Vehicle control method and device, computer readable storage medium and vehicle

Abstract

The invention discloses a vehicle control method and device, a computer readable storage medium and a vehicle. The method relates to the field of vehicle control and comprises the steps that in response to a received in-situ turning-around request instruction, whether a power system of a vehicle breaks down or not is detected, and the in-situ turning-around request instruction is used for requesting to control the vehicle to turn around in situ; in response to the detection that the power system of the vehicle does not fail, whether the vehicle is in a target gear is detected, and the target gear is a parking gear; and in response to the fact that the vehicle is detected to be at the target gear, target control parameters corresponding to the in-situ turning-around requesting instruction are obtained, the vehicle is controlled based on the target control parameters, a control result of the vehicle is obtained, and the control result is used for representing whether the vehicle completes in-situ turning-around or not. According to the invention, the technical problem of low control accuracy when the vehicle is subjected to in-situ turning control in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and in particular to a vehicle control method, a vehicle control device, a computer-readable storage medium and a vehicle. Background Art

[0002] The on-the-spot U-turn function, also known as the tank U-turn, is a technology that allows the vehicle to turn on the spot. It is mainly used in some special scenarios, such as parking and getting out of trouble in narrow spaces. This technology usually requires the vehicle to have specific hardware configuration and software control capabilities. At present, most of the technical solutions for vehicle U-turns on the spot are about how to implement this function, and do not pay attention to the performance of this function in actual use. For example, whether the vehicle can turn around accurately when turning on the spot, which leads to low control accuracy when controlling the vehicle to turn around on the spot.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] Embodiments of the present invention provide a vehicle control method, device, computer-readable storage medium, and vehicle to at least solve the technical problem of low control accuracy when controlling a vehicle to make a U-turn on the spot in the related art.

[0005] According to one aspect of an embodiment of the present invention, a vehicle control method is provided, comprising: in response to receiving a request for an on-the-spot U-turn instruction, detecting whether a power system of the vehicle fails, wherein the request for an on-the-spot U-turn instruction is used to request control of the vehicle to make an on-the-spot U-turn; in response to detecting that the power system of the vehicle does not fail, detecting whether the vehicle is in a target gear position, wherein the target gear position is a parking gear position; in response to detecting that the vehicle is in the target gear position, acquiring target control parameters corresponding to the request for an on-the-spot U-turn instruction, and controlling the vehicle based on the target control parameters to obtain a control result of the vehicle, wherein the control result is used to characterize whether the vehicle has completed the on-the-spot U-turn.

[0006] Optionally, the vehicle is controlled based on the target control parameters to obtain a control result of the vehicle, including: based on the vehicle parameter information in the target control parameters, controlling the target interface of the vehicle to display a virtual image of the vehicle, wherein the vehicle parameter information at least includes: the deflection speed of the vehicle turning around on the spot, the target deflection angle, the driving power, and the vehicle's compass, roll angle, pitch angle, first angle and second angle, the first angle being the relative angle between the current vehicle head direction and due south, the second angle being the angle between the current vehicle head direction and the target deflection angle, and the target interface being an interface displaying a virtual image on the display screen of the vehicle; based The deflection speed, the target deflection angle, the azimuth compass, the first angle, the second angle, the virtual image, and the target sensor of the vehicle are used to detect whether there are obstacles around the vehicle, wherein the target sensor is a sensor deployed on the vehicle in advance; in response to detecting that there are no obstacles around the vehicle, based on the driving power, the roll angle, the pitch angle, and the virtual image, it is detected whether the slope of the vehicle is less than or equal to the preset slope; in response to detecting that the slope of the vehicle is less than or equal to the preset slope and receiving a confirmation instruction to confirm the target control parameters, the vehicle is controlled to turn around on the spot to obtain a control result.

[0007] Optionally, the method further includes: in response to detecting the presence of obstacles around the vehicle, stopping controlling the vehicle and displaying a first warning message through a target interface, wherein the first warning message is used to warn that there are obstacles around the vehicle.

[0008] Optionally, the method also includes: in response to detecting that the slope of the vehicle is greater than a preset slope, stopping controlling the vehicle and displaying a second warning message through a target interface, wherein the second warning message is used to characterize that the slope of the vehicle is greater than a preset slope.

[0009] Optionally, the method further includes: in response to receiving a first cancellation instruction to cancel the target control parameter, or not receiving an operation instruction of the vehicle within a first preset time, stopping controlling the vehicle.

[0010] Optionally, the method also includes: in response to detecting a fault in the vehicle's power system, prohibiting control of the vehicle, and displaying a third warning message through an initial interface, wherein the third warning message is used to characterize a fault in the vehicle's power system, and the initial interface is a default interface displayed on the vehicle's display screen.

[0011] Optionally, the method further includes: in response to detecting that the vehicle is not in the target gear, prohibiting control of the vehicle, and displaying a fourth warning message through an initial interface, wherein the fourth warning message is used to indicate that the vehicle is not in the target gear.

[0012] Optionally, the method further includes: in response to receiving a second cancellation instruction to cancel the instruction requesting a U-turn on the spot, or failing to receive an operation instruction of the vehicle within a second preset time, prohibiting control of the vehicle.

[0013] Optionally, the method further includes: in the process of controlling the vehicle to make a U-turn on the spot, controlling an indicator light of the vehicle to flash.

[0014] According to another aspect of an embodiment of the present invention, a vehicle control device is also provided, the device comprising: a first detection module, for detecting whether a power system of the vehicle fails in response to receiving a request for an on-the-spot U-turn instruction, wherein the request for an on-the-spot U-turn instruction is used to request control of the vehicle to make an on-the-spot U-turn; a second detection module, for detecting whether the vehicle is in a target gear position in response to detecting that the power system of the vehicle is not faulty, wherein the target gear position is a parking gear position; a control module, for acquiring target control parameters corresponding to the request for an on-the-spot U-turn instruction in response to detecting that the vehicle is in the target gear position, and controlling the vehicle based on the target control parameters to obtain a control result of the vehicle, wherein the control result is used to characterize whether the vehicle has completed the on-the-spot U-turn.

[0015] According to another aspect of an embodiment of the present invention, a vehicle is further provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the method in each embodiment of the present invention is executed when the program is running.

[0016] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0017] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0018] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0019] According to another aspect of the embodiments of the present invention, a computer program is further provided. When the computer program is executed by a processor, the methods in the embodiments of the present invention are implemented.

[0020] In the embodiment of the present invention, in response to receiving a request for a U-turn on the spot instruction, detecting whether the power system of the vehicle fails; in response to detecting that the power system of the vehicle does not fail, detecting whether the vehicle is in a target gear position; in response to detecting that the vehicle is in the target gear position, obtaining the target control parameter corresponding to the request for the U-turn on the spot instruction, and controlling the vehicle based on the target control parameter to obtain the control result of the vehicle. It is easy to notice that, when requesting the vehicle to make a U-turn on the spot, the power system of the vehicle is first detected to ensure that the vehicle can be controlled to make a U-turn on the spot, and secondly, by continuing to detect the target gear position of the vehicle, the vehicle can be safely controlled to make a U-turn on the spot, that is, the relevant functions of the vehicle making a U-turn on the spot can be detected in advance, so as to achieve the purpose of accurately controlling the vehicle to make a U-turn on the spot, thereby achieving the technical effect of improving the control accuracy of the vehicle making a U-turn on the spot, and thus solving the technical problem of low control accuracy when controlling the vehicle making a U-turn on the spot in the related technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0022] Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present invention;

[0023] Figure 2 is a schematic diagram of an optional display of a vehicle central control interface according to an embodiment of the present invention;

[0024] Figure 3 is a flow chart of an optional method for opening a dedicated interface of a vehicle according to an embodiment of the present invention;

[0025] Figure 4 is a flow chart of an optional method for activating a dedicated interface according to an embodiment of the present invention;

[0026] Figure 5 is a schematic diagram of a vehicle control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. 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 should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof 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 necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] According to an embodiment of the present invention, a vehicle control method embodiment is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0030] Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0031] Step S102, in response to receiving a request for an on-the-spot U-turn instruction, detecting whether a power system of the vehicle fails, wherein the request for an on-the-spot U-turn instruction is used to request control of the vehicle to make an on-the-spot U-turn.

[0032] The above-mentioned request for a U-turn on the spot instruction may be an instruction generated by the user operating the display screen of the vehicle's central control system, which is used to request the control of the vehicle to make a U-turn on the spot. The above-mentioned vehicle may be any new energy vehicle with a distributed four-wheel drive configuration, and the specific type is not limited in this embodiment. Among them, the distributed four-wheel drive configuration in new energy vehicles is relatively rare, and this configuration can achieve high-difficulty actions such as turning on the spot and agile steering. The above-mentioned power system may include but is not limited to: a battery pack, a motor, a controller, and a transmission system. Among them, the battery pack is the power source of the new energy vehicle, usually a lithium battery or a nickel-metal hydride battery, and the battery pack will release the stored electrical energy for the motor to use. The motor is the power source of the new energy vehicle, usually a permanent magnet synchronous motor or an asynchronous motor, and the motor converts electrical energy into mechanical energy to drive the vehicle. The controller is used to control the operation of the motor, adjust the speed and torque of the motor, and control the acceleration and braking of the vehicle. The transmission system is used to transmit the power of the motor to the wheels, usually through a transmission and a transmission shaft.

[0033] Figure 2 is a schematic diagram of an optional display of a vehicle central control interface according to an embodiment of the present invention, such as Figure 2 As shown, the main interface will first be displayed on the display screen of the vehicle's central control system, where the main interface includes display options for each sub-interface ( Figure 2 By selecting the display options of the sub-interface, the display screen will display the sub-interfaces corresponding to the different display options. For example, the exclusive operation interface of the turn-on-the-spot function (hereinafter referred to as the exclusive interface) can be displayed, wherein the sub-interface displays various function options and display information ( Figure 2 (not shown in the figure), the vehicle can be controlled by operating various function options. The method of this embodiment is based on the "on-the-spot U-turn function exclusive operation interface" to control the vehicle's on-the-spot U-turn. It should be noted that the exclusive interface also includes a "start" soft switch. The driver can activate the on-the-spot U-turn function through the "start" soft switch.

[0034] In an optional embodiment, when a U-turn on the spot function is required, in order to ensure that the vehicle can be accurately controlled to make a U-turn on the spot, first, the user (for example, the driver) can perform an operation to select an exclusive operation interface for the U-turn function on the main interface displayed on the display screen of the central control system (for example, it can be a click operation, a sliding operation, etc.), and in response to the selection operation performed by the user, a corresponding request for a U-turn on the spot instruction will be generated. At this time, the vehicle controller can receive the request for a U-turn on the spot instruction, and based on the request for a U-turn on the spot instruction, detect the vehicle's power system to determine whether the power system fails. Furthermore, based on the detection result of the power system, it can determine whether to continue to perform the U-turn operation on the vehicle.

[0035] Among them, since turning around on the spot requires strong driving power, when the vehicle has a power system failure, the vehicle will prevent the driver from taking the next step.

[0036] Step S104, in response to detecting that the power system of the vehicle has not failed, detecting whether the vehicle is in a target gear position, wherein the target gear position is a parking gear position.

[0037] In an optional embodiment, when it is detected that there is no failure in the power system of the vehicle, in order to ensure that the vehicle can be safely controlled to make a U-turn on the spot, the current gear position of the vehicle can be detected to determine whether the current gear position of the vehicle is in the parking position, so that it can be determined whether to continue to make a U-turn on the spot based on the detection result of the vehicle gear position.

[0038] Step S106, in response to detecting that the vehicle is in the target gear, obtaining the target control parameters corresponding to the instruction requesting a U-turn on the spot, and controlling the vehicle based on the target control parameters to obtain a control result of the vehicle, wherein the control result is used to indicate whether the vehicle has completed the U-turn on the spot.

[0039] The above-mentioned target control parameters may be the parameters displayed in the exclusive interface, which are used to determine the function of turning the vehicle on the spot, and may include but are not limited to: vehicle external environment parameter information, vehicle parameter information. Among them, the vehicle external environment parameter information is the environmental parameter information that affects the vehicle turning on the spot, and the vehicle parameter information is the vehicle parameter information that affects the vehicle turning on the spot. Among them, the vehicle external environment parameter information may include but is not limited to: temperature, humidity, air pressure, wind speed and wind direction, lighting conditions, road conditions, and traffic flow. The vehicle parameter information may include but is not limited to: on-site U-turn deflection speed (5 gears adjustable), on-site U-turn target deflection angle, azimuth compass, vehicle roll, vehicle pitch angle, the relative angle between the current vehicle head direction and due south, and the angle between the current vehicle head direction and the target deflection angle.

[0040] In an optional embodiment, when it is detected that the current gear of the vehicle is in the parking gear, it can be determined that the vehicle can be accurately and safely turned around on the spot. At this time, a dedicated interface can be displayed on the display screen of the central control system, wherein the dedicated interface displays the target control parameters. The controller can read the target control parameters in the dedicated interface, and perform the on-the-spot U-turn control on the vehicle based on the target parameters to obtain the control result of whether the vehicle has completed the on-the-spot U-turn. For example, when it is determined that the power system of the vehicle is fault-free and the current gear of the vehicle is in the parking gear, the display screen of the vehicle will display the dedicated interface based on the request for the on-the-spot U-turn instruction, and display the target control parameters in the dedicated interface. At this time, after reading the target control parameters, the controller of the vehicle will control the vehicle to turn around on the spot based on the target control parameters.

[0041] For another example, when it is determined that the vehicle's power system has no faults and the vehicle's current gear is in the parking position, the vehicle's display screen will display an exclusive interface based on the request for an on-the-spot U-turn command, and will display the target control parameters in the exclusive interface. At this time, after reading the target control parameters, the controller can respectively detect the vehicle's external environment and the control functions corresponding to the vehicle parameter information. When it is detected that the external environment and the control functions are normal, the vehicle can be controlled to make a U-turn on the spot to obtain a control result of whether the vehicle has completed the on-the-spot U-turn.

[0042] It should be noted that after the exclusive interface is displayed on the vehicle's display screen, the exclusive interface will also display the vehicle's transparent chassis. The transparent chassis is a virtual bird's-eye view of the vehicle. Activating and calling the 360-degree surround view allows the driver to easily observe the surrounding environment, which is beneficial to driving safety when the vehicle turns around on the spot.

[0043] The method adopts the following steps: in response to receiving a request for a U-turn on the spot command, detecting whether the power system of the vehicle fails; in response to detecting that the power system of the vehicle does not fail, detecting whether the vehicle is in a target gear position; in response to detecting that the vehicle is in the target gear position, obtaining the target control parameter corresponding to the request for the U-turn on the spot command, and controlling the vehicle based on the target control parameter, so as to obtain the control result of the vehicle. It is easy to notice that, when requesting the vehicle to make a U-turn on the spot, the power system of the vehicle is firstly detected to ensure that the vehicle can be controlled to make a U-turn on the spot, and secondly, by continuing to detect the target gear position of the vehicle, the vehicle can be safely controlled to make a U-turn on the spot, that is, the relevant functions of the vehicle making a U-turn on the spot can be detected in advance, so as to achieve the purpose of being able to accurately control the vehicle to make a U-turn on the spot, thereby achieving the technical effect of improving the control accuracy of the vehicle making a U-turn on the spot, and thus solving the technical problem of low control accuracy when controlling the vehicle making a U-turn on the spot in the related technology.

[0044] Optionally, the vehicle is controlled based on the target control parameters to obtain a control result of the vehicle, including: based on the vehicle parameter information in the target control parameters, controlling the target interface of the vehicle to display a virtual image of the vehicle, wherein the vehicle parameter information at least includes: the deflection speed of the vehicle turning around on the spot, the target deflection angle, the driving power, and the vehicle's compass, roll angle, pitch angle, first angle and second angle, the first angle being the relative angle between the current vehicle head direction and due south, the second angle being the angle between the current vehicle head direction and the target deflection angle, and the target interface being an interface displaying a virtual image on the display screen of the vehicle; based The deflection speed, the target deflection angle, the azimuth compass, the first angle, the second angle, the virtual image, and the target sensor of the vehicle are used to detect whether there are obstacles around the vehicle, wherein the target sensor is a sensor deployed on the vehicle in advance; in response to detecting that there are no obstacles around the vehicle, based on the driving power, the roll angle, the pitch angle, and the virtual image, it is detected whether the slope of the vehicle is less than or equal to the preset slope; in response to detecting that the slope of the vehicle is less than or equal to the preset slope and receiving a confirmation instruction to confirm the target control parameters, the vehicle is controlled to turn around on the spot to obtain a control result.

[0045] The above-mentioned virtual image is the above-mentioned transparent chassis. The above-mentioned target interface is a dedicated interface. The above-mentioned target sensor may include but is not limited to: a meter-wave radar and a camera. The above-mentioned preset slope may be the maximum slope at which the vehicle can perform an on-the-spot U-turn operation. When the current slope of the vehicle is greater than the preset slope, it indicates that the vehicle may slip at this time, so the vehicle cannot perform an on-the-spot U-turn operation. Among them, the specific value of the preset slope is not limited in this embodiment, and the specific value can be set according to the actual environment in which the vehicle is located and the properties of the vehicle.

[0046] In an optional embodiment, the vehicle parameter information also includes: a transparent chassis of the vehicle. When the display screen opens an exclusive interface (i.e., a target interface) based on a request for an on-the-spot U-turn instruction, the controller can also read the vehicle parameter information of the transparent chassis of the vehicle, and based on the transparent chassis parameters of the vehicle, control the target interface of the vehicle to display a virtual image of the vehicle, so that the driver can conveniently observe the surrounding environment, which is beneficial to driving safety during the on-the-spot U-turn of the vehicle.

[0047] In another optional embodiment, the controller can also read the vehicle parameter information in the target control parameter, and detect whether there are obstacles around the vehicle based on the read deflection speed, target deflection angle, azimuth compass, first angle, second angle, virtual image, and target sensor of the vehicle, wherein the target sensor is a sensor deployed on the vehicle in advance. For example, the controller can perform imaging analysis through meter wave radar and camera to comprehensively judge whether there are obstacles around the vehicle that may affect the vehicle's on-the-spot U-turn operation, for example, whether there are obstacles within a preset distance, wherein the preset distance is the shortest distance that affects the vehicle's on-the-spot U-turn operation, and for example, whether there are obstacles that may affect the vehicle's on-the-spot U-turn operation within a preset time, wherein the above-mentioned preset time can be set in advance by the user, and is a time period during the vehicle's on-the-spot U-turn operation. The specific time period is not limited in this embodiment, and the user can set it according to actual needs.

[0048] In another optional embodiment, when it is detected that there are no obstacles around the vehicle, the controller can also detect whether the slope of the vehicle is less than or equal to the preset slope based on the read driving power, roll angle, pitch angle, and virtual image. When it is detected that the slope of the vehicle is less than or equal to the preset slope, that is, after the slope detection is passed, the system will perform a second confirmation of the operation to prevent misoperation. At this time, a second prompt box will pop up on the vehicle's exclusive interface, displaying the content "Please pay attention to the blind spot, click OK to start the on-the-spot turn". When the driver clicks "OK", a confirmation instruction can be generated. At this time, when the controller receives the user's confirmation instruction to confirm the target control parameters, the on-the-spot U-turn function of the vehicle is activated. At this time, the controller can perform on-the-spot U-turn control on the vehicle to obtain the control result of the vehicle.

[0049] Optionally, the method further includes: in response to detecting the presence of obstacles around the vehicle, stopping controlling the vehicle and displaying a first warning message through a target interface, wherein the first warning message is used to warn that there are obstacles around the vehicle.

[0050] In an optional embodiment, when obstacles are detected around the vehicle, the controller stops controlling the vehicle's on-the-spot U-turn and displays a first warning message in the target interface. For example, a prompt pop-up window may be displayed in the target interface, and the content of the pop-up window may be "An obstacle has been detected and the on-the-spot U-turn cannot be performed" (i.e., the first warning message).

[0051] Optionally, the method also includes: in response to detecting that the slope of the vehicle is greater than a preset slope, stopping controlling the vehicle and displaying a second warning message through a target interface, wherein the second warning message is used to characterize that the slope of the vehicle is greater than a preset slope.

[0052] In an optional embodiment, when it is detected that the slope of the vehicle is greater than the preset slope, the controller stops the on-the-spot U-turn control of the vehicle and displays a second warning message in the target interface. For example, the message "the road slope is too large and the on-the-spot U-turn function cannot be performed" (i.e., the second warning message) can be displayed in the target interface.

[0053] It should be noted that the second warning information may also be displayed via the vehicle's instrument panel.

[0054] Optionally, the method further includes: in response to receiving a first cancellation instruction to cancel the target control parameter, or not receiving an operation instruction of the vehicle within a first preset time, stopping controlling the vehicle.

[0055] The first cancel command may be a cancel command generated through a dedicated interface. The first preset time may be set in advance by a user to determine whether to stop controlling the vehicle. The specific time period may be set by the user according to actual needs and is not limited in this embodiment. For example, it may be 5 seconds, but is not limited thereto, and may also be 3 seconds, 10 seconds, etc.

[0056] In an optional embodiment, after the driver clicks "Cancel" in the secondary confirmation prompt box in the exclusive interface, a first cancellation instruction will be generated. At this time, the controller can stop activating the vehicle's on-the-spot U-turn function based on the first cancellation instruction, that is, stop controlling the vehicle and stay in the exclusive interface.

[0057] In another optional embodiment, if the controller does not receive any operation instruction for the vehicle within a first preset time period, the controller may stop controlling the vehicle and remain in the dedicated interface.

[0058] It should be noted that after the driver confirms the second time, the U-turn function is officially activated, and there will be a corresponding interactive prompt. That is, 5 seconds before the activation of the U-turn on the spot, a semi-transparent prompt box will pop up on the exclusive interface, "U-turn on the spot is about to start, step on the brake to exit the interactive prompt information, to prompt the controller to control the vehicle to make a U-turn on the spot.

[0059] Optionally, the method also includes: in response to detecting a fault in the vehicle's power system, prohibiting control of the vehicle, and displaying a third warning message through an initial interface, wherein the third warning message is used to characterize a fault in the vehicle's power system, and the initial interface is a default interface displayed on the vehicle's display screen.

[0060] The above initial interface is the main interface.

[0061] In an optional embodiment, when a fault is detected in the vehicle's power system, the controller is prohibited from controlling the vehicle, and a third warning message of "power system fault, the on-the-spot U-turn function cannot be activated, please check" can be displayed through the initial interface, and the initial interface will remain.

[0062] Optionally, the method further includes: in response to detecting that the vehicle is not in the target gear, prohibiting control of the vehicle, and displaying a fourth warning message through an initial interface, wherein the fourth warning message is used to indicate that the vehicle is not in the target gear.

[0063] In an optional embodiment, when it is detected that the vehicle is not in the target gear, the controller is prohibited from controlling the vehicle, and a fourth warning message "The on-the-spot U-turn function cannot be activated, please switch the gear to P gear" may be displayed on the initial interface, and the controller will remain on the initial interface.

[0064] Optionally, the method further includes: in response to receiving a second cancellation instruction to cancel the instruction requesting a U-turn on the spot, or failing to receive an operation instruction of the vehicle within a second preset time, prohibiting control of the vehicle.

[0065] The second cancel command may be a cancel command generated through a dedicated interface. The first preset time may be set in advance by the user to determine whether to stop controlling the vehicle. The specific time period may be set by the user according to actual needs and is not limited in this embodiment. For example, it may be 180 seconds, but is not limited thereto, and may also be 100 seconds, 200 seconds, etc.

[0066] In an optional embodiment, when it is detected that the vehicle's power system is faulty and the vehicle is in the target gear, the display screen of the central control system will display an exclusive interface, wherein an "Exit" soft switch will also be displayed in the exclusive interface. After the user manually clicks the "Exit" soft switch, that is, after the controller receives the exit action manually operated by the user in the exclusive interface, it can generate a second cancel instruction, at which time the controller is prohibited from controlling the vehicle and stays at the initial interface.

[0067] In another optional embodiment, when the dedicated interface displays the second preset time period and no operation instruction for the vehicle is received, the controller is prohibited from controlling the vehicle and returns to the initial interface.

[0068] It should be noted that before the timeout returns, there will be a prompt pop-up window and a 5-second countdown to inform the driver that if there is still no operation within the countdown period, the interface will return to the main interface.

[0069] Optionally, the method further includes: in the process of controlling the vehicle to make a U-turn on the spot, controlling an indicator light of the vehicle to flash.

[0070] The above-mentioned indicator light may be a double flash indicator light, but is not limited thereto.

[0071] In an optional embodiment, in the process of controlling the vehicle to make a U-turn on the spot, in order to ensure driving safety, the vehicle's double flash indicator lights can be controlled to flash to remind pedestrians around the vehicle to pay attention to safety.

[0072] Figure 3 is a flow chart of an optional method for opening a vehicle-specific interface according to an embodiment of the present invention, such as Figure 3 As shown, the method comprises the following steps:

[0073] Step S31, opening the main interface of the central control system;

[0074] Step S32, click the "U-turn on the spot" option in the main interface;

[0075] Step S33, detecting whether the power system of the vehicle is faulty, if so, proceeding to step S310, if not, proceeding to step S34;

[0076] Among them, turning around on the spot requires stronger driving power, so when the vehicle has a power system failure, the system will prevent the driver from taking the next step, and at the same time issue a prompt "Power system failure, the U-turn function on the spot cannot be activated, please repair it", and then return to the main interface.

[0077] Step S34, detecting whether the vehicle gear is in the parking gear, if so, proceeding to step S35, if not, proceeding to step S311;

[0078] For safety reasons, the gear must be in P before the U-turn function is activated. If the current gear is not in P and the driver intends to make a U-turn, the system will prevent the driver from making the next move and issue a prompt "The U-turn function cannot be activated, please switch the gear to P", and then return to the main interface.

[0079] Step S35, successfully opening the exclusive interface;

[0080] Step S36: Whether the user has manually exited, if yes, proceed to step S312, if no, proceed to step S37;

[0081] If the driver exits manually, the system returns to the main interface.

[0082] Step S37, determine whether there is no operation after timeout, if yes, go to step S312, if no, go to step S38;

[0083] If the driver remains on the exclusive interface for more than 180 seconds (which can be calibrated) without any operation, the system will return to the main interface. Before the timeout, a pop-up window and a 5-second countdown will appear to inform the driver that if the driver still does not operate within the countdown period, the system will return to the main interface.

[0084] Step S38, keep displaying the exclusive interface;

[0085] Step S39, end;

[0086] The process reaches this point, which means that the exclusive interface has been successfully opened and is displayed stably. In this context, the driver can make settings before activating the on-the-spot U-turn function.

[0087] Step S310, prompting a third warning message;

[0088] Step S311, prompting a fourth warning message;

[0089] Step S312, prompting fault information.

[0090] Figure 4 is a flow chart of an optional method for activating a dedicated interface according to an embodiment of the present invention. Figure 4 As shown, the method comprises the following steps:

[0091] Step S41, the user selects start in the exclusive interface;

[0092] Among them, when the driver clicks "Start", the control process of turning around on the spot begins, and the restricted system will detect whether the conditions for activating the function are met.

[0093] Step S42, detecting whether there are obstacles around the vehicle, if yes, proceeding to step S48, if no, proceeding to step S43;

[0094] The vehicle uses the meter-wave radar and camera imaging analysis to comprehensively determine whether there are obstacles around the vehicle that may affect the turn-around. If there are obstacles, a pop-up window will pop up saying "Obstacles detected, turn-around not possible", and then return to and stay on the exclusive interface. If no obstacles are detected, the slope will be further detected.

[0095] Step S43, detecting whether the slope of the vehicle is greater than a preset slope, if so, proceeding to step S49, if not, proceeding to step S44;

[0096] As the road slope increases, the driving power required for a U-turn will gradually increase. When the slope increases to a certain value, the U-turn function will not be possible. At this time, the instrument or central control will issue a prompt "The road slope is too large, the U-turn function cannot be activated", and then return to and stay on the exclusive interface.

[0097] Step S44, whether to perform secondary activation confirmation, if yes, proceed to step S45, if no, return to step S41;

[0098] When the slope detection is passed, the system will perform a second confirmation of the operation to prevent misoperation. A prompt box will pop up on the interface saying "Please pay attention to the blind spot, click OK and start turning around on the spot". At this time, the driver clicks "OK" and the function will be activated. If the driver clicks "Cancel (5 seconds)" or does not click any option for more than 5 seconds, the system will return to and stay on the exclusive interface.

[0099] Step S45, select function start;

[0100] Step S46, an interactive prompt appears;

[0101] After the driver confirms the second time, the U-turn function is officially activated, and there will be a corresponding interactive prompt. That is, in the exclusive interface, a semi-transparent prompt box will pop up 5 seconds before the U-turn is activated, "U-turn on the spot is about to start, step on the brake to exit", and the double flash indicator lights will flash to remind nearby pedestrians. At this point, the U-turn function has completed the entire control process from the main interface to activation.

[0102] Step S47, end;

[0103] Step S48, displaying the first warning information;

[0104] Step S49, displaying the second warning information.

[0105] The method disclosed in this embodiment can detect various possibilities before activating a function, and specifically identify those working conditions that hinder the activation of the function, while providing detailed human-computer interaction information prompts.

[0106] According to an embodiment of the present invention, a control device embodiment of a vehicle is provided. It should be noted that the device can be used to execute the above-mentioned vehicle control method. Figure 5 is a schematic diagram of a vehicle control device according to an embodiment of the present invention. Figure 5 As shown, the device includes: a first detection module 52, which is used to detect whether the power system of the vehicle fails in response to receiving a request for an on-the-spot U-turn instruction, wherein the request for an on-the-spot U-turn instruction is used to request to control the vehicle to make an on-the-spot U-turn; a second detection module 54, which is used to detect whether the vehicle is in a target gear position in response to detecting that the power system of the vehicle is not faulty, wherein the target gear position is a parking gear position; a control module 56, which is used to obtain target control parameters corresponding to the request for an on-the-spot U-turn instruction in response to detecting that the vehicle is in the target gear position, and control the vehicle based on the target control parameters to obtain a control result of the vehicle, wherein the control result is used to characterize whether the vehicle has completed the on-the-spot U-turn.

[0107] Optionally, the control module includes: a first control unit, which is used to control the target interface of the vehicle to display a virtual image of the vehicle based on the vehicle parameter information in the target control parameter, wherein the vehicle parameter information at least includes: the deflection speed of the vehicle turning around on the spot, the target deflection angle, the driving power, and the vehicle's compass, roll angle, pitch angle, first angle and second angle, the first angle is the relative angle between the current vehicle head direction and due south, the second angle is the angle between the current vehicle head direction and the target deflection angle, and the target interface is an interface displaying a virtual image on the display screen of the vehicle; a first detection unit, which is used to control the target interface of the vehicle to display a virtual image based on the deflection speed, the target deflection angle, The azimuth compass, the first angle, the second angle, the virtual image, and the target sensor of the vehicle detect whether there are obstacles around the vehicle, wherein the target sensor is a sensor deployed on the vehicle in advance; the second detection unit is used to detect whether the slope of the vehicle is less than or equal to a preset slope based on the driving power, the roll angle, the pitch angle, and the virtual image in response to detecting that there are no obstacles around the vehicle; the second control unit is used to control the vehicle to turn around on the spot in response to detecting that the slope of the vehicle is less than or equal to the preset slope and receiving a confirmation instruction to confirm the target control parameters to obtain a control result.

[0108] Optionally, the control module also includes: a third detection unit, which is used to stop controlling the vehicle in response to detecting the presence of obstacles around the vehicle, and display a first warning message through a target interface, wherein the first warning message is used to warn that there are obstacles around the vehicle.

[0109] Optionally, the control module also includes: a fourth detection unit, used to stop controlling the vehicle in response to detecting that the slope of the vehicle is greater than a preset slope, and display a second warning information through the target interface, wherein the second warning information is used to indicate that the slope of the vehicle is greater than a preset slope.

[0110] Optionally, the control module further includes: a processing unit, configured to stop controlling the vehicle in response to receiving a first cancellation instruction to cancel the target control parameter, or failing to receive an operation instruction of the vehicle within a first preset time.

[0111] Optionally, the device also includes: a third detection module, used to prohibit control of the vehicle in response to detecting a fault in the vehicle's power system, and display a third warning message through an initial interface, wherein the third warning message is used to characterize a fault in the vehicle's power system, and the initial interface is a default interface displayed on the vehicle's display screen.

[0112] Optionally, the device also includes: a fourth detection module, used to prohibit control of the vehicle in response to detecting that the vehicle is not in the target gear position, and display a fourth warning information through an initial interface, wherein the fourth warning information is used to indicate that the vehicle is not in the target gear position.

[0113] Optionally, the device further comprises: a processing module, configured to prohibit controlling the vehicle in response to receiving a second cancellation instruction to cancel the instruction requesting a U-turn on the spot, or failing to receive an operation instruction of the vehicle within a second preset time.

[0114] Optionally, the device further comprises: a lighting control module, which is used to control the indicator light of the vehicle to flash when controlling the vehicle to make a U-turn on the spot.

[0115] An embodiment of the present application further provides a vehicle, comprising: a memory storing an executable program; and a processor for running the program, wherein the method in each embodiment of the present invention is executed when the program is running.

[0116] An embodiment of the present application further provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0117] An embodiment of the present application further provides a computer program product, including a computer program, which implements the methods in various embodiments of the present invention when executed by a processor.

[0118] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0119] The embodiments of the present application further provide a computer program, which implements the methods in the above-mentioned embodiments of the present invention when executed by a processor.

[0120] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0121] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0122] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0123] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0124] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0125] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for controlling a vehicle, It is characterized in that include: In response to receiving a request for an on-the-spot U-turn instruction, detecting whether a power system of the vehicle fails, wherein the request for an on-the-spot U-turn instruction is used to request that the vehicle be controlled to perform an on-the-spot U-turn; In response to detecting that the power system of the vehicle has not failed, detecting whether the vehicle is in a target gear position, wherein the target gear position is a parking gear position; In response to detecting that the vehicle is in the target gear, a target control parameter corresponding to the request for an on-the-spot U-turn instruction is obtained, and the vehicle is controlled based on the target control parameter to obtain a control result of the vehicle, wherein the control result is used to characterize whether the vehicle has completed the on-the-spot U-turn.

2. The method according to claim 1, It is characterized in that The vehicle is controlled based on the target control parameter to obtain a control result of the vehicle, including: Based on the vehicle parameter information in the target control parameter, the target interface of the vehicle is controlled to display a virtual image of the vehicle, wherein the vehicle parameter information at least includes: the deflection speed, target deflection angle, driving power of the vehicle turning around on the spot, and the compass of the vehicle, the roll angle, the pitch angle, the first angle and the second angle, wherein the first angle is the relative angle between the current vehicle head direction and due south, and the second angle is the angle between the current vehicle head direction and the target deflection angle, and the target interface is an interface on the display screen of the vehicle that displays the virtual image; Detecting whether there are obstacles around the vehicle based on the deflection speed, the target deflection angle, the azimuth compass, the first angle, the second angle, the virtual image, and a target sensor of the vehicle, wherein the target sensor is a sensor deployed in advance on the vehicle; In response to detecting that there is no obstacle around the vehicle, detecting whether the slope of the vehicle is less than or equal to a preset slope based on the driving power, the roll angle, the pitch angle, and the virtual image; In response to detecting that the slope of the vehicle is less than or equal to the preset slope and receiving a confirmation instruction to confirm the target control parameter, the vehicle is controlled to make a U-turn on the spot to obtain the control result.

3. The method according to claim 2, It is characterized in that The method further comprises: In response to detecting the obstacle existing around the vehicle, controlling the vehicle is stopped, and a first warning message is displayed through the target interface, wherein the first warning message is used to warn the vehicle that the obstacle exists around the vehicle.

4. The method according to claim 2, It is characterized in that The method further comprises: In response to detecting that the slope of the vehicle is greater than the preset slope, control of the vehicle is stopped and a second warning message is displayed through the target interface, wherein the second warning message is used to indicate that the slope of the vehicle is greater than the preset slope.

5. The method according to claim 2, It is characterized in that The method further comprises: In response to receiving a first cancellation instruction to cancel the target control parameter, or not receiving an operation instruction of the vehicle within a first preset time, stopping controlling the vehicle.

6. The method according to any one of claims 1 to 5, It is characterized in that The method further comprises: In response to detecting a malfunction in the power system of the vehicle, control of the vehicle is prohibited, and a third warning message is displayed through an initial interface, wherein the third warning message is used to characterize a malfunction in the power system of the vehicle, and the initial interface is a default interface displayed on the display screen of the vehicle.

7. The method according to any one of claims 1 to 5, It is characterized in that The method further comprises: In response to detecting that the vehicle is not in the target gear position, controlling the vehicle is prohibited, and a fourth warning message is displayed through an initial interface, wherein the fourth warning message is used to indicate that the vehicle is not in the target gear position.

8. The method according to any one of claims 1 to 5, It is characterized in that The method further comprises: In response to receiving a second cancellation instruction to cancel the instruction requesting a green turn, or not receiving an operation instruction of the vehicle within a second preset time, controlling the vehicle is prohibited.

9. The method according to any one of claims 1 to 5, It is characterized in that The method further comprises: During the process of controlling the vehicle to make a U-turn on the spot, the indicator light of the vehicle is controlled to flash.

10. A control device for a vehicle, It is characterized in that The device comprises: A first detection module, configured to detect whether a power system of the vehicle fails in response to receiving a request for an on-the-spot U-turn instruction, wherein the request for an on-the-spot U-turn instruction is used to request that the vehicle be controlled to perform an on-the-spot U-turn; a second detection module, configured to detect whether the vehicle is in a target gear position in response to detecting that the power system of the vehicle is not faulty, wherein the target gear position is a parking gear position; A control module is used for, in response to detecting that the vehicle is in the target gear, obtaining a target control parameter corresponding to the request for an on-the-spot U-turn instruction, and controlling the vehicle based on the target control parameter to obtain a control result of the vehicle, wherein the control result is used to indicate whether the vehicle has completed the on-the-spot U-turn.

11. A vehicle, It is characterized in that include: A memory storing an executable program; A processor, configured to run the program, wherein the program executes the method according to any one of claims 1 to 9 when running.

12. A computer-readable storage medium, It is characterized in that The computer-readable storage medium includes a stored executable program, wherein when the executable program is executed, the device where the storage medium is located is controlled to execute the method according to any one of claims 1 to 9.

13. A computer program product, It is characterized in that The invention comprises a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 9.

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