Vehicle control method, vehicle control system, vehicle and computer program product

Abstract

The invention provides a vehicle control method, a vehicle control system, a vehicle and a computer program product. The vehicle control method comprises the steps that a first interface is provided, a first object representing a vehicle and a second object representing obstacles around the vehicle are displayed on the first interface, and the relative position relation between the first object and the second object is the same as the relative position relation between the vehicle and the obstacles around the vehicle in the real environment; in response to detection of a first sliding operation starting from the first object, calculating the distance between the second object and a third object moving along with the first sliding operation; a target track is determined based on the first sliding track and the distance, the first sliding track is a sliding track of the first sliding operation, and the target track comprises at least part of the first sliding track; and controlling the vehicle to run according to the target trajectory.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicles, and more particularly to a vehicle control method, a vehicle control system, a vehicle, and a computer program product. Background Art

[0002] With the rapid development of science and technology and the continuous advancement of autonomous driving technology, vehicle control methods and systems are gradually becoming an important part of modern transportation. In related technologies, drivers need to control the driving of the vehicle through physical devices such as steering wheels, accelerators, and brakes. The entire driving process requires the driver to be highly involved and personally operate in real time. In other words, there is a problem of poor driving convenience in related technologies. Summary of the invention

[0003] The present disclosure provides a vehicle control method, a vehicle control system, a vehicle, and a computer program product.

[0004] According to a first aspect of the present disclosure, a vehicle control method is provided, comprising: providing a first interface, the first interface displaying a first object representing a vehicle and a second object representing obstacles around the vehicle, the relative position relationship between the first object and the second object being the same as the relative position relationship between the vehicle and obstacles around the vehicle in a real environment; in response to detecting a first sliding operation starting from the first object, calculating a distance between the second object and a third object moving following the first sliding operation; determining a target trajectory based on a first sliding trajectory and the distance, wherein the first sliding trajectory is a sliding trajectory of the first sliding operation, and the target trajectory includes at least a portion of the first sliding trajectory; and controlling the vehicle to travel according to the target trajectory.

[0005] According to at least one embodiment of the present disclosure, the third object is a location point of the first sliding operation in the first interface.

[0006] According to at least one embodiment of the present disclosure, the first object is a vehicle pattern, the third object is a block, the shape of the block is the same as the vehicle pattern, the area of ​​the block is greater than or equal to the area of ​​the vehicle pattern, the center of the block is the position point of the first sliding operation in the first interface, and the direction of the front of the vehicle in the block remains the same as the sliding direction of the first sliding operation.

[0007] According to at least one embodiment of the present disclosure, the first object is a vehicle pattern, the third object is a block, the shape of the block is a circumscribed rectangle of the vehicle pattern, or a circumscribed rectangle of an enlarged vehicle pattern, the area of ​​the block is larger than the area of ​​the vehicle pattern, the center of the block is the position point of the first sliding operation in the first interface, and the long side of the block is parallel to the sliding direction of the first sliding operation.

[0008] According to at least one embodiment of the present disclosure, the method further includes: in response to detecting a first sliding operation starting from the first object, displaying a third object in the first interface that moves following the first sliding operation.

[0009] According to at least one embodiment of the present disclosure, determining a target trajectory based on the first sliding trajectory and the distance includes: when any of the distances in the first sliding trajectory is greater than a first distance threshold, using the first sliding trajectory as the target trajectory; and when any of the distances in the first sliding trajectory is less than or equal to the first distance threshold, adjusting at least a portion of the first sliding trajectory to obtain an adjusted trajectory, and using the adjusted trajectory as the target trajectory, wherein the adjusted trajectory satisfies that the distance between the third object and the second object is greater than the first distance threshold during the movement of the third object along the adjusted trajectory.

[0010] According to at least one embodiment of the present disclosure, in a case where any of the distances in the first sliding trajectory is less than or equal to the first distance threshold, at least a portion of the first sliding trajectory is adjusted to obtain an adjusted trajectory, including: in a case where the distance is less than or equal to the first distance threshold during the sliding process of the first sliding operation, a prompt is given to adjust the first sliding trajectory starting from a first position, wherein the first position is a sliding position in the first sliding trajectory where the distance is greater than the first distance threshold; in response to detecting a second sliding operation starting from the first position, calculating the distance between the second object and a third object that moves following the second sliding operation; and in a case where any of the distances in the second sliding trajectory is greater than the first distance threshold, using the first sliding trajectory and the second sliding trajectory from the first object to the first position as the adjusted trajectory, wherein the second sliding trajectory is the sliding trajectory of the second sliding operation.

[0011] According to at least one embodiment of the present disclosure, the prompt to adjust the first sliding trajectory starting from the first position includes: displaying the first sliding trajectory from the first object to the first position in the first interface, and not displaying the first sliding trajectory from the first position to the second position, wherein the second position is a sliding position in the first sliding trajectory that makes the distance less than or equal to the first distance threshold; and performing a first highlighting display on the third object and / or the second object that makes the distance less than or equal to the first distance threshold in the first interface.

[0012] According to at least one embodiment of the present disclosure, in the case where any of the distances in the first sliding trajectory is less than or equal to the first distance threshold, adjusting at least a portion of the first sliding trajectory to obtain an adjusted trajectory includes: in the case where there is a distance in the first sliding trajectory that is less than or equal to the first distance threshold, determining a first trajectory in the first sliding trajectory, wherein the first trajectory includes a first position and a second position, the first position is a sliding position in the first sliding trajectory where the distance is greater than the first distance threshold, the second position is a sliding position in the first sliding trajectory where the distance is less than or equal to the first distance threshold, and the starting position and the ending position of the first trajectory are respectively different first positions; inputting shape information of the third object, size information of the third object, position information of the second object, the starting position of the first trajectory, and the ending position of the first trajectory into a trajectory generation model, generating a second trajectory through the trajectory generation model, wherein the second trajectory starts from the starting position of the first trajectory and ends at the ending position of the first trajectory, and the second trajectory satisfies that the distance between the third object and the second object during the movement of the third object along the second trajectory is greater than the first distance threshold; and replacing the first trajectory in the first sliding trajectory with the second trajectory, and using the replaced first sliding trajectory as the adjusted trajectory.

[0013] According to at least one embodiment of the present disclosure, it also includes: when the distance is less than or equal to a second distance threshold during the sliding process of the first sliding operation, a prompt is given to adjust the sliding direction; and / or, when the distance is less than or equal to the second distance threshold during the sliding process of the first sliding operation, a third object and / or a second object that makes the distance less than or equal to the second distance threshold is secondly highlighted in the first interface, wherein the second distance threshold is greater than the first distance threshold.

[0014] According to at least one embodiment of the present disclosure, controlling the vehicle to travel according to the target trajectory includes: controlling the vehicle to travel along the target trajectory.

[0015] According to at least one embodiment of the present disclosure, controlling the vehicle to travel according to the target trajectory includes: inputting shape information of the third object, size information of the third object, position information of the second object, the starting position of the target trajectory, and the ending position of the target trajectory into a trajectory generation model, generating multiple third trajectories through the trajectory generation model, wherein the third trajectory starts from the starting position of the target trajectory and ends at the ending position of the target trajectory, and the third trajectory satisfies that the distance between the third object and the second object during the movement of the third trajectory along the third trajectory is greater than a first distance threshold; calculating the similarity between the third trajectory and the target trajectory; and controlling the vehicle to travel along the third trajectory having the greatest similarity to the target trajectory.

[0016] According to at least one embodiment of the present disclosure, the method also includes: in response to receiving an instruction to go to a destination, providing a second interface; taking the position of the vehicle as the starting point and the position of the destination as the end point, screening out multiple fourth trajectories from multiple historical driving trajectories; in response to detecting a third sliding operation on the second interface, calculating the similarity between the fourth trajectory and the third sliding trajectory, wherein the third sliding trajectory is the sliding trajectory of the third sliding operation; and controlling the vehicle to travel along the fourth trajectory having the greatest similarity to the third sliding trajectory.

[0017] According to at least one embodiment of the present disclosure, the first interface also displays a fourth object representing an empty parking space, and the relative position relationship between the fourth object and the first object is the same as the relative position relationship between the vehicle and the empty parking space in the real environment, and the target trajectory can indicate that the vehicle drives to the empty parking space and parks in the empty parking space.

[0018] According to a second aspect of the present disclosure, a vehicle control system is provided, which is applied to a vehicle and includes a display screen, a processor and a memory, wherein the display screen is used to display an interface, and the memory stores a computer program, and when the computer program is executed by the processor, the processor executes a method as described in any of the above embodiments.

[0019] According to a third aspect of the present disclosure, a vehicle is provided, comprising the above-mentioned vehicle control system.

[0020] According to a fourth aspect of the present disclosure, a computer program product is provided, the computer program product comprising a computer program, and when the computer program is executed by a processor, the computer program is at least used to implement the method as described in any of the above embodiments.

[0021] In the above-mentioned vehicle control method, vehicle control system, vehicle and computer program product, since the first interface displays the first object and the second object corresponding to the vehicle and the obstacles around the vehicle in the real environment respectively, the vehicle and its surrounding environment can be understood through the display content of the first interface. Further, if the user starts the first sliding operation from the first object on the first interface, it can trigger the automatic calculation of the distance between the second object and the third object moving following the first sliding operation, and determine the target trajectory based on the sliding trajectory of the first sliding operation and the distance, and control the vehicle driving according to the target trajectory. In this way, the vehicle driving is controlled by sliding on the first interface, and the user does not need to drive the vehicle by tediously operating the vehicle's steering wheel, accelerator, brake, gear and other physical devices, thereby reducing the driving difficulty and improving the driving convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings illustrate exemplary embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0023] Figure 1 It is a schematic diagram of an application scenario of a vehicle control method according to an embodiment of the present disclosure.

[0024] Figure 2 It is a schematic diagram of an application scenario of a vehicle control method according to another embodiment of the present disclosure.

[0025] Figure 3 It is a schematic diagram of an application scenario of a vehicle control method according to yet another embodiment of the present disclosure.

[0026] Figure 4 It is a flowchart of a vehicle control method according to an embodiment of the present disclosure.

[0027] Figure 5 This is a visualization example diagram of a first interface according to an embodiment of the present disclosure.

[0028] Figure 6 This is a visualization example diagram of a first interface according to another embodiment of the present disclosure.

[0029] Figure 7 It is a flowchart of a vehicle control method according to another embodiment of the present disclosure.

[0030] Figure 8 This is a visualization example diagram of a first interface according to yet another embodiment of the present disclosure.

[0031] Fig. 9 It is a flowchart of a vehicle control method according to another embodiment of the present disclosure.

[0032] Fig.10 It is a flowchart of a vehicle control method according to another embodiment of the present disclosure.

[0033] Fig.11 It is a flowchart of a vehicle control method according to another embodiment of the present disclosure.

[0034] Fig.12 It is a schematic block diagram of the structure of a vehicle control system using a hardware implementation of a processor according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0035] The present disclosure is further described in detail below in conjunction with the accompanying drawings and examples. It is understood that the specific examples described herein are only used to explain the relevant content, rather than to limit the present disclosure. It should also be noted that, for ease of description, only the parts related to the present disclosure are shown in the accompanying drawings.

[0036] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present disclosure can be combined with each other. The technical solution of the present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0037] In the related technology, the vehicle includes physical devices such as steering wheel, accelerator, brake, gear and rearview mirror. When the driver wants the vehicle to move forward, he needs to set the gear to the forward gear first, then step on the accelerator and manipulate the steering wheel to control the forward direction; when the driver wants the vehicle to move backward, he needs to set the gear to the reverse gear first, then step on the accelerator and manipulate the steering wheel to control the backward direction and observe the surrounding situation through the rearview mirror; when the driver wants the vehicle to stop, he needs to step on the brake and set the gear to the parking gear. It can be seen from this that whether controlling the vehicle to move forward, backward or stop, the driver needs to be highly involved and needs to operate in real time. Especially in the parking scene, it is necessary to repeatedly control the vehicle to move forward and backward, so the driver needs to be vigilant to control the vehicle at all times, which makes driving difficult and inconvenient. In order to improve driving convenience, in the present disclosure, the vehicle control system provides a first interface to the user, in which at least a first object corresponding to the vehicle driven by the user and a second object corresponding to the obstacles around the vehicle are displayed, so that the user can understand the situation around the vehicle through the first interface, and then the user can start sliding from the first object in the first interface (that is, the vehicle driving route expected by the user). During the sliding process or after the sliding is completed, the vehicle control system can automatically use at least part of the sliding trajectory as the target trajectory based on the distance to the obstacle, and automatically control the vehicle driving according to the target trajectory. In other words, the user can control the vehicle driving by sliding on the interface without the user having to tediously operate the vehicle's physical devices such as the steering wheel, accelerator, brake and gear, thereby reducing the driving difficulty and improving driving convenience.

[0038] In the present disclosure, a vehicle may include different types of transportation vehicles or movable objects, for example, a vehicle may include a car, a bicycle, a motorcycle, a robot or other types of transportation vehicles or movable objects. The vehicle control system may be a vehicle computer, that is, the vehicle computer may be provided with a display screen, a processor and a memory; or, the vehicle control system includes a domain controller and a vehicle computer, wherein the vehicle computer may be provided with a display screen, and the domain controller may be provided with a processor and a memory; or, the vehicle control system includes a domain controller and an electronic device capable of communicating with the domain controller, wherein the domain controller may be provided with a processor and a memory, and the electronic device may be provided with a display screen. Electronic devices include but are not limited to mobile phones, tablet computers, laptop computers, personal computers, wearable devices, ATMs, etc.

[0039] Figure 1 A schematic diagram of an application scenario of a vehicle control method according to an embodiment of the present disclosure is shown. The scenario is a parking scenario within the camera's line of sight. When a vehicle enters a parking lot, a first interface can be displayed on the display screen of the vehicle control system. The first interface displays a first object representing the vehicle driven by the user, a second object representing obstacles around the vehicle, and a fourth object representing an empty parking space. The relative position relationship between the first object, the second object, and the fourth object is the same as the relative position relationship between the vehicle, obstacles around the vehicle, and the empty parking space in the real environment. If the user's sliding track on the first interface (such as Figure 1 If the sliding position (shown by the blue line in the middle) starts from the first object and ends at an empty parking space in the first interface, the vehicle control system can automatically determine the target trajectory based on the distance between the sliding position and the obstacle and the sliding trajectory, the target trajectory includes at least part of the sliding trajectory, and automatically control the vehicle to park in the empty parking space according to the target trajectory. It is understandable that the parking space outside the camera's line of sight cannot be displayed in the first interface, but as the vehicle moves, when the parking space enters the camera's line of sight, the parking space can be displayed in the first interface. The display content of the first interface can change as the vehicle moves.

[0040] Figure 2 A schematic diagram of an application scenario of a vehicle control method according to another embodiment of the present disclosure is shown. The scenario is a parking scenario outside the camera's line of sight. When a vehicle enters a parking lot, a first interface can be displayed on the display screen of the vehicle control system. The first interface displays a first object representing the vehicle driven by the user, a second object representing obstacles around the vehicle, and a fourth object representing an empty parking space. The relative position relationship between the first object, the second object, and the fourth object is the same as the relative position relationship between the vehicle, obstacles around the vehicle, and the empty parking space in the real environment. If there is no empty parking space expected by the user in the first interface, the user can first slide a track (such as Figure 2The vehicle control system automatically determines the target trajectory based on the distance between the sliding position and the obstacle and the first sliding trajectory, and automatically controls the vehicle to move to a new position according to the target trajectory. The display content of the first interface can be updated in real time as the vehicle moves. If an empty parking space desired by the user appears in the first interface during the movement of the vehicle or after the vehicle stops, the user can slide another trajectory on the first interface (such as Figure 2 As shown by the green line in the middle, the re-sliding trajectory starts from the first object and ends at the empty parking space desired by the user, so that the vehicle control system automatically determines the target trajectory based on the distance between the sliding position and the obstacle and the re-sliding trajectory. At this time, the target trajectory includes at least a portion of the re-sliding trajectory, and automatically controls the vehicle to park in the empty parking space desired by the user according to the target trajectory.

[0041] Figure 3 A schematic diagram of an application scenario of a vehicle control method according to another embodiment of the present disclosure is shown. The scenario is a long-distance autonomous driving scenario, where the long distance, i.e., the distance between the destination and the vehicle driven by the user, is much greater than the line of sight of the on-board camera, i.e., the destination is far away from the vehicle driven by the user. The vehicle control system can store the historical driving trajectory of the vehicle in the process of going to the destination. When the user wants to go to the destination again, the display screen of the vehicle control system can display a second interface. The second interface can be an interface displaying a first object representing the vehicle driven by the user and a fifth object representing the destination. The relative position relationship between the first object and the fifth object can be the same as the relative position relationship between the vehicle and the destination in the real environment. The user can roughly draw a sliding trajectory starting from the first object and ending at the fifth object on the second interface based on his or her memory (e.g., Figure 3 The vehicle control system can then use the historical driving trajectory (such as Figure 3 The red line in the middle is used as the target trajectory, and the vehicle is controlled to automatically drive to the destination according to the target trajectory. It is worth noting that if an obstacle moves or a new obstacle appears during driving, the vehicle can avoid it or stop and wait based on the autonomous driving algorithm in the relevant technology.

[0042] For the convenience of description and to make the technical solutions of the specific embodiments of the present disclosure easier to understand, before describing the vehicle control method implemented in the present disclosure, the technical terms involved in the specific embodiments of the present disclosure are explained as follows: An interface is a boundary or medium for interaction or communication between two or more different systems, components, or entities.

[0043] An object is an entity with unique identity and attributes in a computer program or system.

[0044] A sliding operation refers to continuous movement on the display screen using a finger or other tool (such as a stylus, a cursor controlled by a mouse, etc.).

[0045] A sliding trajectory refers to the path that a finger or other tool (such as a stylus, a cursor controlled by a mouse, etc.) travels when performing a sliding operation.

[0046] A block is an area with clear boundaries.

[0047] A trajectory generation model refers to a model that can automatically output a trajectory based on input data.

[0048] Figure 4 A schematic flow chart of a vehicle control method according to an embodiment of the present disclosure is shown. Figure 4 The detailed description is for a clearer understanding of the technical solution of the present disclosure and should not be considered as a limitation of the protection scope of the present disclosure. In the process of implementing the technical idea of ​​the present disclosure, one or some steps may be omitted, or other alternatives may be adopted.

[0049] In step S401, a first interface is provided, and the first interface displays a first object representing the vehicle driven by the user, a second object representing the obstacles around the vehicle, and a fourth object representing an empty parking space. The relative position relationship of the first object, the second object, and the fourth object is the same as the relative position relationship of the vehicle, the obstacles around the vehicle, and the empty parking space in the real environment. For example, if the obstacle in the real environment is directly in front of the vehicle and the distance between the obstacle and the vehicle is the length of the vehicle body, then the second object in the first interface is directly in front of the first object and the distance between the obstacle and the first object is the length of the first object. Obstacles around the vehicle include but are not limited to other vehicles, buildings, plants, etc. Exemplarily, the vehicle's longitude and latitude information, the distance between the vehicle and the obstacles around the vehicle, and the offset angle of the obstacles around the vehicle relative to the vehicle can be obtained through sensors such as vehicle-mounted cameras, vehicle-mounted radars, and vehicle-mounted positioning modules; the longitude and latitude information of empty parking spaces can be obtained through network acquisition, visual detection, and other methods; the longitude and latitude information of obstacles around the vehicle are determined based on the vehicle's longitude and latitude information, the distance between the vehicle and the obstacles around the vehicle, and the offset angle of the obstacles around the vehicle relative to the vehicle; based on the correspondence between the longitude and latitude of the real environment and the display position in the interface, the display position corresponding to the longitude and latitude of the vehicle, the display position corresponding to the longitude and latitude of the obstacles around the vehicle, and the display position corresponding to the longitude and latitude of the empty parking space are determined; and the first object, the second object, and the fourth object are displayed in the first interface based on the display position. In one example, the first object is a vehicle pattern, the second object is an obstacle pattern, and the fourth object is a rectangular pattern, such as Figure 1 shown.

[0050] In step S402, a sliding operation starting from the first object is detected. For example, if the user touches the first object on the first interface with a finger and moves continuously on the first interface while keeping touching the first interface, the vehicle control system can detect the sliding operation starting from the first object.

[0051] In step S403, a third object that moves with the sliding operation is displayed in the first interface, so that the third object is displayed wherever the user slides, so that the user can intuitively understand the current sliding position. The first object and the third object can respectively represent the vehicle driven by the user. The display position of the first object in the first interface can represent the latitude and longitude of the vehicle driven by the user at the current moment, and the display position of the third object in the first interface can represent the latitude and longitude of the vehicle driven by the user at a future moment.

[0052] In step S404, whenever the position point of the sliding operation in the first interface changes, the distance between the second object and the third object that moves with the sliding operation is calculated, that is, the distance between the third object at the display position and the second object in the first interface is calculated according to the display position to which the third object moves. It can be understood that since there is a corresponding relationship between the display position in the first interface and the longitude and latitude in the real environment, calculating the distance between the third object and the second object is equivalent to calculating the distance between the longitude and latitude corresponding to the third object in the real environment and each obstacle. In the case where there are multiple second objects in the first interface, the distance between the third object and each of the multiple second objects can be calculated separately.

[0053] As a possible implementation, the third object is the position point (ie, the sliding position) of the sliding operation in the first interface, and calculating the distance between the third object and the second object can be understood as calculating the distance between the position point and multiple contour points of the second object.

[0054] As another possible implementation, the first object is a vehicle pattern, the third object is a block, the shape of the block is the same as the vehicle pattern, the area of ​​the block is greater than or equal to the area of ​​the vehicle pattern, the center of the block is the position point of the sliding operation in the first interface, the direction of the front of the vehicle in the block is the same as the sliding direction of the sliding operation, and then the calculation of the distance between the third object and the second object can be understood as calculating the distance between multiple contour points of the block and multiple contour points of the second object. The size of the vehicle pattern can be the size of the vehicle after being proportionally reduced. Since the shape of the third object is the same as the vehicle pattern, and the area of ​​the third object is greater than or equal to the area of ​​the vehicle pattern, the user can intuitively understand the positional relationship between the third object and the second object and the fourth object through the first interface during the sliding process, so that the user can adjust the sliding trajectory in time.

[0055] As another possible implementation, the first object is a vehicle pattern, the third object is a block, and the shape of the block is a circumscribed rectangle of the vehicle pattern (eg Figure 5 (a) as shown in the yellow rectangle), or as the circumscribed rectangle of the enlarged vehicle pattern, the magnification can be 1.2 times, the area of ​​the block is larger than the area of ​​the vehicle pattern, the center of the block is the position point of the sliding operation in the first interface, the long side of the block is parallel to the sliding direction of the sliding operation, and then the calculation of the distance between the third object and the second object can be understood as the calculation of the distance between multiple contour points of the block and multiple contour points of the second object. The size of the vehicle pattern can be the size of the vehicle after geometric reduction. Since the shape of the third object is the circumscribed rectangle of the vehicle pattern, and the area of ​​the third object is larger than the area of ​​the vehicle pattern, the user can intuitively understand the positional relationship between the third object and the second object and the fourth object through the first interface during the sliding process, so as to facilitate the user to adjust the sliding trajectory in time. In addition, in other embodiments, the shape of the block can also be the circumscribed circle of the vehicle pattern or other shapes, which are not limited here.

[0056] In step S405, it is determined whether the distance calculated in step S404 is less than or equal to the second distance threshold (Y2). If so, the process proceeds to step S406, and if not, the process proceeds to step S408. Exemplarily, in the case where multiple distances are calculated in step S404, it is only necessary to determine whether there is a distance less than or equal to the second distance threshold in step S405; in the case where only one distance is calculated in step S404, it is only necessary to determine whether the distance is less than or equal to the second distance threshold in step S405.

[0057] In step S406, when the distance is less than or equal to the second distance threshold during the sliding process of the sliding operation, a prompt is given to adjust the sliding direction. It can be understood that when the distance is less than or equal to the second distance threshold, it means that the position point of the third object is relatively close to the second object, and the vehicle represented by the third object in the real environment is close to the obstacle, and there is a certain risk of collision. Therefore, when it is found that the distance is less than or equal to the second distance threshold, a prompt is given to adjust the sliding direction in time, which is conducive to avoiding the third object from colliding with the second object during the subsequent sliding process, and at the same time, it is conducive to avoiding the vehicle represented by the third object in the real environment from colliding with the obstacle. In one example, the user is prompted to adjust the sliding direction by displaying a predefined first text in the first interface and / or broadcasting a pre-set first voice through a speaker.

[0058] In step S407, when the distance is less than or equal to the second distance threshold during the sliding operation, the third object and / or the second object whose distance is less than or equal to the second distance threshold are second highlighted in the first interface. The second highlighting includes but is not limited to changing the display color of the object to a striking color, adding a pattern around the object, or adding a pattern on the object. Figure 5 (b) In one example, when the distance is less than or equal to a second distance threshold during the sliding operation, the display color of the second object whose distance is less than or equal to the second distance threshold is changed to light red, and a light red pattern is added around the second object.

[0059] In step S408, it is determined whether the distance calculated in step S404 is less than or equal to the first distance threshold (Y1). If so, the process proceeds to step S409, and if not, the process proceeds to step S411. In this way, it is determined whether the sliding trajectory meets the vehicle safe driving conditions based on the distance, so as to facilitate the subsequent determination of the target trajectory based on the distance and the sliding trajectory. Exemplarily, in the case where multiple distances are calculated in step S404, it is only necessary to determine whether there is a distance less than or equal to the first distance threshold in step S408; in the case where only one distance is calculated in step S404, it is only necessary to determine whether the distance is less than or equal to the first distance threshold in step S408. The first distance threshold is less than the second distance threshold. In one example, the first distance threshold is 0, and the second distance threshold is the width of the third object. It should be noted that the specific numerical values ​​mentioned in the present disclosure are only used as examples to illustrate the implementation of the present disclosure in detail, and should not be understood as limiting the present disclosure. In other examples or implementation methods or embodiments, other numerical values ​​can be selected according to the present disclosure, and are not specifically limited here.

[0060] In step S409, when the distance is less than or equal to the first distance threshold during the sliding process of the sliding operation, a prompt is given to adjust the sliding trajectory from the first position, wherein the first position is the sliding position in the sliding trajectory where the distance is greater than the first distance threshold. It can be understood that when the distance is less than or equal to the first distance threshold, it means that the position point of the third object is very close to or even in contact with the second object, which corresponds to the vehicle represented by the third object in the real environment being very close to or even colliding with the obstacle. Therefore, when it is found that the distance is less than or equal to the first distance threshold, a prompt is given to adjust the sliding trajectory from the first position in a timely manner, which is conducive to eliminating the current collision risk and avoiding such a scenario from occurring in the corresponding real environment.

[0061] In this embodiment, any sliding position before the distance is detected to be less than or equal to the first distance threshold, which makes the distance greater than the first distance threshold, can be used as the first position. Assuming that the sliding position when the distance is less than or equal to the first distance threshold is the P position, preferably, the sliding position closest to the P position among the multiple sliding positions before the distance is less than or equal to the first distance threshold, which makes the distance greater than the first distance threshold, is used as the first position; in other embodiments, any sliding position whose distance from the P position is less than or equal to a preset third distance threshold among the multiple sliding positions before the distance is less than or equal to the first distance threshold, which makes the distance greater than the first distance threshold, can be used as the first position, wherein the third distance threshold is greater than 0; in other embodiments, any sliding position among the multiple sliding positions before the distance is less than or equal to the first distance threshold, which makes the distance greater than the fourth distance threshold, can be used as the first position, wherein the fourth distance threshold is greater than the first distance threshold, for example, the fourth distance threshold = the preset multiple × the first distance threshold, and the preset multiple is greater than 1.

[0062] Exemplarily, the prompting to adjust the sliding trajectory from the first position includes: displaying the sliding trajectory from the first object to the first position in the first interface, and not displaying the sliding trajectory from the first position to the second position, wherein the second position is a sliding position in the sliding trajectory where the distance is less than or equal to the first distance threshold, such as Figure 5 (c) as shown; and in the first interface, the third object and / or the second object whose distance is less than or equal to the first distance threshold is first highlighted. In this way, through the change of the displayed content, the user is intuitively prompted to adjust the sliding trajectory from the first position; and, since each position on the displayed sliding trajectory satisfies the distance greater than the first distance threshold, the displayed sliding trajectory can be directly used as the target trajectory to control the vehicle to travel after the user stops sliding. All sliding positions detected to make the distance less than or equal to the first distance threshold can be used as the second position respectively. If the sliding position closest to the P position among the multiple sliding positions that make the distance greater than the first distance threshold before the distance is less than or equal to the first distance threshold is used as the first position, then if the user does not slide to the position where the distance is less than or equal to the first distance threshold, the displayed trajectory can follow the movement of the user's finger, stylus or mouse-controlled cursor in real time. Once the finger, stylus or mouse-controlled cursor slides to the position where the distance is less than or equal to the first distance threshold, the displayed trajectory no longer follows the movement of the finger, stylus or mouse-controlled cursor in real time, but stays at the first position, waiting for the user to slide from the first position. The display effect of the first highlight is different from that of the second highlight. The first highlight can be a further highlight on the basis of the second highlight, so as to create a sense of urgency as the distance gradually approaches. Figure 5(c), in one example, when the distance is less than or equal to the first distance threshold during the sliding process of the sliding operation, the display color of the second object whose distance is less than or equal to the first distance threshold is changed to crimson, and a crimson pattern is added around the second object. In other embodiments, the sliding trajectory from the first position to the second position may also be displayed, but the display color of the sliding trajectory from the first position to the second position should be different from the display color of the sliding trajectory from the first object to the first position. In addition, the sliding trajectory may be adjusted from the first position by displaying a predefined second text in the first interface and / or broadcasting a pre-set second voice through the speaker, so that the user can more clearly and intuitively know how to operate later.

[0063] In step S410, a sliding operation starting from the first position is detected, and the process proceeds to step S403. In this way, when any distance in the sliding trajectory is less than or equal to the first distance threshold, at least part of the sliding trajectory can be adjusted to obtain an adjusted trajectory (i.e., a target trajectory), and the adjusted trajectory satisfies that the distance between the third object and the second object is greater than the first distance threshold during the movement of the third object along the adjusted trajectory.

[0064] In this embodiment, the sliding operation starting from the first object is the first sliding operation, the sliding track of the first sliding operation is the first sliding track, the sliding operation starting from the first position is the second sliding operation, and the sliding track of the second sliding operation is the second sliding track. Whether it is the first sliding operation or the second sliding operation, the schemes of step S403 to step S408 need to be executed during the sliding process. Therefore, in the case of detecting the sliding operation starting from the first position, step S403 is also entered and the schemes of the following steps are executed in sequence. In this way, in response to detecting the second sliding operation starting from the first position, the distance between the second object and the third object moving following the second sliding operation is calculated, so that when any distance in the second sliding track is greater than the first distance threshold, the first sliding track and the second sliding track from the first object to the first position are used as the adjusted track. In the case that the distance is still less than or equal to the first distance threshold during the sliding process of the second sliding operation, the sliding position in the first sliding track or the second sliding track that makes the distance greater than the first distance threshold can be used as the first position, and a prompt is given to adjust the sliding track from the first position.

[0065] In step S411, when any distance during the sliding process of the sliding operation is greater than the first distance threshold, the position point of the sliding operation is stored. It can be understood that if the distance between the third object and any second object at a certain position point is greater than the first distance threshold, it means that the third object and any second object at this position point maintain a certain safety distance, that is, the vehicle represented by the third object in the real environment will not collide with an obstacle under the current situation, so this position point is safe and can be stored to provide a data basis for subsequent control of vehicle driving.

[0066] In step S412, the trajectory formed by connecting all the stored location points is displayed on the first interface. In this way, the distance between each point in the displayed trajectory and the second object is greater than the first distance threshold, so that the user can intuitively understand the sliding trajectory currently available for vehicle driving. It can be seen that in this embodiment, the user's sliding trajectory may not be displayed in full, but the displayed trajectory must be the user's sliding trajectory, and the displayed trajectory can be used to control the vehicle's driving. If the first sliding operation does not have a distance less than or equal to the first distance threshold during the sliding process, then the displayed trajectory is only the first sliding trajectory (such as Figure 1 If the first sliding operation has a distance less than or equal to the first distance threshold during the sliding process, that is, it is necessary to slide again from the first position, then the displayed track includes not only the first sliding track from the first object to the first position (such as Figure 6 ), and also includes a second sliding trajectory starting from the first position (as shown in the blue line Figure 6 shown by the green line in the middle).

[0067] In step S413, it is determined whether the sliding operation has stopped. If so, the process proceeds to step S414; if not, the process proceeds to step S403. For example, if there is a first sliding operation but no second sliding operation, the process proceeds to step S414 if the first sliding operation has stopped, and if the first sliding operation has not stopped, the process proceeds to step S403; if there is a second sliding operation, the process proceeds to step S414 if the second sliding operation has stopped, and if the second sliding operation has not stopped, the process proceeds to step S403. The sliding operation may be determined to have stopped when a target operation is detected (e.g., a user triggers a stop button, a third object moves into an empty parking space).

[0068] In step S414, all stored position points are used as track points of the target track to obtain the target track, that is, when the sliding operation is detected to stop, the track displayed in step S412 is used as the target track. Specifically, when any distance in the first sliding track is greater than the first distance threshold, the first sliding track is directly used as the target track; when there is a distance less than or equal to the first distance threshold in the first sliding track and any distance in the second sliding track is greater than the first distance threshold, the first sliding track from the first object to the first position and the second sliding track are used as the target track.

[0069] In step S415, the vehicle is controlled to travel according to the target trajectory. Further, the vehicle can be controlled to travel according to the target trajectory when a first travel instruction is received (for example, a user is detected to trigger a parking start button or a parking start voice is detected by the user), thereby improving safety. As a possible implementation, controlling the vehicle to travel according to the target trajectory includes: controlling the vehicle to travel along the target trajectory. In this way, the trajectory of the user's sliding is fully utilized to realize the automatic driving of the vehicle, and the user does not need to tediously operate the physical devices such as the steering wheel, throttle, brake and gear of the vehicle, thereby reducing the driving difficulty and improving the driving convenience and fun. As another possible implementation, controlling the vehicle to travel according to the target trajectory includes: inputting the shape information of the third object, the size information of the third object, the position information of the second object, the starting position of the target trajectory and the ending position of the target trajectory into the trajectory generation model, generating multiple third trajectories through the trajectory generation model, wherein the third trajectory starts from the starting position of the target trajectory and ends at the ending position of the target trajectory, and the third trajectory satisfies that the distance between the third object and the second object during the movement of the third trajectory is greater than the first distance threshold; calculating the similarity between the third trajectory and the target trajectory; and controlling the vehicle to travel along the third trajectory with the greatest similarity to the target trajectory. In this way, even if the trajectory slid by the user is difficult to realize in the real environment, the vehicle can be controlled to drive automatically as much as possible according to the third trajectory that is closest to the trajectory slid by the user and can be realized, so as to ensure that the vehicle can successfully complete the automatic driving, and the user does not need to tediously operate the physical devices such as the steering wheel, accelerator, brake and gear of the vehicle, thereby reducing the driving difficulty and improving the driving convenience and fun. The present disclosure does not limit the calculation method of the similarity between trajectories. The user can mark the vehicle's travel gear in the target trajectory to facilitate the accurate driving of the vehicle. In some embodiments, before controlling the vehicle to drive according to the target trajectory, it can also include: displaying an animation of a third object moving from the starting position of the target trajectory along the target trajectory to the ending position of the target trajectory, so that the user can more intuitively and comprehensively understand the future driving of the vehicle along the target trajectory.

[0070] When the end point of the target trajectory is the fourth object, the target trajectory can indicate that the vehicle drives to and parks in an empty parking space. After the vehicle drives to the end point of the target trajectory, it can be further detected whether the vehicle is completely parked in the empty parking space. If it is not completely parked in the empty parking space, the vehicle posture can be automatically adjusted based on the automatic parking algorithm in the relevant technology to ensure that the vehicle is completely parked in the empty parking space. It is worth noting that if an obstacle moves or a new obstacle appears during driving, the vehicle can avoid or stop and wait based on the automatic driving algorithm in the relevant technology, thereby improving safety.

[0071] Figure 7 A flow chart of a vehicle control method according to another embodiment of the present disclosure is shown. Figure 7 The detailed description is for a clearer understanding of the technical solution of the present disclosure and should not be considered as a limitation of the protection scope of the present disclosure. In the process of implementing the technical idea of ​​the present disclosure, one or some steps may be omitted, or other alternatives may be adopted.

[0072] In step S701, a first interface is provided.

[0073] In step S702 , a sliding operation starting from the first object is detected.

[0074] In step S703, a third object moving along with the sliding operation is displayed in the first interface.

[0075] The contents related to step S701 , step S702 and step S703 can refer to the description of step S401 to step S403 , and will not be repeated here for the sake of brevity.

[0076] In step S704, the sliding track of the sliding operation is displayed in the first interface. In this way, the sliding track is displayed wherever the user slides, so that the user can intuitively understand the current sliding position. In other words, in this embodiment, the user's sliding track will be fully displayed, but whether the displayed track can be directly used to control the vehicle driving needs to be judged based on the distance between the second object and the third object at each sliding position in the track.

[0077] In step S705, whenever the position point of the sliding operation in the first interface changes, the distance between the second object and the third object moving along with the sliding operation is calculated.

[0078] In step S706 , it is determined whether the distance is less than or equal to a second distance threshold ( Y2 ), if so, the process proceeds to step S707 , if not, the process proceeds to step S709 .

[0079] In step S707, when the distance during the sliding operation is less than or equal to the second distance threshold, a prompt is provided to adjust the sliding direction.

[0080] In step S708, when the distance is less than or equal to the second distance threshold during the sliding operation, the third object and / or the second object whose distance is less than or equal to the second distance threshold are second highlighted in the first interface.

[0081] The contents related to step S705 , step S706 , step S707 and step S708 may refer to the description of step S404 to step S407 , and will not be repeated here for the sake of brevity.

[0082] In step S709, it is determined whether the sliding operation stops, if so, the process proceeds to step S710, if not, the process proceeds to step S703. The sliding operation stops when a target operation is detected (eg, the user triggers a stop button, a third object moves into an empty parking space).

[0083] In step S710, it is determined whether there is a distance less than or equal to the first distance threshold (Y1) in the sliding track. If yes, the process proceeds to step S711, and if no, the process proceeds to step S714. The contents related to step S710 can refer to the description of step S408, and will not be repeated here for the sake of brevity.

[0084] In step S711, when there is a distance less than or equal to the first distance threshold in the sliding trajectory, the first trajectory in the sliding trajectory is determined, wherein the first trajectory includes at least two first positions and at least one second position, the first position is a sliding position in the sliding trajectory where the distance is greater than the first distance threshold, the second position is a sliding position in the sliding trajectory where the distance is less than or equal to the first distance threshold, and the starting position and the ending position of the first trajectory are different first positions. In one example, the starting position of the first trajectory can be randomly and automatically selected from multiple first positions upstream of the second position, and the ending position of the first trajectory can be randomly and automatically selected from multiple first positions downstream of the second position. In another example, the starting position of the first trajectory is a first position located upstream of the second position and closest to the second position, and the ending position of the first trajectory is a first position located downstream of the second position and closest to the second position. The first trajectory in the sliding trajectory can be one or more, and each first trajectory can include at least two first positions and at least one second position.

[0085] In step S712, the shape information of the third object, the size information of the third object, the position information of the second object, the starting position of the first trajectory and the ending position of the first trajectory are input into the trajectory generation model, and the second trajectory is generated by the trajectory generation model, wherein the second trajectory starts from the starting position of the first trajectory and ends at the ending position of the first trajectory, and the second trajectory satisfies that the distance between the third object and the second object is greater than the first distance threshold during the movement of the third object along the second trajectory. The trajectory generation model can be pre-trained based on a training set, and the training set may include a plurality of preset second trajectories and the shape information of the preset third object, the size information of the preset third object, the position information of the preset second object, the preset starting position and the preset ending position corresponding to the preset second trajectory, wherein the distance between the preset third object and the preset second object during the movement of the preset second trajectory is always greater than the first distance threshold, so that the trajectory generation model trained based on the training set can automatically generate the second trajectory according to the input shape information of the third object, the size information of the third object, the position information of the second object, the starting position of the first trajectory and the ending position of the first trajectory, and provide a data basis for the subsequent replacement of the first trajectory.

[0086] In step S713, the first track in the sliding track is replaced by the second track, and the replaced sliding track is used as the adjusted track (i.e., the target track). In this way, when any distance in the sliding track is less than or equal to the first distance threshold, the adjusted track is obtained by adjusting at least part of the sliding track, and the adjusted track is used as the target track, so that the target track can satisfy that the distance between the third object and the second object is always greater than the first distance threshold during the movement of the third object along the adjusted track, thereby meeting the requirement of safe distance and ensuring safety. In an example, the sliding track corresponding to the sliding operation is displayed in real time during the sliding process, and after the sliding operation stops, the first track AB in the sliding track is automatically identified, and the points A and B in the first track AB are different first positions (i.e., the sliding positions with a distance greater than the first distance threshold), and the first track AB also includes multiple second positions (i.e., the sliding positions with a distance less than or equal to the first distance threshold), and then the second track A'B' is generated by the method described in step S712, and each position in the second track A'B' is a first position, and then the process of replacing the first track AB with the second track A'B' is as follows. Figure 8As shown. In other embodiments, before the replacement, the user may be prompted that the first track is about to be replaced, and after the replacement, the adjusted track may be displayed in the first interface, so that the user can intuitively understand the execution progress of the vehicle control system. In addition, steps S711 to S713 may also be replaced by the following steps: when there is a distance in the sliding track that is less than or equal to the first distance threshold, the user is prompted to adjust at least the first track in the sliding track to ensure that the adjusted sliding track satisfies that the distance between the third object and the second object is always greater than the first distance threshold during the movement of the third object along the adjusted track.

[0087] In step S714, when any distance in the sliding trajectory is greater than the first distance threshold, the sliding trajectory is used as the target trajectory. It can be understood that if any distance in the sliding trajectory is greater than the first distance threshold, it means that the third object and any second object at any point in the sliding trajectory maintain a certain safety distance, that is, the vehicle represented by the third object in the real environment will not collide with an obstacle, so the sliding trajectory is safe and can be used as a target trajectory to provide safety guarantee for subsequent control of vehicle driving.

[0088] In step S715, the vehicle is controlled to travel according to the target trajectory. The contents related to step S715 can refer to the description of step S415, and will not be repeated here for the sake of brevity.

[0089] Fig. 9 A flow chart of a vehicle control method according to another embodiment of the present disclosure is shown. Fig. 9 The detailed description is for a clearer understanding of the technical solution of the present disclosure and should not be considered as a limitation of the protection scope of the present disclosure. In the process of implementing the technical idea of ​​the present disclosure, one or some steps may be omitted, or other alternatives may be adopted.

[0090] In step S901, in response to receiving the instruction to go to the destination, a second interface is provided. The second interface may be a blank interface, or may be an interface that displays at least a first object representing the vehicle driven by the user and a fifth object representing the destination (eg, Figure 3 As shown), it is not limited here. The fifth object may be a pre-set pattern. When the first object and the fifth object are displayed in the second interface, the relative position relationship between the first object and the fifth object is the same as the relative position relationship between the vehicle and the destination in the real environment. The position of the vehicle, that is, the latitude and longitude of the vehicle, can be obtained through the vehicle positioning module. The instruction to go to the destination may carry the location of the destination, and then the location of the destination can be obtained through the received instruction to go to the destination. In one example, the distance between the destination and the vehicle driven by the user is much greater than the line of sight of the on-board camera, that is, the destination is far away from the vehicle driven by the user, which belongs to a long-distance autonomous driving scenario.

[0091] In step S902, a plurality of fourth trajectories are selected from a plurality of historical driving trajectories, with the vehicle position as the starting point and the destination position as the end point. That is, the starting point of each fourth trajectory is the vehicle position and the end point is the destination position. The historical driving trajectory may be a pre-stored trajectory that the current user's vehicle has traveled, or a pre-stored trajectory that multiple users' vehicles have traveled, which is not limited here. It is worth noting that although in Fig. 9 In the example, step S902 is executed before step S903, but in other implementations, step S902 may also be executed after step S903, or step S902 and step S903 may be executed simultaneously, which is not limited here.

[0092] In step S903, a third sliding operation on the second interface is detected. For example, if the user touches the second interface with a finger and moves continuously on the second interface while keeping touching the second interface, the vehicle control system can detect the third sliding operation.

[0093] In step S904, a third sliding track is displayed in the second interface, wherein the third sliding track is the sliding track of the third sliding operation. In this way, the third sliding track is displayed wherever the user slides, so that the user can intuitively understand the current sliding position.

[0094] In step S905, it is determined whether the third sliding operation is stopped, if so, the process proceeds to step S906, if not, the process proceeds to step S904. The third sliding operation may be stopped when a target operation is detected (eg, the user triggers a stop button).

[0095] In step S906, the similarity between the fourth track and the third sliding track is calculated. The present disclosure does not limit the method for calculating the similarity between tracks.

[0096] In step S907, the vehicle is controlled to travel along the fourth track with the greatest similarity to the third sliding track. In this way, the user can control the vehicle to go to the destination by sliding on the second interface, without the need for the user to tediously operate the physical devices such as the steering wheel, accelerator, brake and gear of the vehicle, thereby reducing the difficulty of driving and improving the convenience of driving. In addition, since the vehicle is driven along the fourth track with the greatest similarity to the third sliding track, the actual driving route of the vehicle can match the user's expectations as much as possible, thereby improving the user experience. Further, when the second driving instruction is received (for example, the user triggers the start driving button or the start driving voice issued by the user is detected), the vehicle can be controlled to travel along the fourth track with the greatest similarity to the third sliding track, thereby improving safety. It is worth noting that if the obstacle moves or a new obstacle appears during driving, the vehicle can avoid or stop and wait based on the automatic driving algorithm in the relevant technology, thereby improving safety.

[0097] Fig.10 A flow chart of a vehicle control method according to another embodiment of the present disclosure is shown. Fig.10 The detailed description is for a clearer understanding of the technical solution of the present disclosure and should not be considered as a limitation of the protection scope of the present disclosure. In the process of implementing the technical idea of ​​the present disclosure, one or some steps may be omitted, or other alternatives may be adopted.

[0098] In step S1001, a first control, a second control and a third control are provided.

[0099] In step S1002, in response to the first control being triggered, the following is executed: Figure 4 The user-defined trajectory plan is adjusted in real time to control the vehicle parking.

[0100] In step S1003, in response to the second control being triggered, the following is executed: Figure 7 The illustrated example shows a post-adjustment of a user-defined trajectory plan to control vehicle parking.

[0101] In step S1004, in response to the third control being triggered, the following is executed: Fig. 9 The matching historical driving trajectory plan is shown to control the vehicle to drive to the destination.

[0102] The vehicle control method of the disclosed embodiment provides three solutions: real-time adjustment of user-defined trajectory, post-adjustment of user-defined trajectory, and matching of historical driving trajectory. Users can select the corresponding solution according to their own usage requirements to meet the different usage requirements of users. In these three solutions, users can control the vehicle driving by sliding on the interface without the need for users to tediously operate the vehicle's physical devices such as the steering wheel, accelerator, brake and gear, thereby reducing the driving difficulty and improving the driving convenience.

[0103] According to a further embodiment of the present disclosure, a vehicle control method is also provided, which can be implemented in the vehicle control system provided by the present disclosure. Fig.11 FIG. 2 shows a flow chart of a vehicle control method according to another embodiment of the present disclosure. Fig.11 As shown, the vehicle control method M1100 may include step S1110, step S1120, step S1130 and step S1140.

[0104] S1110: Provide a first interface, wherein the first interface displays a first object representing a vehicle and a second object representing obstacles around the vehicle, wherein a relative position relationship between the first object and the second object is the same as a relative position relationship between the vehicle and obstacles around the vehicle in a real environment.

[0105] S1120: In response to detecting a first sliding operation starting from the first object, calculating a distance between the second object and a third object that moves following the first sliding operation.

[0106] S1130: Determine a target trajectory based on the first sliding trajectory and the distance, wherein the first sliding trajectory is a sliding trajectory of the first sliding operation, and the target trajectory includes at least a portion of the first sliding trajectory.

[0107] S1140: Control the vehicle to travel according to the target trajectory.

[0108] As a possible implementation, the third object is the position point where the first sliding operation is located in the first interface. As another possible implementation, the first object is a vehicle pattern, the third object is a block, the shape of the block is the same as the vehicle pattern, the area of ​​the block is greater than or equal to the area of ​​the vehicle pattern, the center of the block is the position point where the first sliding operation is located in the first interface, and the direction of the front of the vehicle in the block remains the same as the sliding direction of the first sliding operation. As another possible implementation, the first object is a vehicle pattern, the third object is a block, the shape of the block is the circumscribed rectangle of the vehicle pattern, or the circumscribed rectangle of the enlarged vehicle pattern, the area of ​​the block is greater than the area of ​​the vehicle pattern, the center of the block is the position point where the first sliding operation is located in the first interface, and the long side of the block remains parallel to the sliding direction of the first sliding operation. The method may also include: in response to detecting a first sliding operation starting from the first object, displaying a third object that moves following the first sliding operation in the first interface. Furthermore, the first interface may also display a fourth object representing an empty parking space. The relative position relationship between the fourth object and the first object is the same as the relative position relationship between the vehicle and the empty parking space in the real environment. The target trajectory can indicate that the vehicle drives to the empty parking space and parks in the empty parking space.

[0109] Step S1130 may include: S1131, when any distance in the first sliding trajectory is greater than a first distance threshold, taking the first sliding trajectory as a target trajectory; and S1132, when any distance in the first sliding trajectory is less than or equal to the first distance threshold, adjusting at least a portion of the first sliding trajectory to obtain an adjusted trajectory, and taking the adjusted trajectory as the target trajectory, wherein the adjusted trajectory satisfies that the distance between the third object and the second object is greater than the first distance threshold during the movement of the third object along the adjusted trajectory.

[0110] As a possible implementation, step S1132 may include: when a distance is less than or equal to a first distance threshold during the sliding process of the first sliding operation, prompting to adjust the first sliding trajectory from the first position, wherein the first position is a sliding position in the first sliding trajectory where the distance is greater than the first distance threshold; in response to detecting a second sliding operation starting from the first position, calculating the distance between the second object and a third object that moves following the second sliding operation; and when any distance in the second sliding trajectory is greater than the first distance threshold, taking the first sliding trajectory and the second sliding trajectory from the first object to the first position as adjusted trajectories, wherein the second sliding trajectory is a sliding trajectory of the second sliding operation. Further, prompting to adjust the first sliding trajectory from the first position may include: displaying the first sliding trajectory from the first object to the first position in the first interface, and not displaying the first sliding trajectory from the first position to the second position, wherein the second position is a sliding position in the first sliding trajectory where the distance is less than or equal to the first distance threshold; and first highlighting the third object and / or the second object where the distance is less than or equal to the first distance threshold in the first interface.

[0111] As another possible implementation, step S1132 may include: in the case where there is a distance less than or equal to a first distance threshold in the first sliding trajectory, determining a first trajectory in the first sliding trajectory, wherein the first trajectory includes a first position and a second position, the first position being a sliding position in the first sliding trajectory where the distance is greater than the first distance threshold, the second position being a sliding position in the first sliding trajectory where the distance is less than or equal to the first distance threshold, and the starting position and the ending position of the first trajectory are respectively different first positions; inputting shape information of the third object, size information of the third object, position information of the second object, the starting position of the first trajectory, and the ending position of the first trajectory into a trajectory generation model, generating a second trajectory through the trajectory generation model, wherein the second trajectory starts from the starting position of the first trajectory and ends at the ending position of the first trajectory, and the second trajectory satisfies that the distance between the third object and the second object during the movement of the third object along the second trajectory is greater than the first distance threshold; and replacing the first trajectory in the first sliding trajectory with the second trajectory, and using the replaced first sliding trajectory as the adjusted trajectory.

[0112] The vehicle control method may also include: when the distance during the sliding process of the first sliding operation is less than or equal to a second distance threshold, prompting to adjust the sliding direction; and / or, when the distance during the sliding process of the first sliding operation is less than or equal to the second distance threshold, performing a second highlighting display on the third object and / or the second object whose distance is less than or equal to the second distance threshold in the first interface, wherein the second distance threshold is greater than the first distance threshold.

[0113] As a possible implementation, step S1140 may include: controlling the vehicle to travel along the target trajectory. As another possible implementation, step S1140 may include: inputting shape information of the third object, size information of the third object, position information of the second object, the starting position of the target trajectory, and the ending position of the target trajectory into a trajectory generation model, generating a plurality of third trajectories through the trajectory generation model, wherein the third trajectory starts from the starting position of the target trajectory and ends at the ending position of the target trajectory, and the third trajectory satisfies that the distance between the third object and the second object during the movement of the third trajectory is greater than a first distance threshold; calculating the similarity between the third trajectory and the target trajectory; and controlling the vehicle to travel along the third trajectory having the greatest similarity to the target trajectory.

[0114] The vehicle control method may also include: in response to receiving an instruction to go to a destination, providing a second interface; taking the position of the vehicle as the starting point and the position of the destination as the end point, screening out multiple fourth trajectories from multiple historical driving trajectories; in response to detecting a third sliding operation on the second interface, calculating the similarity between the fourth trajectory and the third sliding trajectory, wherein the third sliding trajectory is the sliding trajectory of the third sliding operation; and controlling the vehicle to travel along the fourth trajectory having the greatest similarity to the third sliding trajectory.

[0115] For contents related to the vehicle control method, please refer to the above description, which will not be repeated here for the sake of brevity.

[0116] According to a further embodiment of the present disclosure, a vehicle control system is also provided.

[0117] Fig.12The structural schematic block diagram of a vehicle control system using a hardware implementation of a processor in one embodiment of the present disclosure is shown. The hardware structure of the vehicle control system 1000 of the present disclosure can be implemented using a bus architecture. The bus architecture may include any number of interconnected buses and bridges, depending on the specific application and overall design constraints of the hardware. The bus 1100 connects various circuits including one or more processors 1200, a memory 1300, a display screen 1500, and / or hardware modules together. The bus 1100 may also connect various other circuits 1400 such as peripherals, voltage regulators, power management circuits, external antennas, etc. The bus 1100 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus 1100 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one connecting line is used in the figure, but it does not mean that there is only one bus or one type of bus. The display screen 1500 is used to display the interface. The memory 1300 stores a computer program, and when the processor 1200 executes the computer program, the above-mentioned vehicle control method can be implemented.

[0118] For example, when the processor 1200 executes a computer program, the following steps of a vehicle control method are implemented: providing a first interface, the first interface displays a first object representing a vehicle and a second object representing obstacles around the vehicle, the relative position relationship between the first object and the second object is the same as the relative position relationship between the vehicle and obstacles around the vehicle in a real environment; in response to detecting a first sliding operation starting from the first object, calculating the distance between the second object and a third object that moves following the first sliding operation; determining a target trajectory based on the first sliding trajectory and the distance, wherein the first sliding trajectory is the sliding trajectory of the first sliding operation, and the target trajectory includes at least a portion of the first sliding trajectory; and controlling vehicle driving according to the target trajectory.

[0119] For the contents related to the vehicle control system, please refer to the above description, which will not be repeated here for the sake of brevity.

[0120] The present disclosure also provides a vehicle, which includes the above-mentioned vehicle control system.

[0121] The present disclosure also provides a computer program product. The method of the present disclosure can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instruction is loaded and executed, the process or function of the present disclosure is executed in whole or in part.

[0122] The computer program or instructions may be stored in a readable storage medium or transmitted from one readable storage medium to another readable storage medium, for example, the computer program or instructions may be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired or wireless means. The readable storage medium may be any available medium that can be accessed or a data storage device such as a server, data center, etc. that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; it may also be an optical medium, such as a digital video disk; it may also be a semiconductor medium, such as a solid state drive. The computer readable storage medium may be a volatile or non-volatile storage medium, or may include both volatile and non-volatile types of storage media.

[0123] Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0124] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the present disclosure. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0125] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0126] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0127] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" etc. means that the specific features, structures, or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, or characteristics described may be combined in any one or more embodiments / methods or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments / methods or examples described in this specification and features of different embodiments / methods or examples, unless they are contradictory.

[0128] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0129] Those skilled in the art should understand that the above embodiments are only for the purpose of clearly illustrating the present disclosure, and are not intended to limit the scope of the present disclosure. For those skilled in the art, other changes or modifications may be made based on the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A vehicle control method, characterized in that: include: Providing a first interface, wherein the first interface displays a first object representing a vehicle and a second object representing an obstacle around the vehicle, wherein a relative position relationship between the first object and the second object is the same as a relative position relationship between the vehicle and the obstacle around the vehicle in a real environment; In response to detecting a first sliding operation starting from the first object, calculating a distance between the second object and a third object moving following the first sliding operation; determining a target trajectory based on a first sliding trajectory and the distance, wherein the first sliding trajectory is a sliding trajectory of the first sliding operation, and the target trajectory includes at least a portion of the first sliding trajectory; as well as The vehicle is controlled to travel according to the target trajectory.

2. The vehicle control method according to claim 1, characterized in that: The third object is the location point of the first sliding operation in the first interface.

3. The vehicle control method according to claim 1, characterized in that: The first object is a vehicle pattern, the third object is a block, the shape of the block is the same as the vehicle pattern, the area of ​​the block is greater than or equal to the area of ​​the vehicle pattern, the center of the block is the position point of the first sliding operation in the first interface, and the direction of the front of the vehicle in the block remains the same as the sliding direction of the first sliding operation.

4. The vehicle control method according to claim 1, characterized in that: The first object is a vehicle pattern, the third object is a block, the shape of the block is a circumscribed rectangle of the vehicle pattern, or a circumscribed rectangle of an enlarged vehicle pattern, the area of ​​the block is larger than the area of ​​the vehicle pattern, the center of the block is the position point of the first sliding operation in the first interface, and the long side of the block is parallel to the sliding direction of the first sliding operation.

5. The vehicle control method according to claim 1, characterized in that: The method further comprises: In response to detecting a first sliding operation starting from the first object, a third object moving following the first sliding operation is displayed in the first interface.

6. The vehicle control method according to claim 1, characterized in that: Determining a target trajectory based on the first sliding trajectory and the distance includes: In a case where any of the distances in the first sliding trajectory is greater than a first distance threshold, taking the first sliding trajectory as the target trajectory; and In a case where any distance in the first sliding trajectory is less than or equal to the first distance threshold, at least a portion of the first sliding trajectory is adjusted to obtain an adjusted trajectory, and the adjusted trajectory is used as the target trajectory, wherein the adjusted trajectory satisfies that the distance between the third object and the second object is greater than the first distance threshold during the movement of the third object along the adjusted trajectory.

7. The vehicle control method according to claim 6, characterized in that: When any distance in the first sliding trajectory is less than or equal to the first distance threshold, adjusting at least a portion of the first sliding trajectory to obtain an adjusted trajectory includes: In a case where the distance is less than or equal to the first distance threshold during the sliding process of the first sliding operation, a prompt is provided to start adjusting the first sliding track from a first position, wherein the first position is a sliding position in the first sliding track where the distance is greater than the first distance threshold; In response to detecting a second sliding operation starting from the first position, calculating a distance between the second object and a third object moving following the second sliding operation; and When any of the distances in the second sliding trajectory is greater than the first distance threshold, the first sliding trajectory and the second sliding trajectory from the first object to the first position are used as the adjusted trajectory, wherein the second sliding trajectory is the sliding trajectory of the second sliding operation.

8. The vehicle control method according to claim 7, characterized in that: Prompting to adjust the first sliding track from the first position includes: Displaying a first sliding track from the first object to the first position in the first interface, and not displaying a first sliding track from the first position to a second position, wherein the second position is a sliding position in the first sliding track where the distance is less than or equal to the first distance threshold; and In the first interface, a third object and / or a second object whose distance is less than or equal to the first distance threshold is / are first highlighted.

9. The vehicle control method according to claim 6, characterized in that: When any distance in the first sliding trajectory is less than or equal to the first distance threshold, adjusting at least a portion of the first sliding trajectory to obtain an adjusted trajectory includes: In the case that the distance in the first sliding trajectory is less than or equal to the first distance threshold, determining a first track in the first sliding track, wherein the first track includes a first position and a second position, the first position is a sliding position in the first sliding track where the distance is greater than the first distance threshold, the second position is a sliding position in the first sliding track where the distance is less than or equal to the first distance threshold, and a starting position and an ending position of the first track are different first positions respectively; inputting shape information of the third object, size information of the third object, position information of the second object, a starting position of the first trajectory, and an ending position of the first trajectory into a trajectory generation model, and generating a second trajectory through the trajectory generation model, wherein the second trajectory starts from the starting position of the first trajectory and ends at the ending position of the first trajectory, and the second trajectory satisfies that a distance between the third object and the second object during the movement of the third object along the second trajectory is greater than the first distance threshold; and The first track in the first sliding track is replaced by the second track, and the replaced first sliding track is used as the adjusted track.

10. The vehicle control method according to claim 6, characterized in that: Also includes: In the sliding process of the first sliding operation, if the distance is less than or equal to the second distance threshold, prompting to adjust the sliding direction; and / or, When the distance is less than or equal to a second distance threshold during the sliding process of the first sliding operation, a third object and / or a second object that makes the distance less than or equal to the second distance threshold is secondly highlighted in the first interface, wherein the second distance threshold is greater than the first distance threshold.

11. The vehicle control method according to claim 1, characterized in that: Controlling the vehicle to travel according to the target trajectory includes: The vehicle is controlled to travel along the target trajectory.

12. The vehicle control method according to claim 1, characterized in that: Controlling the vehicle to travel according to the target trajectory includes: Inputting shape information of the third object, size information of the third object, position information of the second object, a starting position of the target trajectory, and an ending position of the target trajectory into a trajectory generation model, and generating a plurality of third trajectories through the trajectory generation model, wherein the third trajectory starts from the starting position of the target trajectory and ends at the ending position of the target trajectory, and the third trajectory satisfies that a distance between the third object and the second object is greater than a first distance threshold during the movement of the third object along the third trajectory; Calculating the similarity between the third trajectory and the target trajectory; and The vehicle is controlled to travel along a third trajectory having the greatest similarity to the target trajectory.

13. The vehicle control method according to claim 1, characterized in that: The method further comprises: In response to receiving the instruction to go to the destination, providing a second interface; Taking the position of the vehicle as a starting point and the position of the destination as an end point, selecting a plurality of fourth trajectories from a plurality of historical driving trajectories; In response to detecting a third sliding operation on the second interface, calculating a similarity between the fourth track and a third sliding track, wherein the third sliding track is a sliding track of the third sliding operation; and The vehicle is controlled to travel along a fourth trajectory having the greatest similarity to the third sliding trajectory.

14. The vehicle control method according to claim 1, characterized in that: The first interface also displays a fourth object representing an empty parking space. The relative position relationship between the fourth object and the first object is the same as the relative position relationship between the vehicle and the empty parking space in the real environment. The target trajectory can instruct the vehicle to drive to the empty parking space and park in the empty parking space.

15. A vehicle control system, characterized in that: The vehicle control system is applied to a vehicle and includes a display screen, a processor and a memory, wherein the display screen is used to display an interface, and the memory stores a computer program. When the computer program is executed by the processor, the processor executes the method as described in any one of claims 1 to 14.

16. A vehicle, characterized in that: The vehicle includes the vehicle control system of claim 15 .

17. A computer program product, characterized in that The computer program product comprises a computer program, which is used to implement at least the method according to any one of claims 1 to 14 when being executed by a processor.

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