On-board balancing vehicle control method, device, equipment and storage medium

Abstract

A method, device, equipment, and storage medium for controlling a vehicle-mounted self-balancing scooter. The method includes: if a self-balancing scooter disembarkation signal is obtained while the vehicle is in park, determining whether the self-balancing scooter meets a first-level disembarkation condition; if so, obtaining environmental parameters surrounding the vehicle; determining a disembarkation execution direction for the self-balancing scooter from a plurality of preset disembarkation directions based on the environmental parameters; and adjusting the self-balancing scooter's orientation to the disembarkation execution direction and then releasing the self-balancing scooter. By obtaining environmental parameters surrounding the current vehicle after the basic disembarkation condition for the self-balancing scooter is currently met, and further selecting a disembarkation direction suitable for the self-balancing scooter from a plurality of preset disembarkation directions based on the environmental parameters as the disembarkation execution direction, the self-balancing scooter's disembarkation execution direction is adaptively adjusted according to the actual environmental conditions in each direction of the current vehicle, ensuring that the self-balancing scooter mounted on the vehicle can complete disembarkation tasks in a relatively safer and smoother manner in different scenarios.

Description

Technical Field

[0001] The present application relates to the field of vehicle-mounted device control technology, and in particular to a method, device, equipment and storage medium for controlling a vehicle-mounted balancing vehicle. Background Art

[0002] In the usage scenarios of vehicle users, there are many users who still need to walk or use other means of transportation to reach their final destination after completing the driving task of the vehicle and parking. In these scenarios, when there is a long distance between the parking location and the final destination, if the user does not want to walk, the user may choose to use the balance car mounted on the vehicle for transportation, thereby saving the user's time and physical strength. When the user returns to the vehicle, the balance car can be mounted on the mounting platform on the vehicle.

[0003] However, for the self-balancing scooter solution that automatically completes vehicle boarding and disembarking, the self-balancing scooter mounted on the vehicle will face different disembarking scenarios during the automatic disembarking process depending on the initial parking location of the vehicle. Different disembarking scenarios will also lead to different degrees of risk at the disembarking location. Therefore, how to effectively respond to current disembarking scenarios and ensure that the self-balancing scooter can safely disembark and provide services to users is a direction that can be further improved. Summary of the Invention

[0004] The present application provides a method, device, equipment and storage medium for controlling a vehicle-mounted balancing vehicle, which can solve the technical problems existing in the above-mentioned related technologies.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling a vehicle-mounted balancing vehicle, which adopts the following technical solutions:

[0006] A method for controlling a vehicle-mounted balancing vehicle, the method comprising:

[0007] If the vehicle is in the parking gear and receives the disembarkation signal from the self-balancing scooter, it is determined whether the self-balancing scooter meets the first-level disembarkation condition;

[0008] If satisfied, obtain the environmental parameters around the vehicle;

[0009] Determining a disembarkation direction of the self-balancing vehicle from a plurality of preset disembarkation directions according to the environmental parameters;

[0010] The balancing vehicle is adjusted to face the disembarking direction and then released.

[0011] In combination with the first aspect, in one embodiment, the step of determining the direction of getting off the balancing vehicle from a plurality of preset getting off directions according to the environmental parameters is:

[0012] According to the environmental parameters, determine whether each of the vehicle's disembarkation directions meets the secondary disembarkation condition one by one, and use the first disembarkation direction that meets the secondary disembarkation condition as the disembarkation execution direction of the self-balancing vehicle; or

[0013] According to the environmental parameters, it is determined whether each of the vehicle's getting-off directions meets the secondary getting-off condition, and one of the getting-off directions meeting the secondary getting-off condition is selected as the getting-off execution direction of the balancing vehicle.

[0014] In conjunction with the first aspect, in one embodiment, in determining whether each of the vehicle's getting-off directions satisfies the secondary getting-off condition one by one based on the environmental parameters, the determination process for each of the vehicle's getting-off directions includes the following steps:

[0015] Periodically determining whether there is an obstacle within a first set distance preset in the getting-off direction within a first set time according to the environmental parameters;

[0016] If it is determined that no obstacle exists within the first set distance within the first set time, it is determined that the corresponding getting-off direction meets the secondary getting-off condition;

[0017] If there is always an obstacle within the first set distance within the first set time, whether the getting off direction meets the secondary getting off condition is determined based on whether there is an obstacle within the second set distance preset in the getting off direction after the first set time; wherein the second set distance is smaller than the first set distance.

[0018] In combination with the first aspect, in one embodiment, determining the disembarkation direction of the self-balancing vehicle from a plurality of preset disembarkation directions according to the environmental parameters further includes the following steps:

[0019] If it is determined based on the environmental parameters that each of the vehicle's getting-off directions does not meet the secondary getting-off condition, a first signal is output, and the step of determining whether each of the vehicle's getting-off directions meets the secondary getting-off condition is repeated.

[0020] In combination with the first aspect, in one embodiment, if a vehicle is in the parking gear and a disembarkation signal of the self-balancing vehicle is obtained, determining whether the self-balancing vehicle meets the first-level disembarkation condition includes the following steps:

[0021] Determining whether the self-balancing vehicle is located on the vehicle when the vehicle is in the parking gear;

[0022] If the vehicle is on the vehicle, determining whether the vehicle has established a communication connection with the balance vehicle;

[0023] When the self-balancing scooter is normally connected to the vehicle for communication, the user can obtain the current power of the self-balancing scooter and the navigation destination of the self-balancing scooter driving task input by the user;

[0024] Determine whether the current battery level of the self-balancing vehicle is sufficient to carry the user to the navigation destination;

[0025] If so, it is determined that the balancing vehicle meets the first-level disembarkation conditions;

[0026] If not satisfied, a second signal is output.

[0027] In conjunction with the first aspect, in one embodiment, the method further includes the following steps:

[0028] If a boarding signal from a self-balancing scooter is obtained when the vehicle is in park, the identity information of the self-balancing scooter is verified;

[0029] Determine whether the self-balancing vehicle whose identity information is passed is in an identifiable area;

[0030] If the vehicle is in the identifiable area, a boarding preparation point corresponding to the disembarking direction is sent to the self-balancing vehicle;

[0031] Lowering the self-balancing vehicle carrying device and adjusting the self-balancing vehicle carrying device to face the vehicle boarding preparation point;

[0032] After detecting that the balancing vehicle is docked with the balancing vehicle carrying device, the balancing vehicle carrying device is retracted and reset to an initial position.

[0033] In combination with the first aspect, in one embodiment, after detecting that the self-balancing vehicle is docked with the self-balancing vehicle carrying device, retracting the self-balancing vehicle carrying device and resetting it to an initial position, the following steps are included:

[0034] In response to a user-set or preset charge limit for the self-balancing scooter, the self-balancing scooter is connected to the power supply and charged to the charge limit for the self-balancing scooter.

[0035] In a second aspect, an embodiment of the present application provides a control device for a vehicle-mounted balancing vehicle, which adopts the following technical solution:

[0036] A vehicle-mounted balancing vehicle control device, the vehicle-mounted balancing vehicle control device comprising:

[0037] A trigger module is configured to obtain a disembarkation signal from the self-balancing scooter when the vehicle is in the parking gear, determine whether the self-balancing scooter meets the first-level disembarkation condition; if so, obtain environmental parameters around the vehicle;

[0038] The disembarkation execution module is configured to determine the disembarkation execution direction of the balance vehicle from a plurality of preset disembarkation directions according to the environmental parameters; and release the balance vehicle after adjusting the direction of the balance vehicle to the disembarkation execution direction.

[0039] In a third aspect, the present application provides a vehicle-mounted balancing vehicle control device, which adopts the following technical solutions:

[0040] A vehicle-mounted balancing vehicle control device includes a processor, a memory, and a vehicle-mounted balancing vehicle control program stored in the memory and executable by the processor, wherein when the vehicle-mounted balancing vehicle control program is executed by the processor, the steps of the vehicle-mounted balancing vehicle control method described above are implemented.

[0041] In a fourth aspect, an embodiment of the present application provides a storage medium, which adopts the following technical solution:

[0042] A storage medium stores a vehicle-mounted balancing vehicle control program, wherein when the vehicle-mounted balancing vehicle control program is executed by a processor, the steps of the vehicle-mounted balancing vehicle control method described above are implemented.

[0043] The beneficial effects of the technical solutions provided in the embodiments of the present application include:

[0044] After the basic conditions for getting off the balance bike, namely the first-level getting off conditions, are met, the environmental parameters around the current vehicle will be obtained, and a direction that allows the balance bike to get off will be selected from the preset getting off directions based on the environmental parameters. This will enable the balance bike to adaptively adjust its getting off direction according to the actual environmental conditions in all directions of the current vehicle, ensuring that the balance bike carried on the vehicle can complete the getting off task in a relatively safer and smoother manner when performing the getting off task in different scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a flow chart of an embodiment of a method for controlling a vehicle-mounted balancing vehicle of the present application;

[0046] Figure 2 This is a schematic diagram of the functional modules of an embodiment of the onboard balancing vehicle control device of the present application;

[0047] Figure 3 This is a schematic diagram of the hardware structure of the on-board balancing vehicle control device involved in the embodiment of the present application. DETAILED DESCRIPTION

[0048] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0049] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0050] In a first aspect, an embodiment of the present application provides a method for controlling a vehicle-mounted balancing vehicle.

[0051] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the control method of the vehicle-mounted balancing vehicle of this application. Figure 1 As shown, the vehicle-mounted balancing vehicle control method includes:

[0052] S100: If a get-off signal from a self-balancing scooter is obtained while the vehicle is in the parking gear, determine whether the self-balancing scooter meets the first-level get-off condition;

[0053] S200: If the conditions are met, obtain the environmental parameters around the vehicle;

[0054] S300: Determine, based on the environmental parameters, a direction for disembarking the self-balancing vehicle from a plurality of preset disembarking directions;

[0055] S400: Adjust the direction of the self-balancing vehicle to the direction of getting off and then release the self-balancing vehicle.

[0056] In this embodiment, after the basic conditions for disembarking a self-balancing scooter, namely the first-level disembarkation conditions, are met, the environmental parameters surrounding the current vehicle are obtained, and a final disembarkation direction is selected from preset disembarkation directions based on the environmental parameters. This allows the self-balancing scooter's disembarkation direction to be adaptively adjusted based on the actual environmental conditions in all directions of the current vehicle, ensuring that the self-balancing scooter mounted on the vehicle can complete the disembarkation task in a relatively safer and smoother manner in different scenarios. This solves the problem in related technologies of being unable to adaptively execute the self-balancing scooter disembarkation task based on the specific scenario.

[0057] Among them, the first-level disembarkation condition for the self-balancing scooter should be a hard condition for whether the self-balancing scooter can successfully perform the driving task or whether it can successfully disembark. For example, in some embodiments, the first-level disembarkation condition can be whether the self-balancing scooter is connected to the vehicle's near-field communication, whether the self-balancing scooter's battery level satisfies the self-balancing scooter's ability to travel to the user's navigation destination, etc. The first-level disembarkation condition can be set as one lower-level judgment condition or can include multiple lower-level judgment conditions, which is not limited in this application. When the first-level disembarkation condition composed of hard conditions is met, the subsequent disembarkation direction determination step and disembarkation step can be performed in combination with the current surrounding environment.

[0058] Furthermore, in some embodiments, in step S300, in determining the disembarkation direction of the self-balancing vehicle from a plurality of preset disembarkation directions according to the environmental parameters, it is determined one by one whether each of the disembarkation directions of the vehicle satisfies the secondary disembarkation condition according to the environmental parameters, and the first disembarkation direction that satisfies the secondary disembarkation condition is used as the disembarkation direction of the self-balancing vehicle;

[0059] With this arrangement, the exit directions on each side of the vehicle will be judged one by one according to a preset judgment order, for example, the left side, front side, right side and rear side of the vehicle will be judged in sequence.

[0060] In other embodiments, in step S300, the direction of getting off the balance vehicle is determined from a plurality of preset getting off directions according to the environmental parameters, and then, based on the environmental parameters, it is judged whether each of the vehicle's getting off directions meets the secondary getting off conditions, and one of the getting off directions that meets the secondary getting off conditions is selected as the direction of getting off the balance vehicle.

[0061] This arrangement allows for simultaneous determination of the disembarkation directions for each side of each vehicle. After all determinations are complete, further conditions or a user selection are used to select one of the disembarkation directions with the secondary disembarkation condition as the disembarkation direction for the self-balancing scooter. The further conditions may include a pre-set selection order, etc., which is not limited in this application.

[0062] Furthermore, in one embodiment, in step S300, determining whether each of the vehicle's getting-off directions satisfies the secondary getting-off condition based on the environmental parameters, the determination process for each of the vehicle's getting-off directions includes the following steps:

[0063] S310: Periodically determine, within a first set time period, based on the environmental parameters, whether there is an obstacle within a first set distance preset in the direction of getting off the vehicle;

[0064] S320: If it is determined that no obstacle exists within the first set distance within the first set time, determining that the corresponding getting-off direction satisfies the secondary getting-off condition;

[0065] S330. If there is always an obstacle within the first set distance within the first set time, determine whether the getting off direction meets the secondary getting off condition based on whether there is an obstacle within a second set distance preset in the getting off direction after the first set time; wherein the second set distance is smaller than the first set distance.

[0066] Exemplarily, the environmental data of the vehicle corresponding to the getting-off direction is obtained through the vehicle radar sensor and camera, and these environmental data are used to identify and determine whether there is an obstacle within a first set distance (for example, 0.6m) of the vehicle in the getting-off direction (for example, the left side). If not, the left side can be directly determined as the getting-off direction; if so, it is determined whether the obstacle has left within a first set time (for example, 8s), that is, whether there is always an obstacle within the first set time. If it is found that there is no obstacle at a certain judgment moment in the middle, it means that the obstacle has left, and the left side can be determined as the getting-off direction at this time; if the obstacle still has not left within the first time, it is further determined based on whether there is an obstacle within a second set distance (for example, 0.4m). If not, the current space on this side can allow the getting-off process of the balance car to be executed, and the left side can be determined as the getting-off direction. If so, it means that the getting-off process of the balance car cannot be executed and it cannot be used as the getting-off direction. At this time, the next getting-off direction (for example, the front side) is judged.

[0067] Furthermore, in some embodiments, determining the direction of getting off the self-balancing vehicle from a plurality of preset getting off directions according to the environmental parameters further includes the following steps:

[0068] If it is determined based on the environmental parameters that each of the vehicle's getting-off directions does not meet the secondary getting-off condition, a first signal is output, and the step of determining whether each of the vehicle's getting-off directions meets the secondary getting-off condition is repeated.

[0069] For example, if after judging whether there are obstacles on the front, right and rear sides in turn, if there are obstacles on each side, the vehicle's central control screen will push the first signal prompting "There is no direction for the balance car to get off, please wait", and repeat the judgment steps for each getting off direction in the subsequent process. As long as one side meets the conditions for the getting off execution direction, the on-board balance car will be released and the balance car will be rotated to move forward in the direction of getting off.

[0070] Furthermore, in step S100, if a get-off signal of the self-balancing scooter is obtained when the vehicle is in the parking gear, determining whether the self-balancing scooter meets the first-level get-off condition includes the following steps:

[0071] S120, when the vehicle is in the parking gear, determining whether the self-balancing vehicle is located on the vehicle;

[0072] S130: If the vehicle is on the vehicle, determine whether the vehicle has established a communication connection with the balancing vehicle;

[0073] S140: When the self-balancing scooter is normally connected to the vehicle for communication, obtaining the current battery level of the self-balancing scooter and the navigation destination of the self-balancing scooter driving task input by the user;

[0074] S150: Determine whether the current battery level of the self-balancing vehicle is sufficient to carry the user to the navigation destination;

[0075] S160: If satisfied, determine that the self-balancing vehicle meets the first-level disembarkation condition;

[0076] S170: If not satisfied, output a second signal.

[0077] Among them, the navigation destination of the self-balancing car driving task input by the user is obtained by the destination entered by the user on the vehicle navigation. Since the self-balancing car establishes a communication connection with the vehicle, it can send its power to the vehicle. Finally, the vehicle will judge whether the first-level disembarking conditions are met and whether the self-balancing car has the basic conditions for disembarking.

[0078] In addition, after getting off the balance bike, for a balance bike that uses automatic driving function, it can be determined whether the navigation is turned on by the car computer. If the navigation is turned on, the destination of the car computer navigation will be sent to the balance bike. If it is not turned on, the user inputs the destination by voice, and the balance bike will re-navigate the route and store the route. When the user rides the balance bike to the destination, the balance bike will broadcast the route and finally arrive at the destination.

[0079] Furthermore, in one embodiment, the method further includes the following steps:

[0080] S500: If a boarding signal from a self-balancing scooter is obtained when the vehicle is in the parking gear, verify the identity information of the self-balancing scooter;

[0081] S600: Determine whether the self-balancing vehicle with the passed identity information is in an identifiable area;

[0082] S700: If the vehicle is in the identifiable area, a boarding preparation point corresponding to the disembarking direction is sent to the self-balancing vehicle;

[0083] S800: Lower the self-balancing vehicle carrying device and adjust the self-balancing vehicle carrying device to face the vehicle boarding preparation point;

[0084] S900: After detecting that the self-balancing vehicle is docked with the self-balancing vehicle carrying device, retract the self-balancing vehicle carrying device and reset it to an initial position.

[0085] In this embodiment, after the user uses the balance car to return to the vicinity of the vehicle and triggers the boarding signal of the balance car, the boarding function of the balance car will be turned on, which includes completing the identity verification of the balance car in step S500. For the balance car that passes the verification, it will first determine whether it is in a pre-set identifiable area for executing the boarding process. If it is in the identifiable area, the boarding preparation point corresponding to the disembarkation direction will be sent to the balance car. The boarding preparation point is the boarding position of the vehicle corresponding to the disembarkation direction, and the balance car mounting platform on the vehicle will rotate to correspond to the boarding position. In the process of the balance car moving to the boarding preparation point, the vehicle will also synchronously lower the balance car mounting device so that it can dock with the balance car moved to the boarding preparation point. When the docking is completed, the balance car mounting device can be retracted and reset to the initial position.

[0086] Furthermore, after detecting that the balancing vehicle is docked with the balancing vehicle carrying device in S900, retracting the balancing vehicle carrying device and resetting it to an initial position, the following steps are included:

[0087] S910: In response to a charging limit value set by a user or a preset charging limit value for the self-balancing vehicle, the self-balancing vehicle is connected to a power source and charged to the charging limit value.

[0088] With this setting, the battery level of the balance car will be judged after getting on the car. If it is lower than the charging limit set by the user, the car will charge the balance car, otherwise it will not charge.

[0089] In addition, after the balance car completes getting off, this method will also use GPS vehicle positioning to determine the parking point of the balance car according to the direction of getting off, specifically the distance from the vehicle in the direction of getting off. For example, when the direction of getting off is the left side of the vehicle, the position 0.6m to the left of the vehicle is set as the parking point of the balance car. After the parking point of the balance car is determined, it will be sent to the balance car. The balance car will first move according to the coordinate position and wait for the user to use it at the parking point of the balance car. During the movement of the balance car, the route will be adjusted according to whether there is an object within 0.4m. If there is, it will move directly in a straight line; if it encounters an obstacle in the middle, it will make a circular motion around the obstacle (while keeping 0.1m away from the obstacle) to reach the original route. If not, it will detect whether there is an object outside the 0.4m range during the movement of the balance car. If there is, the balance car will stop moving and judge whether the stop time is greater than 3 minutes. If so, the balance car will move in the opposite direction to the boarding preparation point and execute the boarding of the balance car; within 3 minutes, it will continue to move to the parking point of the balance car.

[0090] In a second aspect, an embodiment of the present application also provides a vehicle-mounted balancing vehicle control device.

[0091] In one embodiment, referring to Figure 2 , Figure 2This is a functional module diagram of an embodiment of the vehicle-mounted balancing vehicle control device of the present application. Figure 2 As shown, the on-board balancing vehicle control device includes:

[0092] A trigger module is configured to obtain a disembarkation signal from the self-balancing scooter when the vehicle is in the parking gear, determine whether the self-balancing scooter meets the first-level disembarkation condition; if so, obtain environmental parameters around the vehicle;

[0093] The disembarkation execution module is configured to determine the disembarkation execution direction of the balance vehicle from a plurality of preset disembarkation directions according to the environmental parameters; and release the balance vehicle after adjusting the direction of the balance vehicle to the disembarkation execution direction.

[0094] Furthermore, when the getting-off execution module determines the getting-off execution direction of the balance vehicle from a plurality of preset getting-off directions according to the environmental parameters,

[0095] According to the environmental parameters, determine whether each of the vehicle's disembarkation directions meets the secondary disembarkation condition one by one, and use the first disembarkation direction that meets the secondary disembarkation condition as the disembarkation execution direction of the self-balancing vehicle; or

[0096] According to the environmental parameters, it is determined whether each of the vehicle's getting-off directions meets the secondary getting-off condition, and one of the getting-off directions meeting the secondary getting-off condition is selected as the getting-off execution direction of the balancing vehicle.

[0097] Furthermore, the getting-off execution module determines whether each of the vehicle's getting-off directions satisfies the secondary getting-off condition one by one according to the environmental parameters. The determination process for each getting-off direction includes the following steps:

[0098] Periodically determining whether there is an obstacle within a first set distance preset in the getting-off direction within a first set time according to the environmental parameters;

[0099] If it is determined that no obstacle exists within the first set distance within the first set time, it is determined that the corresponding getting-off direction meets the secondary getting-off condition;

[0100] If there is always an obstacle within the first set distance within the first set time, whether the getting off direction meets the secondary getting off condition is determined based on whether there is an obstacle within the second set distance preset in the getting off direction after the first set time; wherein the second set distance is smaller than the first set distance.

[0101] Furthermore, when the getting-off execution module determines the getting-off execution direction of the balancing vehicle from a plurality of preset getting-off directions according to the environmental parameters, the module further includes the following steps:

[0102] If it is determined based on the environmental parameters that each of the vehicle's getting-off directions does not meet the secondary getting-off condition, a first signal is output, and the step of determining whether each of the vehicle's getting-off directions meets the secondary getting-off condition is repeated.

[0103] Furthermore, when the trigger module performs the step of determining whether the balancing vehicle meets the first-level disembarkation condition, the trigger module includes the following steps:

[0104] Determining whether the self-balancing vehicle is located on the vehicle when the vehicle is in the parking gear;

[0105] If the vehicle is on the vehicle, determining whether the vehicle has established a communication connection with the balance vehicle;

[0106] When the self-balancing scooter is normally connected to the vehicle for communication, the user can obtain the current power of the self-balancing scooter and the navigation destination of the self-balancing scooter driving task input by the user;

[0107] Determine whether the current battery level of the self-balancing vehicle is sufficient to carry the user to the navigation destination;

[0108] If so, it is determined that the balancing vehicle meets the first-level disembarkation conditions;

[0109] If not satisfied, a second signal is output.

[0110] Furthermore, the device further includes a boarding execution module, which is configured to obtain a boarding signal from the self-balancing vehicle when the vehicle is in the parking gear, and verify the identity information of the self-balancing vehicle;

[0111] Determine whether the self-balancing vehicle whose identity information is passed is in an identifiable area;

[0112] If the vehicle is in the identifiable area, a boarding preparation point corresponding to the disembarking direction is sent to the self-balancing vehicle;

[0113] Lowering the self-balancing vehicle carrying device and adjusting the self-balancing vehicle carrying device to face the vehicle boarding preparation point;

[0114] After detecting that the balancing vehicle is docked with the balancing vehicle carrying device, the balancing vehicle carrying device is retracted and reset to an initial position.

[0115] Furthermore, after detecting that the balancing vehicle is docked with the balancing vehicle carrying device, the boarding execution module retracts the balancing vehicle carrying device and resets it to an initial position, and includes the following steps:

[0116] In response to a user-set or preset charge limit for the self-balancing scooter, the self-balancing scooter is connected to the power supply and charged to the charge limit for the self-balancing scooter.

[0117] Among them, the functional implementation of each module in the above-mentioned vehicle-mounted balancing vehicle control device corresponds to the various steps in the above-mentioned vehicle-mounted balancing vehicle control method embodiment, and its functions and implementation processes will not be repeated here one by one.

[0118] In a third aspect, an embodiment of the present application provides a vehicle-mounted balancing vehicle control device, which may be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0119] Reference Figure 3 , Figure 3 Schematic diagram of the hardware structure of the vehicle-mounted balancing vehicle control device involved in the embodiment of the present application. In the embodiment of the present application, the vehicle-mounted balancing vehicle control device may include a processor, a memory, a communication interface and a communication bus.

[0120] The communication bus may be of any type and is used to interconnect the processor, memory, and communication interface.

[0121] Communication interfaces include input / output (I / O) interfaces, physical interfaces, and logical interfaces, which are used to interconnect components within the onboard balancing vehicle control device, as well as interfaces used to interconnect the onboard balancing vehicle control device with other devices (such as other computing devices or user devices). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user devices can be displays, keyboards, etc.

[0122] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0123] The processor may be a general-purpose processor that can call the onboard balancing vehicle control program stored in the memory and execute the onboard balancing vehicle control method provided in the embodiments of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the onboard balancing vehicle control program is called can refer to the various embodiments of the onboard balancing vehicle control method of the present application and will not be repeated here.

[0124] Those skilled in the art will understand that Figure 3 The hardware structure shown in the figure does not constitute a limitation to the present application and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0125] In a fourth aspect, an embodiment of the present application also provides a storage medium.

[0126] The storage medium of the present application stores a vehicle-mounted balancing vehicle control program, wherein when the vehicle-mounted balancing vehicle control program is executed by the processor, the steps of the vehicle-mounted balancing vehicle control method as described above are implemented.

[0127] Among them, the method implemented when the on-board balancing vehicle control program is executed can refer to the various embodiments of the on-board balancing vehicle control method of this application, and will not be repeated here.

[0128] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0129] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit the "first", "second" and "third" to different types.

[0130] In the description of the embodiments of this application, the words "exemplary," "for example," or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary," "for example," or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "for example," or "for example" is intended to present the relevant concepts in a concrete manner.

[0131] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0132] In some processes described in the embodiments of the present application, multiple operations or steps are included that appear in a specific order. However, it should be understood that these operations or steps may not be performed in the order in which they appear in the embodiments of the present application or may be performed in parallel. The sequence numbers of the operations are only used to distinguish between different operations, and the sequence numbers themselves do not represent any order of execution. In addition, these processes may include more or fewer operations, and these operations or steps may be performed in sequence or in parallel, and these operations or steps may be combined.

[0133] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device to execute the methods described in each embodiment of the present application.

[0134] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for controlling a vehicle-mounted balancing vehicle, characterized in that: The method comprises: If the vehicle is in the parking gear and receives the disembarkation signal from the self-balancing scooter, it is determined whether the self-balancing scooter meets the first-level disembarkation condition; If satisfied, obtain the environmental parameters around the vehicle; Determining a disembarkation direction of the self-balancing vehicle from a plurality of preset disembarkation directions according to the environmental parameters; Adjusting the direction of the self-balancing vehicle to the direction of getting off and then releasing the self-balancing vehicle; Determining the direction of disembarking the self-balancing vehicle from a plurality of preset disembarking directions according to the environmental parameters comprises the following steps: According to the environmental parameters, determine whether each of the vehicle's disembarkation directions meets the secondary disembarkation condition one by one, and use the first disembarkation direction that meets the secondary disembarkation condition as the disembarkation execution direction of the self-balancing vehicle; or Determining whether each of the vehicle's disembarkation directions satisfies the secondary disembarkation condition based on the environmental parameters, and selecting one of the disembarkation directions that satisfies the secondary disembarkation condition as the disembarkation execution direction for the self-balancing vehicle; In the step of determining whether each of the vehicle's getting-off directions satisfies the secondary getting-off condition based on the environmental parameters, the determination process for each of the vehicle's getting-off directions includes the following steps: Periodically determining whether there is an obstacle within a first set distance preset in the getting-off direction within a first set time according to the environmental parameters; If it is determined that no obstacle exists within the first set distance within the first set time, it is determined that the corresponding getting-off direction meets the secondary getting-off condition; If an obstacle always exists within the first set distance within the first set time, whether the getting off direction meets the secondary getting off condition is determined based on whether an obstacle exists within a second set distance preset in the getting off direction after the first set time; wherein the second set distance is smaller than the first set distance.

2. The method for controlling a vehicle-mounted balancing vehicle according to claim 1, wherein: The method of determining the disembarkation direction of the self-balancing vehicle from a plurality of preset disembarkation directions according to the environmental parameters further includes the following steps: If it is determined based on the environmental parameters that each of the vehicle's getting-off directions does not meet the secondary getting-off condition, a first signal is output, and the step of determining whether each of the vehicle's getting-off directions meets the secondary getting-off condition is repeated.

3. The method for controlling a vehicle-mounted balancing vehicle according to claim 1, wherein: If a get-off signal of the self-balancing scooter is obtained when the vehicle is in the parking gear, determining whether the self-balancing scooter meets the first-level get-off condition includes the following steps: Determining whether the self-balancing vehicle is located on the vehicle when the vehicle is in the parking gear; If the vehicle is on the vehicle, determining whether the vehicle has established a communication connection with the balance vehicle; When the self-balancing scooter is normally connected to the vehicle for communication, the user can obtain the current power of the self-balancing scooter and the navigation destination of the self-balancing scooter driving task input by the user; Determine whether the current battery level of the self-balancing vehicle is sufficient to carry the user to the navigation destination; If so, it is determined that the balancing vehicle meets the first-level disembarkation conditions; If not satisfied, a second signal is output.

4. The method for controlling a vehicle-mounted balancing vehicle according to claim 1, wherein: The method further comprises the following steps: If a boarding signal from a self-balancing scooter is obtained when the vehicle is in park, the identity information of the self-balancing scooter is verified; Determine whether the self-balancing vehicle whose identity information is passed is in an identifiable area; If the vehicle is in the identifiable area, a boarding preparation point corresponding to the disembarking direction is sent to the self-balancing vehicle; Lowering the self-balancing vehicle carrying device and adjusting the self-balancing vehicle carrying device to face the vehicle boarding preparation point; After detecting that the balancing vehicle is docked with the balancing vehicle carrying device, the balancing vehicle carrying device is retracted and reset to an initial position.

5. The method for controlling a vehicle-mounted balancing vehicle according to claim 4, wherein: After detecting that the balancing vehicle is docked with the balancing vehicle carrying device, retracting the balancing vehicle carrying device and resetting it to an initial position, the method includes the following steps: In response to a user-set or preset charge limit for the self-balancing scooter, the self-balancing scooter is connected to the power supply and charged to the charge limit for the self-balancing scooter.

6. A vehicle-mounted balancing vehicle control device, characterized in that: The onboard balancing vehicle control device includes: A trigger module is configured to obtain a disembarkation signal from the self-balancing scooter when the vehicle is in the parking gear, determine whether the self-balancing scooter meets the first-level disembarkation condition; if so, obtain environmental parameters around the vehicle; a disembarkation execution module configured to determine a disembarkation execution direction of the self-balancing vehicle from a plurality of preset disembarkation directions according to the environmental parameters; and release the self-balancing vehicle after adjusting the direction of the self-balancing vehicle to the disembarkation execution direction; Determining the direction of disembarking the self-balancing vehicle from a plurality of preset disembarking directions according to the environmental parameters comprises the following steps: According to the environmental parameters, determine whether each of the vehicle's disembarkation directions meets the secondary disembarkation condition one by one, and use the first disembarkation direction that meets the secondary disembarkation condition as the disembarkation execution direction of the self-balancing vehicle; or Determining whether each of the vehicle's disembarkation directions satisfies the secondary disembarkation condition based on the environmental parameters, and selecting one of the disembarkation directions that satisfies the secondary disembarkation condition as the disembarkation execution direction for the self-balancing vehicle; In the step of determining whether each of the vehicle's getting-off directions satisfies the secondary getting-off condition based on the environmental parameters, the determination process for each of the vehicle's getting-off directions includes the following steps: Periodically determining whether there is an obstacle within a first set distance preset in the getting-off direction within a first set time according to the environmental parameters; If it is determined that no obstacle exists within the first set distance within the first set time, it is determined that the corresponding getting-off direction meets the secondary getting-off condition; If an obstacle always exists within the first set distance within the first set time, whether the getting off direction meets the secondary getting off condition is determined based on whether an obstacle exists within a second set distance preset in the getting off direction after the first set time; wherein the second set distance is smaller than the first set distance.

7. A vehicle-mounted balancing vehicle control device, characterized in that: The on-board balancing vehicle control device includes a processor, a memory, and an on-board balancing vehicle control program stored in the memory and executable by the processor, wherein when the on-board balancing vehicle control program is executed by the processor, the steps of the on-board balancing vehicle control method according to any one of claims 1 to 5 are implemented.

8. A storage medium, characterized in that: The storage medium stores a vehicle-mounted balancing vehicle control program, wherein when the vehicle-mounted balancing vehicle control program is executed by the processor, the steps of the vehicle-mounted balancing vehicle control method according to any one of claims 1 to 5 are implemented.

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