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

Abstract

The invention discloses a vehicle control method, system and device and a computer readable storage medium, and belongs to the technical field of vehicle automatic driving. The method comprises the following steps: acquiring lane changing voice data, wherein the lane changing voice data indicates a target vehicle to change a lane towards a target direction; analyzing the lane changing voice data to obtain the target direction; obtaining a target image of the target direction; based on the target image, determining that a first lane exists in the target direction and a relationship between a second lane where the target vehicle is located and the first lane meets a relationship requirement, and determining that the target vehicle meets a lane changing requirement; and controlling the target vehicle to turn on a steering lamp in the target direction, and controlling the target vehicle to change lanes towards the target direction. According to the method, the lane changing safety of the vehicle is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of vehicle autonomous driving technology, and in particular to a vehicle control method, system, device and computer-readable storage medium. Background Art

[0002] With the continuous development of urban traffic, the traffic conditions are becoming more and more complicated, and the driving requirements for drivers are becoming higher and higher. When changing lanes, the driver needs to judge whether the lane change can be made. If the driver does not make a good judgment, a traffic accident may occur, making the vehicle driving less safe. Summary of the invention

[0003] The embodiments of the present application provide a vehicle control method, system, device and computer-readable storage medium, which can be used to solve the problems in the related art. The technical solution is as follows:

[0004] In one aspect, an embodiment of the present application provides a vehicle control method, the method comprising:

[0005] Acquiring lane-changing voice data, wherein the lane-changing voice data indicates that the target vehicle changes lanes in a target direction;

[0006] parsing the lane change voice data to obtain the target direction;

[0007] Acquire a target image in the target direction;

[0008] Based on the target image, it is determined that there is a first lane in the target direction, and a relationship between a second lane where the target vehicle is located and the first lane meets a relationship requirement, and it is determined that the target vehicle meets a lane change requirement;

[0009] The target vehicle is controlled to turn on a turn signal in the target direction, and the target vehicle is controlled to change lanes in the target direction.

[0010] In a possible implementation manner, after parsing the lane change voice data to obtain the target direction, the method further includes:

[0011] Acquire a first image in a first direction and a second image in a second direction, wherein the first direction, the second direction, and the target direction are different directions;

[0012] In a case where a first vehicle exists in the first image and a second vehicle exists in the second image, determining a first distance between the first vehicle and the target vehicle and a second distance between the second vehicle and the target vehicle, the first vehicle, the second vehicle and the target vehicle being in the same lane;

[0013] The determining, based on the target image, that there is a first lane in the target direction, and that a relationship between a second lane where the target vehicle is located and the first lane meets a relationship requirement, and determining that the target vehicle meets a lane change requirement, includes:

[0014] Based on the target image, it is determined that there is a first lane in the target direction, the relationship between the second lane where the target vehicle is located and the first lane meets the relationship requirement, the first distance is greater than a first distance threshold, and the second distance is greater than the first distance threshold, and it is determined that the target vehicle meets the lane change requirement.

[0015] In a possible implementation, the method further includes:

[0016] In a case where there is a third vehicle in the first image and there is a fourth vehicle in the second image, determining a third distance between the third vehicle and the target vehicle and a fourth distance between the fourth vehicle and the target vehicle, and the lane where the third vehicle and the fourth vehicle are located is the first lane;

[0017] The determining, based on the target image, that there is a first lane in the target direction, that a relationship between a second lane where the target vehicle is located and the first lane satisfies a relationship requirement, that the first distance is greater than a first distance threshold, and that the second distance is greater than the first distance threshold, and determining that the target vehicle satisfies a lane change requirement includes:

[0018] Based on the target image, it is determined that there is a first lane in the target direction, the relationship between the second lane where the target vehicle is located and the first lane meets the relationship requirement, the first distance is greater than a first distance threshold, the second distance is greater than the first distance threshold, the third distance is greater than the second distance threshold, and the fourth distance is greater than the second distance threshold, and it is determined that the target vehicle meets the lane change requirement.

[0019] In a possible implementation, the method further includes:

[0020] Acquire a current driving speed of the target vehicle and a current driving speed of a fifth vehicle, wherein the fifth vehicle is located behind the target vehicle and a lane where the fifth vehicle is located is the first lane;

[0021] The determining, based on the target image, that there is a first lane in the target direction, that a relationship between a second lane where the target vehicle is located and the first lane satisfies a relationship requirement, that the first distance is greater than a first distance threshold, that the second distance is greater than the first distance threshold, that the third distance is greater than a second distance threshold, and that the fourth distance is greater than the second distance threshold, and determining that the target vehicle satisfies a lane change requirement includes:

[0022] Based on the target image, it is determined that there is a first lane in the target direction, the relationship between the second lane where the target vehicle is located and the first lane meets the relationship requirement, the first distance is greater than a first distance threshold, the second distance is greater than the first distance threshold, the third distance is greater than a second distance threshold, the fourth distance is greater than the second distance threshold, and the current driving speed of the target vehicle is greater than the current driving speed of the fifth vehicle, and it is determined that the target vehicle meets the lane change requirement.

[0023] In a possible implementation, obtaining the current travel speed of the fifth vehicle includes:

[0024] Sending a driving speed acquisition request to a cloud device, wherein the driving speed acquisition request includes a vehicle identification of the fifth vehicle, and the driving speed acquisition request is used by the cloud device to obtain a current driving speed of the fifth vehicle from the fifth vehicle;

[0025] Receive the current driving speed of the fifth vehicle returned by the cloud device.

[0026] In a possible implementation manner, the first image includes a first part of the target vehicle in a first direction;

[0027] The determining a first distance between the first vehicle and the target vehicle comprises:

[0028] determining a first image distance between the first part and the first vehicle in the first image;

[0029] A first distance between the first vehicle and the target vehicle is determined according to the first image distance and the image scale.

[0030] In a possible implementation, after controlling the target vehicle to change lanes toward the target direction, the method further includes:

[0031] The lane change completion information is displayed, where the lane change completion information is used to indicate that the target vehicle has completed the lane change.

[0032] On the other hand, an embodiment of the present application provides a vehicle control system, the system comprising: a voice acquisition module, a data acquisition module, a computer device and an actuator, wherein:

[0033] The voice collection module is used to collect lane-changing voice data and send the lane-changing voice data to the computer device, wherein the lane-changing voice data indicates that the target vehicle changes lanes in a target direction;

[0034] The computer device is used to parse the lane change voice data, obtain the target direction, and send the target direction to the data acquisition module;

[0035] The data acquisition module is used to obtain a target image in the target direction and send the target image to the computer device;

[0036] The computer device is further configured to determine that the target vehicle meets the lane change requirement when it is determined based on the target image that there is a first lane in the target direction and the relationship between the second lane where the target vehicle is located and the first lane meets the relationship requirement, and send a lane change instruction to the actuator, wherein the lane change instruction includes the target direction;

[0037] The actuator is used to control the target vehicle to turn on the turn signal of the target direction and control the target vehicle to change lanes in the target direction.

[0038] On the other hand, an embodiment of the present application provides a vehicle control device, the device comprising:

[0039] An acquisition module, used to acquire lane-changing voice data, wherein the lane-changing voice data indicates that the target vehicle changes lanes in a target direction;

[0040] A parsing module, used for parsing the lane change voice data to obtain the target direction;

[0041] The acquisition module is further used to acquire the target image in the target direction;

[0042] a determination module, configured to determine, based on the target image, that there is a first lane in the target direction, and that a relationship between a second lane where the target vehicle is located and the first lane satisfies a relationship requirement, and determine that the target vehicle satisfies a lane change requirement;

[0043] The control module is used to control the target vehicle to turn on the turn signal of the target direction and control the target vehicle to change lanes in the target direction.

[0044] In a possible implementation manner, the acquisition module is further used to acquire a first image in a first direction and a second image in a second direction, wherein the first direction, the second direction and the target direction are different directions;

[0045] The determination module is further configured to determine, when there is a first vehicle in the first image and a second vehicle in the second image, a first distance between the first vehicle and the target vehicle and a second distance between the second vehicle and the target vehicle, and the first vehicle, the second vehicle and the target vehicle are in the same lane;

[0046] The determination module is used to determine, based on the target image, that there is a first lane in the target direction, that a relationship between a second lane where the target vehicle is located and the first lane meets a relationship requirement, that the first distance is greater than a first distance threshold, and that the second distance is greater than the first distance threshold, and that the target vehicle meets a lane change requirement.

[0047] In a possible implementation, the determination module is further configured to, when there is a third vehicle in the first image and there is a fourth vehicle in the second image, determine a third distance between the third vehicle and the target vehicle and a fourth distance between the fourth vehicle and the target vehicle, and the lane where the third vehicle and the fourth vehicle are located is the first lane;

[0048] The determination module is used to determine, based on the target image, that there is a first lane in the target direction, that a relationship between a second lane where the target vehicle is located and the first lane meets a relationship requirement, that the first distance is greater than a first distance threshold, that the second distance is greater than the first distance threshold, that the third distance is greater than a second distance threshold, and that the fourth distance is greater than the second distance threshold, and determine that the target vehicle meets a lane change requirement.

[0049] In a possible implementation, the acquisition module is further used to acquire the current driving speed of the target vehicle and the current driving speed of a fifth vehicle, the fifth vehicle is located behind the target vehicle, and the lane where the fifth vehicle is located is the first lane;

[0050] The determination module is used to determine, based on the target image, that there is a first lane in the target direction, that a relationship between a second lane where the target vehicle is located and the first lane meets a relationship requirement, that the first distance is greater than a first distance threshold, that the second distance is greater than the first distance threshold, that the third distance is greater than a second distance threshold, that the fourth distance is greater than the second distance threshold, and that a current driving speed of the target vehicle is greater than a current driving speed of the fifth vehicle, and determine that the target vehicle meets a lane change requirement.

[0051] In a possible implementation, the acquisition module is used to send a driving speed acquisition request to a cloud device, the driving speed acquisition request includes a vehicle identification of the fifth vehicle, and the driving speed acquisition request is used by the cloud device to acquire the current driving speed of the fifth vehicle from the fifth vehicle;

[0052] Receive the current driving speed of the fifth vehicle returned by the cloud device.

[0053] In a possible implementation manner, the first image includes a first part of the target vehicle in a first direction;

[0054] The determination module is used to determine a first image distance between the first part and the first vehicle in the first image; and determine a first distance between the first vehicle and the target vehicle according to the first image distance and an image scale.

[0055] In a possible implementation manner, the device further includes:

[0056] The display module is used to display lane change completion information, where the lane change completion information is used to indicate that the target vehicle has completed the lane change.

[0057] On the other hand, an embodiment of the present application provides a computer device, which includes a processor and a memory, wherein the memory stores at least one program code, and the at least one program code is loaded and executed by the processor so that the computer device implements any of the above-mentioned vehicle control methods.

[0058] On the other hand, a computer-readable storage medium is provided, in which at least one program code is stored. The at least one program code is loaded and executed by a processor so that a computer implements any of the above-mentioned vehicle control methods.

[0059] On the other hand, a computer program or a computer program product is also provided, wherein at least one computer instruction is stored in the computer program or the computer program product, and the at least one computer instruction is loaded and executed by a processor so that the computer implements any of the above-mentioned vehicle control methods.

[0060] The technical solution provided by the embodiments of the present application brings at least the following beneficial effects:

[0061] When the lane-changing voice data is acquired, the technical solution provided in the embodiment of the present application determines in which direction the target vehicle needs to change lanes based on the lane-changing voice data, and then determines whether there is a lane in that direction and whether the target vehicle can change lanes in that direction. That is, it is determined whether the target vehicle meets the lane-changing requirements. When the target vehicle meets the lane-changing requirements, the turn signal in that direction is controlled to turn on, and the target vehicle is controlled to change lanes in that direction. The turn signal is turned on in such a way that the vehicles in front and behind the target vehicle know that the target vehicle is going to change lanes, thereby reducing the probability of a traffic accident involving the target vehicle, and making the driving safety of the target vehicle higher. Moreover, the method does not require manual operation by the user, saves the time required for lane changing, improves the efficiency of vehicle lane changing, and can also improve the safety of vehicle lane changing. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0063] Figure 1 is a schematic diagram of an implementation environment of a vehicle control method provided in an embodiment of the present application;

[0064] Figure 2 is a flow chart of a vehicle control method provided by an embodiment of the present application;

[0065] Figure 3 is a schematic diagram of a vehicle control system provided in an embodiment of the present application;

[0066] Figure 4 is a flow chart of a vehicle control method provided by an embodiment of the present application;

[0067] Figure 5 is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0068] Figure 6 It is a structural diagram of a terminal device provided in an embodiment of the present application;

[0069] Figure 7 It is a structural diagram of a server provided in an embodiment of the present application. DETAILED DESCRIPTION

[0070] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0071] It should be noted that the terms "first", "second", etc. in this application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0072] Figure 1 is a schematic diagram of an implementation environment of a vehicle control method provided in an embodiment of the present application, such as Figure 1As shown, the implementation environment includes: a computer device 101, which may be a terminal device or a server, and the present embodiment of the application does not limit this. The computer device 101 is used to execute the vehicle control method provided in the embodiment of the present application.

[0073] Optionally, the computer device 101 is a terminal device, which can be any electronic device product that can interact with a user through one or more methods such as a keyboard, a touchpad, a remote control, voice interaction, or a handwriting device. For example, PC (Personal Computer), mobile phone, smart phone, PDA (Personal Digital Assistant), wearable device, PPC (Pocket PC), tablet computer, smart car machine, smart TV, smart speaker, smart watch, etc.

[0074] The terminal device may generally refer to one of a plurality of terminal devices. This embodiment is only illustrated by taking the terminal device as an example. Those skilled in the art may know that the number of the terminal devices may be more or less. For example, the terminal device may be only one, or the terminal devices may be dozens or hundreds, or more. The embodiment of this application does not limit the number and device type of the terminal devices.

[0075] When the computer device 101 is a server, the server is a single server, or a server cluster consisting of multiple servers, or any one of a cloud computing platform and a virtualization center, which is not limited in the embodiments of the present application. The server is connected to the terminal device through a wired network or a wireless network. The server has a data receiving function, a data processing function, and a data sending function. Of course, the server may also have other functions, which are not limited in the embodiments of the present application.

[0076] Those skilled in the art should understand that the above-mentioned terminal devices and servers are for illustration only, and other existing or future terminal devices or servers, if applicable to the present application, should also be included in the scope of protection of the present application and are incorporated herein by reference.

[0077] The present application provides a vehicle control method which can be applied to the above Figure 1 The implementation environment shown is Figure 2 As an example, the flowchart of a vehicle control method provided in the embodiment of the present application is shown in FIG. Figure 1 The computer device 101 in the embodiment is executed. Figure 2 As shown, the method includes the following steps 201 to 205.

[0078] In step 201, lane-changing voice data is acquired, where the lane-changing voice data indicates that the target vehicle changes lanes in a target direction.

[0079] In a possible implementation, a voice collection module is installed and operated in the target vehicle, and the voice collection module is used to collect voice data in real time. When the voice collection module collects a piece of voice data, the collected voice data is processed to determine the type of the collected voice data. When the type of the collected voice data is a lane change type, the collected voice data is determined to be lane change voice data; and the lane change voice data is sent to the computer device.

[0080] The embodiment of the present application does not limit the method for determining whether the collected voice data is of a lane change type. Optionally, the process of determining whether the collected voice data is of a lane change type includes: when the collected voice data includes "lane change" and a direction word, determining that the collected voice data is of a lane change type; when the collected voice data does not include at least one of "lane change" and a direction word, determining that the collected voice data is of a non-lane change type.

[0081] In one possible implementation, the computer device may be an on-board terminal of the target vehicle, or may be a device capable of remotely controlling the target vehicle, which is not limited in the embodiments of the present application.

[0082] In step 202, the lane change voice data is parsed to obtain the target direction.

[0083] In a possible implementation, the process of parsing the lane-changing voice data to obtain the target direction includes: converting the lane-changing voice data to obtain text corresponding to the lane-changing voice data; and using the content before the target word in the text as the target direction. The target word includes but is not limited to at least one of side, side, and face.

[0084] Exemplarily, the text corresponding to the lane-changing voice data is: changing lanes to the left, therefore, the target direction is determined to be left.

[0085] In step 203, a target image in the target direction is acquired.

[0086] In a possible implementation, a data acquisition module is installed and operated in the target vehicle, and after the computer device obtains the target direction, it sends the target direction to the data acquisition module. Image acquisition devices are also installed in each direction of the target vehicle. After the data acquisition module receives the target direction, it sends an image acquisition request to the image acquisition device installed in the target direction of the target vehicle, so that the image acquisition device installed in the target direction of the target vehicle acquires the target image of the target direction of the target vehicle. Then, the image acquisition device installed in the target direction of the target vehicle sends the target image to the data acquisition module, so that the data acquisition module sends the target image to the computer device, so that the computer device acquires the target image of the target direction of the target vehicle.

[0087] Optionally, image acquisition devices are installed at the front, rear, left and right of the target vehicle, respectively. The image acquisition device may be a camera or other device capable of acquiring images, which is not limited in the present embodiment.

[0088] In step 204, based on the target image, it is determined that there is a first lane in the target direction, and the relationship between the second lane where the target vehicle is located and the first lane meets the relationship requirement, and it is determined that the target vehicle meets the lane change requirement.

[0089] In one possible implementation, after the computer device acquires the target image, it determines whether there is a lane in the target direction based on the target image. If there is a first lane in the target direction, it determines whether the relationship between the second lane where the target vehicle is located and the first lane meets the relationship requirements. If the relationship between the second lane where the target vehicle is located and the first lane meets the relationship requirements, it determines that the target vehicle meets the lane change requirement.

[0090] Wherein, when the lane dividing line between the second lane where the target vehicle is located and the first lane is a solid line, it is determined that the relationship between the second lane and the first lane does not meet the relationship requirement. When the lane dividing line between the second lane and the first lane is a dotted line, it is determined that the relationship between the second lane and the first lane meets the relationship requirement.

[0091] Optionally, a first image in a first direction and a second image in a second direction may be acquired, wherein the first direction, the second direction and the target direction are different directions; when there is a first vehicle in the first image and a second vehicle in the second image, a first distance between the first vehicle and the target vehicle and a second distance between the second vehicle and the target vehicle are determined; based on the target image, it is determined that there is a first lane in the target direction, the relationship between the second lane where the target vehicle is located and the first lane meets the relationship requirements, the first distance is greater than the first distance threshold, and the second distance is greater than the first distance threshold, and it is determined that the target vehicle meets the lane change requirements.

[0092] Wherein, the first distance threshold is set based on experience, or adjusted according to the implementation environment, and the embodiments of the present application do not limit this. Exemplarily, the first distance threshold is 2 meters. The first direction is any one of the front and rear directions, and the second direction is a direction different from the first direction in the front and rear directions. The first vehicle and the second vehicle are in the same lane as the target vehicle. Exemplarily, the first direction is the front, the second direction is the rear, the first vehicle is the same lane as the target vehicle, and is in front of the target vehicle, and the second vehicle is the same lane as the target vehicle, and is behind the target vehicle.

[0093] Optionally, the process of acquiring the first image in the first direction includes: the computer device sends the first direction to the data acquisition module. After receiving the first direction, the data acquisition module sends an image acquisition request to the image acquisition device installed in the first direction of the target vehicle, so that the image acquisition device installed in the first direction of the target vehicle acquires the first image in the first direction of the target vehicle. Then, the image acquisition device installed in the first direction of the target vehicle sends the first image to the data acquisition module, and the data acquisition module sends the first image to the computer device, so that the computer device acquires the first image in the first direction of the target vehicle.

[0094] The process of acquiring the second image in the second direction includes: the computer device sends the second direction to the data acquisition module. After receiving the second direction, the data acquisition module sends an image acquisition request to the image acquisition device installed in the second direction of the target vehicle, so that the image acquisition device installed in the second direction of the target vehicle acquires the second image in the second direction of the target vehicle. Then, the image acquisition device installed in the second direction of the target vehicle sends the second image to the data acquisition module, so that the data acquisition module sends the second image to the computer device, so that the computer device acquires the second image in the second direction of the target vehicle.

[0095] In one possible implementation, the first image includes a first portion of a target vehicle in a first direction, and the process of determining a first distance between the first vehicle and the target vehicle includes: determining a first image distance between the first portion and the first vehicle in the first image; and determining the first distance between the first vehicle and the target vehicle based on the first image distance and the image scale.

[0096] Among them, if the first direction is the front, the first part is the front of the vehicle, and if the first direction is the rear, the first part is the rear of the vehicle.

[0097] Optionally, the process of determining the first distance between the first vehicle and the target vehicle according to the first image distance and the image scale includes: determining the product of the first image distance and the image scale as the first distance between the first vehicle and the target vehicle.

[0098] The second image includes a second part of the target vehicle in a second direction, and the process of determining the second distance between the second vehicle and the target vehicle includes: determining the second image distance between the second part in the second image and the second vehicle; and determining the second distance between the second vehicle and the target vehicle according to the second image distance and the image scale. Optionally, the product of the second image distance and the image scale is determined to be the second distance between the second vehicle and the target vehicle.

[0099] Among them, the second direction is the rear, the second part is the rear of the vehicle, the second direction is the front, and the second part is the front of the vehicle.

[0100] In a possible implementation, when there is a third vehicle in the first image and a fourth vehicle in the second image, a third distance between the third vehicle and the target vehicle and a fourth distance between the fourth vehicle and the target vehicle are determined, and the lane where the third vehicle and the fourth vehicle are located is the first lane. Based on the target image, it is determined that there is a first lane in the target direction, the relationship between the second lane where the target vehicle is located and the first lane meets the relationship requirement, the first distance is greater than the first distance threshold, the second distance is greater than the first distance threshold, the third distance is greater than the second distance threshold, and the fourth distance is greater than the second distance threshold, and it is determined that the target vehicle meets the lane change requirement.

[0101] The second distance threshold is set based on experience or adjusted according to the implementation environment, and the embodiment of the present application does not limit this. The second distance threshold can be the same as the first distance threshold, or can be different from the first distance threshold, and the embodiment of the present application does not limit this. Exemplarily, the second distance threshold is 2 meters.

[0102] The first image includes a first portion of a target vehicle in a first direction, and the process of determining a third distance between a third vehicle and the target vehicle includes: determining a third image distance between the first portion in the first image and the third vehicle; and determining the third distance between the third vehicle and the target vehicle based on the third image distance and the image scale.

[0103] The second image includes a second part of the target vehicle in a second direction, and the process of determining a fourth distance between a fourth vehicle and the target vehicle includes: determining a fourth image distance between the second part in the second image and the fourth vehicle; and determining the fourth distance between the fourth vehicle and the target vehicle based on the fourth image distance and the image scale.

[0104] Furthermore, the computer device may also obtain the current driving speed of the target vehicle and the current driving speed of the fifth vehicle, the fifth vehicle is located behind the target vehicle, and the lane where the fifth vehicle is located is adjacent to the first lane, and the fifth vehicle is adjacent to the target vehicle. Based on the target image, it is determined that there is a first lane in the target direction, the relationship between the second lane where the target vehicle is located and the first lane meets the relationship requirement, the first distance is greater than the first distance threshold, the second distance is greater than the first distance threshold, the third distance is greater than the second distance threshold, the fourth distance is greater than the second distance threshold, and the current driving speed of the target vehicle is greater than the current driving speed of the fifth vehicle, and it is determined that the target vehicle meets the lane change requirement.

[0105] Among them, the process of obtaining the current driving speed of the fifth vehicle includes: sending a driving speed acquisition request to the cloud device, the driving speed acquisition request includes the vehicle identification of the fifth vehicle, and the driving speed acquisition request is used by the cloud device to obtain the current driving speed of the fifth vehicle from the fifth vehicle; receiving the current driving speed of the fifth vehicle returned by the cloud device.

[0106] Optionally, the vehicle identification of the fifth vehicle may be the license plate number of the fifth vehicle, or may be other identifications that can uniquely represent the fifth vehicle, which is not limited in the embodiments of the present application. Exemplarily, the vehicle identification of the fifth vehicle is the license plate number of the fifth vehicle, and after the image behind the target vehicle is acquired, the license plate number of the fifth vehicle is acquired in the image behind the target vehicle.

[0107] The process of obtaining the current driving speed of the target vehicle includes: the target vehicle includes a speed sensor, and the speed sensor is used to obtain the driving speed of the target vehicle in real time. The computer device obtains the current driving speed of the target vehicle through interaction with the speed sensor.

[0108] Exemplarily, the target vehicle needs to change lanes to the left, there is a first lane on the left side of the target vehicle, the lane dividing line between the second lane where the target vehicle is located and the first lane is a dotted line, the distance between the target vehicle and the vehicle in front of the target vehicle and in the same lane as the target vehicle is greater than a first distance threshold, the distance between the target vehicle and the vehicle in the same lane as the target vehicle is behind the target vehicle is greater than the first distance threshold, the distance between the target vehicle and the vehicle in front of the target vehicle and whose lane is the first lane is greater than a second distance threshold, the distance between the target vehicle and the vehicle behind the target vehicle and whose lane is the first lane is greater than the second distance threshold, and the current driving speed of the target vehicle is greater than the current driving speed of the vehicle behind the target vehicle and whose lane is the first lane, then it is determined that the target vehicle meets the lane change requirement.

[0109] In step 205, the target vehicle is controlled to turn on a turn signal in the target direction, and the target vehicle is controlled to change lanes in the target direction.

[0110] In a possible implementation, when it is determined in the above step 204 that the target vehicle meets the lane change requirement, the target vehicle is controlled to turn on a turn signal in the target direction, and the target vehicle is controlled to change lanes in the target direction.

[0111] Optionally, the target vehicle includes an actuator. When the target vehicle meets the lane change requirements, the computer device sends a lane change instruction to the actuator, and the lane change instruction includes a target direction, so that the actuator turns on the turn signal of the target direction of the target vehicle according to the lane change instruction and changes the target vehicle to the target direction.

[0112] In one embodiment of the present application, after controlling the target vehicle to change lanes in the target direction, lane change completion information may also be displayed, where the lane change completion information is used to indicate that the target vehicle has completed the lane change.

[0113] Optionally, the target vehicle includes a display screen, and displaying the lane change completion information includes displaying the lane change completion information on the display screen. Optionally, the computer device sends the lane change completion information to the display screen, so that the display screen displays the lane change completion information.

[0114] In a possible implementation, a lane change completion voice may also be played, and the lane change completion voice is used to indicate that the target vehicle has completed the lane change. The lane change completion voice may be voice data corresponding to the lane change completion information, or other voice data, which is not limited in the present embodiment of the application.

[0115] After the target vehicle completes the lane change, the target vehicle is controlled to turn off the turn signal lamp in the target direction to avoid the turn signal lamp in the target direction being on all the time, causing misunderstanding to the vehicles in front of or behind the target vehicle.

[0116] When the above method obtains the lane changing voice data, it determines in which direction the target vehicle needs to change lanes according to the lane changing voice data, and then determines whether there is a lane in that direction and whether the target vehicle can change lanes in that direction. That is, it determines whether the target vehicle meets the lane changing requirements. When the target vehicle meets the lane changing requirements, the turn signal in that direction is controlled to turn on, and the target vehicle is controlled to change lanes in that direction. The way the turn signal is turned on can let the vehicles in front and behind the target vehicle know that the target vehicle is going to change lanes, thereby reducing the probability of a traffic accident involving the target vehicle, making the driving safety of the target vehicle higher. Moreover, this method does not require manual operation by the user, saves the time required for lane changing, improves the efficiency of vehicle lane changing, and at the same time can improve the safety of vehicle lane changing.

[0117] Figure 3 is a schematic diagram of a vehicle control system provided in an embodiment of the present application, such as Figure 3As shown, the vehicle control system includes a voice acquisition module 301, a computer device 302, a data acquisition module 303 and an actuator 304.

[0118] The voice collection module 301 is used to collect lane-changing voice data and send the lane-changing voice data to the computer device 302, where the lane-changing voice data indicates that the target vehicle changes lanes in a target direction;

[0119] The computer device 302 is used to parse the lane change voice data, obtain the target direction, and send the target direction to the data acquisition module 303;

[0120] The data acquisition module 303 is used to obtain a target image in a target direction and send the target image to the computer device 302;

[0121] The computer device 302 is further configured to determine that the target vehicle meets the lane change requirement when it is determined based on the target image that there is a first lane in the target direction and the relationship between the second lane where the target vehicle is located and the first lane meets the relationship requirement, and send a lane change instruction to the actuator 304, where the lane change instruction includes the target direction;

[0122] The actuator 304 is used to control the target vehicle to turn on the turn signal of the target direction and control the target vehicle to change lanes in the target direction.

[0123] In a possible implementation, the computer device 302 is further configured to acquire a first image in a first direction and a second image in a second direction, wherein the first direction, the second direction, and the target direction are different directions;

[0124] When there is a first vehicle in the first image and a second vehicle in the second image, determining a first distance between the first vehicle and a target vehicle and a second distance between the second vehicle and the target vehicle, the first vehicle, the second vehicle and the target vehicle being in the same lane;

[0125] The computer device 302 is used to determine, based on the target image, that there is a first lane in the target direction, that the relationship between the second lane where the target vehicle is located and the first lane meets the relationship requirement, that the first distance is greater than the first distance threshold, and that the second distance is greater than the first distance threshold, and that the target vehicle meets the lane change requirement.

[0126] In a possible implementation, the computer device 302 is further configured to determine, when there is a third vehicle in the first image and there is a fourth vehicle in the second image, a third distance between the third vehicle and the target vehicle and a fourth distance between the fourth vehicle and the target vehicle, and the lane where the third vehicle and the fourth vehicle are located is the first lane;

[0127] The computer device 302 is used to determine, based on the target image, that there is a first lane in the target direction, that the relationship between the second lane where the target vehicle is located and the first lane meets the relationship requirement, that the first distance is greater than a first distance threshold, that the second distance is greater than the first distance threshold, that the third distance is greater than the second distance threshold, and that the fourth distance is greater than the second distance threshold, and determine that the target vehicle meets the lane change requirement.

[0128] In a possible implementation, the computer device 302 is further configured to obtain a current driving speed of the target vehicle and a current driving speed of a fifth vehicle, the fifth vehicle being located behind the target vehicle, and the lane where the fifth vehicle is located is the first lane;

[0129] The computer device 302 is used to determine, based on the target image, that there is a first lane in the target direction, that the relationship between the second lane where the target vehicle is located and the first lane meets the relationship requirement, that the first distance is greater than the first distance threshold, that the second distance is greater than the first distance threshold, that the third distance is greater than the second distance threshold, that the fourth distance is greater than the second distance threshold, and that the current driving speed of the target vehicle is greater than the current driving speed of the fifth vehicle, and determine that the target vehicle meets the lane change requirement.

[0130] In a possible implementation, the computer device 302 is used to send a driving speed acquisition request to the cloud device, where the driving speed acquisition request includes a vehicle identifier of the fifth vehicle, and the driving speed acquisition request is used for the cloud device to obtain the current driving speed of the fifth vehicle from the fifth vehicle;

[0131] Receive the current driving speed of the fifth vehicle returned by the cloud device.

[0132] In a possible implementation, the first image includes a first part of the target vehicle in a first direction;

[0133] Computer device 302, for determining a first image distance between a first part and a first vehicle in a first image;

[0134] A first distance between the first vehicle and the target vehicle is determined according to the first image distance and the image scale.

[0135] In a possible implementation, the computer device 302 is further configured to display lane change completion information, where the lane change completion information is used to indicate that the target vehicle has completed the lane change.

[0136] Figure 4 is a flow chart of a vehicle control method provided by an embodiment of the present application, such as Figure 3 As shown, the method includes the following steps 401 to 411.

[0137] 401. Obtain lane change voice data.

[0138] In a possible implementation, the process of acquiring the lane change voice data has been described in the above step 201 and will not be repeated here.

[0139] 402. Analyze the lane change voice data to obtain a target direction.

[0140] In a possible implementation, the process of parsing the lane change voice data to obtain the target direction has been described in the above step 202 and will not be repeated here.

[0141] 403. Acquire a target image in a target direction.

[0142] In a possible implementation, the process of acquiring the target image of the target direction of the target vehicle has been described in the above step 203 and will not be repeated here.

[0143] 404. Determine whether there is a first lane in the target direction.

[0144] If the target direction of the target vehicle has a first lane, step 405 is executed; if the target direction of the target vehicle has no first lane, the process ends.

[0145] 405. Whether the relationship between the first lane and the second lane meets the relationship requirement.

[0146] Among them, the second lane is the lane where the target vehicle is located.

[0147] If the relationship between the first lane and the second lane meets the relationship requirement, step 406 is executed; if the relationship between the first lane and the second lane does not meet the relationship requirement, the process ends.

[0148] 406. Acquire a first image in a first direction and a second image in a second direction.

[0149] In a possible implementation, the process of acquiring the first image in the first direction and the second image in the second direction has been described in the above step 204 and will not be described again here.

[0150] 407. Determine a first distance between the first vehicle and the target vehicle, a second distance between the second vehicle and the target vehicle, a third distance between the third vehicle and the target vehicle, and a fourth distance between the fourth vehicle and the target vehicle.

[0151] In one possible implementation, the process of determining the first distance between the first vehicle and the target vehicle, the second distance between the second vehicle and the target vehicle, the third distance between the third vehicle and the target vehicle, and the fourth distance between the fourth vehicle and the target vehicle has been described in the above step 204 and will not be repeated here.

[0152] 408: Whether the first distance and the second distance are greater than a first distance threshold, and whether the third distance and the fourth distance are greater than a second distance threshold.

[0153] Based on the fact that both the first distance and the second distance are greater than the first distance threshold, and both the third distance and the fourth distance are greater than the second distance threshold, execute step 409; based on the fact that the first distance and / or the second distance is not greater than the first distance threshold, and the third distance and / or the fourth distance is not greater than the second distance threshold, end the process.

[0154] 409. Obtain the current driving speed of the target vehicle and the current driving speed of the fifth vehicle.

[0155] In a possible implementation, the process of obtaining the current driving speed of the target vehicle and the current driving speed of the fifth vehicle has been described in the above step 204 and will not be repeated here.

[0156] 410. Whether the current driving speed of the target vehicle is greater than the current driving speed of the fifth vehicle.

[0157] Based on the current driving speed of the target vehicle being greater than the current driving speed of the fifth vehicle, step 411 is executed; based on the current driving speed of the target vehicle being not greater than the current driving speed of the fifth vehicle, the process is terminated.

[0158] 411. Control the target vehicle to turn on the turn signal in the target direction, and control the target vehicle to change lanes in the target direction.

[0159] In a possible implementation, the process of controlling the target vehicle to turn on the turn signal in the target direction and controlling the target vehicle to change lanes in the target direction has been described in the above step 205 and will not be repeated here.

[0160] Figure 5 FIG. 1 is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application. Figure 5 As shown, the device comprises:

[0161] An acquisition module 501 is used to acquire lane-changing voice data, where the lane-changing voice data indicates that the target vehicle changes lanes in a target direction;

[0162] The parsing module 502 is used to parse the lane change voice data to obtain the target direction;

[0163] The acquisition module 501 is also used to acquire a target image in a target direction;

[0164] A determination module 503 is used to determine, based on the target image, that there is a first lane in the target direction, and that a relationship between a second lane where the target vehicle is located and the first lane meets a relationship requirement, and to determine that the target vehicle meets a lane change requirement;

[0165] The control module 504 is used to control the target vehicle to turn on the turn signal of the target direction and control the target vehicle to change lanes in the target direction.

[0166] In a possible implementation, the acquisition module 501 is further used to acquire a first image in a first direction and a second image in a second direction, where the first direction, the second direction and the target direction are different directions;

[0167] The determination module 503 is further configured to determine, when there is a first vehicle in the first image and a second vehicle in the second image, a first distance between the first vehicle and a target vehicle and a second distance between the second vehicle and the target vehicle, and the first vehicle, the second vehicle and the target vehicle are in the same lane;

[0168] The determination module 503 is used to determine, based on the target image, that there is a first lane in the target direction, that the relationship between the second lane where the target vehicle is located and the first lane meets the relationship requirement, that the first distance is greater than the first distance threshold, and that the second distance is greater than the first distance threshold, and that the target vehicle meets the lane change requirement.

[0169] In a possible implementation, the determination module 503 is further configured to determine, when there is a third vehicle in the first image and there is a fourth vehicle in the second image, a third distance between the third vehicle and the target vehicle and a fourth distance between the fourth vehicle and the target vehicle, and the lane where the third vehicle and the fourth vehicle are located is the first lane;

[0170] The determination module 503 is used to determine, based on the target image, that there is a first lane in the target direction, that the relationship between the second lane where the target vehicle is located and the first lane meets the relationship requirement, that the first distance is greater than the first distance threshold, that the second distance is greater than the first distance threshold, that the third distance is greater than the second distance threshold, and that the fourth distance is greater than the second distance threshold, and determine that the target vehicle meets the lane change requirement.

[0171] In a possible implementation, the acquisition module 501 is further used to acquire the current driving speed of the target vehicle and the current driving speed of a fifth vehicle, the fifth vehicle is located behind the target vehicle, and the lane where the fifth vehicle is located is the first lane;

[0172] The determination module 503 is used to determine, based on the target image, that there is a first lane in the target direction, that the relationship between the second lane where the target vehicle is located and the first lane meets the relationship requirement, that the first distance is greater than the first distance threshold, that the second distance is greater than the first distance threshold, that the third distance is greater than the second distance threshold, that the fourth distance is greater than the second distance threshold, and that the current driving speed of the target vehicle is greater than the current driving speed of the fifth vehicle, and determine that the target vehicle meets the lane change requirement.

[0173] In a possible implementation, the acquisition module 501 is used to send a driving speed acquisition request to the cloud device, the driving speed acquisition request includes the vehicle identification of the fifth vehicle, and the driving speed acquisition request is used by the cloud device to obtain the current driving speed of the fifth vehicle from the fifth vehicle; and receive the current driving speed of the fifth vehicle returned by the cloud device.

[0174] In a possible implementation, the first image includes a first part of the target vehicle in a first direction;

[0175] The determination module 503 is used to determine a first image distance between a first part and a first vehicle in a first image; and determine a first distance between the first vehicle and a target vehicle according to the first image distance and an image scale.

[0176] In a possible implementation, the device further includes:

[0177] The display module is used to display lane change completion information, where the lane change completion information is used to indicate that the target vehicle has completed the lane change.

[0178] When the above-mentioned device obtains the lane-changing voice data, it determines in which direction the target vehicle needs to change lanes according to the lane-changing voice data, and then determines whether there is a lane in that direction and whether the target vehicle can change lanes in that direction. That is, it determines whether the target vehicle meets the lane-changing requirements. When the target vehicle meets the lane-changing requirements, the turn signal in that direction is controlled to turn on, and the target vehicle is controlled to change lanes in that direction. The way the turn signal is turned on can let the vehicles in front and behind the target vehicle know that the target vehicle is going to change lanes, thereby reducing the probability of a traffic accident involving the target vehicle, making the driving safety of the target vehicle higher. Moreover, there is no need for manual operation by the user, which saves the time required for lane changing, improves the efficiency of vehicle lane changing, and at the same time improves the safety of vehicle lane changing.

[0179] It should be understood that the above-mentioned device only uses the division of the above-mentioned functional modules as an example to illustrate when implementing its functions. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0180] Figure 6The structural block diagram of a terminal device 600 provided by an exemplary embodiment of the present application is shown. The terminal device 600 may be any electronic device product that can interact with a user through one or more methods such as a keyboard, a touchpad, a remote controller, voice interaction, or a handwriting device. For example, a PC (Personal Computer), a mobile phone, a smart phone, a PDA (Personal Digital Assistant), a wearable device, a PPC (Pocket PC), a tablet computer, a smart car machine, a smart TV, a smart speaker, a smart watch, etc.

[0181] Typically, the terminal device 600 includes: a processor 601 and a memory 602 .

[0182] The processor 601 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 601 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 601 may also include a main processor and a coprocessor. The main processor is a processor for processing data in an awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 601 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 601 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0183] The memory 602 may include one or more computer-readable storage media, which may be non-transitory. The memory 602 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 602 is used to store at least one instruction, which is used to be executed by the processor 601 to implement the vehicle control method provided in the method embodiment of the present application.

[0184] In some embodiments, the terminal device 600 may further optionally include: a peripheral device interface 603 and at least one peripheral device. The processor 601, the memory 602 and the peripheral device interface 603 may be connected via a bus or a signal line. Each peripheral device may be connected to the peripheral device interface 603 via a bus, a signal line or a circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 604, a display screen 605, a camera assembly 606, an audio circuit 607 and a power supply 608.

[0185] The peripheral device interface 603 may be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 601 and the memory 602. In some embodiments, the processor 601, the memory 602, and the peripheral device interface 603 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 601, the memory 602, and the peripheral device interface 603 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

[0186] The radio frequency circuit 604 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 604 communicates with the communication network and other communication devices through electromagnetic signals. The radio frequency circuit 604 converts the electrical signal into an electromagnetic signal for transmission, or converts the received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 604 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The radio frequency circuit 604 can communicate with other terminal devices through at least one wireless communication protocol. The wireless communication protocol includes but is not limited to: the World Wide Web, a metropolitan area network, an intranet, various generations of mobile communication networks (2G, 3G, 4G and 5G), a wireless local area network and / or a WiFi (Wireless Fidelity) network. In some embodiments, the radio frequency circuit 604 may also include circuits related to NFC (Near Field Communication), which is not limited in this application.

[0187] The display screen 605 is used to display the UI (User Interface). The UI may include graphics, text, icons, videos, and any combination thereof. When the display screen 605 is a touch display screen, the display screen 605 also has the ability to collect touch signals on the surface or above the surface of the display screen 605. The touch signal can be input to the processor 601 as a control signal for processing. At this time, the display screen 605 can also be used to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards. In some embodiments, the display screen 605 can be one, set on the front panel of the terminal device 600; in other embodiments, the display screen 605 can be at least two, respectively set on different surfaces of the terminal device 600 or in a folding design; in other embodiments, the display screen 605 can be a flexible display screen, set on the curved surface or folding surface of the terminal device 600. Even, the display screen 605 can also be set to a non-rectangular irregular shape, that is, a special-shaped screen. The display screen 605 can be made of materials such as LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode, organic light-emitting diode).

[0188] The camera assembly 606 is used to capture images or videos. Optionally, the camera assembly 606 includes a front camera and a rear camera. Typically, the front camera is arranged on the front panel of the terminal device 600, and the rear camera is arranged on the back of the terminal device 600. In some embodiments, there are at least two rear cameras, which are any one of a main camera, a depth of field camera, a wide-angle camera, and a telephoto camera, so as to realize the fusion of the main camera and the depth of field camera to realize the background blur function, the fusion of the main camera and the wide-angle camera to realize panoramic shooting and VR (Virtual Reality) shooting function or other fusion shooting functions. In some embodiments, the camera assembly 606 may also include a flash. The flash can be a monochrome temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation at different color temperatures.

[0189] The audio circuit 607 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, and convert the sound waves into electrical signals and input them into the processor 601 for processing, or input them into the radio frequency circuit 604 to achieve voice communication. For the purpose of stereo acquisition or noise reduction, there may be multiple microphones, which are respectively arranged at different parts of the terminal device 600. The microphone may also be an array microphone or an omnidirectional acquisition microphone. The speaker is used to convert the electrical signal from the processor 601 or the radio frequency circuit 604 into sound waves. The speaker may be a traditional film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert the electrical signal into sound waves audible to humans, but also convert the electrical signal into sound waves inaudible to humans for purposes such as ranging. In some embodiments, the audio circuit 607 may also include a headphone jack.

[0190] The power supply 608 is used to power various components in the terminal device 600. The power supply 608 can be an alternating current, a direct current, a disposable battery, or a rechargeable battery. When the power supply 608 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery charged through a wired line, and a wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0191] In some embodiments, the terminal device 600 further includes one or more sensors 609 . The one or more sensors 609 include but are not limited to: an acceleration sensor 610 , a gyroscope sensor 611 , a pressure sensor 612 , an optical sensor 613 , and a proximity sensor 614 .

[0192] The acceleration sensor 610 can detect the magnitude of acceleration on the three coordinate axes of the coordinate system established by the terminal device 600. For example, the acceleration sensor 610 can be used to detect the components of gravity acceleration on the three coordinate axes. The processor 601 can control the display screen 605 to display the user interface in a horizontal view or a vertical view according to the gravity acceleration signal collected by the acceleration sensor 610. The acceleration sensor 610 can also be used to collect game or user motion data.

[0193] The gyroscope sensor 611 can detect the body direction and rotation angle of the terminal device 600, and the gyroscope sensor 611 can cooperate with the acceleration sensor 610 to collect the user's 3D actions on the terminal device 600. The processor 601 can implement the following functions based on the data collected by the gyroscope sensor 611: motion sensing (such as changing the UI according to the user's tilt operation), image stabilization during shooting, game control, and inertial navigation.

[0194] The pressure sensor 612 can be set on the side frame of the terminal device 600 and / or the lower layer of the display screen 605. When the pressure sensor 612 is set on the side frame of the terminal device 600, it can detect the user's holding signal of the terminal device 600, and the processor 601 performs left and right hand recognition or shortcut operation according to the holding signal collected by the pressure sensor 612. When the pressure sensor 612 is set on the lower layer of the display screen 605, the processor 601 controls the operability controls on the UI interface according to the user's pressure operation on the display screen 605. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

[0195] The optical sensor 613 is used to collect the ambient light intensity. In one embodiment, the processor 601 can control the display brightness of the display screen 605 according to the ambient light intensity collected by the optical sensor 613. Specifically, when the ambient light intensity is high, the display brightness of the display screen 605 is increased; when the ambient light intensity is low, the display brightness of the display screen 605 is reduced. In another embodiment, the processor 601 can also dynamically adjust the shooting parameters of the camera assembly 606 according to the ambient light intensity collected by the optical sensor 613.

[0196] The proximity sensor 614, also called a distance sensor, is usually arranged on the front panel of the terminal device 600. The proximity sensor 614 is used to collect the distance between the user and the front of the terminal device 600. In one embodiment, when the proximity sensor 614 detects that the distance between the user and the front of the terminal device 600 is gradually decreasing, the processor 601 controls the display screen 605 to switch from the screen-on state to the screen-off state; when the proximity sensor 614 detects that the distance between the user and the front of the terminal device 600 is gradually increasing, the processor 601 controls the display screen 605 to switch from the screen-off state to the screen-on state.

[0197] Those skilled in the art will understand that Figure 6 The structure shown in the figure does not constitute a limitation on the terminal device 600, and may include more or less components than those shown in the figure, or combine certain components, or adopt a different component arrangement.

[0198] Figure 7This is a schematic diagram of the structure of the server provided in the embodiment of the present application. The server 700 may have relatively large differences due to different configurations or performances, and may include one or more processors (Central Processing Units, CPU) 701 and one or more memories 702, wherein the one or more memories 702 store at least one program code, and the at least one program code is loaded and executed by the one or more processors 701 to implement the vehicle control method provided by the above-mentioned various method embodiments. Of course, the server 700 may also have components such as a wired or wireless network interface, a keyboard, and an input and output interface for input and output. The server 700 may also include other components for implementing device functions, which will not be described in detail here.

[0199] In an exemplary embodiment, a computer-readable storage medium is further provided, in which at least one program code is stored. The at least one program code is loaded and executed by a processor to enable a computer to implement any of the above-mentioned vehicle control methods.

[0200] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0201] In an exemplary embodiment, a computer program or a computer program product is also provided. The computer program or the computer program product stores at least one computer instruction, and the at least one computer instruction is loaded and executed by a processor to enable a computer to implement any of the above-mentioned vehicle control methods.

[0202] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0203] It should be understood that the "plurality" mentioned in this article refers to two or more. "And / or" describes the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0204] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0205] The above description is only an exemplary embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: Acquiring lane-changing voice data, wherein the lane-changing voice data indicates that the target vehicle changes lanes in a target direction; parsing the lane change voice data to obtain the target direction; Acquire a target image in the target direction; Based on the target image, it is determined that there is a first lane in the target direction, and a relationship between a second lane where the target vehicle is located and the first lane meets a relationship requirement, and it is determined that the target vehicle meets a lane change requirement; The target vehicle is controlled to turn on a turn signal in the target direction, and the target vehicle is controlled to change lanes in the target direction.

2. The method according to claim 1, characterized in that After parsing the lane change voice data to obtain the target direction, the method further includes: Acquire a first image in a first direction and a second image in a second direction, wherein the first direction, the second direction, and the target direction are different directions; In a case where a first vehicle exists in the first image and a second vehicle exists in the second image, determining a first distance between the first vehicle and the target vehicle and a second distance between the second vehicle and the target vehicle, the first vehicle, the second vehicle and the target vehicle being in the same lane; The determining, based on the target image, that there is a first lane in the target direction, and that a relationship between a second lane where the target vehicle is located and the first lane meets a relationship requirement, and determining that the target vehicle meets a lane change requirement, includes: Based on the target image, it is determined that there is a first lane in the target direction, the relationship between the second lane where the target vehicle is located and the first lane meets the relationship requirement, the first distance is greater than a first distance threshold, and the second distance is greater than the first distance threshold, and it is determined that the target vehicle meets the lane change requirement.

3. The method according to claim 2, characterized in that The method further comprises: In a case where there is a third vehicle in the first image and there is a fourth vehicle in the second image, determining a third distance between the third vehicle and the target vehicle and a fourth distance between the fourth vehicle and the target vehicle, and the lane where the third vehicle and the fourth vehicle are located is the first lane; The determining, based on the target image, that there is a first lane in the target direction, that a relationship between a second lane where the target vehicle is located and the first lane satisfies a relationship requirement, that the first distance is greater than a first distance threshold, and that the second distance is greater than the first distance threshold, and determining that the target vehicle satisfies a lane change requirement includes: Based on the target image, it is determined that there is a first lane in the target direction, the relationship between the second lane where the target vehicle is located and the first lane meets the relationship requirement, the first distance is greater than a first distance threshold, the second distance is greater than the first distance threshold, the third distance is greater than the second distance threshold, and the fourth distance is greater than the second distance threshold, and it is determined that the target vehicle meets the lane change requirement.

4. The method according to claim 3, characterized in that The method further comprises: Acquire a current driving speed of the target vehicle and a current driving speed of a fifth vehicle, wherein the fifth vehicle is located behind the target vehicle and a lane where the fifth vehicle is located is the first lane; The determining, based on the target image, that there is a first lane in the target direction, that a relationship between a second lane where the target vehicle is located and the first lane satisfies a relationship requirement, that the first distance is greater than a first distance threshold, that the second distance is greater than the first distance threshold, that the third distance is greater than a second distance threshold, and that the fourth distance is greater than the second distance threshold, and determining that the target vehicle satisfies a lane change requirement includes: Based on the target image, it is determined that there is a first lane in the target direction, the relationship between the second lane where the target vehicle is located and the first lane meets the relationship requirement, the first distance is greater than a first distance threshold, the second distance is greater than the first distance threshold, the third distance is greater than a second distance threshold, the fourth distance is greater than the second distance threshold, and the current driving speed of the target vehicle is greater than the current driving speed of the fifth vehicle, and it is determined that the target vehicle meets the lane change requirement.

5. The method according to claim 4, characterized in that Get the current speed of the fifth vehicle, including: Sending a driving speed acquisition request to a cloud device, wherein the driving speed acquisition request includes a vehicle identification of the fifth vehicle, and the driving speed acquisition request is used by the cloud device to obtain a current driving speed of the fifth vehicle from the fifth vehicle; Receive the current driving speed of the fifth vehicle returned by the cloud device.

6. The method according to claim 2, characterized in that The first image includes a first part of the target vehicle in a first direction; The determining a first distance between the first vehicle and the target vehicle comprises: determining a first image distance between the first part and the first vehicle in the first image; A first distance between the first vehicle and the target vehicle is determined according to the first image distance and the image scale.

7. The method according to any one of claims 1 to 6, characterized in that: After controlling the target vehicle to change lanes toward the target direction, the method further includes: The lane change completion information is displayed, where the lane change completion information is used to indicate that the target vehicle has completed the lane change.

8. A vehicle control system, characterized in that: The system includes: a voice acquisition module, a data acquisition module, a computer device and an actuator, wherein: The voice collection module is used to collect lane-changing voice data and send the lane-changing voice data to the computer device, wherein the lane-changing voice data indicates that the target vehicle changes lanes in a target direction; The computer device is used to parse the lane change voice data, obtain the target direction, and send the target direction to the data acquisition module; The data acquisition module is used to obtain a target image in the target direction and send the target image to the computer device; The computer device is further configured to determine that the target vehicle meets the lane change requirement when it is determined based on the target image that there is a first lane in the target direction and the relationship between the second lane where the target vehicle is located and the first lane meets the relationship requirement, and send a lane change instruction to the actuator, wherein the lane change instruction includes the target direction; The actuator is used to control the target vehicle to turn on the turn signal of the target direction and control the target vehicle to change lanes in the target direction.

9. A computer device, characterized in that: The computer device includes a processor and a memory, wherein the memory stores at least one program code, and the at least one program code is loaded and executed by the processor so that the computer device implements the vehicle control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one program code, and the at least one program code is loaded and executed by the processor so that the computer implements the vehicle control method as described in any one of claims 1 to 7.

11. A computer program product, characterized in that The computer program product stores at least one computer instruction, and the at least one computer instruction is loaded and executed by a processor so that a computer implements the vehicle control method as described in any one of claims 1 to 7.

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