Control method and device of vehicle, computer readable storage medium and vehicle

Abstract

The application discloses a kind of control method, device, computer readable storage medium and vehicle of vehicle. Among them, the method involves vehicle control field, comprising: in response to receiving request U-turn instruction, detect whether the power system of vehicle fails, wherein request U-turn instruction is used to request control vehicle to U-turn;In response to detecting that the power system of vehicle does not fail, detect whether vehicle is in target gear, wherein target gear is parking gear;In response to detecting that vehicle is in target gear, obtain the target control parameter corresponding to request U-turn instruction, and control vehicle based on target control parameter, obtain the control result of vehicle, wherein control result is used to represent whether vehicle has completed U-turn.The present application solves the technical problem of low control accuracy when U-turning the vehicle in the related art.

Description

Technical Field

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

[0002] The in-situ U-turn function, also known as a tank turn, is a technology that allows vehicles to turn on the spot, primarily used in special scenarios such as parking and getting out of difficult situations in confined spaces. This technology typically requires vehicles to have specific hardware configurations and software control capabilities. Currently, most technical solutions for in-situ U-turns focus on how to implement the function, neglecting its performance in actual use, such as whether the vehicle can accurately perform the U-turn. This results in low control accuracy when controlling vehicles to perform in-situ U-turns.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides 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 in place in related technologies.

[0005] According to one aspect of the present invention, a vehicle control method is provided, comprising: in response to receiving a request to make a U-turn, detecting whether a fault has occurred in the vehicle's power system, wherein the request to make a U-turn is used to request control of the vehicle to make a U-turn; in response to detecting that no fault has occurred in the vehicle's power system, detecting whether the vehicle is in a target gear, wherein the target gear is a parking gear; in response to detecting that the vehicle is in the target gear, acquiring target control parameters corresponding to the request to make a U-turn, 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 U-turn.

[0006] Optionally, the vehicle is controlled based on target control parameters to obtain the vehicle control result, including: controlling the vehicle's target interface to display a virtual image of the vehicle based on the vehicle parameter information in the target control parameters, wherein the vehicle parameter information includes at least: the vehicle's turning speed for a U-turn, the target turning angle, the drive power, and the vehicle's orientation compass, roll angle, pitch angle, first angle, and second angle, where the first angle is the angle between the current vehicle direction and due south, the second angle is the angle between the current vehicle direction and the target turning angle, and the target interface is the interface on the vehicle's display screen that shows the virtual image; based on The system uses yaw speed, target yaw angle, compass readings, first included angle, second included angle, virtual image, and vehicle target sensors to detect whether there are obstacles around the vehicle. The target sensors are sensors pre-deployed on the vehicle. In response to the detection that there are no obstacles around the vehicle, the system detects whether the slope of the vehicle is less than or equal to a preset slope based on drive power, roll angle, pitch angle, and virtual image. In response to the detection that the slope of the vehicle is less than or equal to the preset slope and receiving a confirmation command to confirm the target control parameters, the system performs a U-turn control on the spot to obtain the control result.

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

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

[0009] Optionally, the method further includes: stopping control of the vehicle in response to receiving a first cancellation command to cancel the target control parameters, or if no operation command for the vehicle is received within a first preset time.

[0010] Optionally, the method further includes: in response to detecting a malfunction in the vehicle's powertrain, prohibiting control of the vehicle and displaying a third warning message on an initial interface, wherein the third warning message is used to characterize a malfunction in the vehicle's powertrain, and the initial interface is the default interface displayed on the vehicle's 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: prohibiting control of the vehicle in response to receiving a second cancellation instruction to cancel the request to turn around in place, or if no operation instruction from the vehicle is received within a second preset time.

[0013] Optionally, the method further includes: controlling the vehicle's indicator lights to flash during the process of controlling the vehicle to make a U-turn.

[0014] According to another aspect of the present invention, a vehicle control device is also provided, the device comprising: a first detection module, configured to detect whether a fault has occurred in the vehicle's power system in response to receiving a request to make a U-turn, wherein the request to make a U-turn is used to request control of the vehicle to make a U-turn; a second detection module, configured to detect whether the vehicle is in a target gear, wherein the target gear is a parking gear, in response to detecting that the vehicle is in the target gear; and a control module, configured to acquire target control parameters corresponding to the request to make a U-turn, 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 a U-turn.

[0015] According to another aspect of the present invention, a vehicle is also provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods of various embodiments of the present invention during runtime.

[0016] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0017] According to another aspect of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0018] According to another aspect of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0019] According to another aspect of the present invention, a computer program is also provided, which, when executed by a processor, implements the methods of the various embodiments of the present invention.

[0020] In this embodiment of the invention, in response to receiving a request to make a U-turn, the system detects whether the vehicle's powertrain is malfunctioning; in response to detecting that the vehicle's powertrain is not malfunctioning, it detects whether the vehicle is in the target gear; in response to detecting that the vehicle is in the target gear, it obtains the target control parameters corresponding to the request to make a U-turn, and controls the vehicle based on the target control parameters to obtain the vehicle's control result. It is easy to note that, because the vehicle's powertrain is first detected when a request to make a U-turn is made, ensuring that the vehicle can be controlled to make a U-turn, and then the target gear is detected to ensure safe control of the vehicle to make a U-turn, the relevant functions for making a U-turn can be detected in advance, achieving the goal of accurately controlling the vehicle to make a U-turn. This improves the control accuracy of U-turn control and solves the technical problem of low control accuracy in related technologies. Attached Figure Description

[0021] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

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

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

[0024] Figure 3 This is a flowchart of an optional method for opening a vehicle's dedicated interface according to an embodiment of the present invention;

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

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

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[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 in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0030] Figure 1 This is a flowchart of a vehicle control method according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0031] Step S102: In response to receiving a request to turn around in place command, detect whether there is a fault in the vehicle's power system, wherein the request to turn around in place command is used to request control of the vehicle to turn around in place.

[0032] The aforementioned request for a U-turn can be generated by the user operating the vehicle's central control system display screen, used to request control of the vehicle to perform a U-turn. The vehicle can be any type of distributed four-wheel drive new energy vehicle; the specific type is not limited in this embodiment. Distributed four-wheel drive configurations are relatively rare in new energy vehicles, but this configuration allows for complex maneuvers such as U-turns and agile steering. The aforementioned power system may include, but is not limited to: a battery pack, an electric motor, a controller, and a transmission system. The battery pack is the power source of the new energy vehicle, typically a lithium battery or a nickel-metal hydride battery, which releases stored electrical energy to power the electric motor. The electric motor is the power source of the new energy vehicle, typically a permanent magnet synchronous motor or an asynchronous motor, which converts electrical energy into mechanical energy to drive the vehicle. The controller controls the operation of the electric motor, adjusting its speed and torque, and controlling functions such as acceleration and braking. The transmission system transmits the power from the electric motor to the wheels, typically through a gearbox and driveshaft.

[0033] Figure 2 This is a schematic diagram of an optional 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 vehicle's central control system screen, which contains display options for various sub-interfaces. Figure 2 (Not shown in the image), by selecting the display options of the sub-interfaces, the screen will display the sub-interfaces corresponding to different display options. For example, it can display the dedicated operation interface for the U-turn function (referred to as the dedicated interface), in which various function options and display information are displayed. Figure 2 (Not shown in the image), the vehicle can be controlled by operating various function options. This embodiment uses a dedicated interface for the U-turn function to control the vehicle's U-turn operation. It should be noted that the dedicated interface also includes a "Start" soft switch. The driver can activate the U-turn function using the "Start" soft switch.

[0034] In one optional embodiment, when a U-turn is required, to ensure accurate control of the vehicle during the U-turn, the user (e.g., the driver) can first perform an operation (e.g., click, swipe, etc.) on the main interface displayed on the central control system's screen to select the dedicated operation interface for the U-turn function. In response to the user's selection operation, a corresponding request for a U-turn is generated. At this time, the vehicle's controller can receive the request for a U-turn and, based on the request for a U-turn, detect the vehicle's power system to determine whether there is a fault in the power system. Furthermore, based on the detection results of the power system, it can determine whether to continue performing the U-turn operation on the vehicle.

[0035] Since turning around on the spot requires strong driving power, the vehicle will prevent the driver from taking further action when there is a power system failure.

[0036] Step S104: In response to the detection that the vehicle's power system has not malfunctioned, it is detected whether the vehicle is in the target gear, wherein the target gear is the parking gear.

[0037] In one alternative embodiment, if no fault is detected in the vehicle's power system, in order to ensure safe U-turn control of the vehicle, the vehicle's current gear can be detected to determine whether the vehicle is currently in a parking gear, so that the subsequent determination of whether to continue the U-turn operation can be based on the detection result of the vehicle's gear.

[0038] Step S106: In response to detecting that the vehicle is in the target gear, the target control parameters corresponding to the request to turn around are obtained, and the vehicle is controlled based on the target control parameters to obtain the control result of the vehicle. The control result is used to characterize whether the vehicle has completed the turn around.

[0039] The aforementioned target control parameters can be parameters displayed in a dedicated interface used to determine the vehicle's U-turn function. These parameters may include, but are not limited to, vehicle external environment parameters and vehicle parameter information. The vehicle external environment parameters are environmental parameters affecting the vehicle's U-turn function, while the vehicle parameter information is vehicle parameter information affecting the U-turn function. The vehicle external environment parameters may include, but are not limited to, temperature, humidity, air pressure, wind speed and direction, lighting conditions, road conditions, and traffic flow. The vehicle parameter information may include, but is not limited to, the U-turn yaw speed (5 adjustable levels), the target U-turn yaw angle, the compass, vehicle tilt and pitch angles, the angle between the current vehicle direction and due south, and the angle between the current vehicle direction and the target yaw angle.

[0040] In one optional embodiment, if it is detected that the vehicle is currently in park, and it can be determined that a safe and accurate U-turn can be performed, a dedicated interface can be displayed on the central control system's screen. This dedicated interface displays target control parameters. The controller can read these target control parameters and perform a U-turn based on them, obtaining a result indicating whether the U-turn was successfully completed. For example, if it is determined that the vehicle's powertrain is functioning correctly and the vehicle is currently in park, the vehicle's screen will display a dedicated interface based on a request for a U-turn, showing the target control parameters. The vehicle's controller, after reading the target control parameters, will then perform a U-turn based on them.

[0041] For example, if it is determined that the vehicle's power system is fault-free and the vehicle is currently in park, the vehicle's display screen will show a dedicated interface based on the request for a U-turn, and display the target control parameters on the dedicated interface. At this time, after reading the target control parameters, the controller can detect the control functions corresponding to the vehicle's external environment and vehicle parameter information respectively. If the external environment and control functions are detected to be normal, the controller can perform a U-turn and obtain the control result of whether the vehicle has completed the U-turn.

[0042] It should be noted that after the vehicle's display screen shows the exclusive interface, the exclusive interface will also show the vehicle's transparent chassis. The transparent chassis is a virtual top-down view of the vehicle, which activates and calls up the 360-degree surround view, allowing the driver to easily observe the surrounding environment and improving driving safety during the vehicle's U-turn.

[0043] By employing a method that responds to a request for a U-turn by detecting whether the vehicle's powertrain is malfunctioning; responding to the detection that the powertrain is functioning correctly, detecting whether the vehicle is in the target gear; and responding to the detection that the vehicle is in the target gear, acquiring the target control parameters corresponding to the request for the U-turn, and controlling the vehicle based on these parameters, the control result is obtained. It is noteworthy that, because the powertrain is first checked upon requesting a U-turn, ensuring the ability to control the U-turn, and then the target gear is checked to ensure safe control of the U-turn, the relevant functions for U-turns are detected in advance, achieving accurate control of the vehicle for U-turns. This improves the control accuracy of U-turn control and solves the technical problem of low control accuracy in related technologies.

[0044] Optionally, the vehicle is controlled based on target control parameters to obtain the vehicle control result, including: controlling the vehicle's target interface to display a virtual image of the vehicle based on the vehicle parameter information in the target control parameters, wherein the vehicle parameter information includes at least: the vehicle's turning speed for a U-turn, the target turning angle, the drive power, and the vehicle's orientation compass, roll angle, pitch angle, first angle, and second angle, where the first angle is the angle between the current vehicle direction and due south, the second angle is the angle between the current vehicle direction and the target turning angle, and the target interface is the interface on the vehicle's display screen that shows the virtual image; based on The system uses yaw speed, target yaw angle, compass readings, first included angle, second included angle, virtual image, and vehicle target sensors to detect whether there are obstacles around the vehicle. The target sensors are sensors pre-deployed on the vehicle. In response to the detection that there are no obstacles around the vehicle, the system detects whether the slope of the vehicle is less than or equal to a preset slope based on drive power, roll angle, pitch angle, and virtual image. In response to the detection that the slope of the vehicle is less than or equal to the preset slope and receiving a confirmation command to confirm the target control parameters, the system performs a U-turn control on the spot to obtain the control result.

[0045] The virtual image described above refers to the transparent chassis. The target interface described above is the dedicated interface. The target sensors described above may include, but are not limited to, meter-wave radar and cameras. The preset slope described above can be the maximum slope at which the vehicle can perform a U-turn. If the current slope of the vehicle is greater than the preset slope, it indicates that the vehicle may roll backward, and therefore the vehicle cannot perform a U-turn. The specific value of the preset slope is not limited in this embodiment; the specific value can be set according to the actual environment of the vehicle and the vehicle's attributes.

[0046] In an optional embodiment, the vehicle parameter information further includes: the vehicle's transparent chassis. When the display screen opens a dedicated interface (i.e., the target interface) based on the request for a U-turn, the controller can also read the vehicle parameter information of the vehicle's transparent chassis and, based on the vehicle's transparent chassis parameters, control the vehicle's target interface to display a virtual image of the vehicle, making it easier for the driver to observe the surrounding environment and improving driving safety during the U-turn process.

[0047] In another optional embodiment, the controller can also read vehicle parameter information from the target control parameters and, based on the read yaw speed, target yaw angle, compass reading, first included angle, second included angle, virtual image, and the vehicle's target sensors, detect whether there are obstacles around the vehicle. The target sensors are sensors pre-deployed on the vehicle. For example, the controller can use meter-wave radar and cameras for imaging analysis to comprehensively determine whether there are obstacles around the vehicle that may affect the vehicle's U-turn operation. For example, it can determine whether there are obstacles within a preset distance, where the preset distance is the shortest distance affecting the vehicle's U-turn operation. Alternatively, it can determine whether there are obstacles within a preset time period that may affect the vehicle's U-turn operation. The preset time period can be set by the user in advance, representing the time period during the vehicle's U-turn operation. The specific time period is not limited in this embodiment; the user can set it according to actual needs.

[0048] In another optional embodiment, when no obstacles are detected around the vehicle, the controller can also detect whether the slope of the vehicle is less than or equal to a preset slope based on the read drive power, roll angle, pitch angle, and virtual image. After detecting 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 secondary confirmation of the operation to prevent accidental operation. At this time, a secondary prompt box will pop up on the vehicle's dedicated interface, displaying the message "Please note the blind spot. Click OK to start the U-turn." When the driver clicks "OK," a confirmation command can be generated. When the controller receives the confirmation command from the user to confirm the target control parameters, the vehicle's U-turn function is activated. At this time, the controller can perform U-turn control on the vehicle and obtain the control result of the vehicle.

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

[0050] In one optional embodiment, when an obstacle is detected around the vehicle, the controller stops controlling the vehicle to turn around in place and displays a first warning message on the target interface. For example, a pop-up window can be displayed on the target interface with the message "Obstacle detected, turning around in place cannot be performed" (i.e., the first warning message).

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

[0052] In one optional embodiment, if the controller detects that the slope the vehicle is on is greater than a preset slope, it stops controlling the vehicle to make a U-turn and displays a second warning message on the target interface. For example, the target interface may display the message "Road slope is too large, U-turn function cannot be performed" (i.e., the second warning message).

[0053] It should be noted that a second warning message can also be displayed on the vehicle's instrument panel.

[0054] Optionally, the method further includes: stopping control of the vehicle in response to receiving a first cancellation command to cancel the target control parameters, or if no operation command for the vehicle is received within a first preset time.

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

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

[0057] In another alternative embodiment, if the controller does not receive any operation instructions for the vehicle within a first preset time period, the controller can stop controlling the vehicle and remain on the dedicated interface.

[0058] It should be noted that the U-turn function is officially activated after the driver confirms it a second time, at which point there will be a corresponding interactive prompt. Specifically, a semi-transparent prompt box will pop up on the dedicated interface 5 seconds before the U-turn is activated, displaying the message "U-turn is about to begin. Press the brake to exit the interactive prompt," to prompt the controller to control the vehicle to perform the U-turn.

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

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

[0061] In one alternative embodiment, if a fault is detected in the vehicle's power system, the controller is prohibited from controlling the vehicle, and a third warning message "Power system fault, U-turn function cannot be activated, please check" is displayed on the initial interface, and the system remains on the initial interface.

[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, if the vehicle is detected not to be in the target gear, the controller is prohibited from controlling the vehicle, and a fourth warning message "U-turn function cannot be activated, please switch gear to P" can be displayed on the initial interface, and the system remains on the initial interface.

[0064] Optionally, the method further includes: prohibiting control of the vehicle in response to receiving a second cancellation instruction to cancel the request to turn around in place, or if no operation instruction from the vehicle is received within a second preset time.

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

[0066] In one optional embodiment, when a malfunction is detected in the vehicle's powertrain and the vehicle is in the target gear, the central control system's display screen will show a dedicated interface. This dedicated interface will also display an "Exit" soft switch. After the user manually clicks the "Exit" soft switch, that is, after the controller receives the user's manual exit action on the dedicated interface, it can generate a second cancellation command. At this time, the controller is prohibited from controlling the vehicle and remains on the initial interface.

[0067] In another alternative embodiment, if the second preset time period is displayed on the dedicated interface and no operation instructions for the vehicle are received, the controller is prohibited from controlling the vehicle and returns to the initial interface.

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

[0069] Optionally, the method further includes: controlling the vehicle's indicator lights to flash during the process of controlling the vehicle to make a U-turn.

[0070] The aforementioned indicator lights can be hazard lights, but are not limited to them.

[0071] In one alternative embodiment, during the process of controlling the vehicle to make a U-turn, in order to ensure driving safety, the vehicle's hazard lights can be controlled to flash to alert pedestrians around the vehicle to pay attention to safety.

[0072] Figure 3 This is a flowchart of an optional method for opening a vehicle's dedicated interface according to an embodiment of the present invention, such as... Figure 3 As shown, the method includes the following steps:

[0073] Step S31: Open the main interface of the central control system;

[0074] Step S32: Click the "Turn Around" option on the main interface;

[0075] Step S33: Check if there is a fault in the vehicle's power system. If yes, proceed to step S310; otherwise, proceed to step S34.

[0076] Making a U-turn on the spot requires strong driving power. Therefore, when the vehicle has a power system failure, the system will prevent the driver from taking the next step and issue a prompt: "Power system failure, U-turn function cannot be activated, please check." Then, the system will return to the main interface.

[0077] Step S34: Check if the vehicle is in park. If yes, proceed to step S35; otherwise, proceed to step S311.

[0078] For safety reasons, the U-turn function requires the gear to be in Park (P) before activation. If the current gear is not in Park and the driver intends to make a U-turn, the system will prevent the driver from taking the next step and issue a message saying "U-turn function cannot be activated, please shift to Park," before returning to the main interface.

[0079] Step S35: The exclusive interface has been successfully opened;

[0080] Step S36: Does the user manually exit? If yes, proceed to step S312; if no, proceed to step S37.

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

[0082] Step S37: Determine if there is no operation after timeout. If yes, proceed to step S312; otherwise, proceed to step S38.

[0083] If the user remains on the dedicated interface for more than 180 seconds (which can be calibrated) without any interaction, they will be returned to the main interface. Before returning after the timeout, a pop-up window will appear with a 5-second countdown to inform the driver that if there is still no interaction within the countdown time, the interface will return to the main interface.

[0084] Step S38: Keep the dedicated interface displayed;

[0085] Step S39, End;

[0086] At this point in the process, the dedicated interface has been successfully opened and is displayed stably. In this state, the driver can then proceed with the setup preparations for activating the U-turn function.

[0087] Step S310: Display the third warning message;

[0088] Step S311: The fourth warning message is displayed;

[0089] Step S312: Display fault information.

[0090] Figure 4 This is a flowchart of an optional activation method for a dedicated interface according to an embodiment of the present invention, such as... Figure 4 As shown, the method includes the following steps:

[0091] Step S41: The user selects "Start" in the dedicated interface;

[0092] When the driver clicks "Start," the process of making a U-turn on the spot begins, and the restricted system will check whether the function meets the conditions for activation.

[0093] Step S42: Detect whether there are obstacles around the vehicle. If yes, proceed to step S48; otherwise, proceed to step S43.

[0094] The system uses meter-wave radar and camera imaging analysis to comprehensively determine whether there are any obstacles around the vehicle that might affect its ability to make a U-turn. If an obstacle is detected, a pop-up window will appear stating "Obstacle detected, U-turn cannot be performed," after which the user will be redirected to a dedicated interface. If no obstacle is detected, the system will further detect the slope.

[0095] Step S43: Detect whether the slope of the vehicle is greater than the preset slope. If yes, proceed to step S49; otherwise, proceed to step S44.

[0096] As the road slope increases, the driving power required for a U-turn also gradually increases. When the slope increases to a certain value, the U-turn function will no longer be able to be performed. At this time, the instrument panel or central control will issue a prompt "Road slope is too large, U-turn function cannot be activated", and then return to and remain on the dedicated interface.

[0097] Step S44: Does it require a second activation confirmation? If yes, proceed to step S45; otherwise, return to step S41.

[0098] Once the slope detection is successful, the system will perform a secondary confirmation of the operation to prevent accidental operation. A prompt box will pop up on the interface: "Please note the blind spot. Click OK to start the U-turn." At this time, the driver clicks "OK" to activate the function. Clicking "Cancel (5 seconds)" or not clicking any option within 5 seconds will return the system to the dedicated interface.

[0099] Step S45, select function to start;

[0100] Step S46, an interactive prompt appears;

[0101] After the driver confirms the activation, the U-turn function is officially activated, accompanied by corresponding interactive prompts. Specifically, a semi-transparent prompt box will pop up on the dedicated interface 5 seconds before the U-turn is activated, stating, "U-turn is about to begin; press the brake to exit." At the same time, the hazard lights will flash to alert nearby pedestrians. This completes the entire control process for the U-turn function from the main interface to activation.

[0102] Step S47, End;

[0103] Step S48: Display the first warning message;

[0104] Step S49: Display the second warning message.

[0105] The method disclosed in this embodiment can detect various possibilities before the function is activated, 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 vehicle control device is provided. It should be noted that the device can be used to execute the vehicle control method described above. Figure 5 This is a schematic diagram of a vehicle control device according to an embodiment of the present invention, such as... Figure 5 As shown, the device includes: a first detection module 52, used to detect whether the vehicle's power system malfunctions in response to receiving a request to turn around in place command, wherein the request to turn around in place command is used to request control of the vehicle to turn around in place; a second detection module 54, used to detect whether the vehicle is in a target gear in response to detecting that the vehicle's power system is not malfunctioning, wherein the target gear is a parking gear; and a control module 56, used to obtain the target control parameters corresponding to the request to turn around in place command in response to detecting that the vehicle is in the target gear, and control the vehicle based on the target control parameters to obtain the control result of the vehicle, wherein the control result is used to characterize whether the vehicle has completed the turn around in place.

[0107] Optionally, the control module includes: a first control unit, used to control the vehicle's target interface to display a virtual image of the vehicle based on vehicle parameter information in the target control parameters, wherein the vehicle parameter information includes at least: the vehicle's turning speed for a U-turn, the target turning angle, the drive power, and the vehicle's orientation compass, roll angle, pitch angle, first angle, and second angle, the first angle being the angle between the current vehicle's heading and due south, the second angle being the angle between the current vehicle's heading and the target turning angle, and the target interface being the interface on the vehicle's display screen that displays the virtual image; and a first detection unit, used to detect the vehicle's turning speed, target turning angle, and target turning angle based on the vehicle's turning speed, target turning angle, and target turning angle. The system includes a compass, a first included angle, a second included angle, a virtual image, and a target sensor for the vehicle to detect whether there are obstacles around the vehicle. The target sensor is a sensor pre-deployed on the vehicle. A 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 drive power, roll angle, pitch angle, and virtual image in response to the detection that there are no obstacles around the vehicle. A second control unit is used to perform a U-turn on the spot in response to the detection that the slope of the vehicle is less than or equal to the preset slope and to receive a confirmation command to confirm the target control parameters, thereby obtaining the control result.

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

[0109] Optionally, the control module further includes: a fourth detection unit, used to stop controlling the vehicle in response to detecting that the slope where the vehicle is located is greater than a preset slope, and to display a second warning message through the target interface, wherein the second warning message is used to indicate that the slope where the vehicle is located is greater than the 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 command to cancel the target control parameters, or if no operation command for the vehicle is received within a first preset time.

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

[0112] Optionally, the device further 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, and to display 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.

[0113] Optionally, the device further includes a processing module, configured to prohibit control of the vehicle in response to receiving a second cancellation command to cancel the request to turn around in place, or if no operation command for the vehicle is received within a second preset time.

[0114] Optionally, the device further includes a lighting control module for controlling the vehicle's indicator lights to flash during the process of controlling the vehicle to make a U-turn.

[0115] Embodiments of this application also provide a vehicle, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods of various embodiments of the present invention during runtime.

[0116] Embodiments of this application also provide a computer-readable storage medium including a stored executable program, wherein, when the executable program is running, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0117] Embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0118] Embodiments of this application also provide a computer program product, including a non-volatile computer-readable storage medium for storing a computer program that, when executed by a processor, implements the methods in various embodiments of the present invention.

[0119] Embodiments of this application also provide a computer program that, when executed by a processor, implements the methods described in the various embodiments of the present invention.

[0120] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer 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. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

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

[0123] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0124] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, 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. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0125] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for controlling a vehicle, characterized in that, include: In response to receiving a request to turn around on the spot, the system detects whether there is a malfunction in the vehicle's power system, wherein the request to turn around on the spot command is used to request control of the vehicle to turn around on the spot; In response to the detection that the powertrain of the vehicle is not faulty, it is detected whether the vehicle is in a target gear, wherein the target gear is a parking gear; In response to detecting that the vehicle is in the target gear, the target control parameters corresponding to the request to turn around are obtained through the vehicle's controller, wherein the target control parameters include: vehicle external environment parameter information and vehicle parameter information; Based on the vehicle parameter information in the target control parameters, the target interface of the vehicle is controlled to display a virtual image of the vehicle. The vehicle parameter information includes at least: the turning speed of the vehicle when turning around, the target turning angle, the driving power, the vehicle's orientation compass, roll angle, pitch angle, first angle and second angle. The first angle is the angle between the current vehicle direction and due south, and the second angle is the angle between the current vehicle direction and the target turning angle. The target interface is the interface on the vehicle's display screen that displays the virtual image. Based on the deflection speed, the target deflection angle, the azimuth compass, the first included angle, the second included angle, the virtual image, and the vehicle's target sensors, the presence of obstacles around the vehicle is detected, wherein the target sensors are meter-wave radar and cameras pre-deployed on the vehicle; in response to detecting that no obstacles are present around the vehicle, based on the drive power, the roll angle, the pitch angle, and the virtual image, it is detected whether the slope where the vehicle is located is less than or equal to a preset slope; in response to detecting that the slope where the vehicle is located is less than or equal to the preset slope, and receiving a confirmation command to confirm the target control parameters, the vehicle is controlled to perform a U-turn in place, and a control result is obtained, wherein the control result is used to characterize whether the vehicle has completed a U-turn in place; The method further includes: in response to detecting that the slope where the vehicle is located is greater than the preset slope, stopping control of the vehicle, and displaying a second warning message through the target interface or the vehicle's instrument panel, wherein the second warning message is used to indicate that the slope where the vehicle is located is greater than the preset slope.

2. The method according to claim 1, characterized in that, The method further includes: In response to detecting the presence of the obstacle around the vehicle, control of the vehicle is stopped, and a first warning message is displayed on the target interface, wherein the first warning message is used to warn of the presence of the obstacle around the vehicle.

3. The method according to claim 1, characterized in that, The method further includes: In response to receiving a first cancellation command to cancel the target control parameters, or if no operation command for the vehicle is received within a first preset time, control of the vehicle is stopped.

4. The method according to any one of claims 1 to 3, characterized in that, The method further includes: In response to the detection of a malfunction in the vehicle's powertrain, control of the vehicle is prohibited, and a third warning message is displayed on an initial interface. The third warning message indicates that the vehicle's powertrain has malfunctioned, and the initial interface is the default interface displayed on the vehicle's screen.

5. The method according to any one of claims 1 to 3, characterized in that, The method further includes: In response to the detection that the vehicle is not in the target gear, control of the vehicle is prohibited, and a fourth warning message is displayed on the initial interface, wherein the fourth warning message is used to indicate that the vehicle is not in the target gear.

6. The method according to any one of claims 1 to 3, characterized in that, The method further includes: In response to receiving a second cancellation command to cancel the request to turn around in place, or if no operation command for the vehicle is received within a second preset time, control of the vehicle is prohibited.

7. The method according to any one of claims 1 to 3, characterized in that, The method further includes: During the process of controlling the vehicle to make a U-turn, the vehicle's indicator lights are controlled to flash.

8. A vehicle control device, characterized in that, The device includes: The first detection module is used to detect whether the power system of the vehicle has malfunctioned in response to receiving a request to turn around on the spot command, wherein the request to turn around on the spot command is used to request control of the vehicle to turn around on the spot. The second detection module is used to detect whether the vehicle is in a target gear in response to the detection that the power system of the vehicle is not faulty, wherein the target gear is the parking gear; The control module is used to, in response to detecting that the vehicle is in the target gear, obtain the target control parameters corresponding to the request to turn around on the spot command through the vehicle's controller, wherein the target control parameters include: vehicle external environment parameter information and vehicle parameter information; The control module is also 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 parameters. The vehicle parameter information includes at least: the turning speed of the vehicle when turning around, the target turning angle, the drive power, and the vehicle's orientation compass, roll angle, pitch angle, first angle and second angle. The first angle is the angle between the current vehicle direction and due south, and the second angle is the angle between the current vehicle direction and the target turning angle. The target interface is the interface on the vehicle's display screen that displays the virtual image. The control module is further configured to detect whether there are obstacles around the vehicle based on the yaw speed, the target yaw angle, the azimuth compass, the first included angle, the second included angle, the virtual image, and the vehicle's target sensors, wherein the target sensors are meter-wave radar and cameras pre-deployed on the vehicle; in response to detecting that there are no obstacles around the vehicle, it detects whether the slope of the vehicle is less than or equal to a preset slope based on the drive 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 command to confirm the target control parameters, it performs a U-turn control on the vehicle to obtain a control result, wherein the control result is used to characterize whether the vehicle has completed a U-turn; The control module is also configured to stop controlling the vehicle in response to detecting that the slope of the vehicle is greater than the preset slope, and to display a second warning message through the target interface or the vehicle's instrument panel, wherein the second warning message is used to indicate that the slope of the vehicle is greater than the preset slope.

9. A vehicle, characterized in that, include: Memory, which stores executable programs; A processor for running the program, wherein the program, when running, performs the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored executable program, wherein, when the executable program is executed, it controls the device on which the storage medium is located to perform the method according to any one of claims 1 to 7.

11. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method according to any one of claims 1 to 7.

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