by the processor 610 to generate instructions, causing the processor 610 to execute the methods described in the above method embodiments according to the instructions.

[0131] Optionally, the memory 620 may also store data. Optionally, the processor 610 may also read data stored in the memory 620, which may be stored at the same memory address as the executable program code 630, or the data may be stored at a different memory address than the executable program code 630.

[0132] For example, the processor 610 and memory 620 can be configured separately or integrated together, for example, integrated on a system-on-chip (SOC) of the terminal device.

[0133] For example, the memory 620 can be used to store related programs of the vehicle control method provided in the embodiments of this application, and the processor 620 can be used to call the executable program code 630 stored in the memory 620 when controlling the vehicle to execute the vehicle control method of the embodiments of this application; for example, during cruise parking, the driving scenario of the vehicle and the number of obstacles in the cruise parking route are obtained, and the driving scenario includes a congested driving scenario or a smooth driving scenario; if a takeover operation of the vehicle is detected, the cruise parking exit strategy is determined according to the driving scenario, the number of obstacles and the takeover operation, wherein the exit strategy includes the target component in the vehicle corresponding to the takeover operation exiting the cruise parking, or the vehicle exiting the cruise parking.

[0134] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle control method of any of the foregoing embodiments.

[0135] The computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, Digital Video Discs (DVDs), Compact Disc Read-Only Memory (CD-ROM), microdrives, and magneto-optical disks, read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), dynamic random access memory (DRAM), video random access memory (VRAM), flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0136] This application also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement a vehicle control method as described in the above embodiments.

[0137] In addition, the vehicle provided in the embodiments of this application may specifically be a chip, component or module. The vehicle may include a connected processor and a memory. The memory is used to store instructions. When the vehicle is running, the processor may call and execute the instructions to make the chip execute a vehicle control method in the above embodiments.

[0138] The vehicle, computer-readable storage medium, computer program product or chip provided in this application are all used to execute the corresponding control method provided above. Therefore, the beneficial effects that can be achieved can be referred to the beneficial effects of the corresponding control method provided above, and will not be repeated here.

[0139] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0140] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus 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 device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0141] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling a vehicle, characterized in that, The control method includes: During the cruise parking process, the driving scenario of the vehicle and the number of obstacles in the cruise parking route are obtained. The driving scenario includes congested driving scenario or smooth driving scenario. If a takeover operation on the vehicle is detected, the exit strategy of the cruise parking is determined based on the driving scenario, the number of obstacles, and the takeover operation. The exit strategy includes the target component in the vehicle corresponding to the takeover operation exiting the cruise parking, or the vehicle exiting the cruise parking. If a takeover operation is detected on the vehicle, the cruise parking exit strategy is determined based on the driving scenario, the number of obstacles, and the takeover operation, including: If a lateral or longitudinal takeover operation of the vehicle is detected, and the driving scenario is a congested driving scenario, and the number of obstacles is less than or equal to a preset threshold; or, if a lateral or longitudinal takeover operation of the vehicle is detected, and the driving scenario is a smooth driving scenario, and the number of obstacles is greater than a preset threshold, the exit strategy is determined to be that the target component in the vehicle corresponding to the lateral or longitudinal takeover operation exits the cruise parking, and cruise parking prompt information is displayed when preset conditions are met; If a lateral or longitudinal takeover operation of the vehicle is detected, and the driving scenario is the smooth driving scenario, and the number of obstacles is less than or equal to a preset threshold, the exit strategy is determined to be that the target component in the vehicle corresponding to the lateral or longitudinal takeover operation exits the cruise parking, and the cruise parking is restored when the preset conditions are met. The preset conditions include: the vehicle's current driving position is within the cruise parking route, no torque is detected on the target component, and no obstacle is identified within the vehicle's preset range.

2. The method according to claim 1, characterized in that, If a takeover operation is detected on the vehicle, the cruise parking exit strategy is determined based on the driving scenario, the number of obstacles, and the takeover operation, including: If a lateral takeover operation and / or longitudinal takeover operation of the vehicle is detected, and the driving scenario is a congested driving scenario, and the number of obstacles is greater than a preset threshold, the exit strategy is determined to be that the vehicle exits the cruise parking.

3. The method according to claim 1 or 2, characterized in that, The acquisition of the number of obstacles in the vehicle's driving scenario and cruise parking route includes: Obtain the vehicle's current driving location, the vehicle's current driving time, and the current driving environment; Based on the current driving position and the current driving time, the driving scenario of the vehicle is obtained; The number of obstacles is obtained based on the current driving position and the current driving environment.

4. The method according to claim 1 or 2, characterized in that, Also includes: The vehicle speed during the cruise parking is determined based on the number of obstacles in the cruise parking route.

5. The method according to claim 1 or 2, characterized in that, The vehicle exiting the cruise parking includes: The vehicle switches from cruise parking to automatic parking.

6. A control device of a vehicle characterized by comprising: The control device includes: The acquisition module is used to acquire the driving scenario of the vehicle and the number of obstacles in the cruise parking route during the cruise parking process. The driving scenario includes congested driving scenario or smooth driving scenario. A determination module is configured to, if a takeover operation on the vehicle is detected, determine an exit strategy for the cruise parking based on the driving scenario, the number of obstacles, and the takeover operation, wherein the exit strategy includes the target component in the vehicle corresponding to the takeover operation exiting the cruise parking, or the vehicle exiting the cruise parking; The determining module is specifically used for: if a lateral takeover operation or a longitudinal takeover operation of the vehicle is detected, and the driving scenario is a congested driving scenario, and the number of obstacles is less than or equal to a preset threshold; or, if a lateral takeover operation or a longitudinal takeover operation of the vehicle is detected, and the driving scenario is a smooth driving scenario, and the number of obstacles is greater than a preset threshold, determining that the exit strategy is for the target component in the vehicle corresponding to the lateral takeover operation or the longitudinal takeover operation to exit the cruise parking, and displaying cruise parking prompt information when the preset conditions are met; if a lateral takeover operation or a longitudinal takeover operation of the vehicle is detected, and the driving scenario is a smooth driving scenario, and the number of obstacles is less than or equal to a preset threshold, determining that the exit strategy is for the target component in the vehicle corresponding to the lateral takeover operation or the longitudinal takeover operation to exit the cruise parking, and resuming cruise parking when the preset conditions are met; The preset conditions include: the vehicle's current driving position is within the cruise parking route, no torque is detected on the target component, and no obstacle is identified within the vehicle's preset range.

7. A vehicle characterized by comprising: The vehicles include: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the vehicle to perform the method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a vehicle, cause the vehicle to perform the method as described in any one of claims 1 to 5.

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