Vehicle calling method and device and storage medium

Abstract

The invention discloses a vehicle calling method and device and a storage medium, and belongs to the technical field of vehicle control. The method comprises the following steps: in response to received information which is sent by a terminal and is used for confirming to start a calling function of a vehicle, controlling the vehicle to be switched to a power-on and starting state; acquiring a first detection result, wherein the first detection result is used for indicating whether the vehicle meets a condition of starting a calling function; responding to the condition that the first detection result indicates that the vehicle meets the calling function starting condition, and receiving control information sent by the terminal; and controlling the vehicle based on the control information. The user can call the vehicle to the designated position through the user terminal under the condition that the user is not on the vehicle, so that the vehicle control intelligence is improved, and the travel convenience of the user is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of vehicle control technology, and in particular to a vehicle summoning method, device and storage medium. Background Art

[0002] With the development of vehicle control technology, vehicle control is becoming more and more intelligent. Usually, when a user needs a vehicle, he needs to go to the location of the vehicle and start the vehicle. How to identify the user's intention to use the vehicle and enable the user to control the vehicle to a specified location, such as the user's current location, through the user terminal when the vehicle is needed is important for improving the intelligence of vehicle control and enhancing the convenience of user travel. Summary of the invention

[0003] The embodiments of the present application provide a vehicle summoning method, device and storage medium to improve the intelligence of vehicle control and enhance the convenience of user travel. The technical solution is as follows:

[0004] On the one hand, an embodiment of the present application provides a method for summoning a vehicle, the method comprising:

[0005] In response to receiving the information sent by the terminal confirming to start the summoning function of the vehicle, controlling the vehicle to switch to a powered-on and started state;

[0006] Obtaining a first detection result, where the first detection result is used to indicate whether the vehicle meets a condition for enabling the summoning function;

[0007] In response to the first detection result indicating that the vehicle meets the condition for enabling the summoning function, receiving control information sent by the terminal;

[0008] The vehicle is controlled based on the manipulation information.

[0009] In another aspect, a vehicle summoning device is provided, the device comprising:

[0010] A first control module, configured to control the vehicle to switch to a powered-on and started state in response to receiving information sent by a terminal confirming to start a vehicle summoning function;

[0011] A first acquisition module, used to acquire a first detection result, where the first detection result is used to indicate whether the vehicle meets the condition for enabling the summoning function;

[0012] a receiving module, configured to receive control information sent by the terminal in response to the first detection result indicating that the vehicle meets the condition for enabling the summoning function;

[0013] A second control module is used to control the vehicle based on the manipulation information.

[0014] On the other hand, a non-temporary computer-readable storage medium is also provided, characterized in that a computer program is stored in the computer-readable storage medium, and the computer program is loaded and executed by a processor to implement any of the above-mentioned vehicle summoning methods.

[0015] On the other hand, a computer program product is also provided, the computer program product comprising computer instructions, and the computer instructions, when executed by a processor, implement the steps of any of the above-mentioned vehicle summoning methods.

[0016] The technical solution provided by this application brings at least the following beneficial effects:

[0017] After receiving the information sent by the terminal confirming the activation of the vehicle's summoning function, the present application controls the vehicle to switch to a powered-on and started state; obtains a first detection result indicating whether the vehicle meets the conditions for activating the summoning function, so as to determine whether the vehicle currently meets the conditions for activating the summoning function; if the first detection result indicates that the vehicle meets the conditions for activating the summoning function, receives the control information sent by the terminal, and controls the vehicle based on the control information, so that the user can summon the vehicle to a designated location through the user terminal when the user is not in the vehicle, thereby improving the intelligence of vehicle control and the convenience of user travel. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 It is a schematic diagram of an implementation environment provided by an embodiment of the present application;

[0020] Figure 2 is a flow chart of a vehicle summoning method provided in an embodiment of the present application;

[0021] Figure 3 It is a structural schematic diagram of a vehicle summoning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0023] This application embodiment provides a vehicle summoning method, please refer to Figure 1 , which shows a schematic diagram of the implementation environment of the method provided in the embodiment of the present application. The implementation environment may include: an autonomous driving domain controller 11, a TBOX (Telematics BOX, vehicle-mounted terminal equipment) 12, a terminal 13, a VCU (Vehicle Control Unit, vehicle controller) 14, a WCBS (Waste Collecting Brake System, linear brake control device) 15, an EPB (Electronic Parking Brake, electronic parking system) 16, a CEM (Central Electronic Module, body control device) 17, an EPS (Electronic Power Steering, electric power steering system) 18, an ABM (Adaptive Brake Motion, adaptive atmosphere lighting system) 19, a radar 20, a speaker 21, an accelerator pedal sensor 22, an ECU (Electronic Control Unit, electronic control unit) 23, a CPIM (Charge Point Interface Management Unit, charging interface management module) 24 and a vehicle-mounted navigation device 25.

[0024] In a possible implementation, the autonomous driving domain controller 11 obtains the vehicle startup status through the VCU 14, and obtains the vehicle power-on and power-off status through the CEM 17. The autonomous driving domain controller 11 sends the vehicle power-on and power-off status and startup status to the terminal 13 through the TBOX 12, and prompts the user through the terminal 13 when the vehicle is in a powered-off and unstarted state, or powered-on but unstarted state. If the button for confirming to start the vehicle and start the vehicle summoning function is clicked, the terminal 13 sends the user confirmation information for starting the vehicle summoning function to the autonomous driving domain controller 11 through the TBOX 12, and the autonomous driving domain controller 11 controls the vehicle to switch to a powered-on and started state.

[0025] Optionally, after the vehicle switches to the power-on and start-up state, the autonomous driving domain controller 11 detects whether there is someone in the main driver's seat through ABM19. If ABM19 recognizes that there is someone in the main driver's seat, the second detection result indicates that there is someone in the main driver's seat. The autonomous driving domain controller 11 can obtain the gear information of the vehicle from VCU14. If the gear information of the vehicle indicates that the vehicle is in the parking gear, the third detection result indicates that the vehicle is in the parking gear. The autonomous driving domain controller 11 can obtain the switch status of the door, hood and trunk lid through CEM17. If the switch status of the door, hood and trunk lid are all closed, the fourth detection result indicates that the door, hood and trunk lid are all closed.

[0026] Exemplarily, the autonomous driving domain controller 11 can obtain the intervention state of the steering wheel through EPS18, detect whether the brake pedal is pressed through WCBS15, and detect whether the accelerator pedal is pressed through the accelerator pedal sensor 22. In response to the intervention state of the steering wheel being that the steering wheel is not intervened, the brake pedal is not pressed, and the accelerator pedal is not pressed, the fifth detection result indicates that the steering wheel, the accelerator, and the brake pedal are not intervened. The autonomous driving domain controller 11 can obtain data of the power system, the braking system, and the steering system from ECU23. In response to the fact that the data of the power system, the braking system, and the steering system do not contain a fault code, the sixth detection result indicates that the power system, the braking system, and the steering system are all normal.

[0027] In a possible implementation, the autonomous driving domain controller 11 can obtain data of the power system, the braking system, and the steering system from the ECU 23. In response to the fact that the data of the power system, the braking system, and the steering system do not contain a fault code, the sixth detection result indicates that the power system, the braking system, and the steering system are all normal. The autonomous driving domain controller 11 can obtain the insertion status of the charging gun through the CPIM 24. If the charging gun is detected to be inserted, the seventh detection result indicates that the vehicle has a charging gun inserted.

[0028] Optionally, if the second test result indicates that there is someone in the main driver's seat, the third test result indicates that the vehicle is in the parking position, the fourth test result indicates that the doors, hood and trunk lid are all closed, the fifth test result indicates that the steering wheel, accelerator and brake pedal are not interfered with, the sixth test result indicates that the power system, braking system and steering system are all normal, and the seventh test result indicates that a charging gun is inserted into the vehicle, the first test result indicates that the vehicle meets the conditions for turning on the summoning function.

[0029] In a possible implementation, after determining that the first detection result indicates that the vehicle meets the conditions for starting the summoning function, the autonomous driving domain controller 11 obtains the current location of the vehicle through the onboard navigation device 25, and receives the target location of the vehicle sent by the terminal 13. The autonomous driving domain controller 11 generates a suggested driving route based on the current location and the target location of the vehicle, and then sends the suggested driving route to the terminal 13 for display. In response to the first detection result indicating that the vehicle does not meet the conditions for starting the summoning function, the terminal 13 prompts the user that the summoning function cannot be turned on.

[0030] Exemplarily, after determining that the first detection result indicates that the vehicle meets the conditions for starting the summoning function, the autonomous driving domain controller 11 receives the control information sent by the terminal 13, and controls the vehicle based on the control information. In the process of controlling the vehicle, the autonomous driving domain controller 11 can obtain the slope of the road where the vehicle is located through the onboard navigation device 25, and if it is recognized that the vehicle is in an uphill state and the slope is greater than the second slope threshold, the uphill start function of the vehicle is activated; if it is recognized that the vehicle is in a downhill state and the slope is greater than the third slope threshold, the steep slope descent function of the vehicle is activated.

[0031] Optionally, in response to receiving the one-key steering wheel return control information sent by the terminal 13, the autonomous driving domain controller 11 controls the steering wheel to return to the center. After controlling the steering wheel to return to the center for a third time period, if the steering wheel still does not return to the center, the autonomous driving domain controller 11 sends a prompt message to check the tires through the terminal 13.

[0032] In a possible implementation, in response to receiving the control information of stopping the vehicle forward, stopping the vehicle backward or stopping the vehicle steering sent by the terminal 13, the autonomous driving domain controller 11 controls the vehicle to stop driving operation, controls the vehicle's brake lights to turn on through the CEM 17, and controls the vehicle's WCBS 15 to maintain pressure. In response to the slope being greater than the first slope threshold and no new control information is received after the vehicle stops driving operation for a first time period, the autonomous driving domain controller 11 controls the vehicle to park; in response to the slope being less than or equal to the first slope threshold and no new control information is received after the vehicle stops driving operation for a second time period, the autonomous driving domain controller 11 controls the vehicle to park.

[0033] In response to the autonomous driving domain controller 11 detecting the presence of an obstacle within a first distance around the vehicle, the vehicle moves forward or backward to a second distance, the steering angle of the steering wheel is greater than or equal to a preset angle, the vehicle's driving speed is greater than a third speed, the terminal 13 is disconnected from the vehicle's Bluetooth, or the terminal 13 exits at least one of the vehicle's control interface, the autonomous driving domain controller 11 controls the vehicle to stop driving operations, controls the vehicle's brake lights to turn on, and controls the vehicle's WCBS15 to maintain pressure or controls the vehicle to park.

[0034] In response to the terminal 13 being disconnected from the vehicle's Bluetooth for more than the fourth time period, the terminal 13 exiting the vehicle control interface for more than the fifth time period, the vehicle being powered off, the second detection result indicating that no one is in the main driver's seat, the fourth detection result indicating that at least one of the door, the hood and the trunk lid is not closed, the fifth detection result indicating that at least one of the steering wheel, the accelerator and the brake pedal is interfered with, or EPB16 is pressed, the autonomous driving domain controller 11 controls the vehicle's gear to switch back to the parking gear, and the vehicle's power on and off status and startup status are switched back to the state before the vehicle's summoning function is turned on.

[0035] Among them, the autonomous driving domain controller 11, TBOX 12, terminal 13, VCU 14, WCBS 15, EPB 16, CEM 17, EPS 18, ABM 19, radar 20, speaker 21, accelerator pedal sensor 22, ECU 23 and CPIM 24 establish communication connections through wired or wireless networks.

[0036] Based on the above Figure 1 In the implementation environment shown in FIG. 1 , the present application embodiment provides a method for summoning a vehicle. Figure 2 As shown, taking the method applied to an autonomous driving domain controller as an example, the method includes steps 201 to 204.

[0037] In step 201, in response to receiving the information sent by the terminal confirming the activation of the vehicle's summoning function, the autonomous driving domain controller controls the vehicle to switch to a powered-on and started state.

[0038] In a possible implementation, the autonomous driving domain controller obtains the vehicle's startup status through the VCU, and obtains the vehicle's power-on and power-off status through the CEM. The autonomous driving domain controller sends the vehicle's power-on and power-off status and startup status to the user's terminal through the TBOX, and prompts the user through the terminal when the vehicle is in the power-off and non-starting state, or the power-on but non-starting state.

[0039] Optionally, the prompt method includes, but is not limited to, displaying a text message "The vehicle has not started, do you want to start the vehicle and turn on the vehicle summoning function" through the terminal; or broadcasting a voice message "The vehicle has not started, do you want to start the vehicle and turn on the vehicle summoning function" through the terminal.

[0040] Exemplarily, if the button for confirming starting the vehicle and starting the vehicle summoning function is clicked, the terminal sends information to the autonomous driving domain controller through TBOX confirming that the user has started the vehicle summoning function. In response to receiving the information sent by the terminal confirming that the vehicle summoning function has been started, the autonomous driving domain controller controls the vehicle to switch to a powered-on and started state, including: the autonomous driving domain controller controls the vehicle to enter a powered-on and started state, in which the terminal successfully connects to the vehicle through Bluetooth, the vehicle remains stationary, the vehicle's gear is in P gear, and the vehicle's start verification is successful.

[0041] In step 202, the autonomous driving domain controller obtains a first detection result, which is used to indicate whether the vehicle meets the conditions for enabling the summoning function.

[0042] Optionally, after the vehicle is switched to a powered-on and started state, a first detection result is obtained, wherein the first detection result is used to indicate whether the vehicle meets the conditions for starting the summoning function. Exemplarily, obtaining the first detection result includes: obtaining the second detection result, the third detection result, the fourth detection result, the fifth detection result, the sixth detection result and the seventh detection result, the second detection result is used to indicate whether there is someone in the main driver's seat, the third detection result is used to indicate whether the vehicle is in the parking gear, the fourth detection result is used to indicate whether the doors, hood and trunk lid are all closed, the fifth detection result is used to indicate whether the steering wheel, accelerator and brake pedal are not interfered with, the sixth detection result is used to indicate whether the power system, braking system and steering system are all normal, and the seventh detection result is used to indicate whether a charging gun is inserted into the vehicle; in response to the second detection result indicating that there is someone in the main driver's seat, the third detection result indicates that the vehicle is in the parking gear, the fourth detection result indicates that the doors, hood and trunk lid are all closed, the fifth detection result indicates that the steering wheel, accelerator and brake pedal are not interfered with, the sixth detection result indicates that the power system, braking system and steering system are all normal, and the seventh detection result indicates that a charging gun is inserted into the vehicle, the first detection result indicates that the vehicle meets the conditions for turning on the summoning function.

[0043] Next, examples are given for the methods of obtaining each test result.

[0044] (1) Obtaining the second detection result

[0045] In a possible implementation, the second detection result is used to indicate whether there is someone in the main driving seat. Obtaining the second detection result includes: the autonomous driving domain controller can detect whether there is someone in the main driving seat through the ABM. If the ABM recognizes that there is someone in the main driving seat, the second detection result indicates that there is someone in the main driving seat.

[0046] (2) Obtaining the third test result

[0047] Optionally, the third detection result is used to indicate whether the vehicle is in a parking gear. Obtaining the third detection result includes: the autonomous driving domain controller may obtain the gear information of the vehicle from the VCU, and if the gear information of the vehicle indicates that the vehicle is in a parking gear, the third detection result indicates that the vehicle is in a parking gear.

[0048] (3) Obtaining the fourth detection result

[0049] Exemplarily, the fourth detection result is used to indicate whether the vehicle doors, hood and trunk lid are all closed. Obtaining the fourth detection result includes: the autonomous driving domain controller can obtain the switch status of the vehicle doors, hood and trunk lid through the CEM. If the switch status of the vehicle doors, hood and trunk lid are all closed, the fourth detection result indicates that the vehicle doors, hood and trunk lid are all closed.

[0050] (4) Obtaining the fifth test result

[0051] Optionally, the fifth detection result is used to indicate whether the steering wheel, accelerator and brake pedal are not intervened. Obtaining the fifth detection result includes: the autonomous driving domain controller can obtain the intervention state of the steering wheel through the EPS, wherein the intervention state of the steering wheel includes the steering wheel being intervened or the steering wheel not being intervened; detecting whether the brake pedal is pressed by the WCBS; and detecting whether the accelerator pedal is pressed by the accelerator pedal sensor. In response to the intervention state of the steering wheel being the steering wheel not being intervened, the brake pedal not being pressed, and the accelerator pedal not being pressed, the fifth detection result indicates that the steering wheel, accelerator and brake pedal are not intervened. Exemplarily, the accelerator pedal sensor is installed near the accelerator to monitor the position of the accelerator.

[0052] (5) Obtaining the sixth test result

[0053] In one possible implementation, the sixth test result is used to indicate whether the power system, braking system and steering system are all normal. Obtaining the sixth test result includes: the autonomous driving domain controller can obtain data of the power system, braking system and steering system from the ECU via the CAN bus. In response to the fact that the data of the power system, braking system and steering system do not contain fault codes, the sixth test result indicates that the power system, braking system and steering system are all normal.

[0054] (6) Obtain the seventh test result

[0055] Exemplarily, the seventh detection result is used to indicate whether a charging gun is inserted into the vehicle. Obtaining the seventh detection result includes: the autonomous driving domain controller can obtain the insertion status of the charging gun through CPIM. If the charging gun is detected to be inserted, the seventh detection result indicates that a charging gun is inserted into the vehicle.

[0056] In one possible implementation, after determining the second test result, the third test result, the fourth test result, the fifth test result, the sixth test result and the seventh test result, if the second test result indicates that there is someone in the main driver's seat, the third test result indicates that the vehicle is in the parking position, the fourth test result indicates that the doors, hood and trunk lid are all closed, the fifth test result indicates that the steering wheel, accelerator and brake pedal are not interfered with, the sixth test result indicates that the power system, braking system and steering system are all normal, the seventh test result indicates that a charging gun is inserted into the vehicle, and the first test result indicates that the vehicle meets the conditions for turning on the summoning function.

[0057] Optionally, after obtaining the first detection result, in response to the first detection result indicating that the vehicle meets the conditions for starting the summoning function, the current location of the vehicle is obtained; the target location of the vehicle sent by the receiving terminal is received; a recommended driving route is generated based on the current location of the vehicle and the target location; and the recommended driving route is displayed through the terminal.

[0058] Exemplarily, after determining that the first detection result indicates that the vehicle meets the conditions for starting the summoning function, the autonomous driving domain controller obtains the current location of the vehicle through the vehicle navigation device, and receives the target location of the vehicle sent by the terminal. Optionally, the user can select the target location to summon the vehicle in the terminal, and after the user confirms the target location, the terminal sends the target location of the vehicle to the autonomous driving domain controller.

[0059] In a possible implementation, after confirming the current location and target location of the vehicle, the autonomous driving domain controller generates a suggested driving route based on the current location and target location of the vehicle, and then sends the suggested driving route to the terminal for display. Optionally, a certain number of models of the current location and target location of the vehicle and the corresponding suggested driving routes can be pre-built, and the suggested driving route can be generated based on the current location and target location of the vehicle through the model.

[0060] Exemplarily, after the vehicle is switched to the powered-on and started state, in response to the first detection result indicating that the vehicle does not meet the conditions for starting the summoning function, the terminal prompts the user that the summoning function cannot be turned on. Optionally, the method of prompting the user includes, but is not limited to, displaying a text message "The vehicle conditions are not met, the summoning function cannot be turned on, do you want to turn off the vehicle power" through the terminal, or broadcasting a voice message "The vehicle conditions are not met, the summoning function cannot be turned on, do you want to control the vehicle to power off" through the terminal.

[0061] Optionally, in response to receiving information from the user confirming to control the vehicle to power off, the autonomous driving domain controller controls the vehicle to power off; in response to receiving information from the user confirming not to control the vehicle to power off, the vehicle's power on and off status remains unchanged. Optionally, the user can click a button related to controlling the vehicle to power off on the terminal to control whether the vehicle powers off, wherein the related button includes confirming to control the vehicle to power off and confirming not to control the vehicle to power off.

[0062] In step 203, in response to the first detection result indicating that the vehicle meets the conditions for starting the summoning function, the autonomous driving domain controller receives the control information sent by the terminal.

[0063] Optionally, after determining that the first detection result indicates that the vehicle meets the conditions for starting the summoning function, the autonomous driving domain controller receives the control information sent by the terminal. Optionally, the user can control the vehicle at the terminal, and the terminal generates control information based on the user's operation and sends it to the autonomous driving domain controller, wherein the control information includes: controlling the vehicle to move forward, controlling the vehicle to move backward, and controlling the vehicle to turn.

[0064] In step 204, the autonomous driving domain controller controls the vehicle based on the manipulation information.

[0065] Exemplarily, after receiving the manipulation information, the autonomous driving domain controller controls the vehicle based on the manipulation information, including: in response to the manipulation information being to control the vehicle to move forward, controlling the vehicle to enter a forward gear, and controlling the vehicle to move forward at a first speed; in response to the manipulation information being to control the vehicle to move backward, controlling the vehicle to enter a reverse gear, and controlling the vehicle to move backward at a second speed, the second speed being less than the first speed; in response to the manipulation information being to control the vehicle to turn, controlling the steering wheel of the vehicle to rotate in a corresponding direction at a first angular velocity; in response to the steering angle of the steering wheel being greater than or equal to a preset angle, controlling the steering wheel to maintain the current steering angle unchanged.

[0066] Optionally, if the user long presses the forward button of the terminal, the terminal generates control information for controlling the vehicle to move forward. In response to receiving the control information for controlling the vehicle to move forward, the autonomous driving domain controller controls the vehicle to enter a forward gear and controls the vehicle to move forward at a first speed, including: the autonomous driving domain controller controls the vehicle to move forward at the first speed and in a direction corresponding to the current steering wheel angle. Exemplarily, the first speed can be set as required.

[0067] In a possible implementation, the slope of the road on which the vehicle is located is obtained while the vehicle is moving forward. If it is identified that the vehicle is in an uphill state and the slope is greater than the second slope threshold, the uphill start function of the vehicle is activated; if it is identified that the vehicle is in a downhill state and the slope is greater than the third slope threshold, the steep slope descent function of the vehicle is activated. In a possible implementation, the autonomous driving domain controller can obtain the slope of the road on which the vehicle is located through the on-board navigation device.

[0068] For example, after the uphill start function of the vehicle is turned on, when it is identified that the slope of the road where the vehicle is located is less than the difference between the second slope threshold and the first threshold width, the uphill start function of the vehicle is exited; after the steep slope descent function of the vehicle is turned on, when it is identified that the slope of the road where the vehicle is located is less than the difference between the third slope threshold and the second threshold width, the steep slope descent function of the vehicle is exited. Optionally, the second slope threshold, the third slope threshold, the first threshold width and the second threshold width can be set based on experience.

[0069] In a possible implementation, if the user long presses the back button of the terminal, the terminal generates control information for controlling the vehicle to move backward. In response to receiving the control information for controlling the vehicle to move backward, the autonomous driving domain controller controls the vehicle to enter the reverse gear and controls the vehicle to move backward at a second speed, including: the autonomous driving domain controller controls the vehicle to move backward at a first speed and in a direction corresponding to the current steering wheel angle. Exemplarily, the second speed can be set according to demand, and it is required to satisfy that the second speed is less than the first speed.

[0070] Optionally, during the vehicle's backward movement, the slope of the road on which the vehicle is located is obtained. If it is identified that the vehicle is in an uphill state and the slope is greater than a first slope threshold, the vehicle's uphill start function is activated; if it is identified that the vehicle is in a downhill state and the slope is greater than a second slope threshold, the vehicle's steep slope descent function is activated.

[0071] In a possible implementation, if the user long presses the steering button of the terminal, the terminal generates control information for controlling the steering of the vehicle. In response to receiving the control information for controlling the steering of the vehicle, the autonomous driving domain controller controls the steering wheel of the vehicle to turn in the corresponding direction at a first angular velocity, including: in response to receiving the control information for controlling the vehicle to turn left, the autonomous driving domain controller controls the steering wheel of the vehicle to turn left at a first angular velocity; in response to receiving the control information for controlling the vehicle to turn right, the autonomous driving domain controller controls the steering wheel of the vehicle to turn right at a first angular velocity. Optionally, the first angular velocity can be set based on experience.

[0072] Optionally, the control information further includes a one-key return to center steering wheel, and in response to receiving the one-key return to center steering wheel control information, the steering wheel is controlled to return to center at a second angular velocity; in response to the steering wheel still not returning to center after a third time period, a prompt message to check the tires is issued. In a possible implementation, if the user long presses the one-key return to center steering wheel button of the terminal, the terminal generates the one-key return to center steering wheel control information.

[0073] Exemplarily, in response to receiving the control information of returning the steering wheel to the center with one key, the autonomous driving domain controller controls the steering wheel to return to the center, including: the autonomous driving domain controller controls the steering wheel to return to the center at a second angular velocity. Optionally, the second angular velocity can be set according to experience, and it is necessary to satisfy that the second angular velocity is greater than the first angular velocity. After controlling the steering wheel to return to the center for a third time period, if the steering wheel still does not return to the center, the autonomous driving domain controller sends a prompt message to check the tires through the terminal to prompt the user to check the reason why the steering wheel cannot be returned to the center with one key; if the angle of the steering wheel is already in the returned position, the terminal prompts the user that the steering wheel is in the returned state. Among them, the third time period can be set according to experience, and it is necessary to satisfy that the third time period is less than the first time period.

[0074] In a possible implementation, the control information may also include stopping the vehicle from moving forward, stopping the vehicle from moving backward, or stopping the vehicle from turning. If the user long presses the forward button and then releases it, the terminal generates control information to stop the vehicle from moving forward; if the user long presses the reverse button and then releases it, the terminal generates control information to stop the vehicle from moving backward; if the user long presses the turn button and then releases it, the terminal generates control information to stop the vehicle from turning.

[0075] Optionally, in response to receiving control information to stop controlling the vehicle forward, stop controlling the vehicle backward or stop controlling the vehicle turning, the vehicle is controlled to stop driving operation; the slope of the road where the vehicle is located is obtained; in response to the slope being greater than a first slope threshold and no new control information is received after the vehicle is controlled to stop driving operation for a first period of time, the vehicle is controlled to park; in response to the slope being less than or equal to the first slope threshold and no new control information is received after the vehicle is controlled to stop driving operation for a second period of time, the vehicle is controlled to park, and the second period of time is greater than the first period of time.

[0076] Exemplarily, in response to receiving manipulation information to stop controlling the vehicle forward, stop controlling the vehicle backward, or stop controlling the vehicle steering, the autonomous driving domain controller controls the vehicle to stop driving operations, including: if manipulation information to stop controlling the vehicle forward, stop controlling the vehicle backward, or stop controlling the vehicle steering is received, the autonomous driving domain controller controls the vehicle to stop driving operations, controls the vehicle's brake lights to turn on through the CEM, and controls the vehicle's WCBS to maintain pressure.

[0077] In one possible implementation, after the vehicle stops driving, in response to the slope being greater than a first slope threshold and no new control information is received after the vehicle stops driving for a first period of time, the vehicle is controlled to park; in response to the slope being less than or equal to the first slope threshold and no new control information is received after the vehicle stops driving for a second period of time, the vehicle is controlled to park, and the second period of time is greater than the first period of time.

[0078] Exemplarily, after the vehicle stops driving, the autonomous driving domain controller continuously monitors the slope of the road on which the vehicle is located. If the slope is greater than the first slope threshold and no new control information is received from the terminal after the vehicle stops driving for a first time, the autonomous driving domain controller controls the vehicle to park and switches the gear of the vehicle to the parking gear; if the slope is less than or equal to the first slope threshold and no new control information is received after the vehicle stops driving for a second time, the autonomous driving domain controller controls the vehicle to park and switches the gear of the vehicle to the parking gear. Optionally, the first time and the second time can be set based on experience, and the second time needs to be greater than the first time.

[0079] Optionally, after the vehicle stops driving, if the autonomous driving domain controller receives new control information, it controls the vehicle to exit WCBS pressure maintenance and controls the vehicle based on the control information in the same way. In one possible implementation, if the vehicle is already parked, the vehicle is first controlled to release the parking position and then controlled based on the control information.

[0080] For example, after controlling the vehicle based on the manipulation information, the autonomous driving domain controller continues to detect a first distance around the vehicle. The autonomous driving domain controller may detect whether there are obstacles within the first distance around the vehicle through a radar installed on the vehicle.

[0081] Optionally, in response to the autonomous driving domain controller detecting the presence of an obstacle within a first distance around the vehicle, the vehicle moves forward or backward to a second distance, the steering angle of the steering wheel is greater than or equal to a preset angle, the vehicle's driving speed is greater than a third speed, the terminal is disconnected from the vehicle's Bluetooth, or the terminal exits the vehicle's control interface, the autonomous driving domain controller controls the vehicle to stop driving operations, controls the vehicle's brake lights to turn on, and controls the vehicle's WCBS to maintain pressure or controls the vehicle to park.

[0082] In a possible implementation, if the autonomous driving domain controller detects that there is an obstacle within a first distance around the vehicle, a prompt sound is emitted through the vehicle speaker and the user is prompted through the terminal. If after the sixth time period, the radar detects that the obstacle has been removed and still receives the control instruction from the terminal, the autonomous driving domain controller controls the vehicle based on the control instruction. Optionally, the sixth time period can be set based on experience.

[0083] In one possible implementation, after the vehicle is controlled based on the control information, in response to the Bluetooth disconnection between the terminal and the vehicle exceeding the fourth time period, the terminal exits the vehicle control interface for more than the fifth time period, the vehicle is powered off, the second detection result indicates that there is no one in the main driver's seat, the fourth detection result indicates that at least one of the door, hood and trunk lid is not closed, the fifth detection result indicates that at least one of the steering wheel, accelerator and brake pedal is interfered with, or at least one of the EPB is pressed, the vehicle's summoning function is exited.

[0084] Exemplarily, after controlling the vehicle based on the manipulation information, the autonomous driving domain controller continuously monitors the Bluetooth connection status between the terminal and the vehicle, the power on and off status of the vehicle, the second detection result, the fourth detection result, the fifth detection result, the status of the EPB, and the operating interface of the terminal.

[0085] Optionally, if the terminal is disconnected from the vehicle's Bluetooth for more than the fourth duration, the terminal exits the vehicle control interface for more than the fifth duration, the vehicle is powered off, the second detection result indicates that no one is in the main driver's seat, the fourth detection result indicates that at least one of the door, hood, and trunk lid is not closed, and the fifth detection result indicates that at least one of the steering wheel, accelerator, and brake pedal is interfered with, or the EPB is pressed, the autonomous driving domain controller controls the vehicle to exit the summoning function, and prompts the user through the terminal that the vehicle has exited the summoning function. Optionally, the fourth and fifth durations can be set based on experience.

[0086] In one possible implementation, the autonomous driving domain controller receives information from a terminal button for exiting the vehicle's summoning function, controls the vehicle to exit the summoning function, switches the vehicle's gear back to the parking gear, and switches the vehicle's power on and off status and startup status back to the state before the vehicle's summoning function was turned on.

[0087] After receiving the information sent by the terminal confirming the activation of the vehicle's summoning function, the embodiment of the present application controls the vehicle to switch to a powered-on and started state; obtains a first detection result indicating whether the vehicle meets the conditions for activating the summoning function, so as to determine whether the vehicle currently meets the conditions for activating the summoning function; if the first detection result indicates that the vehicle meets the conditions for activating the summoning function, receives the control information sent by the terminal, and controls the vehicle based on the control information, so that the user can summon the vehicle to a designated location through the user terminal when the user is not in the vehicle, thereby improving the intelligence of vehicle control and the convenience of user travel.

[0088] See also Figure 3 , an embodiment of the present application provides a vehicle summoning device, the device comprising:

[0089] The first control module 301 is used to control the vehicle to switch to a powered-on and started state in response to receiving information sent by the terminal confirming to start the vehicle summoning function;

[0090] A first acquisition module 302, used to acquire a first detection result, where the first detection result is used to indicate whether the vehicle meets the conditions for starting the summon function;

[0091] A receiving module 303, configured to receive control information sent by the terminal in response to the first detection result indicating that the vehicle meets the condition for starting the summon function;

[0092] The second control module 304 is used to control the vehicle based on the manipulation information.

[0093] In one possible implementation, the first acquisition module 302 is also used to obtain the current location of the vehicle in response to the first detection result indicating that the vehicle meets the conditions for starting the summoning function; receive the target location of the vehicle sent by the terminal; generate a recommended driving route based on the current location and target location of the vehicle; and display the recommended driving route through the terminal.

[0094] In one possible implementation, the first acquisition module 302 is used to obtain a second detection result, a third detection result, a fourth detection result, a fifth detection result, a sixth detection result and a seventh detection result, the second detection result is used to indicate whether there is someone in the main driver's seat, the third detection result is used to indicate whether the vehicle is in a parking position, the fourth detection result is used to indicate whether the doors, hood and trunk lid are all closed, the fifth detection result is used to indicate whether the steering wheel, accelerator and brake pedal are not interfered with, the sixth detection result is used to indicate whether the power system, braking system and steering system are all normal, and the seventh detection result is used to indicate whether a charging gun is inserted into the vehicle; in response to the second detection result indicating that there is someone in the main driver's seat, the third detection result indicates that the vehicle is in a parking position, the fourth detection result indicates that the doors, hood and trunk lid are all closed, the fifth detection result indicates that the steering wheel, accelerator and brake pedal are not interfered with, the sixth detection result indicates that the power system, braking system and steering system are all normal, and the seventh detection result indicates that a charging gun is inserted into the vehicle, the first detection result indicates that the vehicle meets the conditions for turning on the summoning function.

[0095] In one possible implementation, the control information includes controlling the vehicle to move forward, controlling the vehicle to move backward, or controlling the vehicle to turn. The second control module 304 is used to control the vehicle to enter a forward gear and control the vehicle to move forward at a first speed in response to the control information being to control the vehicle to move forward; control the vehicle to enter a reverse gear and control the vehicle to move backward at a second speed, which is less than the first speed in response to the control information being to control the vehicle to turn backward; control the steering wheel of the vehicle to rotate in a corresponding direction at a first angular velocity in response to the control information being to control the vehicle to turn backward; and control the steering wheel to maintain a current steering angle unchanged in response to the steering angle of the steering wheel being greater than or equal to a preset angle.

[0096] In one possible implementation, the control information includes stopping controlling the vehicle forward, stopping controlling the vehicle backward, or stopping controlling the vehicle steering, and the device also includes: a third control module, used to control the vehicle to stop driving operation in response to receiving control information of stopping controlling the vehicle forward, stopping controlling the vehicle backward, or stopping controlling the vehicle steering; a second acquisition module, used to acquire the slope of the road on which the vehicle is located; a fourth control module, used to control the vehicle to park in response to the slope being greater than a first slope threshold and no new control information is received after the vehicle stops driving operation for a first period of time; a fifth control module, used to control the vehicle to park in response to the slope being less than or equal to the first slope threshold and no new control information is received after the vehicle stops driving operation for a second period of time, and the second period of time is greater than the first period of time.

[0097] In one possible implementation, the control information includes one-touch steering wheel return to center, and the device also includes: a sixth control module, used to control the steering wheel to return to center at a second angular velocity in response to receiving the control information of the one-touch steering wheel return to center; a prompt module, used to issue a prompt message to check the tires in response to the steering wheel still not returning to center after a third period of time.

[0098] In one possible implementation, the second control module 304 is also used to exit the vehicle's summoning function in response to the vehicle exiting the start state for more than a fourth time period, the terminal exiting the vehicle control interface for more than a fifth time period, the vehicle being powered off, the second detection result indicating that there is no one in the main driver's seat, the fourth detection result indicating that at least one of the door, the hood and the trunk lid is not closed, the fifth detection result indicating that at least one of the steering wheel, the accelerator and the brake pedal is interfered with, or at least one of the electronic parking system EPB is pressed.

[0099] After receiving the information sent by the terminal confirming the activation of the vehicle's summoning function, the device controls the vehicle to switch to a power-on and start-up state; obtains a first detection result indicating whether the vehicle meets the conditions for activating the summoning function, so as to determine whether the vehicle currently meets the conditions for activating the summoning function; if the first detection result indicates that the vehicle meets the conditions for activating the summoning function, the device receives the control information sent by the terminal, and controls the vehicle based on the control information, so that the user can summon the vehicle to a designated location through the user terminal when the user is not in the vehicle, thereby improving the intelligence of vehicle control and the convenience of user travel.

[0100] It should be noted that the device provided in the above embodiment only uses the division of the above functional modules as an example to implement its functions. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiment belong to the same concept, and their specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0101] In an exemplary embodiment, a computer-readable storage medium is also provided, in which at least one computer program is stored. The at least one computer program is loaded and executed by a processor of a computer device so that the computer implements any of the above-mentioned vehicle summoning methods.

[0102] In one possible implementation, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0103] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes any of the above-mentioned vehicle summoning methods.

[0104] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data for analysis, stored data, displayed data, etc.) and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions. For example, the power-on and power-off status of the vehicle, the startup status of the vehicle, the image of the main driver's seat of the vehicle, the gear information of the vehicle, the opening and closing status of the doors, hood and trunk lid, the rotation angle of the steering wheel, the position of the accelerator pedal, the position of the brake pedal, the insertion status of the charging gun, and the data of the power system, brake system and steering system involved in this application are all obtained with full authorization.

[0105] It should be understood that the "plurality" mentioned in this article refers to two or more. "And / or" describes the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0106] It should be noted that the terms "first", "second", etc. (if any) in the specification and claims of the present application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0107] The above description is only an exemplary embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle summoning method, characterized in that: The method comprises: In response to receiving the information sent by the terminal confirming to start the vehicle summoning function, controlling the vehicle to switch to a powered on and started state; Obtaining a first detection result, where the first detection result is used to indicate whether the vehicle meets a condition for enabling the summoning function; In response to the first detection result indicating that the vehicle meets the condition for enabling the summoning function, receiving control information sent by the terminal; The vehicle is controlled based on the manipulation information.

2. The method according to claim 1, characterized in that: After obtaining the first detection result, the method further includes: In response to the first detection result indicating that the vehicle meets the condition for enabling the summoning function, obtaining the current location of the vehicle; Receiving the target position of the vehicle sent by the terminal; generating a suggested driving route based on the current location of the vehicle and the target location; The suggested driving route is displayed via the terminal.

3. The method according to claim 1, characterized in that The obtaining of the first detection result includes: Obtain a second detection result, a third detection result, a fourth detection result, a fifth detection result, a sixth detection result, and a seventh detection result, wherein the second detection result is used to indicate whether there is someone in the main driving seat, the third detection result is used to indicate whether the vehicle is in a parking gear, the fourth detection result is used to indicate whether the doors, the hood, and the trunk lid are all closed, the fifth detection result is used to indicate whether the steering wheel, the accelerator, and the brake pedal are not interfered with, the sixth detection result is used to indicate whether the power system, the braking system, and the steering system are all normal, and the seventh detection result is used to indicate whether a charging gun is inserted into the vehicle; In response to the second detection result indicating that there is someone in the main driver's seat, the third detection result indicates that the vehicle is in the parking position, the fourth detection result indicates that the doors, the hood and the trunk lid are all closed, the fifth detection result indicates that the steering wheel, the accelerator and the brake pedal are not interfered with, the sixth detection result indicates that the power system, the braking system and the steering system are all normal, the seventh detection result indicates that the charging gun is inserted into the vehicle, and the first detection result indicates that the vehicle meets the conditions for turning on the summoning function.

4. The method according to claim 1, characterized in that: The control information includes controlling the vehicle to move forward, controlling the vehicle to move backward, or controlling the vehicle to turn. The controlling the vehicle based on the control information includes: In response to the manipulation information being to control the vehicle to move forward, controlling the vehicle to enter a forward gear position, and controlling the vehicle to move forward at a first speed; In response to the manipulation information being to control the vehicle to move backward, controlling the vehicle to enter a reverse gear position, and controlling the vehicle to move backward at a second speed, the second speed being less than the first speed; In response to the control information being to control the steering of the vehicle, controlling the steering wheel of the vehicle to rotate in a corresponding direction at a first angular velocity; In response to a steering angle of the steering wheel being greater than or equal to a preset angle, the steering wheel is controlled to maintain a current steering angle unchanged.

5. The method according to claim 4, characterized in that The control information includes stopping controlling the vehicle to move forward, stopping controlling the vehicle to move backward, or stopping controlling the vehicle to turn. The method further includes: In response to receiving manipulation information for stopping the vehicle from moving forward, stopping the vehicle from moving backward, or stopping the vehicle from turning, controlling the vehicle to stop the driving operation; Obtaining the slope of the road where the vehicle is located; In response to the slope being greater than a first slope threshold and no new manipulation information being received after the vehicle is controlled to stop driving for a first period of time, controlling the vehicle to park; In response to the slope being less than or equal to the first slope threshold and the vehicle being controlled to stop driving for a second time period without receiving the new manipulation information, the vehicle is controlled to park, the second time period being greater than the first time period.

6. The method according to claim 1, characterized in that The control information includes returning the steering wheel to center position with one key, and the method further includes: In response to receiving the one-key steering wheel return control information, controlling the steering wheel to return to the center at a second angular velocity; In response to the steering wheel still not returning to the center position after a third time period, a prompt message to check the tires is issued, wherein the third time period is shorter than the first time period.

7. The method according to claim 3, characterized in that After the vehicle is controlled based on the manipulation information, the method further includes: In response to the terminal being disconnected from the vehicle's Bluetooth for more than a fourth time period, the terminal exiting the vehicle control interface for more than a fifth time period, the vehicle being powered off, the second detection result indicating that no one is in the main driver's seat, the fourth detection result indicating that at least one of the door, the hood and the trunk lid is not closed, the fifth detection result indicating that at least one of the steering wheel, the accelerator and the brake pedal is interfered with, or at least one of the electronic parking system EPB is pressed, the summoning function of the vehicle is exited.

8. A vehicle summoning device, characterized in that: The device comprises: A first control module, configured to control the vehicle to switch to a powered-on and started state in response to receiving information sent by a terminal confirming to start a vehicle summoning function; A first acquisition module, used to acquire a first detection result, where the first detection result is used to indicate whether the vehicle meets the condition for enabling the summoning function; a receiving module, configured to receive control information sent by the terminal in response to the first detection result indicating that the vehicle meets the condition for enabling the summoning function; A second control module is used to control the vehicle based on the manipulation information.

9. A computer program product, comprising computer instructions, which, when executed by a processor, implement the steps of the vehicle summoning method according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is loaded and executed by a processor to implement the vehicle summoning method as described in any one of claims 1 to 7.

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