Vehicle control method and device

Abstract

The embodiment of the present disclosure provides a vehicle control method and device, and relates to the technical field of vehicles. The method comprises the following steps: receiving a first control operation request, determining the current running state of the vehicle based on the vehicle body electronic control module according to the first control operation request; if the current running state of the vehicle is a starting state, sending first indication information to a terminal device; wherein the first indication information is used to instruct a 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 a 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. By using the technical scheme, the built-in controller of the vehicle can be used to control the vehicle to run in a narrow parking space without human driving, thereby improving the user experience.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle technology, and more particularly to a vehicle control method and apparatus. Background Technology

[0002] Currently, in relatively narrow parking spaces, users are unable to enter the driver's seat to drive the vehicle out or into the narrow space, thus rendering the vehicle unusable.

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

[0004] To solve the above-mentioned technical problems, or at least partially solve them, this disclosure provides a vehicle control method and apparatus.

[0005] A first aspect of this disclosure provides a vehicle control method applied to a vehicle controller, the method comprising:

[0006] The system receives a first control operation request and determines the current operating status of the vehicle based on the vehicle body electronic control module. 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.

[0007] If the vehicle is currently in a running state, a first instruction message is sent to the terminal device; wherein, the first instruction 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;

[0008] Receive the control signal and detect the vehicle's current parameter information 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 will communicate 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, the vehicle is steered according to the control signal;

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

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

[0015] In one example, the step of handshaking 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 includes:

[0016] A first handshake signal is generated based on the control signal, and the first handshake signal is sent 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 a handshake;

[0017] A second handshake signal is generated based on the control signal and sent 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 a handshake.

[0018] A third handshake signal is generated based on the control signal and 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 the first threshold.

[0021] Furthermore, the maximum distance traveled in a single trip is less than the second threshold.

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

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

[0024] Furthermore, the duration for which the user has not operated the terminal device exceeds the fifth threshold;

[0025] Furthermore, no faults were detected in the associated systems of the vehicle;

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

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

[0028] If the vehicle is currently in a non-starting state, a second instruction message is sent to the terminal device; wherein the second instruction 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, so as 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 conditions, the vehicle will be stopped by controlling the electronic parking brake system.

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

[0032] In response to the 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 from the terminal device to the vehicle controller; the second control operation request is generated by the user performing a fourth touch operation on the terminal device.

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

[0034] The judgment module is used to receive a first control operation request and, based on the first control operation request, determine the current operating status of the vehicle based on the vehicle body electronic control module; wherein, the first control operation request is sent from the terminal device to the vehicle controller; the first control operation request is generated by the user performing a first touch operation on the terminal device;

[0035] A first sending module is configured to send first indication information to the terminal device if the current operating state of the vehicle is a start state; wherein, the first indication information 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;

[0036] The receiving module is 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 establish handshakes between the vehicle controller and the electronic power steering system, the electronic stability control system, and the engine control system, respectively, based on the control signal.

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

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

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

[0042] In one example, a first control module is specifically configured to generate a first handshake signal based on 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 a handshake.

[0043] A second handshake signal is generated based on the control signal and sent 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 a handshake.

[0044] A third handshake signal is generated based on the control signal and 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 the first threshold.

[0047] Furthermore, the maximum distance traveled in a single trip is less than the second threshold.

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

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

[0050] Furthermore, the duration for which the user has not operated the terminal device exceeds the fifth threshold;

[0051] Furthermore, no faults were detected in the associated systems of the vehicle;

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

[0053] In one example, the device further includes:

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

[0055] In one example, the device further includes:

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

[0057] In one example, the device further includes:

[0058] The disconnect 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 from the terminal device to the vehicle controller; the second control operation request is generated by the user performing a fourth touch operation on the terminal device.

[0059] A third aspect of this disclosure provides a vehicle controller comprising a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the method described in the first aspect.

[0060] A fourth aspect of this disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the method of the first aspect described above.

[0061] This disclosure provides a vehicle control method and apparatus. The method includes: receiving a first control operation request; determining the current operating state of the vehicle based on a 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 by a user performing a first touch operation on the terminal device; if the current operating state of the vehicle is a start state, sending first indication information to the terminal device; wherein the first indication information 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 preset conditions, controlling the vehicle 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. Using this technical solution, the vehicle's built-in controller can be used to control the vehicle's movement in narrow parking spaces without human driving, thereby improving the user experience. Attached Figure Description

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

[0063] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0064] Figure 1 This is a schematic flowchart of a vehicle control method provided in an embodiment of this disclosure;

[0065] Figure 2 This is a schematic flowchart of a vehicle control method provided in an embodiment of this disclosure;

[0066] Figure 3 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this disclosure;

[0067] Figure 4 This is a schematic diagram of the structure of a vehicle controller according to an embodiment of this disclosure. Detailed Implementation

[0068] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0069] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0070] Figure 1 This is a flowchart illustrating a vehicle control method provided in an embodiment of this disclosure. This method can be executed by a vehicle controller. Specifically, the vehicle controller is determined from among multiple existing controllers in the vehicle. For example, if the existing controllers in the vehicle are controller A, controller B, controller C, and controller D, and controller A has both a lateral control module and a longitudinal control module, then controller A is determined to be the vehicle controller executing this method. The advantage of this setup is that it eliminates the need for a separate vehicle controller, reducing hardware costs. When the vehicle is not executing this method, the vehicle controller is not idle but can still perform its original control operations. Furthermore, if controller A malfunctions, and controller B also has both a lateral control module and a longitudinal control module, then controller B can be used as the vehicle controller, increasing redundancy.

[0071] In this embodiment, the method is used when parking in a relatively narrow space or driving the vehicle out. In such scenarios, the user cannot enter the driver's seat to control the vehicle, so remote control of the vehicle is required.

[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 status 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.

[0074] In one example, the terminal device can be a mobile phone, smart car key, tablet, or computer. The user can launch the application on the terminal device and operate through the application's interface. Specifically, the first touch operation can be completed within the application's interface, which can be a click or a gesture. The vehicle's current operating state can be either active or inactive.

[0075] After the user completes the first touch operation on the terminal device, the terminal device will generate a first control operation request, which will then be sent to the vehicle controller. Upon receiving the first control operation request, the vehicle controller will determine the current operating status of the vehicle based on the vehicle's electronic control module.

[0076] In one example, the terminal device and the vehicle controller are connected via Bluetooth. Specifically, the vehicle controller has a built-in Bluetooth NFC Communication Module (BNCM) that communicates with the terminal device.

[0077] S102. If the vehicle is currently in the start state, a first instruction message is sent to the terminal device; wherein, the first instruction 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.

[0078] In one example, if the vehicle is currently in the "start" state, the vehicle controller sends a first instruction to the terminal device. After receiving the first instruction, the terminal device can display a pop-up message on the application interface. The content of this pop-up message could be "Please send a control signal." Specifically, the user can perform a second touch operation on the application interface, and then the terminal device generates a control signal and sends it to the vehicle controller.

[0079] S103: Receive control signals and monitor the vehicle's current parameter information in real time.

[0080] In one example, the vehicle's current parameter information could be vehicle speed, maximum distance traveled in a single trip, steering angular velocity, distance between the terminal device and the vehicle, duration of user inactivity of the terminal device, operating status of associated systems within the vehicle, and collision signals from the elastic wave sensor.

[0081] In one example, after the vehicle controller receives the control signal, it can detect the above parameter information in real time.

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

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

[0084] The vehicle speed is less than the first threshold.

[0085] Furthermore, the maximum distance traveled in a single trip is less than the second threshold.

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

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

[0088] Furthermore, the user has not operated the terminal device for more than the fifth threshold period;

[0089] Furthermore, no faults were detected in the associated systems within the vehicle;

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

[0091] In one example, if the vehicle's current parameters simultaneously meet the above conditions, it is determined that the preset conditions are met, and then a control signal is sent to the vehicle controller. The vehicle controller then controls the vehicle to drive out of or into a preset parking space according to the control signal.

[0092] This disclosure provides a vehicle control method, comprising: receiving a first control operation request; determining the current operating state of the vehicle based on the vehicle's 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 operating state of the vehicle is a start state, sending first instruction information to the terminal device; wherein the first instruction information 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 preset conditions, controlling the vehicle 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. Using this technical solution, the vehicle's built-in controller can be used to control the vehicle's movement in narrow parking spaces without human driving, thereby improving the user experience.

[0093] Figure 2 This illustration shows a schematic flowchart of a vehicle control method provided by an embodiment of the present disclosure. Applied to a vehicle controller, this embodiment of the present disclosure is an optimization based on the above embodiments, and 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 status 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 by the user performing a first touch operation on the terminal device.

[0096] In one example, this step can be found in step S101.

[0097] S202. If the vehicle is currently in the start state, a first instruction message is sent to the terminal device; wherein, the first instruction 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.

[0098] In one example, the terminal device application's interface displays buttons for four directions: forward, backward, left, and right. A second touch operation could be a long press and hold of the forward button for 3 seconds.

[0099] S203 receives control signals and monitors the vehicle's current parameter information in real time.

[0100] In one example, control signals are received via BNCM.

[0101] S204. If the current parameter information of the vehicle meets the preset conditions, the vehicle controller will communicate 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, based on control signals, the vehicle controller establishes handshakes with the electronic power steering system, the electronic stability control system, and the engine control system, including:

[0103] A first handshake signal is generated based on the control signal and sent 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 a handshake.

[0104] A second handshake signal is generated based on the control signal and sent 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 a handshake.

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

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

[0107] S205, based on an electronic power steering system, controls vehicle steering according to control signals.

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

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

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

[0111] S207. Based on the engine control system, the vehicle's movement is controlled according to the control signals.

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

[0113] S208. If the vehicle is currently in a non-starting state, a second instruction message is sent to the terminal device; wherein, the second instruction 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 so as to control the vehicle to switch from the non-starting state to the starting state.

[0114] In one example, after receiving a third touch operation, the terminal device can send a wake-up signal to the body electronic control module in the vehicle controller. The body electronic control module then sends the wake-up signal to the Bluetooth / NFC communication module, which in turn sends it to the bus, thus waking up the vehicle. If a related system in the vehicle malfunctions at this time, a feedback signal is sent to the terminal device through the vehicle controller to alert the user.

[0115] S209. If the current parameter information of the vehicle does not meet the preset conditions, the vehicle will be stopped by controlling 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 distance traveled in a single trip is greater than or equal to the second threshold, or the steering angular 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 duration during which the user has not operated the terminal device is less than or equal to the fifth threshold, or a fault in the associated system in the vehicle is detected, or a collision signal from 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: electronic power steering, electronic stability control, and engine control system.

[0118] S210, 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 from the terminal device to the vehicle controller; the second control operation request is generated by the user performing a fourth touch operation on the terminal device.

[0119] In one example, the fourth touch operation could be an exit operation. After the user clicks the exit operation in 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, it disconnects the handshake between the vehicle controller and the electronic power steering system, electronic stability control system, and engine control system, thereby exiting the remote control function.

[0120] This disclosure provides a vehicle control method, which includes: if the vehicle's current operating state is a non-starting state, sending second instruction information to a terminal device; wherein the second instruction information is used to instruct a 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, thereby controlling the vehicle to switch from a non-starting state to a starting state, and in response to a second control operation request, disconnecting 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; the second control operation request is generated after the user performs a fourth touch operation on the terminal device. Using this technical solution, the vehicle can be controlled according to its current operating state without reconfiguring a new controller, thus improving the flexibility of vehicle control.

[0121] Figure 3 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this disclosure. This vehicle control device can be understood as the aforementioned vehicle controller or some functional modules within the aforementioned 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, based on the first control operation request, determine the current operating status of the vehicle based on the vehicle body electronic control module; 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;

[0123] The first sending module 302 is used to send first instruction information to the terminal device if the current operating state of the vehicle is the start state; wherein, the first instruction information 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;

[0124] The receiving module 303 is used to receive control signals 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 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 or into the preset parking space according to the preset trajectory.

[0126] In one example, the first control module 304 is specifically used to handshake with the vehicle controller, 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 control signals;

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

[0129] Based on the engine control system, the vehicle's movement is controlled according to control signals.

[0130] In one example, the first control module 304 is specifically used to generate a first handshake signal based on 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 a handshake.

[0131] A second handshake signal is generated based on the control signal and sent 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 a handshake.

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

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

[0134] The vehicle speed is less than the first threshold.

[0135] Furthermore, the maximum distance traveled in a single trip is less than the second threshold.

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

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

[0138] Furthermore, the user has not operated the terminal device for more than the fifth threshold period;

[0139] Furthermore, no faults were detected in the associated systems within the vehicle;

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

[0141] In one example, device 30 also includes:

[0142] The second sending module 305 is used to send a second instruction message to the terminal device if the current operating state of the vehicle is a non-starting state; wherein, the second instruction 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 so as to control the vehicle to switch from a non-starting state to a starting state.

[0143] In one example, device 30 also includes:

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

[0145] In one example, device 30 also includes:

[0146] Disconnect 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 the 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 by the user performing a fourth touch operation on the terminal device.

[0147] The apparatus provided in this embodiment can execute the methods of any of the above embodiments, and its execution method and beneficial effects are similar, so they will not be described again here.

[0148] This disclosure also provides a vehicle controller, which includes: a memory storing a computer program; and a processor for executing the computer program, wherein when the computer program is executed by the processor, it can implement the methods of any of the above embodiments.

[0149] Example, Figure 4 This is a schematic diagram of a vehicle controller according to an embodiment of this disclosure. See below for details. Figure 4 The diagram illustrates a structural schematic suitable for implementing the vehicle controller 1000 in the embodiments of this disclosure. The vehicle controller 1000 in the embodiments of this disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 4 The vehicle controller shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments disclosed herein.

[0150] like Figure 4 As shown, the vehicle controller 1000 may include a processing unit (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 into a random access memory (RAM) 1003. The RAM 1003 also stores various programs and data required for the operation of the vehicle controller 1000. The processing unit 1001, ROM 1002, and RAM 1003 are interconnected via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0151] Typically, the following devices can be connected to the I / O interface 1005: input devices 1006 including, for example, a touchscreen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 1007 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1008 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the vehicle controller 1000 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 4 A vehicle controller 1000 with various devices is shown; however, it should be understood that implementation or possession of all the devices shown is not required. More or fewer devices may be implemented or possessed alternatively.

[0152] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication device 1009, or installed from storage device 1008, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of embodiments of this disclosure.

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

[0154] In some implementations, clients and servers can communicate using any currently known or future-developed network protocol such as HTTP (Hypertext Transfer Protocol) and can interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet of Things), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future-developed networks.

[0155] The aforementioned computer-readable medium may be included in the aforementioned vehicle controller; or it may exist independently and not assembled into the vehicle controller.

[0156] The aforementioned computer-readable medium carries one or more programs. When the vehicle controller executes the aforementioned one or more programs, the vehicle controller causes the vehicle controller to: receive a first control operation request; and, based on the first control operation request, determine the current operating status of the vehicle according to the vehicle body electronic control module; wherein the first control operation request is sent to the vehicle controller by a terminal device; the first control operation request is generated after the user performs a first touch operation on the terminal device; if the current operating status of the vehicle is a start-up state, send first instruction information to the terminal device; wherein the first instruction information 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; 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 preset conditions, control the vehicle 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.

[0157] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including but not limited to object-oriented programming languages ​​such as Java, Smallport, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone 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 remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0158] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0159] The units described in the embodiments of this disclosure can be implemented in software or hardware. The names of the units are not, in some cases, intended to limit the specific unit.

[0160] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application Standard Products (ASSPs), System-on-Chip (SoCs), Complex Programmable Logic Devices (CPLDs), and so on.

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

[0162] This disclosure also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it can implement the methods of any of the above embodiments. The execution method and beneficial effects are similar, and will not be described again here.

[0163] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0164] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily 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 this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded 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 includes: The system receives a first control operation request and determines the current operating status of the vehicle based on the vehicle body electronic control module. 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 vehicle is currently in a running state, a first instruction message is sent to the terminal device; wherein, the first instruction 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; Receive the control signal and detect the vehicle's current parameter information 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; the preset conditions include: the vehicle speed is less than a first threshold. Furthermore, the maximum distance traveled in a single trip is less than the second threshold. Furthermore, the steering angular velocity is less than the third threshold; Furthermore, the distance between the terminal device and the vehicle is less than the fourth threshold. Furthermore, the duration for which the user has not operated the terminal device exceeds the fifth threshold; Furthermore, no faults were detected in the associated systems of the vehicle; Furthermore, no collision signal was detected from the elastic wave sensor.

2. The method according to claim 1, characterized in that, Controlling the vehicle according to the control signal includes: Based on the control signals, the vehicle controller establishes a handshake with the electronic power steering system; the vehicle controller establishes a handshake with the electronic stability control system; and the vehicle controller establishes a handshake with the engine control system. Based on the electronic power steering system, the vehicle is steered according to the control signal; Based on the electronic stability control system, the vehicle is controlled to maintain a stable state according to the control signal; Based on the engine control system, the vehicle is controlled to move according to the control signal.

3. The method according to claim 2, characterized in that, The vehicle controller and the electronic power steering system are then connected via a handshake based on the control signal. The vehicle controller and the electronic stability control system are then connected via a handshake. The handshake between the vehicle controller and the engine control system includes: A first handshake signal is generated based on the control signal, and the first handshake signal is sent 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 a handshake; A second handshake signal is generated based on the control signal and sent 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 a handshake. A third handshake signal is generated based on the control signal and 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 method further includes: If the vehicle is currently in a non-starting state, a second instruction message is sent to the terminal device; wherein the second instruction 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, so as to control the vehicle to switch from the non-starting state to the starting state.

5. The method according to claim 1, characterized in that, The method further includes: If the current parameter information of the vehicle does not meet the preset conditions, the vehicle will be stopped by controlling the electronic parking brake system.

6. The method according to any one of claims 1-5, characterized in that, The method further includes: In response to the second control operation request, the handshake between the vehicle controller and the electronic power steering system is disconnected, the handshake between the vehicle controller and the electronic stability control system is disconnected, and the handshake between the vehicle controller and the engine control system is disconnected; wherein, the second control operation request is sent from the terminal device to the vehicle controller; the second control operation request is generated by the user performing a fourth touch operation on the terminal device.

7. A vehicle control device, characterized in that, Applied to a vehicle controller, the device includes: The judgment module is used to receive a first control operation request and, based on the first control operation request, determine the current operating status of the vehicle based on the vehicle body electronic control module; wherein, the first control operation request is sent from the terminal device to the vehicle controller; the first control operation request is generated by the user performing a first touch operation on the terminal device; A first sending module is configured to send first indication information to the terminal device if the current operating state of the vehicle is a start state; wherein, the first indication information 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; The receiving module is 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; the preset conditions include: the vehicle speed is less than a first threshold. Furthermore, the maximum distance traveled in a single trip is less than the second threshold. Furthermore, the steering angular velocity is less than the third threshold; Furthermore, the distance between the terminal device and the vehicle is less than the fourth threshold. Furthermore, the duration for which the user has not operated the terminal device exceeds the fifth threshold; Furthermore, no faults were detected in the associated systems of the vehicle; Furthermore, no collision signal was detected from the elastic wave sensor.

8. A vehicle controller, characterized in that, include: A processor and a memory, wherein the memory stores a computer program that, when executed by the processor, performs the method of any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program that, when executed by a processor, implements the method as described in any one of claims 1-6.

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