Vehicle control method, device, electronic device, vehicle and storage medium

Abstract

The present application provides a vehicle control method, device, electronic device, vehicle and storage medium, the method comprising: obtaining an electronic image of an intelligent driving perception screen in real time; wherein the electronic image is used to display a vehicle identification and a vehicle control identification, the vehicle identification is used to indicate real-time vehicle information, and the vehicle control identification is used to indicate the real-time vehicle control mode of the vehicle relative to other vehicles; receiving voice commands sent by a user to the electronic image in real time; judging whether the vehicle control mode in the voice command matches the vehicle control mode indicated by the vehicle control identification, and obtaining a judgment result; according to the judgment result and real-time vehicle information, controlling whether the vehicle drives relative to other vehicles according to the voice command. The vehicle control method provided by the present application improves the personalization of the intelligent driving system while ensuring driving safety, thereby improving the user experience of autonomous driving.

Description

Technical Field

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

[0002] In recent years, with the development of intelligent driving technology, more and more vehicles on the market have automatic driving functions. The realization of automatic driving functions depends on the vehicle's Advanced Driver Assistance System (ADAS). After the vehicle starts automatic driving, the Advanced Driver Assistance System can obtain real-time data about the vehicle's surrounding environment and control the vehicle to follow traffic rules and drive safely to the destination along the planned route.

[0003] However, in the related technologies, most of the autonomous driving driving modes are preset. If the advanced driving assistance system controls the vehicle to drive according to the preset driving mode, the user will not be able to control the vehicle to drive according to his or her own wishes.

[0004] Therefore, it is necessary to provide a technical solution to solve the above technical problems. Summary of the invention

[0005] The present application provides a vehicle control method, device, electronic device, vehicle and storage medium, which can control the vehicle to travel relative to another vehicle specified by the user according to the user's requirements.

[0006] In a first aspect, the present application provides a vehicle control method, comprising:

[0007] Acquire an electronic image of the intelligent driving perception screen in real time; wherein the electronic image is used to display a vehicle identification and a vehicle control identification, the vehicle identification is used to indicate real-time vehicle information, and the vehicle control identification is used to indicate the real-time vehicle control mode of the own vehicle relative to other vehicles;

[0008] receiving in real time a voice command sent by a user with respect to the electronic image;

[0009] Determining whether the vehicle control mode in the voice command matches the vehicle control mode indicated by the vehicle control identifier, and obtaining a determination result;

[0010] Based on the judgment result and the real-time vehicle information, control is performed to determine whether the own vehicle drives relative to the other vehicle according to the voice command.

[0011] Optionally, the vehicle control method in the voice command includes information of a specific vehicle and a specific vehicle control method of the self-vehicle relative to the specific vehicle;

[0012] The determining whether the vehicle control mode in the voice command matches the vehicle control mode indicated by the vehicle control identifier includes:

[0013] According to the information of the specific vehicle, determining whether the real-time vehicle information includes vehicle information matching the information of the specific vehicle;

[0014] If yes, the other vehicle corresponding to the vehicle information matching the information of the specific vehicle is determined as the target vehicle;

[0015] Determine whether the specific vehicle control mode matches the vehicle control mode indicated by the vehicle control identifier corresponding to the target vehicle.

[0016] Optionally, the other vehicle includes a target vehicle, and the vehicle control identifier includes a target vehicle control identifier for indicating a real-time vehicle control mode of the self-vehicle relative to the target vehicle;

[0017] The determining whether the vehicle control mode in the voice command matches the vehicle control mode indicated by the vehicle control identifier to obtain a determination result includes:

[0018] Performing semantic analysis on the voice command to obtain a vehicle control method contained in the command content of the voice command;

[0019] Determining whether the vehicle control mode in the instruction content matches the vehicle control mode indicated by the target vehicle control identifier;

[0020] If they match, the matching result is obtained as the judgment result;

[0021] The controlling, based on the judgment result and the real-time vehicle information, whether the vehicle drives relative to the other vehicle according to the voice command comprises:

[0022] According to the real-time vehicle information, the self-vehicle is controlled to travel relative to the target vehicle according to the vehicle control method in the matching result.

[0023] Optionally, the other vehicle includes a target vehicle, the vehicle control identifier includes a target vehicle control identifier for indicating a real-time vehicle control mode for the self-vehicle to follow and / or overtake the target vehicle, the vehicle control mode in the voice command includes a locked following mode, and the judgment result is a matching result that matches the locked following mode;

[0024] The controlling, based on the judgment result and the real-time vehicle information, whether the vehicle drives relative to the other vehicle according to the voice command comprises:

[0025] According to the real-time vehicle information, the self-vehicle is controlled to follow the target vehicle in the locking and following mode to accelerate or decelerate or change lanes.

[0026] Optionally, controlling the self-vehicle to follow the target vehicle in the locking and following manner to accelerate or decelerate or change lanes according to the real-time vehicle information includes:

[0027] When the vehicle identification includes a jamming vehicle identification for indicating another vehicle driving between the own vehicle and the target vehicle, searching for the target vehicle from surrounding vehicles of the own vehicle according to the vehicle attribute of the target vehicle;

[0028] If the target vehicle is found, continue to follow the target vehicle and accelerate or decelerate or change lanes;

[0029] If the target vehicle cannot be searched, the user is notified that locking and following the target vehicle has failed.

[0030] Optionally, the other vehicle includes a target vehicle, the vehicle control identifier includes a target vehicle control identifier for indicating a real-time vehicle control mode for the self-vehicle to follow and / or overtake the target vehicle, the vehicle control mode in the voice command includes a following vehicle mode, and the judgment result is a matching result that matches the following vehicle mode;

[0031] The controlling, based on the judgment result and the real-time vehicle information, whether the vehicle drives relative to the other vehicle according to the voice command comprises:

[0032] According to the real-time vehicle information, the self-vehicle is controlled to follow the target vehicle in the following manner to accelerate or decelerate.

[0033] Optionally, controlling the self-vehicle to follow the target vehicle in the following manner to accelerate or decelerate according to the real-time vehicle information includes:

[0034] When the vehicle identification includes a jamming vehicle identification for indicating another vehicle entering between the own vehicle and the target vehicle, setting the other vehicle as a new target vehicle, and associating the target vehicle control identification with the updated target vehicle;

[0035] The self-vehicle is controlled to follow the updated target vehicle in the following manner to accelerate or decelerate.

[0036] Optionally, the other vehicle includes a target vehicle, the vehicle control identifier includes a target vehicle control identifier for indicating a real-time vehicle control mode for the self-vehicle to follow and / or overtake the target vehicle, the vehicle control mode in the voice command includes an overtaking mode, and the judgment result is a matching result that matches the overtaking mode;

[0037] The controlling, based on the judgment result and the real-time vehicle information, whether the vehicle drives relative to the other vehicle according to the voice command comprises:

[0038] According to the real-time vehicle information, the vehicle is controlled to accelerate in the overtaking manner until it overtakes the target vehicle.

[0039] Optionally, before determining whether the vehicle control mode in the voice command matches the vehicle control mode indicated by the vehicle control identifier, and obtaining the determination result, the vehicle control method further includes:

[0040] Determining whether the voice command complies with a safe intelligent driving strategy;

[0041] If yes, continue with the next steps;

[0042] If not, the voice instruction is refused to be executed and a violation notification is generated; wherein the violation notification is used to notify the user that the voice instruction violates the rules;

[0043] and / or

[0044] The controlling, based on the judgment result and the real-time vehicle information, whether the vehicle drives relative to the other vehicle according to the voice command comprises:

[0045] If the real-time vehicle information complies with the safe intelligent driving strategy, then based on the judgment result, the self-vehicle is controlled to drive relative to the other vehicle according to the voice command.

[0046] Optionally, before receiving in real time a voice command sent by a user in response to the electronic image, the vehicle control method further includes:

[0047] Generate an operation guide based on the real-time vehicle information and the preset intelligent driving strategy; wherein the operation guide is used to guide the user to send a currently supported voice command;

[0048] The operation instructions are displayed on the intelligent driving perception screen, and / or the operation instructions are broadcasted by voice.

[0049] In a second aspect, the present application provides a vehicle control device, comprising:

[0050] An acquisition module, used to acquire an electronic image of the intelligent driving perception screen in real time; the electronic image is used to display a vehicle identification and a vehicle control identification, the vehicle identification is used to indicate real-time vehicle information, and the vehicle control identification is used to indicate a real-time vehicle control mode of the own vehicle relative to other vehicles;

[0051] A receiving module, used for receiving in real time a voice command sent by a user in response to the electronic image;

[0052] A judgment module, used to judge whether the vehicle control mode in the voice command matches the vehicle control mode indicated by the vehicle control identifier, and obtain a judgment result;

[0053] The control module is used to control whether the self-vehicle drives relative to the other vehicle according to the voice instruction based on the judgment result and the real-time vehicle information.

[0054] In a third aspect, the present application provides an electronic device comprising at least one processor, wherein the processor is used to implement a vehicle control method as described in any one of the first aspects.

[0055] In a fourth aspect, the present application provides a vehicle, comprising at least one processor, wherein the processor is used to implement the vehicle control method as described in any one of the first aspects.

[0056] In a fifth aspect, the present application provides a computer-readable storage medium having a program stored thereon, and when the program is executed by a processor, the vehicle control method as described in any one of the first aspects is implemented.

[0057] In the vehicle control method, device, electronic device, vehicle and storage medium provided by the present application, by receiving the voice command sent by the user to the electronic image of the intelligent driving perception screen in real time, and when the vehicle control mode in the voice command matches the vehicle control mode indicated by the vehicle control mark on the electronic image, the vehicle is controlled to drive relative to the other vehicle according to the voice command, thereby providing a voice interaction method between the user and the intelligent driving system, so that the user can request the intelligent driving system to control the vehicle to drive relative to the other vehicle according to his own wishes through voice interaction. In addition, before controlling the vehicle to drive relative to the other vehicle according to the voice command, the real-time vehicle information indicated by the vehicle mark on the electronic image is also comprehensively considered, which improves the personalization of the intelligent driving system while ensuring driving safety, thereby improving the user experience of automatic driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0059] Figure 1The figure is a flow chart of a vehicle control method according to an embodiment of the present application.

[0060] Figure 2 Shown is a schematic diagram of an electronic image according to an embodiment of the present application.

[0061] Figure 3 Shown is another flow chart of a vehicle control method according to an embodiment of the present application.

[0062] Figure 4 Shown is a schematic diagram of the operating instructions of an embodiment of the present application.

[0063] Figure 5 Shown is a structural block diagram of a vehicle control device according to an embodiment of the present application.

[0064] Figure 6 Shown is a structural block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0065] Here, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0066] The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with one or more embodiments of this specification. Instead, they are merely examples of devices and methods consistent with some aspects of one or more embodiments of this specification as detailed in the attached claims. It should be noted that in other embodiments, the steps of the corresponding method are not necessarily performed in the order shown and described in this specification. In some other embodiments, the steps included in the method may be more or less than those described in this specification. In addition, a single step described in this specification may be decomposed into multiple steps for description in other embodiments; and multiple steps described in this specification may be combined into a single step for description in other embodiments.

[0067] In the related art, in vehicles with autonomous driving functions, the advanced driving assistance system usually controls the vehicle to drive according to a preset driving mode, making it impossible for users to control the vehicle to drive according to their own wishes.

[0068] In order to solve the technical problem in the related art that the user is unable to control the vehicle to drive as he or she wishes when the vehicle is driving automatically, the embodiment of the present application provides a vehicle control method, which receives in real time the voice command sent by the user to the electronic image of the intelligent driving perception screen, and when the vehicle control mode in the voice command matches the vehicle control mode indicated by the vehicle control mark on the electronic image, controls the vehicle to drive relative to other vehicles according to the voice command, thereby providing a voice interaction method between the user and the intelligent driving system, so that the user can request the intelligent driving system to control the vehicle to drive relative to other vehicles according to his or her wishes through voice interaction.

[0069] In addition, in the related art, if the driving mode preset by the advanced driving assistance system does not conform to the user's driving habits, the user wants to drive the vehicle as he wishes, and needs to take over the vehicle from the advanced driving assistance system. The advanced driving assistance system exits the control of the vehicle, and the user drives the vehicle as the driver. In other words, when the vehicle is driving, the vehicle is either completely controlled by the advanced driving assistance system or completely driven by the user, which results in inflexible control methods for manual driving and automatic driving, and poor user experience of automatic driving. For example, when the advanced driving assistance system controls the vehicle, the user wants to overtake or follow a certain vehicle, but the advanced driving assistance system cannot determine whether the user wants to overtake or follow the vehicle, and the target vehicle to overtake or follow.

[0070] In order to solve the technical problem of inflexible control methods of manual driving and automatic driving in related technologies, the embodiment of the present application provides a vehicle control method, which controls the vehicle to drive relative to other vehicles according to voice commands, and also comprehensively considers the real-time vehicle information indicated by the vehicle logo on the electronic image. The user sends a voice command, and the intelligent driving system receives the voice command in real time. The user and the intelligent driving system cooperate with each other, making the control methods of manual driving and automatic driving more flexible, and ensuring driving safety while improving the personalization of the intelligent driving system, and improving the user experience of automatic driving.

[0071] The vehicle control method provided in the embodiment of the present application can be applied to a vehicle equipped with a display screen, especially an intelligent driving system of a vehicle. Figure 1 , Figure 1 The figure is a flow chart of a vehicle control method according to an embodiment of the present application. The vehicle control method according to an embodiment of the present application includes but is not limited to the following steps S101 to S104.

[0072] S101, acquiring an electronic image of the intelligent driving perception screen in real time; wherein, the electronic image is used to display a vehicle identification and a vehicle control identification, the vehicle identification is used to indicate real-time vehicle information, and the vehicle control identification is used to indicate a real-time vehicle control method of the own vehicle relative to other vehicles.

[0073] The intelligent driving system can sense the surrounding environment of the vehicle in real time during driving through various sensors installed on the vehicle (such as millimeter wave radar, laser radar, single / binocular camera and satellite navigation, etc.), obtain real-time perception data of the surrounding environment of the vehicle, and identify, detect and track static and dynamic objects based on the real-time perception data. In order to show the user the surrounding environment of the vehicle and facilitate the user to grasp the information of the surrounding environment of the vehicle in real time, the intelligent driving system can generate and display an electronic image of the surrounding environment of the vehicle on the Advanced Driver Assistance System View (ADV) of the vehicle.

[0074] The electronic image may include a vehicle identification and a vehicle control identification. Among them: the vehicle identification is an identification corresponding to a vehicle in the surrounding environment of the own vehicle, which may include a vehicle identification corresponding to the own vehicle and a vehicle identification corresponding to another vehicle, and is used to indicate real-time vehicle information in the surrounding environment; the vehicle control identification is an identification corresponding to the vehicle control method of the own vehicle relative to another vehicle in the surrounding environment of the own vehicle, and is used to indicate the real-time vehicle control method of the own vehicle relative to another vehicle.

[0075] In some embodiments, the electronic image may further include lane markings and lane control markings. Among them: lane markings are markings corresponding to lanes in the surrounding environment of the vehicle, which may include markings corresponding to the lane where the vehicle is located and markings corresponding to other lanes where the vehicle is not located, and are used to indicate real-time lane information in the surrounding environment; lane control markings are markings corresponding to the lane control method of the vehicle relative to the lane in the surrounding environment of the vehicle, and are used to indicate the real-time lane control method of the vehicle relative to the lane. The embodiments of the present application do not limit the specific types of perceived objects in the surrounding environment of the vehicle contained in the electronic image.

[0076] Please also read Figure 2 , Figure 2 The electronic image of the embodiment of the present application is shown as a schematic diagram. The electronic image includes the vehicle identification, other vehicle identification and lane identification, as well as the vehicle control identification and lane control identification. The lane identification may include a lane graphic and / or a lane number, and the other vehicle identification may include a other vehicle graphic and / or a other vehicle number. Figure 2 The electronic images shown are described in detail.

[0077] Lane markings include lane graphics and lane numbers ①, ②, ③ and ④. Among them: a solid line and a dotted line in the longitudinal direction constitute the lane graphics of the rightmost lane (lane ①) in the same direction, two dotted lines in the longitudinal direction constitute the lane graphics of the middle lane (lane ②) in the same direction, a dotted line and a solid line in the longitudinal direction constitute the lane graphics of the leftmost lane (lane ③) in the same direction, and a dotted line and a solid line in the longitudinal direction constitute the lane graphics of the leftmost lane (lane ④) in the opposite direction.

[0078] The other vehicle identification includes the other vehicle graphic and the other vehicle number A, B, C, D. Among them: Vehicle A, Vehicle B and Vehicle C are vehicles traveling in the same direction in lane ①, lane ② and lane ③ respectively, and Vehicle D is a vehicle traveling in the opposite direction in lane ④.

[0079] The lane control signs include the Chinese pinyin initials B, Y, and S of the real-time lane control mode, where B is used to indicate lane change, Y is used to indicate priority lane driving, and S is used to indicate locked lane driving. Among them: the current self-vehicle can change lanes to lane ① or lane ② and give priority or lock to lane ① or lane ②, then the lane control signs corresponding to the lane signs of lane ① and lane ② are B, Y, and S representing lane change, priority lane driving, and locked lane driving; the current self-vehicle is in lane ③ and cannot change lanes to lane ③ but can give priority or lock to lane ③, then the lane control signs corresponding to the lane signs of lane ③ are Y and S representing priority lane driving and locked lane driving; the current self-vehicle can neither change lanes to lane ④ nor give priority or lock to lane ④, then the lane control sign corresponding to the lane sign of lane ④ is empty.

[0080] The vehicle control mark includes the Chinese pinyin initials C, G, and S of the real-time vehicle control mode, where C is used to indicate overtaking, G is used to indicate priority following, and S is used to indicate locked following. Among them: if the current self-vehicle cannot overtake, follow, or lock following car A or car D, the vehicle control mark corresponding to the other vehicle mark of car A and car D is empty; if the current self-vehicle can follow or lock following car B, the vehicle control mark corresponding to the other vehicle mark of car B is G and S representing following and locked following; if the current self-vehicle can overtake, follow, or lock following car C, the vehicle control mark corresponding to the other vehicle mark of car C is C and G representing overtaking and following.

[0081] It should be noted that the display mode of lane marking and lane control marking and the display mode of other vehicle marking and vehicle control marking are not limited to Figure 2As shown, each lane control sign is not necessarily displayed above or around its corresponding lane number, and each vehicle control sign is not necessarily displayed below or around its corresponding other vehicle sign. It is only necessary to establish a connection between each lane control sign and its corresponding lane sign, and between each vehicle control sign and its corresponding other vehicle sign, and display such connection. For example, different lane signs and other vehicle signs can be set to different colors, and each lane control sign and vehicle control sign can be set to the same color as its corresponding lane sign and other vehicle sign. The embodiment of the present application does not limit the specific display method of lane signs and lane control signs, and the specific display method of other vehicle signs and vehicle control signs.

[0082] It should also be noted that Figure 2 In the electronic image shown, the self-vehicle logo is black, the other-vehicle logos of cars B and C are white, the other-vehicle logos of cars A and D are gray, the lane graphics of lanes ①, ② and ③ are white, and the lane graphics of lane ④ is gray (indicated by diagonal filled lines in the figure). Among them: the white other-vehicle logo indicates that the current self-vehicle can perform at least one vehicle control method (such as overtaking or following) relative to the other vehicle represented by the other-vehicle logo, and the gray other-vehicle logo indicates that the current self-vehicle cannot perform any vehicle control method relative to the other vehicle represented by the other-vehicle logo; similarly, the white lane graphic indicates that the current self-vehicle can perform at least one lane control method (such as changing lanes) relative to the lane represented by the lane graphic, and the gray lane graphic indicates that the current self-vehicle cannot perform any lane control method relative to the lane represented by the lane graphic. In a specific scenario, the colors of the other-vehicle logos corresponding to different other vehicles and the lane graphics corresponding to different lanes can be specifically set, and the colors of the lane numbers corresponding to different lanes can also be different. For example, the vehicle identification mark can be set to the real color of the vehicle, the identification mark of other vehicles on which at least one vehicle control method can be executed can be set to green, and the identification mark of other vehicles on which no vehicle control method can be executed can be set to red. The embodiment of the present application does not limit the specific colors of different lane identification marks, different other vehicle identification marks, and vehicle identification marks.

[0083] S102, receiving in real time a voice instruction sent by a user with respect to the electronic image.

[0084] Because the vehicle control method that the user wants to adopt may be different under different road conditions, the user may want to cancel the voice command sent by the user in the last second in the next second, so it is necessary to receive the voice command sent by the user to the electronic image in real time to meet the user's real-time needs.

[0085] Receiving the voice command sent by the user can be achieved through the sound receiving device (such as a microphone) on the vehicle. For the specific implementation method in this regard, reference can be made to the relevant descriptions in the relevant field, which will not be repeated here.

[0086] S103, determining whether the vehicle control mode in the voice command matches the vehicle control mode indicated by the vehicle control identifier, and obtaining a determination result.

[0087] Because the vehicle control method in the voice command sent by the user is not necessarily consistent with the vehicle control method indicated by the vehicle control identifier, before executing the voice command sent by the user, it is necessary to first determine whether the vehicle control method in the voice command matches the vehicle control method indicated by the vehicle control identifier and obtain the judgment result.

[0088] For example Figure 2 In the electronic image shown, the vehicle control marks corresponding to the other vehicle mark of vehicle B are G and S representing following vehicle and locked following vehicle, indicating that the current vehicle can follow or locked following vehicle B. If the voice command sent by the user requires following vehicle B, then the vehicle control mode in the voice command matches the vehicle control mode indicated by the vehicle control mark, and the judgment result obtained is a matching result; if the voice command sent by the user requires passing vehicle B, then the vehicle control mode in the voice command does not match the vehicle control mode indicated by the vehicle control mark, and the judgment result obtained is a mismatch result.

[0089] S104, based on the judgment result and the real-time vehicle information, controlling whether the own vehicle drives relative to the other vehicle according to the voice command.

[0090] Even if the judgment result obtained in step S103 is a match result, the intelligent driving system will not control the vehicle to drive according to the voice command if the real-time vehicle information does not allow it. In other words, whether the judgment result obtained in step S103 is a match result or a mismatch result, the intelligent driving system still needs to determine whether the real-time road conditions are safe before deciding whether to control the vehicle to drive according to the voice command. Figure 2In the electronic image shown, if the voice command sent by the user requires overtaking car C, although the control mode in the voice command matches the control mode indicated by the control mark, the judgment result obtained is a matching result, but if car B slows down at this time and there is another car coming from behind car B in lane ②, the real-time road condition is not safe, and the vehicle cannot be immediately controlled to overtake car C. Only when the judgment result obtained in step S103 is a matching result and the real-time road condition is safe, the intelligent driving system will control the vehicle to drive according to the voice command. Specifically, the intelligent driving system can judge whether the real-time road condition is safe based on the real-time vehicle information. Regarding how to judge whether the real-time road condition is safe based on the real-time vehicle information, you can refer to the relevant descriptions in this field, which will not be repeated here.

[0091] In some embodiments, the intelligent driving system may wait until the real-time road conditions are safe before controlling the vehicle to drive according to the voice command. In other embodiments, the intelligent driving system may also abandon the currently received voice command and wait until the user resends the voice command before executing the above steps S103-S104. The embodiments of the present application do not limit the specific processing method of the voice command when the real-time road conditions are unsafe.

[0092] In the vehicle control method provided in the embodiment of the present application, after receiving the voice command sent by the user in response to the electronic image in real time and before controlling the vehicle to drive according to the voice command, it also comprehensively considers whether the real-time road condition indicated by the real-time vehicle information is safe, thereby improving the personalization level of the intelligent driving system while ensuring driving safety, thereby further improving the user experience of autonomous driving.

[0093] Before controlling the vehicle to drive relative to the other vehicle according to the voice command, the intelligent driving system needs to determine the target vehicle from the other vehicle before controlling the vehicle to drive relative to the target vehicle according to the voice command. Based on this, the vehicle control method of the embodiment of the present application can be implemented in at least the following two ways.

[0094] In some embodiments, the real-time vehicle information includes only one other vehicle. At this time, there is only one other vehicle driving in front of the vehicle, so only the only other vehicle in front of the vehicle can be determined as the target vehicle. When the user sends a voice command, there is no need to specify a specific vehicle. The vehicle control method in the voice command only includes the specific vehicle control method. The intelligent driving system will determine the only other vehicle in the real-time vehicle information as the target vehicle, and directly determine whether the vehicle control method in the voice command sent by the user matches the vehicle control method indicated by the vehicle control identifier.

[0095] In other embodiments, the real-time vehicle information includes multiple other vehicles. In this case, there is more than one other vehicle driving in front of the vehicle, so it is necessary to determine the target vehicle from the multiple other vehicles in front of the vehicle. When the user sends a voice command, it is necessary to specify a specific vehicle so that the vehicle control method in the voice command contains the information of the specific vehicle and the specific vehicle control method of the vehicle relative to the specific vehicle. When the intelligent driving system determines whether the vehicle control method in the voice command matches the vehicle control method indicated by the vehicle control identifier, it specifically includes the following steps:

[0096] According to the information of the specific vehicle, determining whether the real-time vehicle information includes vehicle information matching the information of the specific vehicle;

[0097] If yes, the other vehicle corresponding to the vehicle information matching the information of the specific vehicle is determined as the target vehicle;

[0098] Determine whether the specific vehicle control mode matches the vehicle control mode indicated by the vehicle control identifier corresponding to the target vehicle.

[0099] Please also read Figures 1 to 3 , Figure 3 Shown is another flow chart of a vehicle control method according to an embodiment of the present application.

[0100] In some embodiments, before receiving in real time the voice command sent by the user in response to the electronic image in the above step S102, the vehicle control method of the embodiment of the present application also includes the following steps S201-S202.

[0101] S201, generating an operation guide according to the real-time vehicle information and a preset intelligent driving strategy; wherein the operation guide is used to guide the user to send a currently supported voice command.

[0102] The intelligent driving system determines the vehicle control methods that can be performed by the current vehicle relative to other vehicles in the surrounding environment of the vehicle based on real-time vehicle information and preset intelligent driving strategies, and generates operation instructions. The operation instructions are used to guide users to send currently supported voice commands, so that users know which voice commands are currently supported and which voice commands can be sent before sending voice commands, thereby reducing the situation where users are informed that voice commands cannot be executed after sending voice commands, reducing user operation steps, improving user experience, and saving vehicle network resources and power resources.

[0103] S202, displaying the operation instructions on the intelligent driving perception screen, and / or announcing the operation instructions by voice.

[0104] Please also read Figure 4 , Figure 4The diagram shows the operation instructions of the embodiment of the present application. The intelligent driving system can display the operation instructions in the form of text on the intelligent driving perception screen, or can broadcast the operation instructions in the car in the form of voice instead of displaying the operation instructions on the intelligent driving perception screen, or can display the operation instructions in the form of text on the intelligent driving perception screen and also broadcast the operation instructions in the car in the form of voice, or display the operation instructions to the user in other forms. The embodiment of the present application does not limit the specific presentation method of the operation instructions.

[0105] In other embodiments, the intelligent driving system may not display the operation instructions on the intelligent driving perception screen, that is, the electronic image of the intelligent driving perception screen does not include the operation instructions, the intelligent driving system does not generate the operation instructions, and directly receives the voice instructions sent by the user to the vehicle control signs in the electronic image and executes the subsequent steps.

[0106] In some embodiments, in the above step S103, it is determined whether the vehicle control mode in the voice command matches the vehicle control mode indicated by the vehicle control identifier. Before obtaining the judgment result, the vehicle control method of the embodiment of the present application also includes the following steps S203-S205.

[0107] S203: Determine whether the voice command complies with a safe intelligent driving strategy.

[0108] Because the user who sends voice commands to the intelligent driving system may not be very clear about traffic rules or may not be in a good mental state when sending voice commands, the voice commands received by the intelligent driving system may not conform to the safe intelligent driving strategy. Therefore, before judging whether the vehicle control method in the voice command matches the vehicle control method indicated by the vehicle control mark, it is also necessary to judge whether the voice command conforms to the safe intelligent driving strategy. For example, when a vehicle approaches an intersection, according to the intelligent driving strategy, the intelligent driving system needs to control the vehicle to slow down, and if the voice command sent by the user at this time requires the vehicle to speed up, then the voice command sent by the user at this time does not conform to the safe intelligent driving strategy.

[0109] S204: If the voice instruction does not comply with the intelligent driving strategy, the voice instruction is refused to be executed, and a violation notification is generated; wherein the violation notification is used to notify the user that the voice instruction violates the regulations.

[0110] When the voice command received by the intelligent driving system does not comply with the safe intelligent driving strategy, the intelligent driving system refuses to execute the voice command sent by the user and generates a violation notification to notify the user that the voice command sent by the user violates the law. Through the setting of step S203 and step S204, on the one hand, safe driving is guaranteed and the potential safety hazards caused by human intervention to automatic driving are avoided. On the other hand, the user is made to better understand the intelligent driving strategy and the interaction method between the user and the intelligent driving system, which improves the user's subsequent use experience.

[0111] S205: If the voice command complies with the intelligent driving strategy, continue to execute subsequent steps.

[0112] In some embodiments, in the above step S104, when controlling whether the vehicle drives relative to the other vehicle according to the voice command based on the judgment result and the real-time vehicle information, the following steps are specifically included:

[0113] If the real-time vehicle information complies with the safe intelligent driving strategy, then based on the judgment result, the vehicle is controlled to drive relative to the other vehicle according to the voice command.

[0114] If the real-time vehicle information complies with the safe intelligent driving strategy, only the judgment result in step S103 needs to be considered. Based on whether the vehicle control mode in the voice command matches the vehicle control mode indicated by the vehicle control identifier, it is decided whether to control the vehicle to drive relative to the other vehicle according to the voice command.

[0115] In some embodiments, the other vehicle in the above step S101 includes a target vehicle, and the vehicle control identifier includes a target vehicle control identifier for indicating the real-time vehicle control mode of the own vehicle relative to the target vehicle; in the above step S103, it is determined whether the vehicle control mode in the voice command matches the vehicle control mode indicated by the vehicle control identifier, and when the judgment result is obtained, it specifically includes the following steps S111-S113; in the above step S104, based on the judgment result and the real-time vehicle information, when controlling whether the own vehicle drives relative to the other vehicle according to the voice command, it specifically includes the following step S114.

[0116] S111, performing semantic analysis on the voice command to obtain the vehicle control method contained in the command content of the voice command.

[0117] Although the intelligent driving system generates operation instructions to guide users to send currently supported voice commands, different users have different language habits, and the same vehicle control method also has multiple different ways of expression. For example, for the same vehicle control method of overtaking car A, some users are accustomed to saying "overtake car A", while some users are accustomed to saying "drive in front of car A". Therefore, when judging whether the vehicle control method in the voice command matches the vehicle control method indicated by the vehicle control mark, it is necessary to first perform semantic analysis on the voice command. For example, artificial intelligence tools are used to semantically generalize the words and sentences in the voice command, so as to understand the command content of voice commands with different expressions, and then obtain the vehicle control method contained in the command content of the voice command.

[0118] By performing semantic analysis on the voice commands sent by users, the intelligent driving system can adapt to users with different language habits. At the same time, it can also enable the intelligent driving system to understand the voice commands sent by users more accurately, thereby improving the efficiency of voice interaction between users and the intelligent driving system and improving the user experience of autonomous driving.

[0119] S112, determining whether the vehicle control mode in the instruction content matches the vehicle control mode indicated by the target vehicle control identifier.

[0120] S113: If there is a match, a matching result is obtained as a judgment result.

[0121] If the vehicle control mode in the instruction content of the voice instruction matches the vehicle control mode indicated by the target vehicle control identifier, the matching result is used as the judgment result; otherwise, the mismatching result is used as the judgment result.

[0122] S114, based on the real-time vehicle information, controlling the vehicle to travel relative to the target vehicle according to the vehicle control method in the matching result.

[0123] If the judgment result in step S113 is a matching result, the vehicle is controlled to travel relative to the target vehicle according to the vehicle control method in the matching result based on the real-time vehicle information; if the judgment result in step S113 is a mismatching result, the vehicle is controlled to maintain the current driving state based on the real-time vehicle information.

[0124] In some embodiments, the other vehicle in the above step S101 includes a target vehicle, and the vehicle control identifier includes a target vehicle control identifier for indicating a vehicle control mode for the own vehicle to follow and / or overtake the target vehicle; the vehicle control mode in the above step S102 is a locked following mode; the judgment result obtained in the above step S103 is a matching result that matches the locked following mode; in the above step S104, based on the judgment result and the real-time vehicle information, controlling whether the own vehicle drives relative to the other vehicle according to the voice command specifically includes the following step S124.

[0125] S124, according to the real-time vehicle information, controlling the own vehicle to follow the target vehicle in the locking and following mode to accelerate or decelerate or change lanes.

[0126] If the vehicle control mode in the voice command sent by the user is the lock-follow mode, when the judgment result is a match result that matches the lock-follow mode, the intelligent driving system controls the vehicle to follow the target vehicle in the lock-follow mode based on the real-time vehicle information, specifically:

[0127] Control the self-vehicle to travel to a preset following distance behind the target vehicle, and control the self-vehicle to maintain the following distance and follow the target vehicle; if the target vehicle is a self-lane vehicle, control the self-vehicle to accelerate and travel to a preset following distance behind the target vehicle; if the target vehicle is not a self-lane vehicle, control the self-vehicle to change lanes to the lane where the target vehicle is located and accelerate to a preset following distance behind the target vehicle; when it is detected that the target vehicle is accelerating or decelerating, control the self-vehicle to accelerate or decelerate with the target vehicle; when it is detected that the target vehicle changes lanes, control the self-vehicle to change lanes with the target vehicle.

[0128] Among them, the following distance is pre-set, but it is not a fixed value. In order to ensure that the target vehicle will not be rear-ended after the self-vehicle brakes in an emergency, the following distance is a dynamically changing value related to the real-time speed of the self-vehicle. In addition, the friction coefficient between different road surfaces and vehicle tires is different, and the sliding distance of the vehicle after braking is also different. Therefore, the following distance is not only related to the real-time speed, but also to the road surface conditions.

[0129] In some embodiments, in the above step S124, when the self-vehicle is controlled to follow the target vehicle in the locking and following mode according to the real-time vehicle information, the following steps are specifically included:

[0130] When the vehicle identification includes a jamming vehicle identification for indicating another vehicle driving between the own vehicle and the target vehicle, searching for the target vehicle from surrounding vehicles of the own vehicle according to the vehicle attribute of the target vehicle;

[0131] If the target vehicle is found, the vehicle continues to follow the target vehicle and accelerates or decelerates or changes lanes;

[0132] If the target vehicle cannot be found, the user is notified that the locking and following of the target vehicle has failed.

[0133] Because the jamming vehicle mark is used to indicate other vehicles that have entered between the vehicle and the target vehicle, when the vehicle mark includes the jamming vehicle mark, it means that other vehicles have jammed between the vehicle and the target vehicle during the process of locking and following the vehicle. In order not to lose the target vehicle, it is necessary to search for the target vehicle from the surrounding vehicles of the vehicle according to the vehicle attributes of the target vehicle. If the target vehicle is found within the preset time, the target vehicle will continue to be locked and followed. If the target vehicle cannot be found, the user will be notified that the locking and following of the target vehicle has failed. Among them: vehicle attributes can include standard attributes when the vehicle leaves the vehicle (such as the brand, logo, model, color, local outline and three-dimensional outline of the whole vehicle, etc.) and / or non-standard attributes of the vehicle after it leaves the factory (such as license plate number, personalized decorations pasted on the body, etc.).

[0134] In some embodiments, a database may be pre-established to store the corresponding relationships between all standard attributes of different vehicles, such as brands, logos, models, colors, local contours, and three-dimensional contours of the entire vehicle, and the database may be stored in the cloud. After determining the target vehicle to be followed and the target vehicle to be followed, the intelligent driving system uploads some standard attributes of the target vehicle collected on site (such as color and rear contour) to the database, and after matching all standard attributes of the target vehicle, receives other standard attributes of the target vehicle (such as brand, logo, and three-dimensional contour of the entire vehicle) from the cloud, so as to more accurately lock the target vehicle to be followed, and search for the target vehicle from the surrounding vehicles of the vehicle in more dimensions after other vehicles cut in.

[0135] In some embodiments, the other vehicle in the above step S101 includes a target vehicle, and the vehicle control identifier includes a target vehicle control identifier for indicating a vehicle control mode in which the own vehicle follows and / or overtakes the target vehicle; the vehicle control mode in the above step S102 is a following mode; the judgment result obtained in the above step S103 is a matching result that matches the following mode; in the above step S104, based on the judgment result and the real-time vehicle information, controlling whether the own vehicle drives relative to the other vehicle according to the voice command specifically includes the following step S134.

[0136] S134, according to the real-time vehicle information, controlling the own vehicle to follow the target vehicle in the following manner to accelerate or decelerate.

[0137] If the vehicle control mode in the voice command sent by the user is the following mode, when the judgment result is a match result that matches the following mode, the intelligent driving system controls the vehicle to follow the target vehicle in the following mode according to the real-time vehicle information, specifically:

[0138] Control the self-vehicle to travel to a preset following distance behind the target vehicle, and control the self-vehicle to maintain the following distance and follow the target vehicle; if the target vehicle is a self-lane vehicle, control the self-vehicle to accelerate and travel to a preset following distance behind the target vehicle; if the target vehicle is not a self-lane vehicle, control the self-vehicle to change lanes to the lane where the target vehicle is located and accelerate to a preset following distance behind the target vehicle; when it is detected that the target vehicle is accelerating or decelerating, control the self-vehicle to accelerate or decelerate with the target vehicle; when it is detected that the target vehicle is changing lanes, control the self-vehicle to maintain driving in the current lane.

[0139] In some embodiments, in the above step S134, when controlling the vehicle to follow the target vehicle in the following manner to accelerate or decelerate according to the real-time vehicle information, the following steps are specifically included:

[0140] When the vehicle identification includes a jamming vehicle identification for indicating another vehicle entering between the vehicle and the target vehicle, setting the other vehicle as a new target vehicle, and associating the target vehicle control identification with the updated target vehicle;

[0141] The self-vehicle is controlled to accelerate or decelerate following the updated target vehicle according to the following mode.

[0142] Because the jamming vehicle mark is used to indicate other vehicles that have entered between the ego vehicle and the target vehicle, when the vehicle mark includes the jamming vehicle mark, it means that other vehicles have jammed between the ego vehicle and the target vehicle during the lock-on following process. At this time, the original target vehicle is abandoned, the association between the target vehicle control mark and the original target vehicle is released, the other vehicles that have jammed between the ego vehicle and the original target vehicle are set as new target vehicles, the target vehicle control mark is associated with the new target vehicle, and the ego vehicle is controlled to follow the new target vehicle in the following mode to accelerate or decelerate.

[0143] In some embodiments, the other vehicle in the above step S101 includes a target vehicle, and the vehicle control identifier includes a target vehicle control identifier for indicating a vehicle control mode for the own vehicle to follow and / or overtake the target vehicle; the vehicle control mode in the above step S102 is an overtaking mode; the judgment result obtained in the above step S103 is a matching result that matches the overtaking mode; in the above step S104, based on the judgment result and the real-time vehicle information, controlling whether the own vehicle drives relative to the other vehicle according to the voice command specifically includes the following step S144.

[0144] S144, according to the real-time vehicle information, controlling the vehicle to accelerate according to the overtaking method until it overtakes the target vehicle.

[0145] If the vehicle control method in the voice command sent by the user is an overtaking method, when the judgment result is a match result that matches the overtaking method, the intelligent driving system controls the vehicle to follow the target vehicle in the overtaking method according to the real-time vehicle information, specifically:

[0146] Determine whether the target vehicle is a vehicle in the self-lane; if so, control the self-lane to accelerate after changing lanes until it overtakes the target vehicle; if not, determine whether the current self-lane allows acceleration; if so, control the self-lane to maintain acceleration in the self-lane until it overtakes the target vehicle; if not, control the self-lane to accelerate after changing lanes until it overtakes the target vehicle.

[0147] It should be noted that when controlling the self-vehicle to accelerate to overtake the target vehicle in the other lane, in general, the self-lane is allowed to accelerate, so the self-vehicle can be controlled to maintain the self-lane and accelerate until it overtakes the target vehicle. However, there are some special cases where the self-lane does not allow acceleration, so it is necessary to control the self-vehicle to accelerate after changing lanes until it overtakes the target vehicle. For example, there is a slow-speed vehicle in front of the self-vehicle in the self-lane, or the self-lane is speed-limited and the current self-vehicle has reached the restricted speed. In this case, the intelligent driving system cannot control the self-vehicle to accelerate directly in the self-lane.

[0148] In some embodiments, when controlling the ego vehicle to accelerate after changing lanes to overtake a target vehicle in the ego lane, the intelligent driving system also needs to determine whether the command content of the voice command includes the overtaking direction and the requirement of not merging lanes;

[0149] If the voice command includes the overtaking direction and the requirement not to merge into another lane, the vehicle is controlled to change lanes in the overtaking direction and then accelerate until it overtakes the target vehicle, and then the vehicle is controlled to drive in the lane after the lane change;

[0150] If the voice command includes the overtaking direction but does not include the requirement of not merging, the vehicle is controlled to change lanes in the overtaking direction and accelerate until it overtakes the target vehicle, and then the vehicle is controlled to change lanes again and return to the original lane;

[0151] If the voice command does not include the direction of overtaking but includes the requirement of not merging, the vehicle is controlled to change lanes according to the recorded driving habits of the user and then accelerate until it overtakes the target vehicle, and then the vehicle is controlled to drive in the lane after the lane change;

[0152] If the voice command does not include the overtaking direction and the requirement not to merge into another lane, the vehicle is controlled to change lanes and accelerate according to the recorded driving habits of the user until it overtakes the target vehicle, and then the vehicle is controlled to change lanes again and return to the original lane.

[0153] The present application also provides a vehicle control device. Figure 5 , Figure 5 The structure block diagram of the vehicle control device of the embodiment of the present application is shown. The vehicle control device 21 provided in the embodiment of the present application may include:

[0154] The acquisition module 211 is used to acquire the electronic image of the intelligent driving perception screen in real time; wherein the electronic image is used to display the vehicle identification and the vehicle control identification, the vehicle identification is used to indicate the real-time vehicle information, and the vehicle control identification is used to indicate the real-time vehicle control mode of the own vehicle relative to other vehicles;

[0155] The receiving module 212 is used to receive the voice command sent by the user for the electronic image in real time;

[0156] The judgment module 213 is used to judge whether the vehicle control mode in the voice command matches the vehicle control mode indicated by the vehicle control identifier, and obtain a judgment result;

[0157] The control module 214 is used to control whether the vehicle drives relative to the other vehicle according to the voice command based on the judgment result and the real-time vehicle information.

[0158] The implementation process of the functions and effects of each module in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and the same technical effect can be achieved, which will not be repeated here.

[0159] In some embodiments, the vehicle control device 21 provided in the embodiments of the present application may further include:

[0160] The guidance module is used to generate operation instructions according to the real-time vehicle information and the preset intelligent driving strategy before the receiving module 212 receives the voice instructions sent by the user to the electronic image in real time, and display the operation instructions on the intelligent driving perception screen and / or broadcast the operation instructions by voice; wherein, the operation instructions are used to guide the user to send the currently supported voice instructions.

[0161] In some embodiments, the vehicle control device 21 provided in the embodiments of the present application may further include:

[0162] The management and control module is used to determine whether the vehicle control mode in the voice command matches the vehicle control mode indicated by the vehicle control identifier before the judgment module 213 determines whether the voice command complies with a safe intelligent driving strategy, and refuse to execute the voice command when the voice command does not comply with the intelligent driving strategy, and generate a violation notification, and continue to execute subsequent steps when the voice command complies with the intelligent driving strategy; wherein the violation notification is used to notify the user that the voice command violates the law.

[0163] In some embodiments, the vehicle control mode in the voice command includes information about a specific vehicle and a specific vehicle control mode of the own vehicle relative to the specific vehicle; when judging whether the vehicle control mode in the voice command matches the vehicle control mode indicated by the vehicle control identifier, the judgment module 213 is specifically used to: judge, based on the information of the specific vehicle, whether the real-time vehicle information includes vehicle information that matches the information of the specific vehicle; if so, determine the other vehicle corresponding to the vehicle information that matches the information of the specific vehicle as the target vehicle; and judge whether the specific vehicle control mode matches the vehicle control mode indicated by the vehicle control identifier corresponding to the target vehicle.

[0164] In some embodiments, the other vehicle includes a target vehicle, and the vehicle control identifier includes a target vehicle control identifier for indicating a real-time vehicle control mode of the self-vehicle relative to the target vehicle;

[0165] When the judgment module 213 judges whether the vehicle control mode in the voice command matches the vehicle control mode indicated by the vehicle control identifier and obtains the judgment result, it is specifically used to: perform semantic analysis on the voice command to obtain the vehicle control mode contained in the command content of the voice command; judge whether the vehicle control mode in the command content matches the vehicle control mode indicated by the target vehicle control identifier; if they match, obtain a matching result as the judgment result; if they do not match, obtain a non-matching result as the judgment result;

[0166] When the control module 214 controls whether the own vehicle drives relative to the other vehicle according to the voice command based on the judgment result and the real-time vehicle information, it is specifically used to: control the own vehicle to drive relative to the target vehicle according to the vehicle control method in the matching result based on the matching result and the real-time vehicle information; or control the own vehicle to maintain the current driving state based on the mismatch result and the real-time vehicle information.

[0167] In some embodiments, the other vehicle includes a target vehicle, the vehicle control identifier includes a target vehicle control identifier for indicating a vehicle control mode for the self-vehicle to follow and / or overtake the target vehicle, the vehicle control mode in the voice command received by the receiving module 212 is a lock-follow mode, and the judgment result obtained by the judgment module 213 is a matching result that matches the lock-follow mode;

[0168] When the control module 214 controls whether the vehicle drives relative to the other vehicle according to the voice command based on the judgment result and the real-time vehicle information, it is specifically used to control the vehicle to follow the target vehicle in the locked following mode to accelerate, decelerate or change lanes according to the real-time vehicle information.

[0169] In some embodiments, when the control module 214 controls the own vehicle to follow the target vehicle in the locked-on following mode to accelerate, decelerate, or change lanes according to the real-time vehicle information, it is specifically used for: when the vehicle identification includes a jamming vehicle identification indicating other vehicles entering between the own vehicle and the target vehicle, searching for the target vehicle from the surrounding vehicles of the own vehicle according to the vehicle attributes of the target vehicle; if the target vehicle is found, continuing to follow the target vehicle to accelerate, decelerate, or change lanes; if the target vehicle cannot be found, notifying the user that the locking and following of the target vehicle has failed.

[0170] In some embodiments, the other vehicle includes a target vehicle, the vehicle control identifier includes a target vehicle control identifier for indicating a vehicle control mode for the self-vehicle to follow and / or overtake the target vehicle, the vehicle control mode in the voice command received by the receiving module 212 is a following vehicle mode, and the judgment result obtained by the judgment module 213 is a matching result that matches the following vehicle mode;

[0171] When the control module 214 controls whether the vehicle drives relative to the other vehicle according to the voice command based on the judgment result and the real-time vehicle information, it is specifically used to control the vehicle to follow the target vehicle in the following mode to accelerate or decelerate according to the real-time vehicle information.

[0172] In some embodiments, when the control module 214 controls the ego vehicle to accelerate or decelerate following the target vehicle in the following manner according to the real-time vehicle information, it is specifically used to: when the vehicle identification includes a vehicle identification indicating other vehicles entering between the ego vehicle and the target vehicle, set the other vehicle as a new target vehicle, and associate the target vehicle control identification with the updated target vehicle; control the ego vehicle to accelerate or decelerate following the updated target vehicle in the following manner.

[0173] In some embodiments, the other vehicle includes a target vehicle, the vehicle control identifier includes a target vehicle control identifier for indicating a vehicle control mode for the self-vehicle to follow and / or overtake the target vehicle, the vehicle control mode in the voice command received by the receiving module 212 is an overtaking mode, and the judgment result obtained by the judgment module 213 is a matching result that matches the overtaking mode;

[0174] When the control module 214 controls whether the vehicle drives relative to the other vehicle according to the voice command based on the judgment result and the real-time vehicle information, it is specifically used to control the vehicle to accelerate according to the overtaking method according to the real-time vehicle information until it overtakes the target vehicle.

[0175] The present application also provides an electronic device, which may include the vehicle control device 21 described above. Figure 6 , Figure 6The electronic device 20 may include one or more processors 22, and the processor 22 is used to implement the above-mentioned vehicle control method.

[0176] In some embodiments, the electronic device 20 may include a computer-readable storage medium 23, which may store a program that can be called by the processor 22 and may include a non-volatile storage medium. In other embodiments, the electronic device 20 may also include a memory 24 and an interface 25. In other embodiments, the electronic device 20 may also include other hardware according to actual applications.

[0177] The computer-readable storage medium 23 provided in the embodiment of the present application stores a program thereon, and when the program is executed by the processor 22, it is used to implement the above-mentioned vehicle control method.

[0178] The present application may take the form of a computer program product implemented on one or more computer-readable storage media 23 (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. The computer-readable storage medium 23 includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. The information can be a computer-readable instruction, a data structure, a module of a program, or other data. The computer-readable storage medium 23 includes but is not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassette, tape disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0179] The above description is only a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this specification should be included in the scope of protection of this specification.

[0180] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity 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, commodity or device. In the absence of more restrictions, the phrase "includes a ..." defines an element, and does not exclude the presence of other identical elements in the process, method, commodity or device including the element.

Claims

1. A vehicle control method, characterized in that: include: Acquire an electronic image of the intelligent driving perception screen in real time; wherein the electronic image is used to display a vehicle identification and a vehicle control identification, the vehicle identification is used to indicate real-time vehicle information, and the vehicle control identification is used to indicate the real-time vehicle control mode of the own vehicle relative to other vehicles; receiving in real time a voice command sent by a user with respect to the electronic image; Determining whether the vehicle control mode in the voice command matches the vehicle control mode indicated by the vehicle control identifier, and obtaining a determination result; According to the judgment result and the real-time vehicle information, controlling whether the own vehicle drives relative to the other vehicle according to the voice command; The vehicle control mode in the voice command includes information about a specific vehicle and a specific vehicle control mode of the vehicle relative to the specific vehicle; and the determining whether the vehicle control mode in the voice command matches the vehicle control mode indicated by the vehicle control identifier includes: According to the information of the specific vehicle, determining whether the real-time vehicle information includes vehicle information matching the information of the specific vehicle; If yes, the other vehicle corresponding to the vehicle information matching the information of the specific vehicle is determined as the target vehicle; Determine whether the specific vehicle control mode matches the vehicle control mode indicated by the vehicle control identifier corresponding to the target vehicle.

2. The vehicle control method according to claim 1, characterized in that: The other vehicle includes a target vehicle, and the vehicle control identifier includes a target vehicle control identifier for indicating a real-time vehicle control mode of the self-vehicle relative to the target vehicle; The determining whether the vehicle control mode in the voice command matches the vehicle control mode indicated by the vehicle control identifier to obtain a determination result includes: Performing semantic analysis on the voice command to obtain a vehicle control method contained in the command content of the voice command; Determining whether the vehicle control mode in the instruction content matches the vehicle control mode indicated by the target vehicle control identifier; If they match, the matching result is obtained as the judgment result; The controlling, based on the judgment result and the real-time vehicle information, whether the vehicle drives relative to the other vehicle according to the voice command comprises: According to the real-time vehicle information, the self-vehicle is controlled to travel relative to the target vehicle according to the vehicle control method in the matching result.

3. The vehicle control method according to claim 1, characterized in that: The other vehicle includes a target vehicle, the vehicle control identifier includes a target vehicle control identifier for indicating a real-time vehicle control mode for the self-vehicle to follow and / or overtake the target vehicle, the vehicle control mode in the voice command includes a locked following mode, and the judgment result is a matching result that matches the locked following mode; The controlling, based on the judgment result and the real-time vehicle information, whether the vehicle drives relative to the other vehicle according to the voice command comprises: According to the real-time vehicle information, the self-vehicle is controlled to follow the target vehicle in the locking and following mode to accelerate or decelerate or change lanes.

4. The vehicle control method according to claim 3, characterized in that: The controlling the self-vehicle to follow the target vehicle in the locking and following manner according to the real-time vehicle information to accelerate or decelerate or change lanes includes: When the vehicle identification includes a jamming vehicle identification for indicating another vehicle driving between the own vehicle and the target vehicle, searching for the target vehicle from surrounding vehicles of the own vehicle according to the vehicle attribute of the target vehicle; If the target vehicle is found, continue to follow the target vehicle and accelerate or decelerate or change lanes; If the target vehicle cannot be searched, the user is notified that locking and following the target vehicle has failed.

5. The vehicle control method according to claim 1, characterized in that: The other vehicle includes a target vehicle, the vehicle control identifier includes a target vehicle control identifier for indicating a real-time vehicle control mode for the self-vehicle to follow and / or overtake the target vehicle, the vehicle control mode in the voice command includes a following vehicle mode, and the judgment result is a matching result that matches the following vehicle mode; The controlling, based on the judgment result and the real-time vehicle information, whether the vehicle drives relative to the other vehicle according to the voice command comprises: According to the real-time vehicle information, the self-vehicle is controlled to follow the target vehicle in the following manner to accelerate or decelerate.

6. The vehicle control method according to claim 5, characterized in that: The controlling the self-vehicle to follow the target vehicle in the following manner to accelerate or decelerate according to the real-time vehicle information includes: When the vehicle identification includes a jamming vehicle identification for indicating another vehicle entering between the own vehicle and the target vehicle, setting the other vehicle as a new target vehicle, and associating the target vehicle control identification with the updated target vehicle; The self-vehicle is controlled to follow the updated target vehicle in the following manner to accelerate or decelerate.

7. The vehicle control method according to claim 1, characterized in that: The other vehicle includes a target vehicle, the vehicle control identifier includes a target vehicle control identifier for indicating a real-time vehicle control mode for the self-vehicle to follow and / or overtake the target vehicle, the vehicle control mode in the voice command includes an overtaking mode, and the judgment result is a matching result that matches the overtaking mode; The controlling, based on the judgment result and the real-time vehicle information, whether the vehicle drives relative to the other vehicle according to the voice command comprises: According to the real-time vehicle information, the vehicle is controlled to accelerate in the overtaking manner until it overtakes the target vehicle.

8. The vehicle control method according to claim 1, characterized in that: Before determining whether the vehicle control mode in the voice command matches the vehicle control mode indicated by the vehicle control identifier and obtaining the determination result, the vehicle control method further includes: Determining whether the voice command complies with a safe intelligent driving strategy; If yes, continue with the next steps; If not, the voice instruction is refused to be executed and a violation notification is generated; wherein the violation notification is used to notify the user that the voice instruction violates the rules; and / or The controlling, based on the judgment result and the real-time vehicle information, whether the vehicle drives relative to the other vehicle according to the voice command comprises: If the real-time vehicle information complies with the safe intelligent driving strategy, then based on the judgment result, the self-vehicle is controlled to drive relative to the other vehicle according to the voice command.

9. The vehicle control method according to claim 1, characterized in that: Before receiving in real time the voice command sent by the user in response to the electronic image, the vehicle control method further includes: Generate an operation guide based on the real-time vehicle information and the preset intelligent driving strategy; wherein the operation guide is used to guide the user to send a currently supported voice command; The operation instructions are displayed on the intelligent driving perception screen, and / or the operation instructions are broadcasted by voice.

10. A vehicle control device, characterized in that: include: An acquisition module, used to acquire an electronic image of the intelligent driving perception screen in real time; the electronic image is used to display a vehicle identification and a vehicle control identification, the vehicle identification is used to indicate real-time vehicle information, and the vehicle control identification is used to indicate a real-time vehicle control mode of the own vehicle relative to other vehicles; A receiving module, used for receiving in real time a voice command sent by a user in response to the electronic image; The judgment module is used to judge whether the vehicle control mode in the voice command matches the vehicle control mode indicated by the vehicle control identifier, and obtain a judgment result; the vehicle control mode in the voice command includes information of a specific vehicle and a specific vehicle control mode of the self-vehicle relative to the specific vehicle; the judgment module is also used to: judge whether the real-time vehicle information includes vehicle information matching the information of the specific vehicle according to the information of the specific vehicle; if so, determine the other vehicle corresponding to the vehicle information matching the information of the specific vehicle as the target vehicle; judge whether the specific vehicle control mode matches the vehicle control mode indicated by the vehicle control identifier corresponding to the target vehicle; The control module is used to control whether the self-vehicle drives relative to the other vehicle according to the voice instruction based on the judgment result and the real-time vehicle information.

11. An electronic device, characterized in that: The method comprises one or more processors, wherein the processors are used to implement the vehicle control method according to any one of claims 1 to 9.

12. A vehicle, characterized in that: The method comprises one or more processors, wherein the processors are used to implement the vehicle control method according to any one of claims 1 to 9.

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

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