Vehicle control method and device

Abstract

The embodiment of the invention provides a vehicle control method and device, and relates to the technical field of vehicles. The method comprises the steps that a first control operation request is received, and the current running state of a vehicle is judged based on a vehicle body electronic control module according to the first control operation request; if the current running state of the vehicle is a starting state, first indication information is sent to the terminal equipment; wherein the first indication information is used for indicating the user to perform a second touch operation on the terminal equipment; the second touch operation is used for indicating the terminal equipment to send a control signal to the vehicle controller; receiving the control signal, and detecting the current parameter information of the vehicle in real time; if the current parameter information of the vehicle meets the preset condition, the vehicle is controlled according to the control signal. By the adoption of the technical scheme, the controller arranged in the vehicle can be used for controlling the vehicle to run in a narrow parking space, manual driving is not needed, and then the user experience is improved.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of vehicle technology, and more particularly, to a vehicle control method and device. Background Art

[0002] Currently, in relatively narrow parking spaces, users are unable to enter the driving seat to drive the vehicle out of or into the narrow parking space, thereby rendering the vehicle unusable.

[0003] Therefore, there is an urgent need for a vehicle control method that can use a built-in controller in the vehicle to control the vehicle's driving in a narrow parking space without the need for human driving, thereby improving the user experience. Summary of the invention

[0004] In order to solve the above technical problems or at least partially solve the above technical problems, an embodiment of the present disclosure provides a vehicle control method and device.

[0005] A first aspect of an embodiment of the present disclosure provides a vehicle control method, which is applied to a vehicle controller. The method includes:

[0006] receiving a first control operation request, and judging the current running state of the vehicle based on the vehicle body electronic control module according to the first control operation request; wherein the first control operation request is sent from a terminal device to the vehicle controller; and the first control operation request is generated by a user performing a first touch operation on the terminal device;

[0007] If the current running state of the vehicle is the start-up state, a first indication message is sent to the terminal device; wherein the first indication message is used to instruct the user to perform a second touch operation on the terminal device; and the second touch operation is used to instruct the terminal device to send a control signal to the vehicle controller;

[0008] Receive the control signal and detect the current parameter information of the vehicle in real time;

[0009] If the current parameter information of the vehicle meets the preset conditions, the vehicle is controlled according to the control signal; wherein the control signal is used to control the vehicle to drive out of or into a preset parking space according to a preset trajectory.

[0010] In one example, controlling the vehicle according to the control signal includes:

[0011] According to the control signal, the vehicle controller performs handshake with the electronic power steering system, the electronic stability control system and the engine control system respectively;

[0012] Based on the electronic power steering system, controlling the steering of the vehicle according to the control signal;

[0013] Based on the electronic stability control system, controlling the vehicle to maintain a stable state according to the control signal;

[0014] Based on the engine control system, the vehicle is controlled to travel according to the control signal.

[0015] In one example, the step of handshaking the vehicle controller with an electronic power steering system, an electronic stability control system, and an engine control system, respectively, according to the control signal, includes:

[0016] Generate a first handshake signal according to the control signal, and send the first handshake signal to the electronic power steering system; wherein the first handshake signal is used to instruct the vehicle controller and the electronic power steering system to perform handshake;

[0017] Generate a second handshake signal according to the control signal, and send the second handshake signal to the electronic stability control system; wherein the second handshake signal is used to instruct the vehicle controller and the electronic stability control system to perform handshake;

[0018] A third handshake signal is generated according to the control signal, and the third handshake signal is sent to the engine control system; wherein the third handshake signal is used to instruct the vehicle controller to perform a handshake with the engine control system.

[0019] In one example, the preset conditions include:

[0020] The vehicle speed is less than a first threshold;

[0021] Moreover, the maximum distance of a single trip is less than a second threshold;

[0022] And, the steering angular velocity is less than a third threshold;

[0023] Furthermore, the distance between the terminal device and the vehicle is less than a fourth threshold;

[0024] Furthermore, the time period during which the user does not operate the terminal device exceeds a fifth threshold;

[0025] and, no associated system failure in the vehicle is detected;

[0026] Furthermore, no collision signal from the elastic wave sensor was detected.

[0027] In one example, the method further includes:

[0028] If the current operating state of the vehicle is a non-starting state, a second indication message is sent to the terminal device; wherein the second indication message is used to instruct the user to perform a third touch operation on the terminal device; the third touch operation is used to instruct the terminal device to wake up the vehicle to control the vehicle to switch from the non-starting state to the starting state.

[0029] In one example, the method further includes:

[0030] If the current parameter information of the vehicle does not meet the preset condition, the vehicle is controlled to stop driving through the electronic parking brake system.

[0031] In one example, the method further includes:

[0032] In response to a second control operation request, the handshake between the vehicle controller and the electronic power steering system, the electronic stability control system and the engine control system is disconnected; wherein the second control operation request is sent by the terminal device to the vehicle controller; the second control operation request is generated after the user performs a fourth touch operation on the terminal device.

[0033] A second aspect of an embodiment of the present disclosure provides a vehicle control device, applied to a vehicle controller, the device comprising:

[0034] a judgment module, configured to receive a first control operation request, and judge the current running state of the vehicle based on the vehicle body electronic control module according to the first control operation request; wherein the first control operation request is sent from a terminal device to the vehicle controller; and the first control operation request is generated after a user performs a first touch operation on the terminal device;

[0035] A first sending module, configured to send a first indication message to the terminal device if the current running state of the vehicle is a start state; wherein the first indication message is used to instruct the user to perform a second touch operation on the terminal device; and the second touch operation is used to instruct the terminal device to send a control signal to the vehicle controller;

[0036] A receiving module, used to receive the control signal and detect the current parameter information of the vehicle in real time;

[0037] The first control module is used to control the vehicle according to the control signal if the current parameter information of the vehicle meets the preset conditions; wherein the control signal is used to control the vehicle to drive out of or into a preset parking space according to a preset trajectory.

[0038] In one example, the first control module is specifically used to make the vehicle controller handshake with the electronic power steering system, the electronic stability control system and the engine control system respectively according to the control signal;

[0039] Based on the electronic power steering system, controlling the steering of the vehicle according to the control signal;

[0040] Based on the electronic stability control system, controlling the vehicle to maintain a stable state according to the control signal;

[0041] Based on the engine control system, the vehicle is controlled to travel according to the control signal.

[0042] In one example, the first control module is specifically used to generate a first handshake signal according to the control signal, and send the first handshake signal to the electronic power steering system; wherein the first handshake signal is used to instruct the vehicle controller and the electronic power steering system to perform handshake;

[0043] Generate a second handshake signal according to the control signal, and send the second handshake signal to the electronic stability control system; wherein the second handshake signal is used to instruct the vehicle controller and the electronic stability control system to perform handshake;

[0044] A third handshake signal is generated according to the control signal, and the third handshake signal is sent to the engine control system; wherein the third handshake signal is used to instruct the vehicle controller to perform a handshake with the engine control system.

[0045] In one example, the preset conditions include:

[0046] The vehicle speed is less than a first threshold;

[0047] Moreover, the maximum distance of a single trip is less than a second threshold;

[0048] And, the steering angular velocity is less than a third threshold;

[0049] Furthermore, the distance between the terminal device and the vehicle is less than a fourth threshold;

[0050] Furthermore, the time period during which the user does not operate the terminal device exceeds a fifth threshold;

[0051] and, no associated system failure in the vehicle is detected;

[0052] Furthermore, no collision signal from the elastic wave sensor was detected.

[0053] In one example, the apparatus further comprises:

[0054] The second sending module is used to send a second indication message to the terminal device if the current operating state of the vehicle is a non-starting state; wherein the second indication message is used to instruct the user to perform a third touch operation on the terminal device; the third touch operation is used to instruct the terminal device to wake up the vehicle to control the vehicle to switch from the non-starting state to the starting state.

[0055] In one example, the apparatus further comprises:

[0056] The second control module is used to control the vehicle to stop running through an electronic parking brake system if the current parameter information of the vehicle does not meet the preset condition.

[0057] In one example, the apparatus further comprises:

[0058] A disconnection module is used to disconnect the handshake between the vehicle controller and the electronic power steering system, the electronic stability control system and the engine control system in response to a second control operation request; wherein the second control operation request is sent by the terminal device to the vehicle controller; and the second control operation request is generated by the user after performing a fourth touch operation on the terminal device.

[0059] A third aspect of an embodiment of the present disclosure provides a vehicle controller, comprising: a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the method of the first aspect above.

[0060] A fourth aspect of an embodiment of the present disclosure provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method of the first aspect described above can be implemented.

[0061] The disclosed embodiment provides a vehicle control method and device, the method comprising: receiving a first control operation request, judging the current running state of the vehicle based on the vehicle body electronic control module according to the first control operation request; wherein the first control operation request is sent from a terminal device to the vehicle controller; the first control operation request is generated after a user performs a first touch operation on the terminal device; if the current running state of the vehicle is a startup state, sending a first indication message to the terminal device; wherein the first indication message is used to instruct the user to perform a second touch operation on the terminal device; the second touch operation is used to instruct the terminal device to send a control signal to the vehicle controller; receiving the control signal, and detecting the current parameter information of the vehicle in real time; if the current parameter information of the vehicle meets a preset condition, controlling the vehicle according to the control signal; wherein the control signal is used to control the vehicle to drive out or into a preset parking space according to a preset trajectory. By adopting this technical solution, the vehicle's built-in controller can be used to control the vehicle's driving in a narrow parking space without manual driving, thereby improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0063] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0064] Figure 1 is a flow chart of a vehicle control method provided by an embodiment of the present disclosure;

[0065] Figure 2 is a flow chart of a vehicle control method provided by an embodiment of the present disclosure;

[0066] Figure 3 is a structural schematic diagram of a vehicle control device provided by an embodiment of the present disclosure;

[0067] Figure 4 It is a structural schematic diagram of a vehicle controller in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0068] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0069] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0070] Figure 1 It is a flow chart of a vehicle control method provided by an embodiment of the present disclosure, and the method can be executed by a vehicle controller. Specifically, the vehicle controller is determined from a plurality of controllers already in the vehicle. For example, the existing controllers in the vehicle are controller A, controller B, controller C, and controller D. Since controller A has a lateral control module and a longitudinal control module, controller A is determined to be the vehicle controller that executes the method. The advantage of such a setting is that there is no need to configure the vehicle controller separately, thereby reducing hardware costs. When the vehicle does not execute this method, the vehicle controller is not in an idle state, but can execute the original control operation. Furthermore, when controller A fails, if controller B also has a lateral control module and a longitudinal control module, controller B can be used as the vehicle controller, thereby increasing redundancy.

[0071] In this embodiment, the method is used in a scenario where the vehicle is parked in a relatively narrow space or driven out. In this scenario, the user cannot enter the driving seat to control the vehicle, and therefore, the vehicle needs to be remotely controlled.

[0072] like Figure 1 As shown, the method provided in this embodiment includes the following steps:

[0073] S101. Receive a first control operation request, and determine the current operating state of the vehicle based on the vehicle body electronic control module according to the first control operation request; wherein the first control operation request is sent from a terminal device to a vehicle controller; and the first control operation request is generated after a user performs a first touch operation on the terminal device.

[0074] In one example, the terminal device may be a mobile phone, a smart car key, a tablet or a computer. The user may start an application on the terminal device and operate through the interface of the application. Specifically, the first touch operation may be completed on the interface of the application, wherein the first touch operation may be a click operation or a gesture operation. The current running state of the vehicle may be a start state or a non-start state.

[0075] After the user completes the first touch operation on the terminal device, the terminal device generates a first control operation request, which is sent by the terminal device to the vehicle controller. After receiving the first control operation request, the vehicle controller determines the current operating state of the vehicle based on the vehicle body electronic control module according to the first control operation request.

[0076] In one example, the terminal device is connected to the vehicle controller via Bluetooth. Specifically, a Bluetooth NFC Communication Module (BNCM) is built into the vehicle controller, and the terminal device communicates with the Bluetooth NFC Communication Module via the Bluetooth NFC Communication Module.

[0077] S102. If the current running state of the vehicle is the start-up state, a first indication message is sent to the terminal device; wherein the first indication message is used to instruct the user to perform a second touch operation on the terminal device; and the second touch operation is used to instruct the terminal device to send a control signal to the vehicle controller.

[0078] In one example, if the current running state of the vehicle is the startup state, the vehicle controller sends the first indication information to the terminal device. After receiving the first indication information, the terminal device may display a pop-up message on the interface of the application program, and the content of the pop-up message may be "Please send a control signal". Specifically, the user may perform the second touch operation on the interface of the application program, and then the terminal device generates a control signal and sends the control signal to the vehicle controller.

[0079] S103, receiving a control signal, and detecting the current parameter information of the vehicle in real time.

[0080] In one example, the vehicle's current parameter information may include vehicle speed, maximum single-distance travel, steering angular velocity, the distance between the terminal device and the vehicle, the length of time the user has not operated the terminal device, the operating status of associated systems in the vehicle, and the collision signal of the elastic wave sensor.

[0081] In one example, after the vehicle controller receives the control signal, the vehicle controller may detect the above-mentioned various parameter information in real time.

[0082] S104. If the current parameter information of the vehicle meets the preset conditions, the vehicle is controlled according to the control signal; wherein the control signal is used to control the vehicle to drive out of or into a preset parking space according to a preset trajectory.

[0083] In one example, the preset conditions include:

[0084] The vehicle speed is less than a first threshold;

[0085] Moreover, the maximum distance of a single trip is less than a second threshold;

[0086] And, the steering angular velocity is less than a third threshold;

[0087] Furthermore, the distance between the terminal device and the vehicle is less than a fourth threshold;

[0088] Furthermore, the time during which the user does not operate the terminal device exceeds a fifth threshold;

[0089] and, no associated system failure in the vehicle is detected;

[0090] Furthermore, no collision signal from the elastic wave sensor was detected.

[0091] In one example, if the current parameter information of the vehicle satisfies the above conditions at the same time, it is determined that the preset conditions are met, and then a control signal is sent to the vehicle controller. The vehicle controller controls the vehicle to drive out or into the preset parking space according to the control signal.

[0092] The disclosed embodiment provides a vehicle control method, the method comprising: receiving a first control operation request, judging the current running state of the vehicle based on the vehicle body electronic control module according to the first control operation request; wherein the first control operation request is sent from a terminal device to a vehicle controller; the first control operation request is generated after a user performs a first touch operation on the terminal device; if the current running state of the vehicle is a startup state, sending a first indication message to the terminal device; wherein the first indication message is used to instruct the user to perform a second touch operation on the terminal device; the second touch operation is used to instruct the terminal device to send a control signal to the vehicle controller; receiving a control signal, and detecting the current parameter information of the vehicle in real time; if the current parameter information of the vehicle meets a preset condition, controlling the vehicle according to the control signal; wherein the control signal is used to control the vehicle to drive out or drive into a preset parking space according to a preset trajectory. By adopting this technical solution, the vehicle's built-in controller can be used to control the vehicle's driving in a narrow parking space without manual driving, thereby improving the user experience.

[0093] Figure 2 A flow chart of a vehicle control method provided by an embodiment of the present disclosure is shown. Applied to a vehicle controller, the embodiment of the present disclosure is optimized on the basis of the above embodiment, and the embodiment of the present disclosure can be combined with various optional solutions in one or more of the above embodiments.

[0094] like Figure 2 As shown, the vehicle control method may include the following steps:

[0095] S201. Receive a first control operation request, and determine the current operating state of the vehicle based on the vehicle body electronic control module according to the first control operation request; wherein the first control operation request is sent from a terminal device to a vehicle controller; and the first control operation request is generated after a user performs a first touch operation on the terminal device.

[0096] In an example, this step may refer to the content of step S101.

[0097] S202. If the current running state of the vehicle is the start-up state, a first indication message is sent to the terminal device; wherein the first indication message is used to instruct the user to perform a second touch operation on the terminal device; and the second touch operation is used to instruct the terminal device to send a control signal to the vehicle controller.

[0098] In one example, the interface of the terminal device application displays buttons for four directions: front, back, left and right. The second touch operation may be long pressing the front button for 3S.

[0099] S203, receiving a control signal, and detecting the current parameter information of the vehicle in real time.

[0100] In one example, the control signal is received via the BNCM.

[0101] S204: If the current parameter information of the vehicle meets the preset conditions, the vehicle controller performs handshake with the electronic power steering system, the electronic stability control system and the engine control system respectively according to the control signal.

[0102] In one example, according to the control signal, the vehicle controller performs handshakes with the electronic power steering system, the electronic stability control system, and the engine control system, respectively, including:

[0103] Generate a first handshake signal according to the control signal, and send the first handshake signal to the electronic power steering system; wherein the first handshake signal is used to instruct the vehicle controller and the electronic power steering system to perform handshake;

[0104] Generate a second handshake signal according to the control signal, and send the second handshake signal to the electronic stability control system; wherein the second handshake signal is used to instruct the vehicle controller and the electronic stability control system to perform handshake;

[0105] A third handshake signal is generated according to the control signal, and the third handshake signal is sent to the engine control system; wherein the third handshake signal is used to instruct the vehicle controller to perform handshake with the engine control system.

[0106] In one example, the first handshake signal may connect the vehicle controller to the electronic power steering system so that the vehicle controller can control the electronic power steering system. The second handshake signal may connect the vehicle controller to the electronic stability control system so that the vehicle controller can control the electronic stability control system. The third handshake signal may connect the vehicle controller to the engine control system so that the vehicle controller can control the engine control system.

[0107] S205 . Based on the electronic power steering system, control the steering of the vehicle according to the control signal.

[0108] In one example, an electronic power steering system is used to control vehicle steering.

[0109] S206: Based on the electronic stability control system, control the vehicle to maintain a stable state according to the control signal.

[0110] In one example, an electronic stability control system controls the vehicle to maintain a stable state.

[0111] S207: Based on the engine control system, control the vehicle driving according to the control signal.

[0112] The control signal is used to control the vehicle to drive out of or into a preset parking space according to a preset trajectory.

[0113] S208. If the current operating state of the vehicle is a non-starting state, a second indication message is sent to the terminal device; wherein the second indication message is used to instruct the user to perform a third touch operation on the terminal device; the third touch operation is used to instruct the terminal device to wake up the vehicle to control the vehicle to switch from a non-starting state to a starting state.

[0114] In one example, after receiving the third touch operation, the terminal device can send a wake-up signal to the body electronic control module in the vehicle controller, and the body electronic control module sends the wake-up signal to the Bluetooth NFC communication module, and the Bluetooth NFC communication module sends the wake-up signal to the bus, and then wakes up the vehicle. If the associated system in the vehicle fails at this time, a feedback signal is sent to the terminal device through the vehicle controller to remind the user through the terminal device.

[0115] S209: If the current parameter information of the vehicle does not meet the preset conditions, the vehicle is controlled to stop by the electronic parking brake system.

[0116] In one example, if the current parameter information of the vehicle does not meet the preset conditions, including: the vehicle speed is greater than or equal to the first threshold, or the maximum single driving distance is greater than or equal to the second threshold, or the steering angle velocity is greater than or equal to the third threshold, or the distance between the terminal device and the vehicle is greater than or equal to the fourth threshold, or the time during which the user has not operated the terminal device is less than or equal to the fifth threshold, or an associated system failure in the vehicle is detected, or a collision signal of the elastic wave sensor is detected.

[0117] In one example, the associated systems in the vehicle include, but are not limited to, the following systems: an electronic power steering system, an electronic stability control system, and an engine control system.

[0118] S210. In response to a second control operation request, disconnect the handshake between the vehicle controller and the electronic power steering system, the electronic stability control system and the engine control system; wherein the second control operation request is sent from the terminal device to the vehicle controller; and the second control operation request is generated after the user performs a fourth touch operation on the terminal device.

[0119] In one example, the fourth touch operation may be an exit operation. After the user clicks the exit operation on the application interface of the terminal device, the terminal device generates a second control operation request. The second control operation request is sent by the terminal device to the vehicle controller. After the Bluetooth NFC communication module receives the second control operation request, the vehicle controller disconnects the handshake between the vehicle controller and the electronic power steering system, the electronic stability control system, and the engine control system, thereby exiting the remote control function.

[0120] The disclosed embodiment provides a vehicle control method, the method comprising: if the current running state of the vehicle is a non-starting state, sending a second indication message to a terminal device; wherein the second indication message is used to instruct the user to perform a third touch operation on the terminal device; the third touch operation is used to instruct the terminal device to wake up the vehicle to control the vehicle to switch from a non-starting state to a starting state, and in response to the second control operation request, disconnect the handshake between the vehicle controller and the electronic power steering system, the electronic stability control system, and the engine control system; wherein the second control operation request is sent by the terminal device to the vehicle controller; the second control operation request is generated by the user after performing a fourth touch operation on the terminal device. By adopting this technical solution, the vehicle can be controlled according to the current running state of the vehicle, and there is no need to reconfigure a new controller, which improves the flexibility of controlling the vehicle.

[0121] Figure 3 1 is a schematic diagram of the structure of a vehicle control device provided by an embodiment of the present disclosure, and the vehicle control device can be understood as the above-mentioned vehicle controller or some functional modules in the above-mentioned vehicle controller. Figure 3As shown, the vehicle control device 30 includes:

[0122] The judgment module 301 is used to receive a first control operation request, and judge the current running state of the vehicle based on the vehicle body electronic control module according to the first control operation request; wherein the first control operation request is sent by the terminal device to the vehicle controller; and the first control operation request is generated after the user performs a first touch operation on the terminal device;

[0123] The first sending module 302 is used to send a first indication message to the terminal device if the current running state of the vehicle is the start state; wherein the first indication message is used to instruct the user to perform a second touch operation on the terminal device; and the second touch operation is used to instruct the terminal device to send a control signal to the vehicle controller;

[0124] The receiving module 303 is used to receive the control signal and detect the current parameter information of the vehicle in real time;

[0125] The first control module 304 is used to control the vehicle according to a control signal if the current parameter information of the vehicle meets a preset condition; wherein the control signal is used to control the vehicle to drive out of or into a preset parking space according to a preset trajectory.

[0126] In one example, the first control module 304 is specifically used to handshake the vehicle controller with the electronic power steering system, the electronic stability control system and the engine control system respectively according to the control signal;

[0127] Based on the electronic power steering system, the vehicle steering is controlled according to the control signal;

[0128] Based on the electronic stability control system, the vehicle is controlled to maintain a stable state according to the control signal;

[0129] Based on the engine control system, the vehicle driving is controlled according to the control signal.

[0130] In one example, the first control module 304 is specifically used to generate a first handshake signal according to the control signal, and send the first handshake signal to the electronic power steering system; wherein the first handshake signal is used to instruct the vehicle controller and the electronic power steering system to perform handshake;

[0131] Generate a second handshake signal according to the control signal, and send the second handshake signal to the electronic stability control system; wherein the second handshake signal is used to instruct the vehicle controller and the electronic stability control system to perform handshake;

[0132] A third handshake signal is generated according to the control signal, and the third handshake signal is sent to the engine control system; wherein the third handshake signal is used to instruct the vehicle controller to perform handshake with the engine control system.

[0133] In one example, the preset conditions include:

[0134] The vehicle speed is less than a first threshold;

[0135] Moreover, the maximum distance of a single trip is less than a second threshold;

[0136] And, the steering angular velocity is less than a third threshold;

[0137] Furthermore, the distance between the terminal device and the vehicle is less than a fourth threshold;

[0138] Furthermore, the time during which the user does not operate the terminal device exceeds a fifth threshold;

[0139] and, no associated system failure in the vehicle is detected;

[0140] Furthermore, no collision signal from the elastic wave sensor was detected.

[0141] In one example, the apparatus 30 further includes:

[0142] The second sending module 305 is used to send a second indication message to the terminal device if the current operating state of the vehicle is a non-starting state; wherein the second indication message is used to instruct the user to perform a third touch operation on the terminal device; the third touch operation is used to instruct the terminal device to wake up the vehicle to control the vehicle to switch from a non-starting state to a starting state.

[0143] In one example, the apparatus 30 further includes:

[0144] The second control module 306 is configured to control the vehicle to stop running through the electronic parking brake system if the current parameter information of the vehicle does not meet the preset conditions.

[0145] In one example, the apparatus 30 further includes:

[0146] The disconnection module 307 is used to disconnect the handshake between the vehicle controller and the electronic power steering system, the electronic stability control system and the engine control system in response to a second control operation request; wherein the second control operation request is sent from the terminal device to the vehicle controller; the second control operation request is generated after the user performs a fourth touch operation on the terminal device.

[0147] The device provided in this embodiment can execute the method of any of the above embodiments, and its execution method and beneficial effects are similar, which will not be repeated here.

[0148] The embodiments of the present disclosure also provide a vehicle controller, which includes: a memory storing a computer program; and a processor for executing the computer program. When the computer program is executed by the processor, the method of any of the above embodiments can be implemented.

[0149] For example, Figure 4 Schematic diagram of the structure of a vehicle controller in the embodiment of the present disclosure. Figure 4 , which shows a schematic diagram of a structure suitable for implementing the vehicle controller 1000 in the embodiment of the present disclosure. The vehicle controller 1000 in the embodiment of the present disclosure may include but is not limited to mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 4 The vehicle controller shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0150] like Figure 4 As shown, the vehicle controller 1000 may include a processing device (e.g., a central processing unit, a graphics processor, etc.) 1001, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1008 to a random access memory (RAM) 1003. In the RAM 1003, various programs and data required for the operation of the vehicle controller 1000 are also stored. The processing device 1001, the ROM 1002, and the RAM 1003 are connected to each other via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0151] Typically, the following devices may be connected to the I / O interface 1005: input devices 1006 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 1007 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1008 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication devices 1009 may allow the vehicle controller 1000 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 4 The vehicle controller 1000 is shown with various devices, but it should be understood that it is not required to implement or have all the devices shown. More or fewer devices may be implemented or have instead.

[0152] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device 1009, or installed from a storage device 1008, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0153] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0154] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0155] The computer-readable medium may be included in the vehicle controller; or may exist independently without being assembled into the vehicle controller.

[0156] The above-mentioned computer-readable medium carries one or more programs. When the above-mentioned one or more programs are executed by the vehicle controller, the vehicle controller: receives a first control operation request, and determines the current operating state of the vehicle based on the vehicle body electronic control module according to the first control operation request; wherein the first control operation request is sent from the terminal device to the vehicle controller; the first control operation request is generated after the user performs a first touch operation on the terminal device; if the current operating state of the vehicle is a startup state, a first indication message is sent to the terminal device; wherein the first indication message is used to instruct the user to perform a second touch operation on the terminal device; the second touch operation is used to instruct the terminal device to send a control signal to the vehicle controller; receives the control signal, and detects the current parameter information of the vehicle in real time; if the current parameter information of the vehicle meets the preset conditions, controls the vehicle according to the control signal; wherein the control signal is used to control the vehicle to drive out or into a preset parking space according to a preset trajectory.

[0157] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0158] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0159] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware, wherein the name of a unit does not, in some cases, limit the unit itself.

[0160] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip (SOCs), complex programmable logic devices (CPLDs), and the like.

[0161] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0162] The embodiments of the present disclosure further provide a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method of any of the above embodiments can be implemented. The execution method and beneficial effects are similar and will not be repeated here.

[0163] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0164] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle control method, characterized in that: Applied to a vehicle controller, the method comprises: receiving a first control operation request, and judging the current running state of the vehicle based on the vehicle body electronic control module according to the first control operation request; wherein the first control operation request is sent from a terminal device to the vehicle controller; and the first control operation request is generated by a user performing a first touch operation on the terminal device; If the current running state of the vehicle is the start-up state, a first indication message is sent to the terminal device; wherein the first indication message is used to instruct the user to perform a second touch operation on the terminal device; and the second touch operation is used to instruct the terminal device to send a control signal to the vehicle controller; Receive the control signal and detect the current parameter information of the vehicle in real time; If the current parameter information of the vehicle meets the preset conditions, the vehicle is controlled according to the control signal; wherein the control signal is used to control the vehicle to drive out of or into a preset parking space according to a preset trajectory.

2. The method according to claim 1, characterized in that The step of controlling the vehicle according to the control signal comprises: According to the control signal, the vehicle controller performs handshake with the electronic power steering system, the electronic stability control system and the engine control system respectively; Based on the electronic power steering system, controlling the steering of the vehicle according to the control signal; Based on the electronic stability control system, controlling the vehicle to maintain a stable state according to the control signal; Based on the engine control system, the vehicle is controlled to travel according to the control signal.

3. The method according to claim 2, characterized in that The vehicle controller performs handshakes with an electronic power steering system, an electronic stability control system and an engine control system respectively according to the control signal, including: Generate a first handshake signal according to the control signal, and send the first handshake signal to the electronic power steering system; wherein the first handshake signal is used to instruct the vehicle controller and the electronic power steering system to perform handshake; Generate a second handshake signal according to the control signal, and send the second handshake signal to the electronic stability control system; wherein the second handshake signal is used to instruct the vehicle controller and the electronic stability control system to perform handshake; A third handshake signal is generated according to the control signal, and the third handshake signal is sent to the engine control system; wherein the third handshake signal is used to instruct the vehicle controller to perform a handshake with the engine control system.

4. The method according to claim 1, characterized in that: The preset conditions include: The vehicle speed is less than a first threshold; Moreover, the maximum distance of a single trip is less than a second threshold; And, the steering angular velocity is less than a third threshold; Furthermore, the distance between the terminal device and the vehicle is less than a fourth threshold; Furthermore, the time period during which the user does not operate the terminal device exceeds a fifth threshold; and, no associated system failure in the vehicle is detected; Furthermore, no collision signal from the elastic wave sensor was detected.

5. The method according to claim 1, characterized in that The method further comprises: If the current operating state of the vehicle is a non-starting state, a second indication message is sent to the terminal device; wherein the second indication message is used to instruct the user to perform a third touch operation on the terminal device; the third touch operation is used to instruct the terminal device to wake up the vehicle to control the vehicle to switch from the non-starting state to the starting state.

6. The method according to claim 1, characterized in that The method further comprises: If the current parameter information of the vehicle does not meet the preset condition, the vehicle is controlled to stop driving through the electronic parking brake system.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: In response to a second control operation request, the handshake between the vehicle controller and the electronic power steering system, the electronic stability control system and the engine control system is disconnected; wherein the second control operation request is sent by the terminal device to the vehicle controller; the second control operation request is generated after the user performs a fourth touch operation on the terminal device.

8. A vehicle control device, characterized in that: Applied to a vehicle controller, the device comprises: a judgment module, configured to receive a first control operation request, and judge the current running state of the vehicle based on the vehicle body electronic control module according to the first control operation request; wherein the first control operation request is sent from a terminal device to the vehicle controller; and the first control operation request is generated after a user performs a first touch operation on the terminal device; A first sending module, configured to send a first indication message to the terminal device if the current running state of the vehicle is a start state; wherein the first indication message is used to instruct the user to perform a second touch operation on the terminal device; and the second touch operation is used to instruct the terminal device to send a control signal to the vehicle controller; A receiving module, used to receive the control signal and detect the current parameter information of the vehicle in real time; The first control module is used to control the vehicle according to the control signal if the current parameter information of the vehicle meets the preset conditions; wherein the control signal is used to control the vehicle to drive out of or into a preset parking space according to a preset trajectory.

9. A vehicle controller, characterized in that: include: A processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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