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: acquiring an electronic image of an intelligent driving perception screen in real time; wherein the electronic image is used to display lane markings and lane control markings, the lane markings are used to indicate real-time lane information, and the lane control markings are used to indicate the real-time lane control mode of the vehicle relative to the lane; receiving voice commands sent by the user to the electronic image in real time; determining the target lane and the target lane control mode of the vehicle relative to the target lane from the real-time lane information according to the voice commands; if the target lane control mode matches the lane control mode indicated by the lane control marking, then controlling whether the vehicle is driving in the target lane according to the target lane control mode according to the real-time lane information. 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 in a lane 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 lane markings and lane control markings, the lane markings are used to indicate real-time lane information, and the lane control markings are used to indicate the real-time lane control mode of the vehicle relative to the lane;

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

[0009] determining a target lane from the real-time lane information according to the voice command, and determining a target lane control mode of the ego vehicle relative to the target lane;

[0010] If the target lane control mode matches the lane control mode indicated by the lane control mark, then according to the real-time lane information, control is performed to determine whether the vehicle is traveling in the target lane according to the target lane control mode.

[0011] Optionally, the lane control mark includes a target lane control mark, and the target lane control mark is used to indicate a real-time lane control mode of the vehicle relative to the target lane;

[0012] If the target lane control mode matches the lane control mode indicated by the lane control mark, controlling whether the vehicle drives in the target lane according to the target lane control mode according to the real-time lane information includes:

[0013] Determining whether the target lane control mode matches the lane control mode indicated by the target lane control mark;

[0014] If yes, then according to the real-time lane information, control the vehicle to travel in the target lane according to the target lane control method;

[0015] If not, the vehicle is controlled to maintain the current driving state according to the real-time lane information.

[0016] Optionally, the lane control mark includes a target lane control mark, and the target lane control mark is used to indicate a real-time lane control mode for the vehicle to change lanes to travel in the target lane, and the target lane control mode is a lane change mode that matches the lane control mode indicated by the target lane control mark;

[0017] If the target lane control mode matches the lane control mode indicated by the lane control mark, controlling whether the vehicle drives in the target lane according to the target lane control mode according to the real-time lane information includes:

[0018] According to the real-time lane information, the vehicle is controlled to change lanes to the target lane.

[0019] Optionally, controlling the vehicle to change lanes to travel in the target lane includes:

[0020] Determine whether the lane marker corresponding to the target lane is adjacent to the lane marker corresponding to the lane where the vehicle is currently located;

[0021] If yes, control the vehicle to directly change lanes to the target lane;

[0022] If not, the vehicle is controlled to change lanes multiple times from the lane where the vehicle is currently located to the target lane.

[0023] Optionally, the lane control mark includes a target lane control mark, and the target lane control mark is used to indicate a real-time lane control mode in which the vehicle has priority to travel in the target lane or is locked in the target lane, and the target lane control mode is a priority lane mode or a locked lane mode that matches the lane control mode indicated by the target lane control mark;

[0024] If the target lane control mode matches the lane control mode indicated by the lane control mark, controlling whether the vehicle drives in the target lane according to the target lane control mode according to the real-time lane information includes:

[0025] According to the real-time lane information, the vehicle is controlled to preferentially drive in the target lane or to be locked in the target lane.

[0026] Optionally, the controlling the vehicle to preferentially drive in the target lane or to lock in the target lane includes:

[0027] If the target lane control mark indicates a lane control mode in which the ego vehicle preferentially drives in the target lane, the ego vehicle is controlled to maintain driving in the target lane, and when an obstruction mark is present on the electronic image, the ego vehicle is controlled to change lanes to another lane, and when the obstruction mark is no longer present on the electronic image, the ego vehicle is controlled to change lanes back to the target lane;

[0028] If the target lane control mark indicates that the vehicle is locked in the target lane, the vehicle is controlled to maintain driving in the target lane, and when the obstruction mark is present on the electronic image, the vehicle is controlled to decelerate and maintain driving in the target lane;

[0029] The obstruction mark is used to indicate real-time road condition information that prevents the vehicle from traveling in the target lane at a preset speed.

[0030] Optionally, after determining the target lane from the real-time lane information according to the voice command and determining the target lane control mode of the ego vehicle relative to the target lane, the vehicle control method further includes:

[0031] Determining whether the voice command complies with a safe intelligent driving strategy;

[0032] If yes, continue with the next steps;

[0033] 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;

[0034] and / or

[0035] The controlling, according to the real-time lane information, whether the vehicle is traveling in the target lane according to the target lane control method comprises:

[0036] If the real-time lane information complies with the safe intelligent driving strategy, the vehicle is controlled to travel in the target lane according to the target lane control method.

[0037] 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:

[0038] Generate an operation guide based on the real-time lane information and the preset intelligent driving strategy; wherein the operation guide is used to guide the user to send a currently supported voice command;

[0039] The operation instructions are displayed on the intelligent driving perception screen, and / or the operation instructions are broadcasted by voice.

[0040] Optionally, determining a target lane from the real-time lane information according to the voice command, and determining a target lane control mode of the ego vehicle relative to the target lane, includes:

[0041] Performing semantic analysis on the voice command to obtain the command content of the voice command;

[0042] According to the instruction content, a target lane is determined from the real-time lane information, and a target lane control mode of the ego vehicle relative to the target lane is determined.

[0043] In a second aspect, the present application provides a vehicle control device, comprising:

[0044] An acquisition module, used for acquiring an electronic image of the intelligent driving perception screen in real time; the electronic image is used to display a lane mark and a lane control mark, the lane mark is used to indicate real-time lane information, and the lane control mark is used to indicate the real-time lane control mode of the vehicle relative to the lane;

[0045] A receiving module, used for receiving in real time a voice command sent by a user in response to the electronic image;

[0046] a determination module, configured to determine a target lane from the real-time lane information according to the voice command, and determine a target lane control mode of the ego vehicle relative to the target lane;

[0047] A control module is used to control whether the vehicle travels in the target lane according to the target lane control mode according to the real-time lane information if the target lane control mode matches the lane control mode indicated by the lane control mark.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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 target lane control mode in the voice command matches the real-time lane control mode indicated by the lane control mark on the electronic image, the vehicle is controlled to drive in the target lane in the voice command according to the target lane control mode, thereby providing a voice interaction mode between the user and the intelligent driving system, so that the user can request the intelligent driving system to control the vehicle to drive in the target lane according to his or her wishes through voice interaction. In addition, before controlling the vehicle to drive in the target lane according to the target lane control mode, the real-time lane information indicated by the lane 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 autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] 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.

[0053] Figure 1 The figure is a flow chart of a vehicle control method according to an embodiment of the present application.

[0054] Figure 2 Shown is a schematic diagram of an electronic image according to an embodiment of the present application.

[0055] Figure 3 Shown is another flow chart of a vehicle control method according to an embodiment of the present application.

[0056] Figure 4 Shown is a schematic diagram of the operating instructions of an embodiment of the present application.

[0057] Figure 5 Shown is a structural block diagram of a vehicle control device according to an embodiment of the present application.

[0058] Figure 6Shown is a structural block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0059] 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.

[0060] 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.

[0061] 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 the user to control the vehicle to drive according to his own wishes.

[0062] In order to solve the technical problem in the related art that the user cannot control the vehicle to drive as he or she wishes when the vehicle is automatically driving, the embodiment of the present application provides a vehicle control method, by receiving in real time the voice command sent by the user to the electronic image of the intelligent driving perception screen, and when the target lane control mode in the voice command matches the real-time lane control mode indicated by the lane control mark on the electronic image, the vehicle is controlled to drive in the target lane in the voice command according to the target lane control mode, 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 in the target lane as he or she wishes through voice interaction.

[0063] 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 change lanes to a certain lane or wants to give priority to a certain lane, but the advanced driving assistance system cannot determine whether the user wants to change lanes or drive in a priority lane, and the target lane to change or give priority to.

[0064] In order to solve the technical problem of inflexible manual driving and automatic driving control methods in related technologies, the embodiment of the present application provides a vehicle control method, which controls the vehicle to drive in the target lane according to the target lane control method, and also comprehensively considers the real-time lane information indicated by the lane marking 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.

[0065] 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.

[0066] S101, acquiring an electronic image of the intelligent driving perception screen in real time; wherein the electronic image is used to display lane markings and lane control markings, the lane markings are used to indicate real-time lane information, and the lane control markings are used to indicate real-time lane control methods of the vehicle relative to the lane.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] S102, receiving in real time a voice instruction sent by a user with respect to the electronic image.

[0078] 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.

[0079] 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.

[0080] S103, determining a target lane from the real-time lane information according to the voice command, and determining a target lane control mode of the vehicle relative to the target lane.

[0081] When the intelligent driving system controls the vehicle to drive according to the preset driving mode, if the preset driving mode does not conform to the user's driving habits, the user sends a voice command to request the intelligent driving system to control the vehicle to drive in the designated lane according to his or her wishes. Therefore, according to the voice command sent by the user, it can be determined from the real-time lane information which lane the user wants to control the vehicle to drive in - that is, the target lane, and how the user wants to control the vehicle to drive - that is, the target lane control method.

[0082] S104: If the target lane control mode matches the lane control mode indicated by the lane control mark, then according to the real-time lane information, control whether the vehicle drives in the target lane according to the target lane control mode.

[0083] Because the target lane control mode in the voice command sent by the user is not necessarily consistent with the lane control mode indicated by the lane control sign, it is necessary to make the target lane control mode in the voice command sent by the user match the lane control mode indicated by the lane control sign before deciding whether to control the vehicle to drive according to the voice command.

[0084] For example Figure 2 In the electronic image shown, the lane control signs corresponding to the lane signs of lane ③ are Y and S, representing priority lane driving and locked lane driving, indicating that the current vehicle can be driven in lane ③ with priority or locked. If the voice command sent by the user requires driving locked in lane ③, the target lane control mode in the voice command matches the lane control mode indicated by the lane control sign; if the voice command sent by the user requires changing lanes to lane ③, the target lane control mode in the voice command does not match the lane control mode indicated by the lane control sign.

[0085] Even if the target lane control mode in the voice command matches the lane control mode indicated by the lane control sign, the intelligent driving system will not control the vehicle to drive according to the voice command if the real-time lane information does not allow it. In other words, regardless of whether the target lane control mode in the voice command sent by the user matches or does not match the lane control mode indicated by the lane control sign, the intelligent driving system must determine whether the real-time road conditions are safe before deciding whether to control the vehicle to drive according to the voice command. For example Figure 2In the electronic image shown, if the voice command sent by the user requires the vehicle to be locked in lane ③, the vehicle will pass through an intersection at this time. Lane ③ is a left-turn lane, and the vehicle needs to go straight. In this case, the real-time road condition is not safe, and the vehicle cannot be controlled to be locked in lane ③. The vehicle needs to change lanes to the straight lane and pass the intersection before it can be controlled to be locked in lane ③. Only when the target lane control mode in the voice command sent by the user matches the lane control mode indicated by the lane control sign and the real-time road condition is safe, will the intelligent driving system control the vehicle to drive according to the voice command. Specifically, the intelligent driving system can determine whether the real-time road condition is safe based on the real-time lane information. Regarding how to determine whether the real-time road condition is safe based on the real-time lane information, please refer to the relevant descriptions in this field, which will not be repeated here.

[0086] 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.

[0087] 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, whether the real-time road condition indicated by the real-time lane information is safe is also comprehensively considered, thereby improving the personalization level of the intelligent driving system while ensuring driving safety, thereby further improving the user experience of autonomous driving.

[0088] 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.

[0089] 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.

[0090] S201, generating an operation guide according to the real-time lane information and a preset intelligent driving strategy; wherein the operation guide is used to guide the user to send a currently supported voice command.

[0091] The intelligent driving system determines the lane control method that can be performed by the current vehicle relative to the lane in the surrounding environment of the vehicle based on the real-time lane information and the preset intelligent driving strategy, and generates operation instructions. The operation instructions are used to guide the user to send the currently supported voice commands, so that the user knows which voice commands are currently supported and which voice commands can be sent before sending the voice commands, thereby reducing the situation where the user is informed that the voice command cannot be executed after sending the voice command, reducing the user's operation steps, improving the user's experience, and saving the vehicle's network resources and power resources.

[0092] S202, displaying the operation instructions on the intelligent driving perception screen, and / or announcing the operation instructions by voice.

[0093] Please also read Figure 4 , Figure 4 The 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.

[0094] 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.

[0095] In some embodiments, when determining the target lane from the real-time lane information according to the voice command in the above step S103, and determining the target lane control method of the vehicle relative to the target lane, the following steps S113-S123 are specifically included.

[0096] S113, performing semantic analysis on the voice command to obtain the command content of the voice command.

[0097] 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 lane control method also has multiple different ways of expression. For example, for the same lane control method of changing lanes to lane ①, some users are accustomed to saying "change lanes to lane ①", some users are accustomed to saying "change lanes to lane ①", and some users are accustomed to saying "go to lane ①". Therefore, after receiving the voice command sent by the user, the voice command needs to be semantically parsed first. 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 in voice commands with different expressions.

[0098] 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.

[0099] S123, according to the instruction content, determining the target lane from the real-time lane information, and determining the target lane control mode of the ego vehicle relative to the target lane.

[0100] In some embodiments, after determining the target lane from the real-time lane information according to the voice command in the above step S103, and determining the target lane control method of the vehicle relative to the target lane, the vehicle control method of the embodiment of the present application also includes the following steps S203-S205.

[0101] S203: Determine whether the voice command complies with a safe intelligent driving strategy.

[0102] 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, after determining the target lane from the real-time lane information according to the voice command and determining the target lane control method of the vehicle relative to the target lane, it is also necessary to determine 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, if the vehicle needs to turn right, then the intelligent driving system needs to control the vehicle to drive in the right turn lane. If the voice command sent by the user at this time requires the vehicle to change lanes to the straight lane, then the voice command sent by the user at this time does not conform to the safe intelligent driving strategy.

[0103] 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.

[0104] 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.

[0105] S205: If the voice command complies with the intelligent driving strategy, continue to execute subsequent steps.

[0106] In some embodiments, in the above step S104, when controlling whether the vehicle drives in the target lane according to the target lane control method according to the real-time lane information, the steps specifically include the following:

[0107] If the real-time lane information complies with the safe intelligent driving strategy, the vehicle is controlled to travel in the target lane according to the target lane control method.

[0108] If the real-time lane information complies with the safe intelligent driving strategy, it means that the real-time road conditions are safe, and you can directly follow the voice instructions to control the vehicle to drive in the target lane according to the target lane control method.

[0109] In some embodiments, the lane control mark in the above step S101 includes a target lane control mark, and the target lane control mark is used to indicate the real-time lane control mode of the vehicle relative to the target lane; in the above step S104, if the target lane control mode matches the lane control mode indicated by the lane control mark, then according to the real-time lane information, control is performed to determine whether the vehicle is driving in the target lane according to the target lane control mode, specifically including the following steps S114-S134.

[0110] S114, determining whether the target lane control mode matches the lane control mode indicated by the target lane control mark.

[0111] The user wants to control the vehicle to drive in the target lane, but the target lane control method in the voice command sent by the user is not necessarily consistent with the lane control method indicated by the target lane control sign. Therefore, before executing the voice command sent by the user, it is necessary to first determine whether the target lane control method in the voice command matches the lane control method indicated by the target lane control sign.

[0112] S124: If yes, then based on the real-time lane information, the vehicle is controlled to travel in the target lane according to the target lane control method.

[0113] If the target lane control mode in the voice command matches the lane control mode indicated by the target lane control sign, the vehicle is controlled to drive in the target lane according to the target lane control mode in the voice command only when the real-time lane information allows (that is, the real-time road conditions are safe).

[0114] S134: If not, the vehicle is controlled to maintain the current driving state according to the real-time lane information.

[0115] If the target lane control mode in the voice command does not match the lane control mode indicated by the target lane control sign, even if the real-time lane information allows (that is, the real-time road conditions are safe), the vehicle cannot be controlled to drive according to the voice command and can only be controlled to maintain the current driving state.

[0116] In some embodiments, the lane control mark in the above step S101 includes a target lane control mark, and the target lane control mark is used to indicate the real-time lane control mode of the vehicle changing lanes to the target lane; the target lane control mode in the above step S103 is a lane changing mode that matches the lane control mode indicated by the target lane control mark; in the above step S104, if the target lane control mode matches the lane control mode indicated by the lane control mark, then according to the real-time lane information, control whether the vehicle is driving in the target lane according to the target lane control mode, specifically including the following step S144.

[0117] S144: According to the real-time lane information, the vehicle is controlled to change lanes to the target lane.

[0118] When the target lane control mode in the voice command sent by the user is the lane change mode, and the lane control mode indicated by the target lane control sign is to change lanes to the target lane, the intelligent driving system controls the vehicle to change lanes to the target lane based on the real-time lane information.

[0119] In some embodiments, when controlling the vehicle to change lanes to the target lane in the above step S144, the following steps are specifically included:

[0120] Determine whether the lane marking corresponding to the target lane is adjacent to the lane marking corresponding to the lane where the vehicle is currently located;

[0121] If yes, the vehicle is controlled to change lanes directly to the target lane;

[0122] If not, the vehicle is controlled to change lanes multiple times from the lane where the vehicle is currently located to the target lane.

[0123] In some embodiments, the lane control mark in the above step S101 includes a target lane control mark, and the target lane control mark is used to indicate a real-time lane control mode in which the vehicle has priority to drive in the target lane or is locked in the target lane; the target lane control mode in the above step S103 is a priority lane mode or a locked lane mode that matches the lane control mode indicated by the target lane control mark; in the above step S104, if the target lane control mode matches the lane control mode indicated by the lane control mark, then according to the real-time lane information, controlling whether the vehicle drives in the target lane according to the target lane control mode specifically includes the following step S154.

[0124] S154: Based on the real-time lane information, the vehicle is controlled to preferentially drive in the target lane or to be locked in the target lane.

[0125] When the target lane control mode in the voice command sent by the user is the priority lane mode or the locked lane mode, and the lane control mode indicated by the target lane control sign is that the vehicle prioritizes driving in the target lane or is locked in the target lane, the intelligent driving system controls the vehicle to prioritize driving in the target lane or to be locked in the target lane based on the real-time lane information.

[0126] Giving priority to driving in the target lane means that when there are no factors affecting driving efficiency, the vehicle is controlled to remain in the target lane, and when there are factors affecting driving efficiency, the vehicle is controlled to change lanes to other lanes. After the factors affecting driving efficiency disappear, the vehicle is controlled to change lanes back to the target lane.

[0127] Driving locked in the target lane means that the vehicle is controlled to always drive in the target lane regardless of whether there are factors that affect driving efficiency. Only when there are safety hazards or violation risks, the vehicle is controlled to change lanes to other lanes. After the safety hazards and violation risks disappear, the vehicle is controlled to change lanes back to the target lane.

[0128] There may be many factors that affect driving efficiency. For example, there is another vehicle in front of the vehicle in the target lane, which is traveling at a speed much lower than the speed of the vehicle, so the vehicle can only slow down to avoid rear-end collision; the target lane has a speed limit in some special sections, so the vehicle can only slow down to avoid violating the rules. The embodiments of this application do not limit the specific types of factors that affect driving efficiency.

[0129] In some embodiments, when controlling the vehicle to preferentially drive in the target lane or to lock in the target lane in the above step S154, the following steps are specifically included:

[0130] If the target lane control mark indicates a lane control mode in which the vehicle has priority to drive in the target lane, the vehicle is controlled to maintain driving in the target lane, and when an obstruction mark appears on the electronic image, the vehicle is controlled to change lanes to another lane, until the obstruction mark disappears on the electronic image, and the vehicle is controlled to change lanes back to the target lane;

[0131] If the target lane control mark indicates a lane control mode in which the vehicle is locked in the target lane, the vehicle is controlled to maintain driving in the target lane, and when the obstruction mark is present on the electronic image, the vehicle is controlled to decelerate and maintain driving in the target lane;

[0132] The obstruction mark is used to indicate real-time traffic information that prevents the vehicle from traveling in the target lane at a preset speed.

[0133] When the intelligent driving system controls the vehicle to drive in the target lane first, the intelligent driving system controls the vehicle to maintain the target lane; when there is an obstruction mark on the electronic image, the vehicle is controlled to change lanes to other lanes until there is no obstruction mark on the electronic image, and then the vehicle is controlled to change lanes back to the target lane. For example, the vehicle is driving at a speed of X kilometers per hour in the target lane. Because the road ahead passes through a school / hospital, the speed limit of the target lane is Y kilometers per hour (Y<X), and there is an obstruction mark on the electronic image to indicate the speed limit of the target lane. In this case, the vehicle cannot continue to drive at a speed of X kilometers per hour in the target lane. At this time, the vehicle is controlled to change lanes to other lanes until the target lane is freed of the speed limit after passing the road section, and there is no obstruction mark on the electronic image, and then the vehicle is controlled to change lanes back to the target lane.

[0134] When the intelligent driving system controls the self-vehicle to lock in the target lane, the intelligent driving system controls the self-vehicle to keep driving in the target lane; when there is an obstruction mark on the electronic image, the self-vehicle is controlled to decelerate and keep driving in the target lane. For example, the self-vehicle is driving at a speed of X kilometers per hour in the target lane, but there is another car in front of the self-vehicle driving at a speed of Y kilometers per hour in the target lane, and there is an obstruction mark on the electronic image to indicate the other car, then the self-vehicle cannot continue to drive at a speed of X kilometers per hour in the target lane. At this time, the self-vehicle is controlled to decelerate and keep driving in the target lane.

[0135] 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:

[0136] 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 lane mark and the lane control mark, the lane mark is used to indicate the real-time lane information, and the lane control mark is used to indicate the real-time lane control mode of the vehicle relative to the lane;

[0137] The receiving module 212 is used to receive the voice command sent by the user for the electronic image in real time;

[0138] A determination module 213, configured to determine a target lane from the real-time lane information according to the voice command, and determine a target lane control mode of the ego vehicle relative to the target lane;

[0139] The control module 214 is used to control whether the vehicle drives in the target lane according to the target lane control mode according to the real-time lane information if the target lane control mode matches the lane control mode indicated by the lane control mark.

[0140] 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.

[0141] In some embodiments, the vehicle control device 21 provided in the embodiments of the present application may further include:

[0142] 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.

[0143] In some embodiments, when the determination module 213 determines the target lane from the real-time lane information according to the voice command, and determines the target lane control method of the vehicle relative to the target lane, it is specifically used to: perform semantic analysis on the voice command to obtain the command content of the voice command; determine the target lane from the real-time lane information according to the command content, and determine the target lane control method of the vehicle relative to the target lane.

[0144] In some embodiments, the vehicle control device 21 provided in the embodiments of the present application may further include:

[0145] The control module is used to determine whether the voice instruction complies with the safe intelligent driving strategy after the determination module 213 determines the target lane from the real-time lane information according to the voice instruction and determines the target lane control mode of the vehicle relative to the target lane, and continues to execute subsequent steps when the voice instruction complies with the intelligent driving strategy, and refuses to execute the voice instruction when the voice instruction does not comply with the intelligent driving strategy, and generates a violation notification; wherein the violation notification is used to notify the user that the voice instruction violates the law.

[0146] In some embodiments, the lane control mark includes a target lane control mark, and the target lane control mark is used to indicate the real-time lane control mode of the ego vehicle relative to the target lane;

[0147] If the target lane control mode matches the lane control mode indicated by the lane control sign, the control module 214 controls whether the vehicle is traveling in the target lane according to the target lane control mode based on the real-time lane information. Specifically, it is used to: determine whether the target lane control mode matches the lane control mode indicated by the target lane control sign; if so, control the vehicle to travel in the target lane according to the target lane control mode based on the real-time lane information; if not, control the vehicle to maintain driving in the current state based on the real-time lane information.

[0148] In some embodiments, the lane control mark includes a target lane control mark, and the target lane control mark is used to indicate the real-time lane control mode of the vehicle changing lanes to the target lane; the target lane control mode in the voice command determined by the determination module 213 is a lane change mode that matches the lane control mode indicated by the target lane control mark;

[0149] If the target lane control mode matches the lane control mode indicated by the lane control sign, the control module 214 controls whether the vehicle is traveling in the target lane according to the target lane control mode based on the real-time lane information. Specifically, it is used to control the vehicle to change lanes to the target lane based on the real-time lane information.

[0150] In some embodiments, when the control module 214 controls the vehicle to change lanes to the target lane based on the real-time lane information, it is specifically used to: determine whether the lane sign corresponding to the target lane is adjacent to the lane sign corresponding to the lane where the vehicle is currently located; if so, control the vehicle to change lanes directly to the target lane; if not, control the vehicle to change lanes multiple times from the lane where the vehicle is currently located to the target lane.

[0151] In some embodiments, the lane control mark includes a target lane control mark, and the target lane control mark is used to indicate a real-time lane control mode in which the vehicle has priority to drive in the target lane or is locked in the target lane; the target lane control mode in the voice command determined by the determination module 213 is a priority lane mode or a locked lane mode that matches the lane control mode indicated by the target lane control mark;

[0152] If the target lane control mode matches the lane control mode indicated by the lane control sign, the control module 214 controls whether the vehicle is traveling in the target lane according to the target lane control mode based on the real-time lane information. Specifically, it is used to control the vehicle to preferentially travel in the target lane or to lock in the target lane based on the real-time lane information.

[0153] In some embodiments, when the control module 214 controls the vehicle to drive in the target lane first or lock in the target lane according to the real-time lane information, it is specifically used to: if the target lane control mark indicates a lane control mode in which the vehicle drives in the target lane first, control the vehicle to keep driving in the target lane, and when there is an obstruction mark on the electronic image, control the vehicle to change lanes to other lanes until the obstruction mark no longer appears on the electronic image, and then control the vehicle to change lanes back to the target lane; if the target lane control mark indicates a lane control mode in which the vehicle locks in the target lane, control the vehicle to keep driving in the target lane, and when there is an obstruction mark on the electronic image, control the vehicle to keep driving in the target lane after deceleration; wherein, the obstruction mark is used to indicate real-time road condition information that prevents the vehicle from driving in the target lane at a preset speed.

[0154] The present application also provides an electronic device, which may include the vehicle control device 21 described above. Figure 6 , Figure 6 The electronic device 20 may include one or more processors 22, and the processor 22 is used to implement the above-mentioned vehicle control method.

[0155] 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.

[0156] 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.

[0157] 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.

[0158] 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.

[0159] 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 lane markings and lane control markings, the lane markings are used to indicate real-time lane information, and the lane control markings are used to indicate the real-time lane control mode of the vehicle relative to the lane; the lane control markings include target lane control markings, which are used to indicate the real-time lane control mode; receiving in real time a voice command sent by a user with respect to the electronic image; determining a target lane from the real-time lane information according to the voice command, and determining a target lane control mode of the ego vehicle relative to the target lane; If the target lane control mode matches the lane control mode indicated by the lane control mark, then according to the real-time lane information, control is performed to determine whether the vehicle is traveling in the target lane according to the target lane control mode.

2. The vehicle control method according to claim 1, characterized in that: The target lane control mark is used to indicate the real-time lane control mode of the vehicle relative to the target lane; If the target lane control mode matches the lane control mode indicated by the lane control mark, controlling whether the vehicle drives in the target lane according to the target lane control mode according to the real-time lane information includes: Determining whether the target lane control mode matches the lane control mode indicated by the target lane control mark; If yes, then according to the real-time lane information, control the vehicle to travel in the target lane according to the target lane control method; If not, the vehicle is controlled to maintain the current driving state according to the real-time lane information.

3. The vehicle control method according to claim 1, characterized in that: The target lane control mark is used to indicate the real-time lane control mode of the vehicle changing lanes to the target lane, and the target lane control mode is a lane change mode that matches the lane control mode indicated by the target lane control mark; If the target lane control mode matches the lane control mode indicated by the lane control mark, controlling whether the vehicle drives in the target lane according to the target lane control mode according to the real-time lane information includes: According to the real-time lane information, the vehicle is controlled to change lanes to the target lane.

4. The vehicle control method according to claim 3, characterized in that: The controlling the vehicle to change lanes to travel in the target lane includes: Determine whether the lane marker corresponding to the target lane is adjacent to the lane marker corresponding to the lane where the vehicle is currently located; If yes, control the vehicle to directly change lanes to the target lane; If not, the vehicle is controlled to change lanes multiple times from the lane where the vehicle is currently located to the target lane.

5. The vehicle control method according to claim 1, characterized in that: The target lane control mark is used to indicate a real-time lane control mode in which the vehicle drives preferentially in the target lane or is locked in the target lane, and the target lane control mode is a priority lane mode or a locked lane mode that matches the lane control mode indicated by the target lane control mark; If the target lane control mode matches the lane control mode indicated by the lane control mark, controlling whether the vehicle drives in the target lane according to the target lane control mode according to the real-time lane information includes: According to the real-time lane information, the vehicle is controlled to preferentially drive in the target lane or to be locked in the target lane.

6. The vehicle control method according to claim 5, characterized in that: The controlling the vehicle to preferentially drive in the target lane or to lock in the target lane comprises: If the target lane control mark indicates a lane control mode in which the ego vehicle preferentially drives in the target lane, the ego vehicle is controlled to maintain driving in the target lane, and when an obstruction mark is present on the electronic image, the ego vehicle is controlled to change lanes to another lane, and when the obstruction mark is no longer present on the electronic image, the ego vehicle is controlled to change lanes back to the target lane; If the target lane control mark indicates that the vehicle is locked in the target lane, the vehicle is controlled to maintain driving in the target lane, and when the obstruction mark is present on the electronic image, the vehicle is controlled to decelerate and maintain driving in the target lane; The obstruction mark is used to indicate real-time road condition information that prevents the vehicle from traveling in the target lane at a preset speed.

7. The vehicle control method according to claim 1, characterized in that: After determining the target lane from the real-time lane information according to the voice command and determining the target lane control mode of the vehicle relative to the target lane, 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, according to the real-time lane information, whether the vehicle is traveling in the target lane according to the target lane control method comprises: If the real-time lane information complies with the safe intelligent driving strategy, the vehicle is controlled to travel in the target lane according to the target lane control method.

8. 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 lane 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.

9. The vehicle control method according to claim 1, characterized in that: The step of determining a target lane from the real-time lane information according to the voice command, and determining a target lane control mode of the vehicle relative to the target lane, includes: Performing semantic analysis on the voice command to obtain the command content of the voice command; According to the instruction content, a target lane is determined from the real-time lane information, and a target lane control mode of the ego vehicle relative to the target lane is determined.

10. A vehicle control device, characterized in that: include: An acquisition module, used for acquiring an electronic image of the intelligent driving perception screen in real time; the electronic image is used to display a lane mark and a lane control mark, the lane mark is used to indicate real-time lane information, and the lane control mark is used to indicate the real-time lane control mode of the vehicle relative to the lane; the lane control mark includes a target lane control mark, which is used to indicate the real-time lane control mode; A receiving module, used for receiving in real time a voice command sent by a user in response to the electronic image; a determination module, configured to determine a target lane from the real-time lane information according to the voice command, and determine a target lane control mode of the ego vehicle relative to the target lane; A control module is used to control whether the vehicle travels in the target lane according to the target lane control mode according to the real-time lane information if the target lane control mode matches the lane control mode indicated by the lane control mark.

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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