Automatic vehicle moving control method and device, storage medium and electronic equipment

Abstract

The invention belongs to the technical field of new energy vehicles, and provides an automatic vehicle moving control method and device, a storage medium and electronic equipment, and the method comprises the steps: determining whether a target vehicle meets a vehicle moving condition, and if the target vehicle meets the vehicle moving condition, sending an alarm signal to terminal equipment of a target user, the target user is notified to determine a vehicle moving path based on the current position and the destination of the target vehicle; receiving a vehicle moving instruction, wherein the vehicle moving instruction carries a vehicle moving path; and controlling the target vehicle to run from the current position to the destination along the vehicle moving path based on the vehicle moving instruction. Through the control method, under the condition that the current water depth of the environment where the target vehicle is located exceeds the preset water depth alarm threshold value, the vehicle moving path can be rapidly and accurately determined, and after the vehicle moving instruction is received, the target vehicle is controlled to run from the current position to the destination along the vehicle moving path, so that the vehicle moving efficiency is improved. Therefore, possible loss caused by long-time soaking of the target vehicle in water is greatly avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of new energy vehicles, and in particular to a control method, device, storage medium and electronic device for automatic vehicle maneuvering. Background Art

[0002] At present, new energy vehicles do not have flood detection functions. If it rains heavily and the vehicle is about to be submerged in water, it cannot sense the water depth of the vehicle's environment. Even if the vehicle recognizes that it is about to be submerged in water, it is in a floating state and cannot automatically drive away from the current dangerous situation, resulting in damage to the vehicle.

[0003] How to quickly and accurately determine the vehicle moving path when it is determined that the current water depth of the target vehicle's environment has exceeded the preset water depth alarm threshold, and intelligently control the vehicle to leave the current vehicle environment based on the vehicle moving path, is a technical problem to be solved. Summary of the invention

[0004] Based on this, it is necessary to provide a control method, device, storage medium and electronic device for automatic vehicle moving to address the defect that the existing technology is unable to control the vehicle to automatically leave the current environment where the vehicle is located when it is determined that the current water depth of the vehicle's environment has exceeded the preset water depth alarm threshold.

[0005] In a first aspect, an embodiment of the present invention provides a method for controlling automatic vehicle maneuvering, the method comprising:

[0006] Determine whether the target vehicle meets the vehicle moving condition. If it is determined that the target vehicle meets the vehicle moving condition, send an alarm signal to the terminal device of the target user to notify the target user to determine the vehicle moving path based on the current position and destination of the target vehicle. The vehicle moving condition is associated with the current water depth of the environment where the target vehicle is located. The alarm signal is used to warn that the current water depth has exceeded a preset water depth alarm threshold;

[0007] receiving a vehicle moving instruction, wherein the vehicle moving instruction carries the vehicle moving path;

[0008] Based on the vehicle moving instruction, the target vehicle is controlled to travel from a current position to the destination along the vehicle moving path.

[0009] Optionally, determining whether the target vehicle meets the vehicle moving condition includes:

[0010] Acquire a current water depth of an environment where a target vehicle is located, where the current water depth is detected by a first detection device installed on the target vehicle, where the first detection device is used to detect the water depth;

[0011] If the current water depth is greater than the preset water depth alarm threshold, it is determined that the target vehicle meets the vehicle moving condition; otherwise, it is determined that the target vehicle does not meet the vehicle moving condition.

[0012] Optionally, determining a vehicle moving path based on the current position and destination of the target vehicle includes:

[0013] If it is determined that the target vehicle has activated the automatic navigation function, the current location and the destination are sent to the intelligent driving system;

[0014] Based on the current location and the destination, the intelligent driving system automatically generates a corresponding vehicle moving path; or,

[0015] Based on the current location and the destination, a corresponding vehicle moving path is set by the target user.

[0016] Optionally, the method further comprises:

[0017] When it is determined that the current water depth is greater than the preset water depth alarm threshold, the current position, the destination, and the vehicle moving path are obtained;

[0018] Obtaining obstacle information of the environment in which the target vehicle is located, wherein the obstacle information is detected by a second detection device installed on the target vehicle, wherein the second detection device is used to detect various obstacles;

[0019] Acquire the preset travel time required for the target vehicle to travel from the current position to the destination and the road condition information associated with the vehicle moving path set by the target user;

[0020] Determining a target speed of the target vehicle according to the current location, the destination, the preset travel time, the road condition information, and the vehicle moving path;

[0021] A variety of control instructions are generated according to the current position, the destination, the vehicle moving path, the obstacle information, the preset driving time and the target speed.

[0022] Optionally, it is characterized in that

[0023] The multiple control instructions include: a forward instruction for controlling the target vehicle to move forward, a reverse instruction for controlling the target vehicle to move backward, a left turn instruction for controlling the target vehicle to turn left, a right turn instruction for controlling the target vehicle to turn right, and a driving instruction for controlling the target vehicle to travel at the target speed.

[0024] Optionally, after generating the multiple control instructions, the method further includes:

[0025] generating a forward rotation instruction based on the forward rotation instruction in the control instruction, so as to control the first propeller of the target vehicle to rotate forward based on the forward rotation instruction; or;

[0026] generating a reverse command based on the reverse command in the control command, so as to control the second propeller of the target vehicle to reverse based on the reverse command; or;

[0027] Based on the left turn instruction in the control instruction, controlling the left propeller of the target vehicle to perform a left turn operation at a first preset speed; or;

[0028] Based on the right turn instruction in the control instruction, the right propeller of the target vehicle is controlled to perform a right turn operation at a second preset speed.

[0029] Optionally, obtaining a current battery power level and a preset battery power level threshold of the target vehicle;

[0030] Based on the current battery power and the preset battery power threshold, determining whether to start the generator to generate electricity to replenish the target vehicle;

[0031] If the current battery power is lower than the preset battery power threshold, it is determined to start the generator to generate electricity to replenish the target vehicle.

[0032] In a second aspect, an embodiment of the present invention provides a control device for automatically moving a target vehicle, the device comprising:

[0033] A determination module, used to determine whether the target vehicle meets the vehicle moving condition. If it is determined that the target vehicle meets the vehicle moving condition, an alarm signal is sent to the terminal device of the target user to notify the target user to determine the vehicle moving path based on the current position and destination of the target vehicle. The vehicle moving condition is associated with the current water depth of the environment where the target vehicle is located. The alarm signal is used to warn that the current water depth has exceeded a preset water depth alarm threshold;

[0034] A receiving module, used for receiving a vehicle moving instruction, wherein the vehicle moving instruction carries the vehicle moving path;

[0035] A control module is used to control the target vehicle to travel from a current position to the destination along the vehicle moving path based on the vehicle moving instruction.

[0036] According to a third aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed in a computer, the computer is caused to execute the method of the first aspect.

[0037] According to a fourth aspect, an electronic device is provided, comprising a memory and a processor, wherein the memory stores executable code, and when the processor executes the executable code, the method according to the first aspect is implemented.

[0038] In an embodiment of the present invention, it is determined whether the target vehicle meets the moving condition. If it is determined that the target vehicle meets the moving condition, an alarm signal is sent to the terminal device of the target user to notify the target user to determine the moving path based on the current position and destination of the target vehicle. The moving condition is associated with the current water depth of the environment in which the target vehicle is located. The alarm signal is used to warn that the current water depth has exceeded the preset water depth alarm threshold; a moving instruction is received, and the moving instruction carries the moving path; and based on the moving instruction, the target vehicle is controlled to travel along the moving path from the current position to the destination. The control method for automatic vehicle moving provided by the embodiment of the present invention can quickly and accurately determine the moving path when it is determined that the current water depth of the environment in which the target vehicle is located has exceeded the preset water depth alarm threshold, and after receiving the moving instruction, control the target vehicle to travel along the moving path from the current position to the destination, thereby greatly avoiding the possible loss of the target vehicle due to being immersed in water for a long time. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] By referring to the following drawings, a more complete understanding of the exemplary embodiments of the present invention can be obtained. The drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the drawings, the same reference numerals generally represent the same components or steps.

[0040] Figure 1 A flowchart of a method for controlling automatic vehicle maneuvering according to an exemplary embodiment of the present invention is provided;

[0041] Figure 2 1 is a schematic diagram of the structure of a control device 200 for automatic vehicle maneuvering provided according to an exemplary embodiment of the present invention.

[0042] Figure 3 The figure is a schematic diagram of the structure of a control system for automatic vehicle maneuvering according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0043] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0044] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in the present invention should have the common meanings understood by those skilled in the art to which the present invention belongs.

[0045] In addition, the terms "first" and "second" etc. are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, device, product or equipment that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or equipment.

[0046] Embodiments of the present invention provide a method and device for controlling automatic vehicle maneuvering, a computer-readable medium, and an electronic device, which are described below with reference to the accompanying drawings.

[0047] Please refer to Figure 1 , which shows a flow chart of a method for controlling automatic vehicle maneuvering provided by some embodiments of the present invention, such as Figure 1 As shown, the control method for automatic vehicle movement may include the following steps:

[0048] Step S101: Determine whether the target vehicle meets the conditions for moving the vehicle. If it is determined that the target vehicle meets the conditions for moving the vehicle, an alarm signal is sent to the terminal device of the target user to notify the target user to determine the moving path based on the current position and destination of the target vehicle. The moving condition is associated with the current water depth of the environment in which the target vehicle is located. The alarm signal is used to warn that the current water depth has exceeded the preset water depth alarm threshold.

[0049] In one example, determining whether the target vehicle meets the vehicle moving condition includes the following steps:

[0050] Acquire the current water depth of the environment where the target vehicle is located, where the current water depth is detected by a first detection device installed on the target vehicle, where the first detection device is used to detect the water depth;

[0051] If the current water depth is greater than the preset water depth alarm threshold, it is determined that the target vehicle meets the vehicle moving condition; otherwise, it is determined that the target vehicle does not meet the vehicle moving condition.

[0052] In one example, the above-mentioned vehicle moving condition is set as: the current water depth of the environment where the target vehicle is located has exceeded a preset water depth alarm threshold.

[0053] It should be noted that the above-mentioned preset water depth alarm threshold can be adjusted according to the needs of different application scenarios, and the value of the preset water depth alarm threshold is not specifically limited. In one example, the first detection device can be a water depth sensor installed on the target vehicle, through which the current water depth of the target vehicle's environment can be known. The above is only an example, and the first detection device can also be other devices for detecting the above-mentioned current water depth, and the above-mentioned first detection device is not specifically limited.

[0054] In one example, if the moving path is determined by an intelligent driving system disposed on the target vehicle, the moving path is determined based on the current position and destination of the target vehicle, and the following steps are performed:

[0055] If it is determined that the target vehicle has activated the automatic navigation function, the current location and destination are sent to the intelligent driving system;

[0056] Based on the current location and destination, the corresponding vehicle moving path is automatically generated by the intelligent driving system.

[0057] It should be noted that in this application scenario, the vehicle moving path automatically generated by the intelligent driving system is an optimal vehicle moving path automatically generated based on a large amount of historical data.

[0058] In one example, based on a large amount of historical data, combined with the current location and destination, the historical path selected by most users is used as the preferred vehicle moving path.

[0059] In another example, in addition to being based on a large amount of historical data and combined with the current location and destination, different predicted driving times corresponding to different driving routes from the current location to the destination can also be predicted, and the shortest route is randomly selected from each predicted driving time as the preferred vehicle moving route.

[0060] In another example, based on the current location and the destination, combined with different traffic congestion conditions corresponding to different driving paths taken from the current location to the destination, a driving path with unobstructed traffic conditions is preferentially selected as the preferred vehicle moving path.

[0061] The above three situations are only examples. The intelligent driving system can also adopt other optimization strategies to determine the corresponding optimal vehicle moving path, which will not be elaborated here.

[0062] In one example, in an application scenario where the determined vehicle moving path is set by a target user, determining the vehicle moving path based on the current position and destination of the target vehicle includes the following steps:

[0063] Based on the current location and destination, the corresponding vehicle moving path is set by the target user.

[0064] Step S102: receiving a vehicle moving instruction, wherein the vehicle moving instruction carries a vehicle moving path.

[0065] In step S102, the vehicle moving path may be determined by any one of the three methods described above. The specific determination method is described in the same or similar parts of step S101, which will not be repeated here.

[0066] Step S103: Based on the vehicle moving instruction, the target vehicle is controlled to travel from the current position to the destination along the vehicle moving path.

[0067] In one example, in order to more accurately control the target vehicle's moving path from the current position to the destination, multiple control instructions need to be generated.

[0068] Generate various control instructions through the following steps, as described below:

[0069] When it is determined that the current water depth is greater than the preset water depth alarm threshold, the current location, destination, and vehicle moving path are obtained;

[0070] Obtaining obstacle information of the environment in which the target vehicle is located, the obstacle information is detected by a second detection device installed on the target vehicle, and the second detection device is used to detect various obstacles;

[0071] Obtain the preset driving time required for the target vehicle set by the target user to travel from the current position to the destination and the road condition information associated with the vehicle moving path;

[0072] Determine the target speed of the target vehicle based on the current location, destination, preset travel time, road condition information, and vehicle moving path;

[0073] Generate a variety of control instructions based on the current position, destination, moving path, obstacle information, preset driving time and target speed.

[0074] It should be noted that, in one example, the second detection device may be a waterproof high-definition camera, which can clearly capture various obstacles in the environment where the target vehicle is located. The above is only an example, and the second detection device is not specifically limited.

[0075] In one example, the multiple control instructions include: a forward instruction for controlling the target vehicle to move forward, a reverse instruction for controlling the target vehicle to move backward, a left turn instruction for controlling the target vehicle to turn left, a right turn instruction for controlling the target vehicle to turn right, and a driving instruction for controlling the target vehicle to travel at a target speed.

[0076] In one example, after generating a plurality of control instructions, the method for controlling automatic vehicle maneuvering provided by an embodiment of the present invention further includes the following steps:

[0077] Based on the forward command in the control command, a forward rotation command is generated to control the first propeller of the target vehicle to rotate forward based on the forward rotation command.

[0078] In a specific application scenario, the process of controlling the target vehicle to move forward based on the above forward instruction is specifically described as follows:

[0079] If the navigation controller identifies that the target vehicle is moving forward, the first propeller provided on the target vehicle is started to propel the target vehicle forward, and it is determined whether a driving motor is needed to assist the navigation. If it is determined that the current driving force of the target vehicle is insufficient, the driving motor is controlled to assist the target vehicle to navigate forward. In the process of controlling the target vehicle to navigate forward, based on the front and rear wheel speed information carried in the received control command, the target vehicle is controlled to navigate forward at the front and rear wheel speeds; at the same time, the driving motor is used to assist the target vehicle to navigate forward; in this way, the target vehicle can be accurately controlled to navigate forward.

[0080] In one example, after generating a plurality of control instructions, the method for controlling automatic vehicle maneuvering provided by an embodiment of the present invention further includes the following steps:

[0081] Based on the reverse command in the control command, a reverse command is generated to control the second propeller of the target vehicle to reverse based on the reverse command.

[0082] In a specific application scenario, the process of controlling the target vehicle to move backward based on the above-mentioned backward instruction is specifically described as follows:

[0083] If the navigation controller identifies that the target vehicle is traveling in the reverse direction, the second propeller provided on the target vehicle is started to rotate in the opposite direction to the forward direction to achieve the purpose of reverse travel, and it is determined whether the driving motor is needed to assist the navigation. If it is determined that the current driving force of the target vehicle is insufficient, the driving motor is controlled to assist the target vehicle in reverse navigation. In the process of controlling the target vehicle to navigate in reverse, based on the front and rear wheel speed information in the opposite direction of the forward direction carried in the control command, the target vehicle is controlled to navigate in reverse at the front and rear wheel speed in the forward direction; the target vehicle is assisted in its reverse navigation by the driving motor; in this way, the target vehicle can be accurately controlled to navigate in reverse.

[0084] In one example, after generating a plurality of control instructions, the method for controlling automatic vehicle maneuvering provided by an embodiment of the present invention further includes the following steps:

[0085] Based on the left turn instruction in the control instruction, the left propeller of the target vehicle is controlled to perform a left turn operation at a first preset rotation speed.

[0086] It should be noted that there is no specific limitation on the first preset speed. The first preset speed is automatically generated according to different application scenarios to ensure that the target vehicle can escape from the water.

[0087] In a specific application scenario, the process of controlling the target vehicle to turn left based on the above-mentioned left turn instruction is specifically described as follows:

[0088] If the navigation controller identifies that the target vehicle is turning left, the right propeller installed on the target vehicle is controlled to rotate, while the left propeller installed on the target vehicle does not rotate or runs at a low speed, so as to achieve the purpose of a speed difference between the left and right propellers, thereby achieving the purpose of turning left. If the navigation controller identifies understeering, the right motor of the target vehicle is controlled to run clockwise, and the left motor of the target vehicle is controlled to run counterclockwise at the same time, so as to achieve the left turn operation of the target vehicle with the help of the motor.

[0089] In one example, after generating a plurality of control instructions, the method for controlling automatic vehicle maneuvering provided by an embodiment of the present invention further includes the following steps:

[0090] Based on the right turn instruction in the control instruction, the right propeller of the target vehicle is controlled to perform a right turn operation at a second preset rotation speed.

[0091] It should be noted that there is no specific limitation on the first preset speed, and the second preset speed is automatically generated according to different application scenarios to ensure that the target vehicle can escape from the water.

[0092] In a specific application scenario, the process of controlling the target vehicle to turn right based on the above right turn instruction is specifically described as follows:

[0093] If the navigation controller identifies that the target vehicle is turning right, the left propeller installed on the target vehicle is controlled to rotate, while the right propeller installed on the target vehicle does not rotate or rotates at a low speed, so as to achieve the purpose of a speed difference between the left and right propellers, thereby achieving the purpose of turning right. If the navigation controller identifies understeering, the left motor of the target vehicle is controlled to rotate clockwise, and the right motor of the target vehicle is controlled to rotate counterclockwise at the same time, so as to achieve the right turn operation of the target vehicle with the help of the motor.

[0094] In one example, in order to ensure that the target vehicle can smoothly and quickly travel from the current position (the current water depth has exceeded the preset water depth alarm threshold) along the moving path to the destination, so as to avoid the loss of the target vehicle due to long-term immersion in water, the control method for automatic vehicle moving provided by the embodiment of the present invention also includes the following steps: when the battery power of the target vehicle is insufficient, the target vehicle is replenished with power by starting the generator, and the specific implementation steps are as follows:

[0095] Obtain the current battery power and preset battery power threshold of the target vehicle;

[0096] Based on the current battery power and a preset battery power threshold, determining whether to start the generator to generate electricity to replenish the target vehicle;

[0097] If the current battery power is lower than the preset battery power threshold, it is determined to start the generator to generate electricity to replenish the target vehicle.

[0098] In the control method for automatic vehicle maneuvering provided in the embodiment of the present invention, the above-mentioned preset battery power threshold is not specifically limited and can be set according to the requirements of different application scenarios.

[0099] In actual application scenarios, in order to protect the normal service life of the battery of the target vehicle, the preset battery power threshold can be set higher to avoid possible damage to the battery.

[0100] The control method for automatic vehicle maneuvering provided by the embodiment of the present invention can quickly and accurately determine a vehicle moving path when it is determined that the current water depth of the environment in which the target vehicle is located has exceeded a preset water depth alarm threshold, and after receiving a vehicle moving instruction, control the target vehicle to travel along the vehicle moving path from the current position to the destination, thereby greatly avoiding possible losses that may occur when the target vehicle is immersed in water for a long time.

[0101] In the above-mentioned embodiment, a control method for automatic vehicle maneuvering is provided. Correspondingly, the present invention also provides a control device for automatic vehicle maneuvering. The control device for automatic vehicle maneuvering provided in the embodiment of the present invention can implement the above-mentioned control method for automatic vehicle maneuvering. The control device for automatic vehicle maneuvering can be implemented by software, hardware, or a combination of software and hardware. For example, the control device for automatic vehicle maneuvering can include integrated or separate functional modules or units to execute the corresponding steps in the above-mentioned methods.

[0102] Please refer to Figure 2 , which shows a schematic diagram of a vehicle automatic moving control device provided by some embodiments of the present invention. Since the device embodiment is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The device embodiment described below is only illustrative.

[0103] like Figure 2 As shown, the vehicle automatic moving control device 200 may include:

[0104] The determination module 201 is used to determine whether the target vehicle meets the vehicle moving condition. If it is determined that the target vehicle meets the vehicle moving condition, an alarm signal is sent to the terminal device of the target user to notify the target user to determine the vehicle moving path based on the current position and destination of the target vehicle. The vehicle moving condition is associated with the current water depth of the environment where the target vehicle is located. The alarm signal is used to warn that the current water depth has exceeded a preset water depth alarm threshold;

[0105] A receiving module 202 is used to receive a vehicle moving instruction, wherein the vehicle moving instruction carries a vehicle moving path;

[0106] The control module 203 is used to control the target vehicle to travel from the current position to the destination along the vehicle moving path based on the vehicle moving instruction.

[0107] In some implementations of the embodiments of the present invention, the determination module 201 is specifically used to:

[0108] Acquire the current water depth of the environment where the target vehicle is located, where the current water depth is detected by a first detection device installed on the target vehicle, where the first detection device is used to detect the water depth;

[0109] If the current water depth is greater than the preset water depth alarm threshold, it is determined that the target vehicle meets the vehicle moving condition; otherwise, it is determined that the target vehicle does not meet the vehicle moving condition.

[0110] In some implementations of the embodiments of the present invention, the determination module 201 is specifically used to:

[0111] If it is determined that the target vehicle has activated the automatic navigation function, the current location and destination are sent to the intelligent driving system;

[0112] Based on the current location and destination, the intelligent driving system automatically generates a corresponding moving path; or

[0113] Based on the current location and destination, the corresponding vehicle moving path is set by the target user.

[0114] In some implementations of the embodiments of the present invention, the control device 200 for automatically moving a vehicle may further include:

[0115] The first control instruction generation module (in Figure 2 ), specifically used for:

[0116] When it is determined that the current water depth is greater than the preset water depth alarm threshold, the current location, destination, and vehicle moving path are obtained;

[0117] Obtaining obstacle information of the environment in which the target vehicle is located, the obstacle information is detected by a second detection device installed on the target vehicle, and the second detection device is used to detect various obstacles;

[0118] Obtain the preset driving time required for the target vehicle set by the target user to travel from the current position to the destination and the road condition information associated with the vehicle moving path;

[0119] Determine the target speed of the target vehicle based on the current location, destination, preset travel time, road condition information, and vehicle moving path;

[0120] Generate a variety of control instructions based on the current position, destination, moving path, obstacle information, preset driving time and target speed.

[0121] In some implementations of the embodiments of the present invention, the multiple control instructions include: a forward instruction for controlling the target vehicle to move forward, a reverse instruction for controlling the target vehicle to move backward, a left turn instruction for controlling the target vehicle to turn left, a right turn instruction for controlling the target vehicle to turn right, and a driving instruction for controlling the target vehicle to travel at a target speed.

[0122] In some implementations of the embodiments of the present invention, the control device 200 for automatically moving a vehicle may further include:

[0123] The second control instruction generation module (in Figure 2 ), specifically used for:

[0124] After generating a plurality of control instructions, a forward rotation instruction is generated based on a forward rotation instruction in the control instructions, so as to control the first propeller of the target vehicle to rotate forward based on the forward rotation instruction; or;

[0125] generating a reverse command based on the reverse command in the control command, so as to control the second propeller of the target vehicle to reverse based on the reverse command; or;

[0126] Based on the left turn instruction in the control instruction, controlling the left propeller of the target vehicle to perform a left turn operation at a first preset speed; or;

[0127] Based on the right turn instruction in the control instruction, the right propeller of the target vehicle is controlled to perform a right turn operation at a second preset rotation speed.

[0128] In some implementations of the embodiments of the present invention, the control device 200 for automatically moving a vehicle may further include:

[0129] Judgment module (in Figure 2 ), specifically used for:

[0130] Obtain the current battery power and preset battery power threshold of the target vehicle;

[0131] Based on the current battery power and a preset battery power threshold, determining whether to start the generator to generate electricity to replenish the target vehicle;

[0132] If the current battery power is lower than the preset battery power threshold, it is determined to start the generator to generate electricity to replenish the target vehicle.

[0133] In some implementations of the embodiments of the present invention, the vehicle automatic maneuvering control device 200 provided by the embodiments of the present invention is based on the same inventive concept as the vehicle automatic maneuvering control method provided by the aforementioned embodiments of the present invention and has the same beneficial effects.

[0134] like Figure 3 FIG. 1 is a schematic diagram of the structure of a control system for automatic vehicle maneuvering according to an exemplary embodiment of the present invention.

[0135] like Figure 3 As shown, the embodiment of the present invention also provides a control system for automatic vehicle movement. The control system includes a remote control terminal, a water depth detection device, a battery device, an air traffic controller, a propeller, a vehicle controller, an electric drive device, an engine and a generator.

[0136] The mutual working process of each part between the above control systems is specifically described as follows:

[0137] First, the water depth detection device detects that the current water depth in the current environment has exceeded the preset water depth alarm threshold, and then sends an alarm signal to the vehicle controller; after the vehicle controller receives the alarm signal, it sends the vehicle start command carrying the alarm signal to the remote control terminal. After receiving the vehicle start command, the remote control terminal sends the destination and route to the intelligent driving controller, and after the intelligent driving controller receives the vehicle start command, it determines the corresponding route based on the destination set by the user (the corresponding route can be automatically generated based on the starting point, or the user can set the route by himself), and sends the vehicle start command carrying the destination and route to the intelligent driving controller. The intelligent driving controller controls the target vehicle to perform at least one of the following operations based on the current environment (especially the current water depth and various obstacles that may exist): 1. forward, 2. backward, 3. turn left, 4. turn right; which of the above operations is specifically performed, or which specific combination of the above operations is performed, and any one operation or a combination of multiple operations is automatically generated according to the current environment, which is not specifically limited here. Finally, the target vehicle can travel from the current water depth to the destination set by the user based on the received route, so that the target vehicle can get out of trouble. In addition, the control system also includes a navigation controller, through the control of the navigation controller, it can control multiple propellers installed on the target vehicle to perform forward rotation, reverse rotation, left turn and right turn respectively. Furthermore, the control system also includes a battery device, which obtains the current battery power of the target vehicle and a preset battery power threshold; based on the current battery power and the preset battery power threshold, it is determined whether to start the generator to generate electricity to replenish the target vehicle; if the current battery power is lower than the preset battery power threshold, it is determined to start the generator to generate electricity to replenish the target vehicle; through Figure 3 The SOC (State Of Charge) in the control system can know the current remaining power of the target vehicle; the battery device feeds back the current remaining power of the target vehicle to the vehicle controller in real time. Furthermore, the control system also includes an electric drive device, which receives the electric drive control instruction sent by the vehicle controller, and the electric drive device feeds back the electric drive state to the vehicle controller. Furthermore, the control system also includes an engine, the vehicle controller sends the engine start control instruction to the engine, and the engine sends the speed and torque signal to the vehicle controller. Furthermore, the control system also includes a generator, the vehicle controller sends the target power generation to the generator, and the generator feeds back the actual power generation to the vehicle controller in real time. Finally, after the target vehicle has reached the destination, the current state of the target vehicle is sent to the user's terminal device to ensure that the target vehicle has escaped from the water and traveled to the destination, thereby avoiding the possible loss of the target vehicle due to being immersed in water for a long time.

[0138] According to another embodiment, there is also provided a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to execute a combination of Figure 1 The method described.

[0139] According to another embodiment of the present invention, there is also provided an electronic device, comprising a memory and a processor, wherein the memory stores an executable code, and when the processor executes the executable code, the Figure 1 The method described.

[0140] Those skilled in the art should be aware that in one or more of the above examples, the functions described in the present invention can be implemented by hardware, software, firmware or any combination thereof. When implemented by software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium.

[0141] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solution of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for controlling automatic vehicle maneuvering, characterized in that: The method comprises: Determine whether the target vehicle meets the vehicle moving condition. If it is determined that the target vehicle meets the vehicle moving condition, send an alarm signal to the terminal device of the target user to notify the target user to determine the vehicle moving path based on the current position and destination of the target vehicle. The vehicle moving condition is associated with the current water depth of the environment where the target vehicle is located. The alarm signal is used to warn that the current water depth has exceeded a preset water depth alarm threshold; receiving a vehicle moving instruction, wherein the vehicle moving instruction carries the vehicle moving path; Based on the vehicle moving instruction, the target vehicle is controlled to travel from a current position to the destination along the vehicle moving path.

2. The control method according to claim 1, characterized in that: The step of determining whether the target vehicle meets the vehicle moving condition includes: Acquire a current water depth of an environment where a target vehicle is located, where the current water depth is detected by a first detection device installed on the target vehicle, where the first detection device is used to detect the water depth; If the current water depth is greater than the preset water depth alarm threshold, it is determined that the target vehicle meets the vehicle moving condition; otherwise, it is determined that the target vehicle does not meet the vehicle moving condition.

3. The control method according to claim 2, characterized in that: Determining a vehicle moving path based on the current position and destination of the target vehicle includes: If it is determined that the target vehicle has activated the automatic navigation function, the current location and the destination are sent to the intelligent driving system; Based on the current location and the destination, the intelligent driving system automatically generates a corresponding vehicle moving path; or, Based on the current location and the destination, a corresponding vehicle moving path is set by the target user.

4. The control method according to claim 3, characterized in that: The method further comprises: When it is determined that the current water depth is greater than the preset water depth alarm threshold, the current position, the destination, and the vehicle moving path are obtained; Obtaining obstacle information of the environment in which the target vehicle is located, wherein the obstacle information is detected by a second detection device installed on the target vehicle, wherein the second detection device is used to detect various obstacles; Acquire the preset travel time required for the target vehicle to travel from the current position to the destination and the road condition information associated with the vehicle moving path set by the target user; Determining a target speed of the target vehicle according to the current location, the destination, the preset travel time, the road condition information, and the vehicle moving path; A variety of control instructions are generated according to the current position, the destination, the vehicle moving path, the obstacle information, the preset driving time and the target speed.

5. The control method according to claim 4, characterized in that: The multiple control instructions include: a forward instruction for controlling the target vehicle to move forward, a reverse instruction for controlling the target vehicle to move backward, a left turn instruction for controlling the target vehicle to turn left, a right turn instruction for controlling the target vehicle to turn right, and a driving instruction for controlling the target vehicle to travel at the target speed.

6. The control method according to claim 5, characterized in that: After generating the multiple control instructions, the method further includes: generating a forward rotation instruction based on the forward rotation instruction in the control instruction, so as to control the first propeller of the target vehicle to rotate forward based on the forward rotation instruction; or; generating a reverse command based on the reverse command in the control command, so as to control the second propeller of the target vehicle to reverse based on the reverse command; or; Based on the left turn instruction in the control instruction, controlling the left propeller of the target vehicle to perform a left turn operation at a first preset speed; or; Based on the right turn instruction in the control instruction, the right propeller of the target vehicle is controlled to perform a right turn operation at a second preset speed.

7. The control method according to claim 1, characterized in that: The method further comprises: Obtain the current battery power and preset battery power threshold of the target vehicle; Based on the current battery power and the preset battery power threshold, determining whether to start the generator to generate electricity to replenish the target vehicle; If the current battery power is lower than the preset battery power threshold, it is determined to start the generator to generate electricity to replenish the target vehicle.

8. A control device for automatically moving a target vehicle, characterized in that: The device comprises: A determination module, used to determine whether the target vehicle meets the vehicle moving condition. If it is determined that the target vehicle meets the vehicle moving condition, an alarm signal is sent to the terminal device of the target user to notify the target user to determine the vehicle moving path based on the current position and destination of the target vehicle. The vehicle moving condition is associated with the current water depth of the environment where the target vehicle is located. The alarm signal is used to warn that the current water depth has exceeded a preset water depth alarm threshold; A receiving module, used for receiving a vehicle moving instruction, wherein the vehicle moving instruction carries the vehicle moving path; A control module is used to control the target vehicle to travel from a current position to the destination along the vehicle moving path based on the vehicle moving instruction.

9. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed in a computer, the computer is caused to execute the method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores executable codes, and when the processor executes the executable codes, the method according to any one of claims 1 to 7 is implemented.

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