Vehicle control method, device, equipment and medium

Abstract

The invention relates to a vehicle control method and device, equipment and a medium, and the method comprises the steps: obtaining environment sensing data of the surrounding environment of a current vehicle; under the condition that the environment sensing data meets a preset vehicle moving condition, a target parking position after vehicle moving is determined; and controlling the current vehicle to move from the current parking position to the target parking position. According to the technical scheme, more intelligent parking control can be provided.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent parking technology, and in particular to a vehicle control method, device, equipment and medium. Background Art

[0002] With the development of intelligent driving technology, the intelligent driving functions of vehicles are becoming more and more mature, and the intelligence level of vehicles is gradually improving. Intelligent parking scenarios are one of the common vehicle intelligent scenarios. Through intelligent technology, vehicles can autonomously perceive and complete the parking process.

[0003] At present, there is still room for further improvement of smart parking functions. Summary of the invention

[0004] In order to solve the above technical problems, the present disclosure provides a vehicle control method, device, equipment and medium.

[0005] In a first aspect, an embodiment of the present disclosure provides a vehicle control method, including:

[0006] Obtain environmental perception data of the current vehicle's surroundings;

[0007] When the environment perception data satisfies a preset vehicle moving condition, determining a target parking position after the vehicle is moved;

[0008] Control the current vehicle to move from the current parking position to the target parking position.

[0009] In a second aspect, an embodiment of the present disclosure provides a vehicle control device, including:

[0010] An acquisition module is used to acquire environmental perception data of the current vehicle surroundings;

[0011] A determination module, configured to determine a target parking position after the vehicle is moved if the environment perception data meets a preset vehicle moving condition;

[0012] The control module is used to control the current vehicle to move from the current parking position to the target parking position.

[0013] In a third aspect, an embodiment of the present disclosure provides an electronic device, comprising: a processor; a memory for storing executable instructions of the processor; the processor is used to read the executable instructions from the memory and execute the instructions to implement the vehicle control method described in the first aspect above.

[0014] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle control method described in the first aspect is implemented.

[0015] The technical solution provided by the embodiments of the present disclosure has the following advantages over the prior art: environmental perception data of the current vehicle's surroundings is obtained, and when the environmental perception data meets the preset vehicle moving conditions, the target parking position after the vehicle is moved is determined, and the current vehicle is controlled to move from the current parking position to the target parking position. Thus, the external environment can be monitored after the vehicle is parked, and it is determined whether the vehicle needs to be moved based on the environmental perception data. When the current parking position is not suitable for parking, the vehicle is controlled to move to another position for parking, thereby providing more intelligent parking control and improving the intelligent parking application of the entire vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0018] Figure 1 A flow chart of a vehicle control method provided by an embodiment of the present disclosure;

[0019] Figure 2 A timing diagram provided by an embodiment of the present disclosure;

[0020] Figure 3 A flow chart of another vehicle control method provided by an embodiment of the present disclosure;

[0021] Figure 4 A flow chart of another vehicle control method provided by an embodiment of the present disclosure;

[0022] Figure 5 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0023] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0024] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0025] Figure 1 This is a flow chart of a vehicle control method provided in an embodiment of the present disclosure. The method provided in an embodiment of the present disclosure can be executed by a vehicle control device, which can be implemented in software and / or hardware and can be integrated on any electronic device with computing capabilities.

[0026] like Figure 1 As shown, the vehicle control method provided by the embodiment of the present disclosure may include:

[0027] Step 101, obtaining environmental perception data of the current vehicle surrounding environment.

[0028] In this embodiment, after the vehicle is parked, the vehicle monitors the surrounding environment. Optionally, the vehicle monitors the surrounding environment of the vehicle through on-board sensors to obtain sensor data, and processes the sensor data to generate environmental perception data. For example, the on-board sensors include cameras, radars, etc. The sensor data include image data and point cloud data. The image data and point cloud data are processed to obtain environmental perception data of the vehicle's surrounding environment. The environmental perception data includes information about other vehicles and pedestrians. The information about other vehicles includes vehicle speed and appearance characteristics, and the information about pedestrians includes the number of pedestrians and character characteristics.

[0029] Step 102: When the environment perception data satisfies the preset vehicle moving conditions, a target parking position after the vehicle is moved is determined.

[0030] In this embodiment, a moving condition is preset, and the moving condition is used to determine whether the current parking position is a suitable parking position. After obtaining environmental perception data of the current vehicle's surrounding environment, it is determined whether the current vehicle meets the preset moving condition based on the environmental perception data. If the moving condition is met, the current vehicle needs to move the parking position, and the target parking position after the move is determined.

[0031] As an example, when the environmental perception data indicates that the current parking position obstructs traffic, the moving condition is met and the moving condition is met.

[0032] In one embodiment of the present disclosure, when the moving condition is met, the target parking position is further determined, wherein determining the target parking position after the moving includes: determining the target parking position according to the current parking position according to a preset parking position search strategy. Optionally, the parking position search strategy is used to search according to the distance, determine the parking area whose distance from the current parking position is less than the preset distance according to the current parking position of the vehicle, and determine the target parking position according to the parking area. Optionally, the parking position search strategy can also search in combination with user preferences, after searching according to the distance, determine the parking area that meets the user's preferences from the searched multiple candidate parking areas, and determine the target parking position according to the parking area, wherein there are multiple ways to determine whether the user's preferences are met, for example, attribute tags can be set for the candidate parking areas in advance, and the attribute tags of each candidate parking area can be matched with the tags input by the user to determine whether the candidate parking area meets the user's preferences, or query the user's historical parking records in each candidate parking area, and determine whether the candidate parking area meets the user's preferences according to the historical parking records, which is not specifically limited here.

[0033] In one embodiment of the present disclosure, determining the target parking position after moving the vehicle includes: querying parking lot information preset by the user, and determining the target parking position according to the parking lot information. In this embodiment, the user can set the parking lot information in advance, for example, after each parking, and when the environmental perception data meets the preset moving conditions, the target parking position is determined according to the preset parking lot information.

[0034] Step 103, controlling the current vehicle to move from the current parking position to the target parking position.

[0035] In this embodiment, the vehicle is equipped with an intelligent driving system. After determining that the vehicle moving conditions are met and the target parking position is determined, the vehicle is controlled by the intelligent driving system to move from the current parking position to the target parking position. Optionally, after determining the target parking position, route planning is performed based on information such as route congestion and driving distance, so as to control the vehicle to drive to the target parking position according to the planned route.

[0036] In one embodiment of the present disclosure, when the environmental perception data does not meet the preset moving conditions, if a moving request sent by a user terminal is received, the target parking position is determined, and the current vehicle is controlled to move from the current parking position to the target parking position. In this embodiment, the moving request is used to indicate that the parking position of the vehicle needs to be changed. The moving request can also carry information about the target parking position. For example, after the user receives a notification that the vehicle needs to be moved, the user terminal sends a moving request to the vehicle end. The vehicle end determines the target parking position in response to the moving request, and controls the vehicle to move from the current parking position to the target parking position. The specific implementation method of determining the target parking position and controlling the vehicle to move to the target parking position in this embodiment can refer to the above description, which will not be repeated here.

[0037] According to the technical solution of the embodiment of the present disclosure, environmental perception data of the current vehicle's surroundings is obtained, and when the environmental perception data meets the preset vehicle moving conditions, the target parking position after moving the vehicle is determined, and the current vehicle is controlled to move from the current parking position to the target parking position. As a result, the external environment can be monitored after the vehicle is parked, and it is determined whether the vehicle needs to be moved based on the environmental perception data. When the current parking position is not suitable for parking, the vehicle is controlled to move to other positions for parking, thereby providing more intelligent parking control and improving the intelligent parking application of the entire vehicle.

[0038] The following is an explanation based on the system architecture and functional timing diagram of this solution.

[0039] In this embodiment, the vehicle control system includes a user terminal, a vehicle-mounted network terminal, an intelligent driving ECU (Electronic Control Unit), a cockpit ECU, a body ECU, and a vehicle-mounted sensor, wherein the user terminal includes a port for controlling the vehicle, and its functions include a vehicle information reminder function, a vehicle positioning function, a remote control vehicle automatic driving function, and a map location selection function; the vehicle-mounted network terminal is used to receive a wireless signal sent by the user terminal, and to feedback the status information of the ECU on the vehicle, and to search for network information, the network information includes the road conditions at the current location, and to feedback the network information to the user terminal; the intelligent driving ECU is a controller for controlling the parking function, which is used to control the operation of sensors such as cameras and radars of the vehicle's intelligent driving system, extract the features of pedestrians and vehicles near the vehicle, and perform logical analysis and judgment; the cockpit ECU is used to provide vehicle-mounted navigation information and vehicle positioning information, and send them to the vehicle-mounted network terminal via Ethernet or CAN (Controller Area Network) signals; the body ECU is used to judge the parking status of the vehicle, including power status, vehicle lock status, etc.

[0040] Among them, the functional timing diagram is as follows Figure 2As shown, step 201 indicates that the body ECU sends parking status information. When the vehicle is parked, the body ECU determines the driver's parking intention based on the power status, the lock status, etc., and broadcasts the parking request on the network. Step 202 indicates that after the cockpit ECU receives the parking request, it sends the vehicle positioning information and the location, time and other information of the vehicle to the on-board network terminal. Step 203 indicates that the on-board network terminal obtains network information and feedbacks it. Step 204 indicates that when the cockpit ECU comprehensively determines that the current parking position is in a position that may cause congestion, it sends a request signal to the intelligent driving ECU. Step 205 indicates that the intelligent driving ECU sends status information to the user terminal and the body ECU according to the request signal, turns on the camera and radar to obtain environmental perception data, and step 206 indicates that the intelligent driving ECU determines whether the monitored data The vehicle moving conditions are met, and a request is sent to the vehicle-mounted network terminal after the vehicle moving conditions are met. Step 207 indicates that the vehicle-mounted network terminal sends the request to the user terminal. Step 208 indicates that the user terminal confirms whether to move the vehicle, and feeds back information to enable the vehicle to park at the target parking position. Step 209 indicates that the vehicle-mounted network terminal sends the feedback information to the intelligent driving ECU. Step 210 indicates that the intelligent driving ECU controls the vehicle to move to the target parking position. Step 211 indicates that the body ECU determines whether to stop acquiring environmental perception data based on the above conditions, wherein the vehicle acquires environmental perception data at the target parking position. If the environmental perception data of the vehicle at the target parking position does not meet the vehicle moving conditions, the acquisition of environmental perception data is stopped, and a power-off sleep state is requested to be entered, so that the vehicle is in a sleep state until the next cycle when monitoring needs to be started.

[0041] In one embodiment of the present disclosure, before obtaining environmental perception data of the current vehicle's surrounding environment, historical road conditions at the current parking position are obtained, and the road conditions at the current parking position are predicted based on the historical road conditions to obtain prediction results for each time period, and whether to start obtaining environmental perception data is determined based on the prediction results. In this embodiment, historical road conditions include but are not limited to historical road congestion conditions. For example, based on the historical road congestion conditions, the time period of road congestion is analyzed to determine the time period of road congestion, so as to obtain environmental perception data in the corresponding time period. For example, when parking on a road near a school, the time period of going to school and leaving school is a time period of road congestion. If the parking position is not suitable during the road congestion period, it is more likely to hinder traffic. At this time, environmental perception data is obtained, and it may not be obtained in other time periods, thereby reducing the system operation time and reducing system energy consumption.

[0042] Based on the above embodiments, Figure 3 A flow chart of another vehicle control method provided by an embodiment of the present disclosure is shown as follows: Figure 3 As shown, the method includes:

[0043] Step 301 , collecting sensor data through vehicle-mounted sensors, and processing the sensor data to obtain the speeds of other vehicles and the number of pedestrians in the surrounding environment.

[0044] In this embodiment, after the vehicle is parked, the vehicle turns on the on-board sensors, which include cameras, radars, etc. The sensor data include image data and point cloud data. The image data and point cloud data are processed to obtain environmental perception data of the vehicle's surroundings.

[0045] As an example, image data of the current vehicle's surroundings is collected by a camera, and image recognition is performed on the image data collected at each moment to obtain other vehicles and pedestrians in the image data at each moment. In addition, based on the positions of other vehicles and pedestrians in the image data at each moment and the calibration parameters of the camera, the speed and travel direction of each other vehicle, the direction of travel of pedestrians, and the relative position relationship between other vehicles and pedestrians and the current vehicle are calculated.

[0046] As another example, point cloud data of the current vehicle's surroundings are collected by radar, and the collected point cloud data are processed to obtain other vehicles and pedestrians in the current vehicle's surroundings, as well as determine the speed and travel direction of other vehicles, the direction of pedestrians, and the relative position relationship between other vehicles and the current vehicle.

[0047] In the above examples, sensors such as cameras and radars can be used alone or in combination as needed. For example, cameras are used to collect data and determine environmental perception data on sunny days, and radars are used to collect data and determine environmental perception data on foggy days. There is no specific limitation here.

[0048] Step 302: When the speed of other vehicles and the number of pedestrians satisfy the first moving condition, determine the target parking position after moving the vehicle.

[0049] Step 303, controlling the current vehicle to move from the current parking position to the target parking position.

[0050] The environmental perception data includes at least one of the speed of other vehicles and the number of pedestrians.

[0051] In one embodiment of the present disclosure, the following steps are used to determine whether the environmental perception data meets the preset vehicle moving condition: a first vehicle traveling at a specified position of the current vehicle is determined from other vehicles; if the speed of the first vehicle is lower than a first threshold, it is determined that the environmental perception data meets the preset vehicle moving condition.

[0052] In this embodiment, the designated direction includes the front area / rear area, left area / right area of ​​the vehicle. For any other vehicle, if the other vehicle is located in the front and rear area of ​​the current vehicle, and the driving direction of the other vehicle is toward the current vehicle, then the other vehicle is determined to be the first vehicle. In this scenario, the first vehicle is determined in the above manner to further determine whether the current parking position obstructs the passage of the front and rear vehicles according to the speed of the first vehicle. If any other vehicle is located in the left and right areas of the current vehicle, and the driving direction of the other vehicle is toward the front and rear direction of the current vehicle, then the other vehicle is determined to be the first vehicle. In this scenario, by determining the first vehicle, it is further determined whether the current parking position obstructs the passage of other vehicles on the road according to the speed of the first vehicle. In some actual scenarios, if the parking position of a vehicle is not suitable, it will affect the passage of other vehicles. For example, vehicle A is currently parked on the side of the road. If the parking position of vehicle A is not suitable, the passable space of the road will be reduced. At this time, when another vehicle B is driving on the road, when vehicle B passes by vehicle A, due to the reduction in the passable space of the road, vehicle B will usually reduce its speed to avoid vehicle scratches, etc. Therefore, in this embodiment, the speed of the first vehicle is detected to determine whether the current parking position hinders the passage of other vehicles according to the speed of the first vehicle.

[0053] Optionally, if the speed of the first vehicle is lower than a first threshold, determining that the environmental perception data meets the preset vehicle moving condition includes: obtaining the minimum speed limit of the road where the current parking position is located, and if the speed of the first vehicle is lower than a preset proportion of the minimum speed limit of the road, determining that the environmental perception data meets the preset vehicle moving condition; and / or, if the speeds of N consecutive first vehicles are lower than the preset speed, determining that the environmental perception data meets the preset vehicle moving condition, where N is a positive integer.

[0054] As an example, if the speed of the first vehicle is lower than half of the minimum speed limit of the road, or the speeds of three consecutive first vehicles are lower than 10 km / h, the first vehicle moving condition is met.

[0055] In one embodiment of the present disclosure, the following steps are used to determine whether the environmental perception data meets the preset vehicle moving conditions: from the pedestrians within a preset range around the current vehicle, determine the first pedestrian whose direction of travel is toward the current vehicle; if the number of the first pedestrians is greater than a second threshold within a preset time period, determine that the environmental perception data meets the preset vehicle moving conditions.

[0056] In this embodiment, the preset range, the preset time period and the second threshold value can be set as needed, for example, the preset range is ten meters, the preset time period is one minute, and the second threshold value is fifty people. In some actual scenarios, if the parking position of a certain vehicle is not suitable, it will affect the passage of pedestrians. For example, if the current vehicle is parked on the side of the road, if the parking position of the vehicle is not suitable, it will affect the normal passage route of pedestrians. At this time, when pedestrians pass on the road, when pedestrians walk near the vehicle, because the vehicle blocks the normal passage route of pedestrians, pedestrians need to go around the vehicle. Therefore, in this embodiment, by determining the number of first pedestrians, it is judged whether the current parking position blocks the passage of pedestrians according to the number of first pedestrians. When the number of first pedestrians in the preset time period is greater than the threshold, it is determined that the current parking position is on the normal passage route of pedestrians. At this time, the current parking position blocks the passage of pedestrians.

[0057] As an example, for the front and rear areas of the current vehicle, the first pedestrian whose passage direction is toward the current vehicle is determined from the pedestrians within the preset range around the current vehicle, and for the left and right areas of the current vehicle, the first pedestrian whose passage direction is toward the current vehicle is determined from the pedestrians within the preset range around the current vehicle. In this example, the relationship between the vehicle orientation and the current road direction can be determined, for example, by identifying the image collected by the vehicle camera to determine the relationship between the vehicle orientation and the current road direction, or by matching the vehicle's heading angle, vehicle positioning information and map data to determine the relationship between the vehicle orientation and the current road direction. Then, when the vehicle is parked along the road direction, the first pedestrian within the preset range of the front and rear areas of the current vehicle can be detected, and when the vehicle is parked toward the edge of the road, the first pedestrian within the preset range of the left and right areas of the current vehicle can be detected. In this scenario, the first pedestrian is determined in the above manner to further determine whether the current parking position hinders the passage of pedestrians based on the passage frequency of the first pedestrian.

[0058] In one embodiment of the present disclosure, after determining that the environmental perception data meets the preset vehicle moving condition, the vehicle sends an action confirmation request for the target action to the user terminal, and in response to receiving the confirmation information returned by the user terminal, determines that the current vehicle performs the target action. In this embodiment, after the user confirms the execution of the target action on the user terminal side, the user terminal returns the confirmation information to the vehicle, and the vehicle determines to execute the target action according to the confirmation information.

[0059] Among them, the target action includes a moving action. The vehicle sends an action confirmation request for the moving action to the user terminal. The user terminal displays confirmation prompt information. After the user confirms the execution of the moving action on the user terminal side according to the displayed confirmation prompt information, the user terminal returns confirmation information to the vehicle. After the vehicle receives the confirmation information returned by the user terminal, it determines to execute the moving action.

[0060] In the disclosed embodiment, after the vehicle is parked, the external environment is monitored to obtain environmental perception data such as the speed of other vehicles and the number of pedestrians. When it is determined based on the environmental perception data that the vehicle is currently obstructing traffic and needs to be moved, and the current parking position is not suitable for parking, the vehicle is controlled to move to another position for parking. In this way, it is possible to intelligently detect whether the current parking position is obstructing the passage of other vehicles or pedestrians, and execute the vehicle moving action when it is detected that other vehicles or pedestrians are obstructed, thereby providing more intelligent parking control and improving the intelligent parking application of the entire vehicle.

[0061] Based on the above embodiments, Figure 4 A flow chart of another vehicle control method provided by an embodiment of the present disclosure is shown as follows: Figure 4 As shown, the method includes:

[0062] Step 401 , collecting sensor data through vehicle-mounted sensors, and processing the sensor data to obtain the personal features of pedestrians and the appearance features of other vehicles in the surrounding environment.

[0063] In this embodiment, after the vehicle is parked, the vehicle turns on the on-board sensors, which include cameras, radars, etc. The sensor data include image data and point cloud data. The image data and point cloud data are processed to obtain environmental perception data of the vehicle's surroundings.

[0064] As an example, image data of the current vehicle's surroundings are collected by a camera, and image recognition is performed on the collected image data to obtain other vehicles and pedestrians in the image data. Also, feature extraction is performed on other vehicles and pedestrians in the image data to obtain personal features of pedestrians and appearance features of other vehicles.

[0065] In this example, image processing can be implemented based on machine learning models and deep learning models. For example, image recognition is performed on the collected image data based on a pre-trained target detection model, and the appearance features of people and other vehicles are obtained through a pre-trained classification model.

[0066] Step 402: When the features of the person and the appearance features of other vehicles satisfy a second vehicle moving condition, determine a target parking position after the vehicle is moved.

[0067] Step 403, controlling the current vehicle to move from the current parking position to the target parking position.

[0068] Among them, the environmental perception data includes at least one of character features and appearance features of other vehicles. The character features include clothing features and action features of the character. The clothing features include clothing style, clothing type, clothing color, etc.

[0069] In this embodiment, the following steps are used to determine whether the environmental perception data meets the preset moving conditions: if the character features of any pedestrian are detected to be a specific person, then the environmental perception data is determined to meet the preset moving conditions; and / or, if the appearance features of any other vehicle are detected to be a specific vehicle appearance, then the environmental perception data is determined to meet the preset moving conditions. Optionally, when the clothing features are detected to be preset clothing, the character features are determined to be a specific person; when the action features are detected to be preset actions, the character features are determined to be a specific person, and the preset actions include, for example, taking photos; when the preset colors or sprayed words are detected, the appearance features of the vehicle are determined to be a specific vehicle appearance.

[0070] In one embodiment of the present disclosure, after determining that the environmental perception data meets the preset vehicle moving conditions, the vehicle sends an action confirmation request for the target action to the user terminal, and in response to receiving the confirmation information returned by the user terminal, determines that the current vehicle performs the target action. In this embodiment, after the user confirms the execution of the target action on the user terminal side, the user terminal returns the confirmation information to the vehicle, and the vehicle determines to execute the target action according to the confirmation information. Among them, the target action includes but is not limited to the vehicle moving action and the welcoming action.

[0071] As an example, taking the clothing features of a person as an example, the driver or passenger can pre-store their own clothing features on the vehicle side. After the vehicle is parked, the vehicle obtains the clothing features of each pedestrian in the surrounding environment, and compares the clothing features of each pedestrian with the pre-stored clothing features. If there are clothing features with a similarity greater than a threshold, it is determined that a specific person is recognized. At this time, the preset vehicle moving conditions are met, and whether to perform the vehicle moving action and / or the welcoming action is confirmed. In this example, taking the vehicle moving action as an example, after the vehicle is parked, the driver temporarily leaves the vehicle, and the vehicle continues to obtain the characteristics of the person in the vehicle's surrounding environment. When the driver returns to the vehicle, the vehicle determines that the driver is recognized and sends an action confirmation request for the vehicle moving action to the user terminal to prompt the driver whether to move the vehicle. After the driver confirms through the user terminal, it is determined that the driver has a need to move the vehicle. At this time, the vehicle determines the target parking position after the vehicle is moved. The target parking position can be a pre-entered destination position, and the vehicle moves from the current parking position to the target parking position of the destination.

[0072] In the disclosed embodiment, after the vehicle is parked, the external environment is monitored to obtain environmental perception data such as human features and appearance features of other vehicles, and when it is determined based on the environmental perception data that the conditions for moving the vehicle are met, the vehicle is controlled to move to another location, thereby providing more intelligent parking control and improving the intelligent parking application of the entire vehicle.

[0073] Figure 5 A schematic diagram of the structure of a vehicle control device provided by an embodiment of the present disclosure is shown in FIG. Figure 5As shown, the vehicle control device includes: an acquisition module 51, a determination module 52, and a control module 53.

[0074] The acquisition module 51 is used to acquire the environmental perception data of the current vehicle surrounding environment;

[0075] A determination module 52, configured to determine a target parking position after the vehicle is moved if the environment perception data satisfies a preset vehicle moving condition;

[0076] The control module 53 is used to control the current vehicle to move from the current parking position to the target parking position.

[0077] In one embodiment of the present disclosure, the environmental perception data includes at least one of the speed of other vehicles and the number of pedestrians, and the device further includes:

[0078] The first judgment module is used to determine a first vehicle traveling at a designated direction of the current vehicle from among the other vehicles; if the speed of the first vehicle is lower than a first threshold, determine that the environmental perception data satisfies a preset vehicle moving condition; and / or, determine a first pedestrian whose direction of travel is toward the current vehicle from among pedestrians within a preset range around the current vehicle; if the number of the first pedestrians is greater than a second threshold within a preset time period, determine that the environmental perception data satisfies the preset vehicle moving condition.

[0079] In one embodiment of the present disclosure, the first judgment module is specifically used to: obtain the minimum speed limit of the road where the current parking position is located; if the speed of the first vehicle is lower than a preset ratio of the minimum speed limit of the road, determine that the environmental perception data meets the preset vehicle moving condition; and / or, if the speeds of N consecutive first vehicles are lower than the preset speed, determine that the environmental perception data meets the preset vehicle moving condition; N is a positive integer.

[0080] In one embodiment of the present disclosure, the environmental perception data includes at least one of a person feature and an appearance feature of another vehicle, and the device further includes:

[0081] A second judgment module is used to determine that the environmental perception data meets a preset vehicle moving condition if the detected person feature is a specific person; and / or,

[0082] If it is detected that the appearance features of the other vehicles are the appearance of a specific vehicle, it is determined that the environmental perception data meets the preset vehicle moving conditions.

[0083] In one embodiment of the present disclosure, the device further includes:

[0084] A monitoring start module, used for obtaining historical road conditions at the current parking position;

[0085] Predicting the road conditions at the current parking location based on the historical road conditions to obtain prediction results for each time period;

[0086] Determine whether to obtain environmental perception data of the current vehicle surrounding environment based on the prediction result.

[0087] In one embodiment of the present disclosure, the determination module 52 is specifically configured to:

[0088] According to the current parking position, the target parking position is determined according to a preset parking position search strategy; or,

[0089] The parking lot information preset by the user is queried, and the target parking location is determined according to the parking lot information.

[0090] In one embodiment of the present disclosure, the device further includes:

[0091] The remote vehicle moving module is used to determine the target parking position if a vehicle moving request sent by a user terminal is received when the environmental perception data does not meet the preset vehicle moving conditions; and control the current vehicle to move from the current parking position to the target parking position.

[0092] In one embodiment of the present disclosure, the device further includes:

[0093] The action confirmation module is used to send an action confirmation request for a target action to a user terminal; in response to receiving confirmation information returned by the user terminal, determine that the current vehicle performs the target action.

[0094] In one embodiment of the present disclosure, the device further includes:

[0095] A sleep module is used to obtain the environmental perception data of the current vehicle at the target parking position; if the environmental perception data of the current vehicle at the target parking position does not meet the vehicle moving condition, the current vehicle is controlled to enter a sleep state. The vehicle control device provided in the embodiment of the present disclosure can execute any vehicle control method provided in the embodiment of the present disclosure, and has the corresponding functional modules and beneficial effects of the execution method. For the content not fully described in the embodiment of the device of the present disclosure, reference can be made to the description in any method embodiment of the present disclosure.

[0096] The present disclosure also provides an electronic device, which includes one or more processors and a memory. The processor may be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions. The memory may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on a computer-readable storage medium, and the processor may run the program instructions to implement the method of the above embodiment of the present disclosure and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0097] In one example, the electronic device may further include: an input device and an output device, and these components are interconnected through a bus system and / or other forms of connection mechanisms. In addition, the input device may also include, for example, a keyboard, a mouse, etc. The output device may output various information to the outside, including determined distance information, direction information, etc. The output device may include, for example, a display, a speaker, a printer, and a communication network and a remote output device connected thereto, etc. In addition, according to the specific application, the electronic device may also include any other appropriate components such as a bus, an input / output interface, etc.

[0098] In addition to the above methods and devices, the embodiments of the present disclosure may also be a computer program product, which includes computer program instructions. When the computer program instructions are executed by a processor, the processor executes any method provided by the embodiments of the present disclosure.

[0099] The computer program product may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the disclosed embodiments, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0100] In addition, the embodiments of the present disclosure may also be a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor executes any method provided by the embodiments of the present disclosure.

[0101] Computer readable storage media can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0102] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0103] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle control method, characterized in that: include: Obtain environmental perception data of the current vehicle's surroundings; When the environment perception data satisfies a preset vehicle moving condition, determining a target parking position after the vehicle is moved; Control the current vehicle to move from the current parking position to the target parking position.

2. The method according to claim 1, characterized in that The environmental perception data includes at least one of the speed of other vehicles and the number of pedestrians. The following steps are performed to determine whether the environmental perception data meets the preset vehicle moving condition: Determine a first vehicle from among the other vehicles that is traveling at the designated location of the current vehicle; If the speed of the first vehicle is lower than a first threshold, determining that the environment perception data meets a preset vehicle moving condition; and / or, Determine, from among the pedestrians within a preset range around the current vehicle, a first pedestrian whose passage direction is toward the current vehicle; If the number of the first pedestrians is greater than a second threshold within a preset time period, it is determined that the environmental perception data meets a preset vehicle moving condition.

3. The method according to claim 2, characterized in that If the speed of the first vehicle is lower than a first threshold, determining that the environmental perception data meets a preset vehicle moving condition includes: Obtaining the minimum speed limit of the road where the current parking position is located; If the speed of the first vehicle is lower than a preset ratio of the minimum speed limit of the road, determining that the environmental perception data satisfies a preset vehicle moving condition; and / or, If the speeds of N consecutive first vehicles are lower than a preset speed, it is determined that the environmental perception data meets the preset vehicle moving condition; N is a positive integer.

4. The method according to claim 1, characterized in that The environmental perception data includes at least one of a person feature and an appearance feature of another vehicle, and the environmental perception data is judged to meet the preset vehicle moving condition by the following steps: If the person feature is detected to be a specific person, determining that the environmental perception data meets the preset vehicle moving condition; and / or, If it is detected that the appearance feature of the other vehicle is the appearance of a specific vehicle, it is determined that the environmental perception data meets the preset vehicle moving condition.

5. The method according to claim 1, characterized in that Before acquiring the environmental perception data of the current vehicle surrounding environment, the method further includes: Acquire historical road conditions at the current parking location; Predicting the road conditions at the current parking location based on the historical road conditions to obtain prediction results for each time period; Determine whether to obtain environmental perception data of the current vehicle surrounding environment based on the prediction result.

6. The method according to claim 1, characterized in that Determining the target parking position after the vehicle is moved includes: According to the current parking position, the target parking position is determined according to a preset parking position search strategy; or, The parking lot information preset by the user is queried, and the target parking location is determined according to the parking lot information.

7. The method according to claim 1, characterized in that The method further comprises: In the case where the environment perception data does not satisfy the preset vehicle moving condition, if a vehicle moving request sent by a user terminal is received, determining the target parking position; Control the current vehicle to move from the current parking position to the target parking position.

8. The method according to claim 1, characterized in that After determining that the environmental perception data meets the preset vehicle moving condition, the method further includes: Sending an action confirmation request for a target action to a user terminal; In response to receiving the confirmation information returned by the user terminal, it is determined that the current vehicle performs the target action.

9. The method according to claim 1, characterized in that After controlling the current vehicle to move from the current parking position to the target parking position, the method further includes: Acquiring environmental perception data of the current vehicle at the target parking position; If the environmental perception data of the current vehicle at the target parking position does not meet the vehicle moving condition, the current vehicle is controlled to enter a dormant state.

10. A vehicle control device, characterized in that: include: An acquisition module is used to acquire environmental perception data of the current vehicle surroundings; A determination module, configured to determine a target parking position after the vehicle is moved if the environment perception data meets a preset vehicle moving condition; The control module is used to control the current vehicle to move from the current parking position to the target parking position.

11. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is used to read the executable instructions from the memory and execute the instructions to implement the vehicle control method described in any one of claims 1-9 above.

12. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle control method described in any one of claims 1 to 9 is implemented.

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