A vehicle control method, apparatus, vehicle, and readable storage medium.

Abstract

This application provides a vehicle control method, device, vehicle, and readable storage medium. The method is applied in the field of vehicle technology. The method includes: acquiring environmental information around the first vehicle when the first vehicle is in privacy protection mode; determining a first parking position and a first parking posture of the first vehicle based on the environmental information and the vehicle information of the first vehicle, wherein the vehicle information describes the appearance of the first vehicle, the first parking position is the parking position where the first vehicle receives the least attention under the environmental information, and the first parking posture is the parking posture where the first vehicle receives the least attention under the environmental information; and controlling the first vehicle to park in the first parking position with the first parking posture. This method can improve the intelligence of vehicle privacy protection.

Description

Technical Field

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

[0002] With the surge in intelligent vehicle development, cars are no longer just a means of transportation; users' needs are becoming increasingly diverse, and they also demand that vehicles protect their privacy. However, current technologies typically rely on users actively shielding their privacy (e.g., replacing windows with privacy glass or adding blackout curtains), thus lacking true intelligence in privacy protection. Summary of the Invention

[0003] This application provides a vehicle control method, apparatus, vehicle, and readable storage medium, which can improve the intelligence of vehicle protection of user privacy.

[0004] In a first aspect, a vehicle control method is provided, comprising: acquiring environmental information surrounding the first vehicle when the first vehicle is in privacy protection mode; determining a first parking position and a first parking posture of the first vehicle based on the environmental information and the vehicle information of the first vehicle, wherein the vehicle information is used to describe the appearance of the first vehicle, the first parking position is the parking position where the first vehicle receives the least attention under the environmental information, and the first parking posture is the parking posture where the first vehicle receives the least attention under the environmental information; and controlling the first vehicle to park in the first parking position with the first parking posture.

[0005] In the above technical solution, the embodiments of this application provide a vehicle control method: when the first vehicle is in privacy protection mode, it can acquire environmental information around the first vehicle, and determine the first parking position and first parking posture of the first vehicle based on the environmental information and the vehicle information of the first vehicle, i.e., the appearance of the first vehicle. Since the first parking position is the parking position where the first vehicle is least noticed under the environmental information, and the first parking posture is the parking posture where the first vehicle is least noticed under the environmental information, the first vehicle can be controlled to park in the first parking position with the first parking posture, so as to intelligently reduce the presence of the first vehicle in the surrounding environment without changing the physical structure of the vehicle, thereby improving the concealment of the first vehicle and improving the privacy protection of the user.

[0006] In conjunction with the first aspect and the above implementation methods, in some possible implementation methods, the environmental information includes the vehicle information of the second vehicles surrounding the first vehicle. Based on the environmental information and the vehicle information of the first vehicle, determining the first parking position and the first parking posture of the first vehicle includes: if the vehicle information of the second vehicle is similar to the vehicle information of the first vehicle, obtaining the second parking position and the second parking posture of the second vehicle; if there are vacant parking spaces around the second vehicle, determining the target vacant parking space closest to the second parking position, and determining the position of the target vacant parking space as the first parking position of the first vehicle; and determining the second parking posture as the first parking posture of the first vehicle.

[0007] In the above technical solution, the environmental information may include the vehicle information of the second vehicles around the first vehicle, so that when the first vehicle is in privacy protection mode, the first parking position and first parking posture of the first vehicle can be determined based on the vehicle information of the second vehicle and the vehicle information of the first vehicle. Specifically, it can be first determined whether the vehicle information of the second vehicle is similar to that of the first vehicle. If the vehicle information of the second vehicle is similar to that of the first vehicle, the second parking position and the second parking posture of the second vehicle can be obtained. It can also be determined whether there are any vacant parking spaces around the second vehicle. If there are vacant parking spaces around the second vehicle, the target vacant parking space closest to the second parking position can be determined. The position of the target vacant parking space is determined as the first parking position of the first vehicle, and the second parking posture is determined as the first parking posture of the first vehicle. Since the first parking position of the first vehicle is the parking space closest to a vehicle similar to the first vehicle (i.e., the second vehicle), and the first parking posture is also the parking posture of a vehicle similar to the first vehicle (i.e., the second parking posture), by controlling the first vehicle to park in the first parking position with the first parking posture, the degree of attention the first vehicle receives in the surrounding environment can be reduced, thereby improving the concealment of the first vehicle.

[0008] Combining the first aspect and the above implementation methods, in some possible implementation methods, the environmental information includes the parking lot information where the first vehicle is located. Based on the environmental information and the vehicle information of the first vehicle, determining the first parking position and the first parking posture of the first vehicle includes: inputting the parking lot information and the vehicle information of the first vehicle into a target prediction model; processing the parking lot information and the vehicle information of the first vehicle through the target prediction model to obtain multiple parking strategies output by the target prediction model, and the predicted attention degree corresponding to each parking strategy. The parking strategy includes the first parking position and / or the first parking posture of the first vehicle, and the predicted attention degree is used to represent the degree of attention the first vehicle receives; determining the target attention degree from the multiple predicted attention degrees, and determining the parking strategy corresponding to the target attention degree as the target parking strategy. The target attention degree is the attention degree with the lowest degree of attention among the multiple predicted attention degrees.

[0009] In the above technical solution, the environmental information may include the parking lot information where the first vehicle is located. This allows the system to determine the first vehicle's first parking position and first parking posture based on the parking lot information and the vehicle information when the first vehicle is in privacy protection mode. Specifically, the parking lot information and the first vehicle's vehicle information can be input into a target prediction model. The target prediction model processes the parking lot information and the first vehicle's vehicle information to obtain multiple parking strategies output by the target prediction model, and a predicted attention level corresponding to each parking strategy. The parking strategy includes the first vehicle's first parking position and / or first parking posture. The predicted attention level represents the degree of attention the first vehicle receives. To reduce the degree of attention the first vehicle receives after parking according to a parking strategy, a target attention level can be determined from the multiple predicted attention levels, and the parking strategy corresponding to the target attention level can be determined as the target parking strategy. This reduces the degree of attention the first vehicle receives when parking according to the target parking strategy.

[0010] Combining the first aspect and the above implementation methods, in some possible implementation methods, the parking lot information and the vehicle information of the first vehicle are processed by the target prediction model to obtain multiple parking strategies output by the target prediction model, including: extracting the feature information of the parking lot and the vehicle feature information of the first vehicle through the target prediction model, wherein the feature information of the parking lot includes at least the layout information, the first type information and the parking space usage information of the parking lot, and the vehicle feature information of the first vehicle includes at least the color information, size information and the second type information of the first vehicle; and determining multiple parking strategies based on the feature information of the parking lot and the vehicle feature information of the first vehicle.

[0011] In combination with the first aspect and the above implementation methods, in some possible implementation methods, after controlling the first vehicle to park in the first parking position with the first parking posture, the method further includes: obtaining the actual attention of the first vehicle; and adjusting the model parameters of the target prediction model based on the difference information between the actual attention and the target attention.

[0012] In the above technical solution, since the parking strategy and corresponding attention output by the target prediction model are both predicted, after controlling the first vehicle to park in the first parking position with the first parking posture according to the target parking strategy, the actual attention of the first vehicle can be obtained. In order to adjust the model parameters of the target prediction model according to the difference between the actual attention and the target attention, the accuracy of the subsequent output of the target prediction model can be improved.

[0013] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the actual attention level of the first vehicle is obtained, including: obtaining the number of times the first vehicle is viewed and the duration of being viewed; and determining the actual attention level of the first vehicle based on the number of times the first vehicle is viewed and the duration of being viewed.

[0014] In conjunction with the first aspect and the above implementation methods, in some possible implementation methods, after controlling the first vehicle to park in the first parking position with a first parking posture, the method further includes: obtaining the lighting status of the first vehicle, the lighting status including the interior lighting status of the first vehicle and the exterior lighting status of the first vehicle; and turning off the interior lighting and / or exterior lighting of the first vehicle when the interior lighting and / or exterior lighting of the first vehicle are on.

[0015] In the above technical solution, since the lighting status of the first vehicle affects the degree of attention the first vehicle receives, after controlling the first vehicle to park in the first parking position with the first parking posture, the lighting status (interior lighting status and exterior lighting status) of the first vehicle can be obtained so that when the interior lighting status and / or exterior lighting status are on, the interior lighting and / or exterior lighting of the first vehicle can be turned off, thereby avoiding the first vehicle from receiving more attention due to the interior lighting and / or exterior lighting being on.

[0016] In conjunction with the first aspect and the above-described implementation methods, in some possible implementation methods, the interior lights include at least one type of light. Turning off the interior lights and / or exterior lights of the first vehicle when the interior lights and / or exterior lights of the first vehicle are on includes: when the interior lights of the first vehicle are on, acquiring behavioral information of a target object inside the first vehicle, the behavioral information describing the target object's use of the interior lights; determining, based on the target object's behavioral information, a target interior light of the first vehicle that needs to be turned off, the target interior light being one or more of the interior lights of the first vehicle; and controlling the turning off of the target interior light.

[0017] In the above technical solution, the interior lights include at least one type of light. After the first vehicle is parked, since the target object may use some kind of light inside the vehicle, when the interior lights of the first vehicle are on, the behavioral information of the target object inside the first vehicle can be obtained. Since this behavioral information describes the target object's use of the interior lights, the target interior lights of the first vehicle that need to be turned off can be determined based on this behavioral information, and the target interior lights can be turned off. The target interior lights are one or more of the interior lights of the first vehicle. For example, the interior lights include reading lights, interior lighting, and ambient lights. If the behavioral information describes that the target object is currently reading, then the interior lights that need to be turned off are determined to be the interior lighting and ambient lights, and these are controlled to be turned off, thereby ensuring that the target object's use of the interior lights (reading lights) is not affected and improving the target object's driving experience.

[0018] In combination with the first aspect and the above implementation methods, in some possible implementation methods, after controlling the first vehicle to park in the first parking position with a first parking posture, the method further includes: obtaining the opening and closing status of the first vehicle's windows, sunroof, and rearview mirrors, as well as the steering angle of the first vehicle's steering wheel; controlling the first vehicle to close its windows and / or sunroof and rearview mirrors when the first vehicle's windows and / or sunroof and rearview mirrors are open; and controlling the first vehicle's wheels to remain stationary when the steering angle of the first vehicle's steering wheel is greater than a threshold.

[0019] In the above technical solution, since the opening and closing status of the first vehicle's windows, sunroof, and rearview mirrors, as well as the movement of its wheels, also affect the degree of attention the first vehicle receives, after controlling the first vehicle to park in the first parking position with a first parking posture, the opening and closing status of the first vehicle's windows, sunroof, and rearview mirrors can be obtained. This allows for the control to close the first vehicle's windows and / or sunroof and rearview mirrors when they are open, thereby preventing the first vehicle from receiving increased attention due to the opening of its windows, sunroof, and rearview mirrors. In addition, the steering angle of the first vehicle's steering wheel can be obtained, so that if the steering angle of the first vehicle's steering wheel is greater than a threshold, the wheels of the first vehicle can be kept stationary. This prevents the wheels of the first vehicle from rotating due to the target object turning the steering wheel, thereby preventing the first vehicle from receiving increased attention.

[0020] Secondly, a vehicle control device is provided, the device comprising:

[0021] The acquisition module is used to acquire environmental information around the first vehicle when the first vehicle has its privacy protection mode enabled.

[0022] The determination module is used to determine the first parking position and the first parking posture of the first vehicle based on environmental information and vehicle information of the first vehicle. The vehicle information is used to describe the appearance of the first vehicle. The first parking position is the parking position where the first vehicle receives the least attention under the environmental information, and the first parking posture is the parking posture where the first vehicle receives the least attention under the environmental information.

[0023] The control module is used to control the first vehicle to park in the first parking position with a first parking posture.

[0024] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the environmental information includes vehicle information of second vehicles surrounding the first vehicle. The device further includes a second acquisition module, used to acquire the second parking position and second parking posture of the second vehicle when the vehicle information of the second vehicle is similar to that of the first vehicle; the determination module is specifically used to determine the target vacant parking space closest to the second parking position when there is a vacant parking space around the second vehicle, and determine the position of the target vacant parking space as the first parking position of the first vehicle; and determine the second parking posture as the first parking posture of the first vehicle.

[0025] Combining the second aspect and the above implementation methods, in some possible implementation methods, the environmental information includes the parking lot information where the first vehicle is located. The determination module is further used to input the parking lot information and the vehicle information of the first vehicle into the target prediction model, process the parking lot information and the vehicle information of the first vehicle through the target prediction model, obtain multiple parking strategies output by the target prediction model, and the predicted attention degree corresponding to each parking strategy. The parking strategy includes the first parking position and / or the first parking posture of the first vehicle, and the predicted attention degree is used to represent the degree of attention the first vehicle is receiving. The target attention degree is determined from the multiple predicted attention degrees, and the parking strategy corresponding to the target attention degree is determined as the target parking strategy. The target attention degree is the attention degree with the lowest degree of attention among the multiple predicted attention degrees.

[0026] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the determining module is further used to extract the feature information of the parking lot and the vehicle feature information of the first vehicle through the target prediction model. The feature information of the parking lot includes at least the layout information, first type information and parking space usage information of the parking lot, and the vehicle feature information of the first vehicle includes at least the color information, size information and second type information of the first vehicle. Based on the feature information of the parking lot and the vehicle feature information of the first vehicle, multiple parking strategies are determined.

[0027] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the device further includes a third acquisition module for acquiring the actual attention level of the first vehicle; the device further includes an update module for adjusting the model parameters of the target prediction model based on the difference information between the actual attention level and the target attention level.

[0028] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the third acquisition module is specifically used to acquire the number of times the first vehicle is viewed and the duration of being viewed; the device also includes a second determination module, used to determine the actual attention level of the first vehicle based on the number of times the first vehicle is viewed and the duration of being viewed.

[0029] In conjunction with the second aspect and the above-described implementation, in some possible implementations, the device further includes a fourth acquisition module for acquiring the lighting status of the first vehicle, including the interior lighting status and the exterior lighting status of the first vehicle; the control module is further used to turn off the interior lighting and / or exterior lighting of the first vehicle when the interior lighting and / or exterior lighting of the first vehicle are on.

[0030] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the interior lights of the first vehicle include at least one type of light. The fourth acquisition module is specifically used to acquire the behavior information of the target object inside the first vehicle when the interior lights of the first vehicle are on. The behavior information is used to describe the target object's use of the interior lights. The device also includes a third determination module, used to determine the target interior lights of the first vehicle that need to be turned off based on the behavior information of the target object. The target interior lights are one or more of the interior lights of the first vehicle. The control module is also used to control the turning off of the target interior lights.

[0031] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the fourth acquisition module is further used to acquire the opening and closing status of the windows, sunroof and rearview mirrors of the first vehicle, as well as the steering angle of the steering wheel of the first vehicle; the control module is further used to control the closing of the windows and / or sunroof and rearview mirrors of the first vehicle when the windows and / or sunroof and rearview mirrors of the first vehicle are open; and to control the wheels of the first vehicle to remain stationary when the steering angle of the steering wheel of the first vehicle is greater than a threshold.

[0032] Thirdly, a vehicle is provided, including a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, causing the vehicle to perform the vehicle control method of the first aspect or any possible implementation thereof.

[0033] Fourthly, a computer program product is provided, comprising: computer program code, which, when run on a computer, causes the computer to execute the vehicle control method in the first aspect or any possible implementation thereof.

[0034] Fifthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the vehicle control method of the first aspect or any possible implementation thereof. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the structure of an ECU provided in an embodiment of this application;

[0036] Figure 2 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application;

[0037] Figure 3 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application;

[0038] Figure 4 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0039] 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.

[0040] 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.

[0041] With social progress and development, people are paying more and more attention to protecting their privacy. For example, when users are resting in their cars, they do not want pedestrians to spy on what is happening inside. This shows that while people have diversified needs for cars, they also require vehicles to protect their privacy.

[0042] However, existing technologies for protecting user privacy typically rely on users actively blocking privacy (e.g., replacing privacy glass or adding blackout curtains) to achieve the desired effect. Therefore, vehicle privacy protection is not intelligent enough.

[0043] To address the aforementioned issues, this application provides a vehicle control method that enhances the vehicle's intelligence in protecting user privacy.

[0044] It should be understood that the method of this application embodiment can be applied to any electronic control unit (ECU) in the first vehicle. When implementing the solution of this application embodiment, the ECU may specifically include different modules, each module being used to perform different functions.

[0045] Figure 1 This is a schematic diagram of the structure of an ECU provided in an embodiment of this application.

[0046] For example, such as Figure 1 As shown, according to the different functions of each module, the vehicle controller may include a data acquisition module 101, a determination module 102, and a control module 103. The specific functions of each module are as follows:

[0047] The acquisition module 101 is responsible for communicating with other ECUs via the vehicle's communication bus (e.g., Controller Area Network (CAN) bus) to obtain various target parameters collected by various sensors in the first vehicle.

[0048] The target parameter represents the environmental information around the first vehicle and the state information of the first vehicle collected by the first vehicle component. For example, when the first vehicle component is a vision sensor, the target parameter can be the image around the first vehicle, or when the first vehicle component is a window position sensor (Hall effect sensor), the target parameter can be the open / closed state of the first vehicle window.

[0049] Optionally, in this embodiment of the application, the target parameters include the opening and closing states of the windows, sunroof, and rearview mirrors of the first vehicle, the opening and closing states of the interior and exterior lights of the first vehicle, an image of the environment surrounding the first vehicle, and the steering wheel angle of the first vehicle.

[0050] After the acquisition module 101 acquires multiple target parameters, it can send the target parameters to the determination module 102, so that the determination module 102 can determine the parking information of the first vehicle based on the target parameters, namely the first parking position (the position of the parking space) and the first parking posture. The determination module 102 then sends the parking information of the first vehicle to the control module 103.

[0051] After receiving the parking information of the first vehicle, the control module 103 calculates the driving path from the current position to the parking position based on the parking information, and controls the vehicle to steer through the steering system of the first vehicle, such as electric power steering (EPS), and drives along the planned path. When the first vehicle is close to the parking position, the control module 103 adjusts the direction of the first vehicle in the parking space and the distance between the first vehicle and the parking line according to the parking posture.

[0052] It should be noted that the first vehicle may be a sedan, SUV, truck, or commercial vehicle, etc. The specific type and function of the first vehicle are not limited in the embodiments of this application.

[0053] The following is through Figure 2 The methods of the embodiments of this application are described in detail.

[0054] Figure 2 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application.

[0055] For example, such as Figure 2 As shown, taking the ECU as the executing entity as an example, the method 200 includes:

[0056] Step 201: With the first vehicle in privacy protection mode enabled, obtain environmental information about the area surrounding the first vehicle.

[0057] In one possible implementation, a physical button for activating the privacy protection mode can be configured on the first vehicle, or a virtual button for activating the privacy protection mode can be configured on the menu bar of the central control screen of the first vehicle, so that when users need to protect their privacy, such as when they are resting in the car and do not want pedestrians to spy on the car, they can activate the privacy protection mode of the first vehicle through the configured physical button or virtual button.

[0058] Optionally, users can also activate the privacy protection mode of the first vehicle via voice. For example, when the ECU detects that the user's voice data contains keywords such as "activate privacy", "open privacy mode" or "one-click privacy", it can control the first vehicle to activate the privacy protection mode.

[0059] In this application embodiment, the method for obtaining environmental information around the first vehicle is as follows: it can be obtained by means of cameras, vision sensors, radar sensors or ultrasonic sensors configured inside / outside the vehicle, and this application embodiment does not limit this method.

[0060] Step 202: Based on the environmental information and the vehicle information of the first vehicle, determine the first parking position and the first parking posture of the first vehicle. The vehicle information is used to describe the appearance of the first vehicle. The first parking position is the parking position where the first vehicle receives the least attention under the environmental information. The first parking posture is the parking posture where the first vehicle receives the least attention under the environmental information.

[0061] It should be noted that the vehicle information of the first vehicle may include information that describes the appearance of the vehicle, such as color information, size information, or type information. This application embodiment does not limit this.

[0062] Optionally, the vehicle information may also include the vehicle's brand information. It is understood that the vehicle information of the first vehicle is pre-stored in the first vehicle's internal memory.

[0063] Specifically, when the privacy protection mode is enabled in the first vehicle, after the ECU obtains the environmental information around the first vehicle, it can determine the parking position where the first vehicle receives the least attention under the environmental information, i.e., the first parking position, and the parking posture where the first vehicle receives the least attention under the environmental information, i.e., the first parking posture, based on the pre-stored color information, size information, and type information of the first vehicle, and the obtained environmental information.

[0064] It should be noted that, considering that there may or may not be a second vehicle parked around the first vehicle, in order to ensure that the first vehicle can accurately park based on the surrounding environmental information, in one possible implementation, the environmental information can be divided into two types: First, the environmental information includes the vehicle information of the second vehicles around the first vehicle, i.e., in this case, there are second vehicles parked around the first vehicle; Second, the environmental information includes the parking lot information where the first vehicle is located, i.e., in this case, there may or may not be a second vehicle parked around the first vehicle. The vehicle information of the second vehicle is the same as that of the first vehicle, and will not be repeated here; the parking lot information may include the location information, type information, layout information, and parking space usage information of the parking lot where the first vehicle is located, etc., which are not limited in this embodiment.

[0065] The parking lot type information includes indoor parking lots, outdoor parking lots (open-air parking lots), roadside parking spaces, or temporary parking lots; the parking lot layout information includes the location of the parking lot entrance and exit, the location of road intersections, and the width of the driving lanes.

[0066] In this embodiment, regarding the methods for obtaining parking lot information: Since the in-vehicle infotainment (IVI) system can integrate navigation and parking services, the IVI can obtain parking lot type and layout information through its built-in map and parking database, and obtain parking space usage information in real time through wireless communication technologies (such as cellular networks and Wi-Fi); it can also use the vehicle-to-everything (V2X) technology through the vehicle communication system of the first vehicle to enable the first vehicle to communicate with the intelligent management system of the parking lot to directly obtain parking space usage information; in addition, it can also communicate with the cloud service platform through the remote processing system of the first vehicle to obtain parking lot type, layout and parking space usage information, but this embodiment does not limit the specific methods used.

[0067] The following sections will describe how to determine the first parking position and second posture of the first vehicle based on the first type of environmental information and the second type of environmental information.

[0068] The first method, where environmental information includes vehicle information of second vehicles surrounding the first vehicle, involves the following steps for determining the first parking position and first orientation of the first vehicle:

[0069] Step 1: If the vehicle information of the second vehicle is similar to that of the first vehicle, obtain the second parking position and the second parking posture of the second vehicle.

[0070] The second parking position refers to the location of the parking space where the second vehicle is parked, and the second parking posture refers to the parking direction of the second vehicle, the parking angle of the second vehicle, and the distance between the front of the second vehicle and the parking space line.

[0071] It should be noted that when a second vehicle is parked around the first vehicle, in order to minimize the attention the first vehicle receives in the surrounding environment, the first vehicle should be parked in a parking space near the second vehicle with similar vehicle information. This would reduce the first vehicle's visibility in the surrounding environment, thereby reducing its presence and improving its concealment.

[0072] Specifically, when the privacy protection mode is enabled in the first vehicle, after the ECU obtains the vehicle information of the second vehicle, it can perform similarity analysis between the vehicle information of the second vehicle and the vehicle information of the first vehicle. If the similarity between the vehicle information of the second vehicle and the vehicle information of the first vehicle is greater than the similarity threshold, the ECU can obtain the second parking position and the second parking posture of the second vehicle. Based on the second parking position and the second parking posture of the second vehicle, the ECU can determine the first parking position and the first parking posture of the first vehicle, thereby ensuring that the first vehicle can be parked in a parking space near the second vehicle whose vehicle information is similar to that of the first vehicle.

[0073] It should be noted that there may be multiple second vehicles parked around the first vehicle. Correspondingly, the environmental information will also include the vehicle information of multiple second vehicles. In one possible implementation, the vehicle information may include the vehicle's color information and type information. Since the color of a vehicle is more attractive to pedestrians than its type, when the ECU obtains the vehicle information of the second vehicles, it can first compare and analyze the color information of the first vehicle with the color information of multiple second vehicles. If it is determined that there is a second vehicle among the multiple second vehicles with a color similar to that of the first vehicle, that is, if the similarity between the color of the second vehicle and the color of the first vehicle is greater than the similarity threshold, then the type information of the second vehicle with the color similar to that of the first vehicle is compared and analyzed with the type information of the first vehicle. If it is determined that the similarity between the type of the second vehicle and the first vehicle is greater than the similarity threshold, then the vehicle information of the second vehicle is determined to be similar to that of the first vehicle, and the second parking position and the second parking posture of the second vehicle are obtained.

[0074] It should be noted that when there is a second vehicle whose color is more similar to the color of the first vehicle than the similarity threshold, and there are multiple second vehicles whose types are more similar to the types of the first vehicle than the similarity threshold, the second vehicle with the highest similarity to the type of the first vehicle among the multiple second vehicles is determined, and the second parking position and the second parking posture of the second vehicle are obtained. This makes the first vehicle more concealed after parking according to the second parking position and the second parking posture of the second vehicle.

[0075] In another possible implementation, if there is a second vehicle whose color is more similar to the color of the first vehicle than a similarity threshold, but there is no second vehicle whose type is more similar to the type of the first vehicle than a similarity threshold, the second vehicle with the highest color similarity to the first vehicle among multiple second vehicles is determined, and the second parking position and second parking posture of the second vehicle are obtained.

[0076] In another possible implementation, if there is no second vehicle whose color is more similar to the color of the first vehicle than the similarity threshold, the type information of multiple second vehicles can be analyzed and compared with the type information of the first vehicle. If it is determined that there is a second vehicle among the multiple second vehicles that is similar to the type of the first vehicle, that is, if there is a second vehicle whose type is more similar to the type of the first vehicle than the similarity threshold, the second vehicle with the highest type similarity to the first vehicle among the multiple second vehicles is determined, and the second parking position and the second parking posture of the second vehicle are obtained.

[0077] In this embodiment of the application, the method for obtaining the second parking position and the second parking posture of the second vehicle is as follows: the second parking posture of the second vehicle can be obtained by using cameras, vision sensors, radar sensors or ultrasonic sensors configured inside / outside the first vehicle; the second parking position of the second vehicle can be obtained by using the vehicle coordinate system of the first vehicle and the Global Positioning System (GPS).

[0078] Step 2: If there are vacant parking spaces around the second vehicle, determine the target vacant parking space that is closest to the second parking position, and set the location of the target vacant parking space as the first parking position of the first vehicle; set the second parking posture as the first parking posture of the first vehicle.

[0079] Specifically, after obtaining the second parking position and second parking posture of the second vehicle, in order to enable the first vehicle to park in the parking space closest to the second vehicle, that is, to enable the first vehicle to better blend into the surrounding environment, the ECU can determine whether there is an empty parking space around the second vehicle. If there is an empty parking space around the second vehicle, the ECU can determine the target empty parking space closest to the second parking position, and thus determine the position of the target empty parking space as the first parking position of the first vehicle, and determine the second parking posture as the first parking posture of the first vehicle, so that the first vehicle can approach the second vehicle and park in the second parking posture of the second vehicle, thereby reducing the prominence of the first vehicle in the surrounding environment.

[0080] In this embodiment of the application, the method for determining whether there is a vacant parking space around the second vehicle is as follows: the camera configured inside / outside the first vehicle can capture images of the surrounding environment, and potential vacant parking spaces can be identified through image processing techniques such as edge detection, color segmentation, and shape recognition. Then, an ultrasonic sensor can be used to detect whether there are vehicles, pedestrians, or obstacles in the potential vacant parking space to determine whether the parking space is occupied, that is, whether there is a vacant parking space around the second vehicle.

[0081] It should be noted that there may be multiple vacant parking spaces around the second vehicle. Therefore, if it is determined that there are vacant parking spaces around the second vehicle, it is necessary to identify the target vacant parking space that is closest to the second parking position. The method for identifying the target vacant parking space closest to the second parking position is as follows: Ultrasonic sensors can be used to obtain the distance between each vacant parking space and the second parking position of the second vehicle, and this distance is sent to the ECU. The ECU then identifies the vacant parking space closest to the second parking position of the second vehicle as the target vacant parking space.

[0082] The second method, where the environmental information includes the parking lot information where the first vehicle is located, involves the following steps to determine the first parking position and first orientation of the first vehicle:

[0083] Step 1: Input the parking lot information and the vehicle information of the first vehicle into the target prediction model. Process the parking lot information and the vehicle information of the first vehicle through the target prediction model to obtain multiple parking strategies output by the target prediction model, as well as the predicted attention degree corresponding to each parking strategy. The parking strategy includes the first parking position and / or the first parking posture of the first vehicle. The predicted attention degree is used to represent the degree of attention the first vehicle receives.

[0084] Specifically, after the ECU obtains the parking lot information (parking lot location information, type information, layout information, and parking space usage information) of the first vehicle, it can input the parking lot information and the vehicle information (color information and type information) of the first vehicle into the target prediction model. The target prediction model can then process the parking lot information and the vehicle information of the first vehicle to obtain multiple parking strategies output by the target prediction model, as well as the predicted attention level corresponding to each parking strategy.

[0085] The target prediction model can be a model formed by integrating multiple objective functions. This model can be a supervised learning model (such as decision trees, support vector machines, neural networks, etc.), a reinforcement learning model, or a rule-based hybrid model. Specifically, after inputting parking lot information and the vehicle information of the first vehicle into the target prediction model, the model first processes the parking lot information and the vehicle information of the first vehicle, and then outputs multiple parking strategies based on the processed information and multiple objective functions. Each parking strategy is the optimal solution under different objective functions. In addition, for each generated parking strategy, the target prediction model will calculate a comprehensive score to reflect the merits (feasibility) of the parking strategy. That is, for each generated parking strategy, the target prediction model will calculate the predicted attention level corresponding to each parking strategy. This predicted attention level is used to represent the degree of attention the first vehicle receives.

[0086] It should be noted that each objective function optimizes a different objective. For example, the first objective function is used to optimize the parking position of the first vehicle, the second objective function is used to optimize the parking posture of the first vehicle, and the third objective function is used to optimize the driving distance of the first vehicle. Therefore, the parking strategy output by each objective function may include the first parking position of the first vehicle, or the first parking posture of the first vehicle, or both the first parking position and the first parking posture of the first vehicle. This application embodiment does not limit this.

[0087] In one possible real-time approach, the parking lot information and the vehicle information of the first vehicle are processed by a target prediction model to obtain multiple parking strategies output by the target prediction model, including: extracting feature information of the parking lot and vehicle feature information of the first vehicle through the target prediction model; and determining multiple parking strategies based on the feature information of the parking lot and vehicle feature information of the first vehicle.

[0088] Specifically, after inputting the parking lot information and the vehicle information of the first vehicle into the target prediction model, the target prediction model can extract the feature information of the parking lot and the vehicle feature information of the first vehicle through Convolutional Neural Networks (CNN). The parking lot feature information includes at least the layout information, the first type information, and the parking space usage information. It should be noted that the first type information is the same as the parking lot type information mentioned above, and will not be repeated here. The parking space usage information describes the usage of parking spaces in the parking lot, that is, it reflects the number and distribution of vacant parking spaces. After obtaining the parking lot feature information and the vehicle feature information of the first vehicle through the convolutional neural network, multiple objective functions in the target prediction model will output multiple parking strategies based on this feature information.

[0089] Step 2: Determine the target attention level from multiple predicted attention levels, and determine the parking strategy corresponding to the target attention level as the target parking strategy. The target attention level is the attention level with the lowest attention level among multiple predicted attention levels.

[0090] Specifically, after determining multiple parking strategies and the predicted attention level corresponding to each parking strategy, in order to reduce the presence of the first vehicle, the ECU can determine the attention level with the lowest attention level from the multiple predicted attention levels, i.e., the target attention level, and determine the parking strategy corresponding to the target attention level as the target parking strategy, so that when the first vehicle parks according to the target parking strategy, the degree of attention it receives can be reduced.

[0091] For example, when the target prediction model outputs parking strategy 1, parking strategy 2, parking strategy 3, and the predicted attention level corresponding to parking strategy 1 (0.35), parking strategy 2 (0.55), and parking strategy 3 (0.6), the ECU will determine that the lowest attention level among the three predicted attention levels is 0.35, and will determine the attention level with a predicted attention level of 0.35 as the target attention level, and determine the parking strategy 1 corresponding to the predicted attention level of 0.35 as the target parking strategy.

[0092] Step 203: Control the first vehicle to park in the first parking position with the first parking posture.

[0093] Specifically, after the ECU determines the first parking position and first parking posture of the first vehicle, it will determine the precise coordinates of the first parking position (parking space) based on onboard sensors (such as cameras and lidar), parking lot layout information, and map data. Based on the current position and the first parking position of the first vehicle, a path planning algorithm (such as Dijkstra's algorithm) is used to calculate an optimal path from the current position to the first parking position. The path planning needs to consider obstacles, other vehicles, pedestrians, and the layout and rules of the parking lot. After determining the optimal path planning, the ECU will adjust the accelerator pedal depth, steering angle, and brake pedal depth of the first vehicle so that the first vehicle travels along the planned path. When the first vehicle is close to the first parking position, the ECU will adjust the parking angle of the first vehicle in the parking space and the distance between the first vehicle and the parking line so that the first vehicle is parked in the first parking position according to the first parking posture.

[0094] To improve the output accuracy of the target prediction model, in one possible implementation, after controlling the first vehicle to park in a first parking posture at a first parking position, the method further includes: obtaining the actual attention level of the first vehicle; and adjusting the model parameters of the target prediction model based on the difference information between the actual attention level and the target attention level.

[0095] Specifically, after controlling the first vehicle to park in the first parking position with the first parking posture, the ECU can obtain the actual attention level of the first vehicle through the vehicle-mounted sensors. The actual attention level is used to represent the degree of attention the first vehicle receives from pedestrians after it is parked in the first parking position with the first parking posture. After obtaining the actual attention level, the ECU can determine the difference information between the target attention level and the actual attention level, and adjust the model parameters of the target prediction model according to the difference information, thereby improving the accuracy of the subsequent output of the target prediction model.

[0096] It should be noted that the ECU can use machine algorithms, such as gradient descent, stochastic gradient descent, Adam optimizer, or regression analysis, to adjust the weights and hyperparameters of the target prediction model based on this difference information, in order to optimize the model performance of the target prediction model and improve the accuracy of its subsequent output.

[0097] The specific steps for obtaining the actual attention level of the first vehicle are as follows:

[0098] Step 1: Obtain the number of times the first vehicle was viewed and the duration of the view.

[0099] In this embodiment, the method for obtaining the number of times and duration of gazes on the first vehicle is as follows: Since eye-tracking technology can accurately measure eye movements and record the coordinates and duration of each gaze point, it can be used to monitor the duration and number of times pedestrians gaze at the first vehicle. Alternatively, computer vision technology, such as an open-source computer vision library (OpenCV) or a deep learning model, can be used to analyze video footage captured by an onboard camera to identify pedestrian gaze behavior. Identifying pedestrian gaze behavior includes face detection, head pose estimation, and eye region analysis. The pedestrian gaze behavior is used to determine whether the pedestrian has noticed the first vehicle and, if so, the duration and number of times the first vehicle has been gazed at. This embodiment does not limit the specific steps involved.

[0100] Step 2: Determine the actual level of attention given to the first vehicle based on the number of times it is viewed and the duration of the view.

[0101] In some embodiments, a table relating the number of times a vehicle is viewed, the duration of the view, and the actual level of attention to the first vehicle can be pre-defined. It is understood that the higher the number of times a vehicle is viewed and the longer the duration of the view, the higher the actual level of attention.

[0102] For example, the relationship between the number of times a vehicle is viewed, the duration of the view, and the actual level of attention paid to the first vehicle can be shown in Table 1 below:

[0103] Table 1

[0104] Number of times viewed / Duration of being stared at / second Actual attention (0～2) (1～2) 0.2 (2～5) (2～4) 0.4 (5～8) (4～6) 0.6 (8～10) (6～8) 0.8 …… …… ……

[0105] For example, if the first vehicle is observed 4 times and observed for 3 seconds, the actual attention level corresponding to 3 observations and 3 seconds can be found in Table 1 as 0.4.

[0106] It should be noted that when the number of times a vehicle is viewed and the duration of viewing are not within the same range of actual attention, the average actual attention corresponding to the number of views and the actual attention corresponding to the duration of viewing can be calculated, and this average actual attention can be determined as the actual attention of the first vehicle. For example, if the first vehicle is viewed 4 times and the viewing duration is 5.5 seconds, Table 1 shows that the actual attention corresponding to 3 views is 0.4, and the actual attention corresponding to 6 viewing duration is 0.6. In this case, the average of 0.4 and 0.6 can be calculated, i.e., (0.4 + 0.6) / 2 = 0.5, and 0.5 can be determined as the actual attention of the first vehicle.

[0107] To further reduce the visibility of the first vehicle, i.e., to reduce the degree to which the first vehicle receives attention, in one possible implementation, after controlling the first vehicle to park in the first parking position with a first parking posture, the method further includes: acquiring the lighting status of the first vehicle, including the interior lighting status and the exterior lighting status of the first vehicle; and turning off the interior lighting and / or exterior lighting of the first vehicle when the interior lighting and / or exterior lighting of the first vehicle are on.

[0108] The exterior lights of the first vehicle include headlights, front and rear fog lights, turn signals, taillights, daytime running lights, side marker lights, and hazard warning lights; the interior lights of the first vehicle include ambient lights, welcome lights, reading lights, interior lighting (dormer lights), vanity mirror lights, and instrument lights.

[0109] Specifically, after controlling the first vehicle to park in the first parking position with the first parking posture, the ECU can obtain the lighting status of the first vehicle through a photosensitive sensor. If it is determined that any of the interior lights and / or exterior lights of the first vehicle are on, the ECU sends a command signal to the corresponding circuit to turn off the lights through the Controller Area Network (CAN) bus. This causes the relays or transistors in the corresponding circuit to cut off the current flowing through the lights according to the command signal, thereby turning off the interior lights and / or exterior lights of the first vehicle.

[0110] In the above technical solution, since the lighting status of the first vehicle affects the degree of attention the first vehicle receives, after controlling the first vehicle to park in the first parking position with the first parking posture, the lighting status (interior lighting status and exterior lighting status) of the first vehicle can be obtained so that when the interior lighting status and / or exterior lighting status are on, the interior lighting and / or exterior lighting of the first vehicle can be turned off, thereby avoiding the first vehicle from receiving more attention due to the interior lighting and / or exterior lighting being on.

[0111] As can be seen from the above embodiments, the interior lights of the first vehicle include ambient lights, welcome lights, reading lights, interior lighting (dormer lights), vanity mirror lights, instrument lights, and other types of lights. Considering that the target object may use a certain type of light inside the vehicle, when the interior lights of the first vehicle are on, the behavior information of the target object inside the first vehicle can be obtained. This behavior information is used to describe the target object's use of the interior lights. Therefore, based on this behavior information, the target interior light of the first vehicle that needs to be turned off can be determined and the target interior light can be turned off. The target interior light is one or more of the interior lights of the first vehicle.

[0112] The target object can be the driver or passenger, etc., but this embodiment does not limit it.

[0113] It should be noted that the behavioral information of the target object may include reading, entertainment, and resting states, and this application embodiment does not limit this. Specifically, the facial expressions, eye movements, and head posture of the target object can be monitored by a camera installed in the vehicle to determine whether the target object is in a reading or entertainment state, and the sitting posture of the target object can be detected by a seat sensor to determine whether the target object is in a resting state.

[0114] For example, if the interior lights of the first vehicle are on, the behavioral information of the target object inside the first vehicle describes that the target object is currently reading. At this time, it is determined that the interior lights that need to be turned off are the interior lights, ambient lights, welcome lights, vanity mirror lights, and instrument lights. The interior lights, ambient lights, welcome lights, vanity mirror lights, and instrument lights are turned off to ensure that the target object's use of the interior lights (lights) is not affected, thereby improving the target object's driving experience.

[0115] To further reduce the visibility of the first vehicle, after controlling the first vehicle to park in the first parking position with the first parking posture, the method further includes: acquiring the opening and closing status of the first vehicle's windows, sunroof, and rearview mirrors, as well as the steering angle of the first vehicle's steering wheel; controlling the first vehicle to close its windows and / or sunroof and rearview mirrors when the first vehicle's windows and / or sunroof and rearview mirrors are open; and controlling the first vehicle's wheels to remain stationary when the steering angle of the first vehicle's steering wheel is greater than a threshold.

[0116] Specifically, after controlling the first vehicle to park in the first parking position with the first parking posture, the ECU can obtain the opening and closing status of the first vehicle's windows, sunroof, and rearview mirrors through position sensors (e.g., capacitive sensors, Hall effect sensors). When it is determined that the first vehicle's windows and / or sunroof and rearview mirrors are open, the ECU sends a command signal to the vehicle's motor controller via the CAN bus to close the windows, so that the motor controller controls the motor to rotate according to the command signal, thereby driving the windows and / or sunroof and rearview mirrors to start moving until they are closed.

[0117] In addition, considering that when the target user starts an in-car game, they may do so by turning the steering wheel. However, under normal circumstances, turning the steering wheel of the first vehicle will also cause the wheels of the first vehicle to turn. In this embodiment, to avoid the wheels of the first vehicle turning due to the target user turning the steering wheel, thereby increasing the degree of attention the first vehicle receives, after controlling the first vehicle to park in the first parking position with a first parking posture, the ECU can detect the steering angle of the first vehicle's steering wheel through a steering angle sensor. If the steering angle of the first vehicle's steering wheel is greater than a threshold, the ECU can control the wheels of the first vehicle to remain stationary. Specifically, when the ECU determines that the steering angle of the first vehicle's steering wheel is greater than the threshold, the steering wheel and wheels of the first vehicle can be decoupled through a steer-by-wire system, thereby keeping the wheels of the first vehicle stationary.

[0118] Figure 3 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application.

[0119] For example, such as Figure 3 As shown, the device 300 includes:

[0120] The acquisition module 301 is used to acquire environmental information around the first vehicle when the first vehicle has its privacy protection mode enabled.

[0121] The determination module 302 is used to determine the first parking position and the first parking posture of the first vehicle based on the environmental information and the vehicle information of the first vehicle. The vehicle information is used to describe the appearance of the first vehicle. The first parking position is the parking position where the first vehicle receives the least attention under the environmental information. The first parking posture is the parking posture where the first vehicle receives the least attention under the environmental information.

[0122] The control module 303 is used to control the first vehicle to park in the first parking position with a first parking posture.

[0123] In one possible implementation, the environmental information includes vehicle information of second vehicles surrounding the first vehicle. The device further includes a second acquisition module, used to acquire a second parking position and a second parking posture of the second vehicle when the vehicle information of the second vehicle is similar to that of the first vehicle. The determination module is specifically used to determine the target vacant parking space closest to the second parking position when there is a vacant parking space around the second vehicle, and to determine the position of the target vacant parking space as the first parking position of the first vehicle; and to determine the second parking posture as the first parking posture of the first vehicle.

[0124] In one possible implementation, the environmental information includes the parking lot information where the first vehicle is located. The determination module is further used to input the parking lot information and the vehicle information of the first vehicle into the target prediction model, process the parking lot information and the vehicle information of the first vehicle through the target prediction model, obtain multiple parking strategies output by the target prediction model, and the predicted attention degree corresponding to each parking strategy. The parking strategy includes the first parking position and / or the first parking posture of the first vehicle, and the predicted attention degree is used to represent the degree of attention the first vehicle is receiving. The target attention degree is determined from the multiple predicted attention degrees, and the parking strategy corresponding to the target attention degree is determined as the target parking strategy. The target attention degree is the attention degree with the lowest degree of attention among the multiple predicted attention degrees.

[0125] In one possible implementation, the determining module is further used to extract the feature information of the parking lot and the vehicle feature information of the first vehicle through the target prediction model. The feature information of the parking lot includes at least the layout information, first type information and parking space usage information of the parking lot, and the vehicle feature information of the first vehicle includes at least the color information, size information and second type information of the first vehicle. Based on the feature information of the parking lot and the vehicle feature information of the first vehicle, multiple parking strategies are determined.

[0126] In one possible implementation, the device further includes a third acquisition module for acquiring the actual attention level of the first vehicle; the device also includes an update module for adjusting the model parameters of the target prediction model based on the difference information between the actual attention level and the target attention level.

[0127] In one possible implementation, the third acquisition module is specifically used to acquire the number of times the first vehicle is viewed and the duration of the view; the device also includes a second determination module, used to determine the actual attention level of the first vehicle based on the number of times the first vehicle is viewed and the duration of the view.

[0128] In one possible implementation, the device further includes a fourth acquisition module for acquiring the lighting status of the first vehicle, including the interior lighting status and the exterior lighting status of the first vehicle; the control module 303 is further configured to turn off the interior lighting and / or exterior lighting of the first vehicle when the interior lighting and / or exterior lighting of the first vehicle are on.

[0129] In one possible implementation, the interior lights of the first vehicle include at least one type of light. The fourth acquisition module is specifically used to acquire the behavior information of a target object inside the first vehicle when the interior lights of the first vehicle are on. The behavior information is used to describe the target object's use of the interior lights. The device also includes a third determination module, used to determine, based on the behavior information of the target object, a target interior light of the first vehicle that needs to be turned off. The target interior light is one or more of the interior lights of the first vehicle. The control module 303 is also used to control the turning off of the target interior light.

[0130] In one possible implementation, the fourth acquisition module is further used to acquire the opening and closing status of the windows, sunroof, and rearview mirrors of the first vehicle, as well as the steering angle of the steering wheel of the first vehicle; the control module 303 is further used to control the closing of the windows and / or sunroof and rearview mirrors of the first vehicle when the windows and / or sunroof and rearview mirrors of the first vehicle are open; and to control the wheels of the first vehicle to remain stationary when the steering angle of the steering wheel of the first vehicle is greater than a threshold.

[0131] Figure 4 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0132] For example, such as Figure 4 As shown, the vehicle 400 includes a memory 401 and a processor 402, wherein the memory 401 stores executable program code 403, and the processor 402 is used to call and execute the executable program code 403 to perform a vehicle control method.

[0133] Furthermore, embodiments of this application also protect an apparatus that may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform a vehicle control method provided in embodiments of this application.

[0134] This embodiment can divide the device into functional modules based on the above method example. For example, each module can correspond to a separate function, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0135] When the functional modules are divided according to their respective functions, the device may further include a first transmitting module, a second transmitting module, and a torque zeroing module, etc. It should be noted that all relevant content regarding the steps involved in the above method embodiments can be referenced from the functional descriptions of the corresponding functional modules, and will not be repeated here.

[0136] It should be understood that the device provided in this embodiment is used to execute the above-described vehicle control method, and therefore can achieve the same effect as the above-described implementation method.

[0137] When using an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module can be used to control and manage the vehicle's movements. The storage module can be used to support the vehicle in executing relevant program code.

[0138] The processing module may be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits shown in conjunction with the disclosure of this application. The processor may also be a combination of functions that implement computing capabilities, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc., and the storage module may be a memory.

[0139] In addition, the device provided in the embodiments of this application may specifically be a chip, component or module. The chip may include a connected processor and a memory. The memory is used to store instructions. When the processor calls and executes the instructions, the chip can execute a vehicle control method provided in the above embodiments.

[0140] This embodiment also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the above-described related method steps to implement a vehicle control method provided in the above embodiment.

[0141] This embodiment 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 provided in the above embodiment.

[0142] In this embodiment, the device, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0143] 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.

[0144] 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.

[0145] 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 vehicle control method characterized by, The method comprises: In the case that the first vehicle starts a privacy protection mode, acquiring environmental information around the first vehicle; According to the environmental information and vehicle information of the first vehicle, determining a first parking position and a first parking posture of the first vehicle, the vehicle information is used to describe the appearance of the first vehicle, the first parking position is the parking position of the first vehicle with the lowest degree of attention under the environmental information, and the first parking posture is the parking posture of the first vehicle with the lowest degree of attention under the environmental information; Controlling the first vehicle to park at the first parking position in the first parking posture; Acquiring the opening and closing states of the windows, sunroofs and rearview mirrors of the first vehicle, and the steering angle of the steering wheel of the first vehicle; In the case that the windows and / or the sunroofs and the rearview mirrors of the first vehicle are opened, controlling to close the windows and / or the sunroofs and the rearview mirrors of the first vehicle; In the case that the steering angle of the steering wheel of the first vehicle is greater than a threshold value, controlling the wheels of the first vehicle to remain stationary.

2. The method of claim 1, wherein, The environmental information comprises vehicle information of a second vehicle around the first vehicle, and the determination of the first parking position and the first parking posture of the first vehicle according to the environmental information and the vehicle information of the first vehicle comprises: In the case that the vehicle information of the second vehicle is similar to the vehicle information of the first vehicle, acquiring a second parking position and a second parking posture of the second vehicle; In the case that there is an idle parking space around the second vehicle, determining a target idle parking space closest to the second parking position, and determining the position of the target idle parking space as the first parking position of the first vehicle; Determining the second parking posture as the first parking posture of the first vehicle.

3. The method of claim 1, wherein, The environmental information comprises parking lot information where the first vehicle is located, and the determination of the first parking position and the first parking posture of the first vehicle according to the environmental information and the vehicle information of the first vehicle comprises: Inputting the parking lot information and the vehicle information of the first vehicle into a target prediction model, processing the parking lot information and the vehicle information of the first vehicle through the target prediction model, obtaining a plurality of parking strategies output by the target prediction model, and a predicted attention degree corresponding to each parking strategy, the parking strategy comprising the first parking position and / or the first parking posture of the first vehicle, and the predicted attention degree being used to represent the degree of attention of the first vehicle; Determining a target attention degree from a plurality of predicted attention degrees, and determining a parking strategy corresponding to the target attention degree as a target parking strategy, the target attention degree being the lowest attention degree in the plurality of predicted attention degrees.

4. The method of claim 3, wherein, The processing of the parking lot information and the vehicle information of the first vehicle through the target prediction model to obtain a plurality of parking strategies output by the target prediction model comprises: extracting feature information of the parking lot and vehicle feature information of the first vehicle by the target prediction model, the feature information of the parking lot at least including layout information, first type information and parking space usage information of the parking lot, and the vehicle feature information of the first vehicle at least including color information, size information and second type information of the first vehicle; determining a plurality of parking strategies according to the feature information of the parking lot and the vehicle feature information of the first vehicle.

5. The method of claim 3, wherein, After the first vehicle is parked in the first parking position in the first parking attitude, the method further comprises: obtaining actual attention degree of the first vehicle; adjusting model parameters of the target prediction model according to difference information between the actual attention degree and the target attention degree.

6. The method of claim 5, wherein, The obtaining of the actual attention degree of the first vehicle comprises: obtaining the number of times of being gazed and the gazing time length of the first vehicle; determining the actual attention degree of the first vehicle according to the number of times of being gazed and the gazing time length of the first vehicle.

7. The method of claim 1, wherein, After the first vehicle is parked in the first parking position in the first parking attitude, the method further comprises: obtaining light states of the first vehicle, the light states including in-vehicle light states and out-vehicle light states of the first vehicle; in a case where the in-vehicle light and / or the out-vehicle light of the first vehicle is on, turning off the in-vehicle light and / or the out-vehicle light of the first vehicle.

8. The method of claim 7, wherein, The in-vehicle light of the first vehicle at least includes one kind of light, and the turning off of the in-vehicle light and / or the out-vehicle light of the first vehicle in a case where the in-vehicle light and / or the out-vehicle light of the first vehicle is on comprises: in a case where the in-vehicle light state of the first vehicle is on, obtaining behavior information of a target object in the first vehicle, the behavior information being used to describe the use of the in-vehicle light by the target object; determining target in-vehicle light of the first vehicle that needs to be turned off according to the behavior information of the target object, the target in-vehicle light being one or more of the in-vehicle light of the first vehicle; controlling to turn off the target in-vehicle light.

9. A vehicle control device characterized by comprising: The device comprises: an obtaining module, configured to obtain environment information around a first vehicle in a case where the first vehicle starts a privacy protection mode; a determining module, configured to determine a first parking position and a first parking attitude of the first vehicle according to the environment information and vehicle information of the first vehicle, the vehicle information being used to describe the appearance of the first vehicle, the first parking position being a parking position of the first vehicle in the environment information in which the first vehicle is least likely to be noticed, and the first parking attitude being a parking attitude of the first vehicle in the environment information in which the first vehicle is least likely to be noticed. The control module is configured to control the first vehicle to be parked in the first parking position in the first parking attitude; acquire an open / close state of a window, a sunroof and a rearview mirror of the first vehicle, and a steering angle of a steering wheel of the first vehicle; control the window and / or the sunroof and the rearview mirror of the first vehicle to be closed in a case where the window and / or the sunroof and the rearview mirror of the first vehicle are opened; and control wheels of the first vehicle to be kept stationary in a case where the steering angle of the steering wheel of the first vehicle is greater than a threshold value.

10. A vehicle characterized by comprising: The vehicle comprises: a memory configured to store executable program code; a processor configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 8.

11. A computer readable storage medium, characterized in that, The computer readable storage medium stores a computer program, which, when executed, implements the method according to any one of claims 1 to 8.

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