Vehicle control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle control method which comprises the following steps: detecting the hand release duration of a driver during the driving period of a vehicle; when the hand release duration of the driver reaches a preset duration threshold value, vehicle state information is obtained; the vehicle state information comprises vehicle position data and vehicle dynamic data; determining a target position according to the vehicle position data; and controlling the vehicle to run towards the target position according to the vehicle position data and the vehicle dynamic data. According to the method, the hand-releasing duration of the driver is detected, when it is detected that the hand-releasing duration of the driver exceeds the set time threshold value, the vehicle position data and the vehicle dynamic data are obtained, the target position is determined according to the vehicle position data, and the vehicle is parked to the target position according to the vehicle position data and the vehicle dynamic data. And after the vehicle is parked in the target position, the vehicle is braked, so that the risk of vehicle collision caused by emergency braking is reduced while the vehicle is parked.

Description

Technical Field

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

[0002] Lane Keeping Assist is a vehicle driving assistance system designed to help the driver keep the vehicle within the lane and reduce traffic accidents caused by lane departure. The current lane keeping assist can assist the driver in lane keeping to a certain extent and perform emergency braking if the driver fails to resume holding the steering wheel in time. However, this emergency braking behavior poses a great safety hazard in conditions with heavy traffic or complex road conditions.

[0003] The technical solution adopted by the related technology when facing this problem is: activate the vehicle emergency lights while performing emergency braking, and the driver of the rear vehicle determines whether to brake by observing the emergency lights. However, due to the lag in reaction time and the limitation of sight distance, the related technology still has the risk of the driver of the rear vehicle not reacting in time, resulting in a collision with the front vehicle. Summary of the invention

[0004] One of the objects of the present invention is to provide a vehicle control method to solve the problem that when the driver fails to resume holding the steering wheel in time and the vehicle automatically performs emergency braking, the driver of the following vehicle does not react in time and then collides with the front vehicle; the second object is to provide a vehicle control device; the third object is to provide a vehicle; and the fourth object is to provide a computer-readable storage medium.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] In a first aspect, a vehicle control method comprises:

[0007] Detect the length of time the driver takes their hands off the vehicle while the vehicle is in motion;

[0008] When the driver's hands-off time reaches a preset time threshold, obtaining vehicle status information; the vehicle status information includes: vehicle position data and vehicle dynamic data;

[0009] Determining a target position according to the vehicle position data;

[0010] The vehicle is controlled to travel toward the target position according to the vehicle position data and the vehicle dynamic data.

[0011] Optionally, determining the target position according to the vehicle position data includes:

[0012] Perform path planning based on the vehicle location data to determine the vehicle's driving route;

[0013] Determine the end point of the driving route according to the vehicle driving route;

[0014] The end point of the driving route is determined as the target location.

[0015] Optionally, controlling the vehicle to travel toward the target location according to the vehicle position data and the vehicle dynamic data includes:

[0016] Determining the vehicle's driving direction and turning position according to the driving route;

[0017] Determining a steering wheel angle according to the vehicle driving direction and the steering position;

[0018] determining a vehicle speed based on the vehicle dynamics data;

[0019] The vehicle is controlled to travel toward the target position according to the steering wheel angle and the vehicle speed.

[0020] Optionally, the method further comprises:

[0021] While the vehicle is traveling toward the target location, detecting obstacles in the environment and determining the distance to the obstacles;

[0022] When the distance is less than a preset distance threshold, the vehicle is controlled to brake.

[0023] Optionally, the method further comprises:

[0024] After the vehicle reaches the target position, the current parking position of the vehicle is obtained;

[0025] When the current parking position of the vehicle is located in a parking lane, controlling the vehicle to park;

[0026] In the case that the current parking position of the vehicle is not located in the parking lane, the current parking position of the vehicle is used to update the vehicle position data; and the updated vehicle position data is used to perform the step of determining the target position according to the vehicle position data.

[0027] Optionally, the method further comprises:

[0028] When the driver's hands-off time reaches a preset time threshold, a hands-off warning signal is issued.

[0029] Optionally, the method further comprises:

[0030] When it is detected that the vehicle is at the target position, parking control is performed on the vehicle.

[0031] In a second aspect, a vehicle control device includes:

[0032] A detection module, used to detect the length of time the driver takes the hands off the vehicle during driving;

[0033] An acquisition module is used to acquire vehicle driving state information when the driver's hands-free time reaches a preset time threshold; the vehicle state information includes: vehicle position data and vehicle dynamic data;

[0034] A position determination module, used to determine a target position based on the vehicle position data;

[0035] A control module is used to control the vehicle to travel to the target position according to the vehicle position data and the vehicle dynamic data.

[0036] In a third aspect, a vehicle comprises a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the steps of the vehicle control method as described above when executed by the processor.

[0037] In a fourth aspect, a computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle control method described above are implemented.

[0038] A vehicle control method provided by an embodiment of the present invention detects the duration of the driver's hands being off the steering wheel during vehicle driving. When it is detected that the duration of the driver's hands being off the steering wheel exceeds a set time threshold, vehicle position data and vehicle dynamic data are obtained and a target position is determined through the vehicle position data. The vehicle is stopped at the target position based on the vehicle position data and the vehicle dynamic data. After the vehicle is parked at the target position, the vehicle is braked, thereby stopping the vehicle while reducing the risk of vehicle collision caused by emergency braking.

[0039] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0041] Figure 1is a flow chart of steps of a vehicle control method provided by an embodiment of the present invention;

[0042] Figure 2 yes Figure 1 A flowchart of step 102 in the vehicle control method provided by an embodiment of the present invention;

[0043] Figure 3 yes Figure 1 A flowchart of step 103 in the vehicle control method provided by an embodiment of the present invention;

[0044] Figure 4 It is a schematic diagram of the structure of a vehicle control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0045] To make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in the embodiments of the present invention, many technical details are proposed in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can be implemented. The division of the following embodiments is for the convenience of description, and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined and referenced with each other without contradiction.

[0046] At present, when it is detected that the driver does not hold the steering wheel for a time length threshold, the vehicle is braked and the emergency lights are activated at the same time, so that the driver of the following vehicle can judge whether to brake by observing the emergency lights, thereby reducing the probability of a traffic accident. In practical applications, due to the lag in reaction time and the limitation of sight distance, there is still a risk that the driver of the following vehicle will not react in time, resulting in a collision with the vehicle in front. In order to reduce the risk of a vehicle colliding with the vehicle in front, the present invention is proposed.

[0047] Reference Figure 1 , shows a flow chart of steps of an embodiment of a vehicle control method of the present invention, the vehicle control method may specifically include the following steps:

[0048] Step 101, during vehicle driving, detecting the length of time the driver takes the hands off the vehicle;

[0049] When the lane pilot function is activated, the vehicle detects the length of time the driver's hands are off the steering wheel by continuously monitoring whether the driver keeps holding the steering wheel. The length of time the driver's hands are off the steering wheel refers to the duration that the driver's hands are off the steering wheel. During driving, the system monitors in real time whether the driver is holding the steering wheel. When it is detected that the driver's hands are off the steering wheel, the timing starts and ends when the driver holds the steering wheel again.

[0050] Step 102, when the driver's hands-off time reaches a preset time threshold, obtaining vehicle status information; the vehicle status information includes: vehicle position data and vehicle dynamic data;

[0051] In the embodiment of the present invention, the vehicle driving state information can be classified into vehicle position data and vehicle dynamic data. Among them, the vehicle position data includes the specific location of the vehicle's current position, lane markings, and the traffic environment around the vehicle's current position. The vehicle dynamic data is data showing the current running state of the vehicle, including the vehicle's current speed and the vehicle's current acceleration. In addition, in the embodiment of the present application, the preset time threshold is determined according to the vehicle speed, acceleration, and the vehicle's surrounding environment. In other embodiments, the preset time threshold can also be set manually.

[0052] Step 103, determining the target position according to the vehicle position data;

[0053] In the embodiment of the present invention, the target position is within an area where the vehicle can be stopped safely. When there is a parking space marked in accordance with the law near the vehicle, the target position should be within the parking space. On a road section where there are no no-parking signs or markings near the vehicle, the target position should be within the rightmost road without violating other no-parking regulations. When the vehicle is traveling on a highway or an urban expressway, the target position should be within the emergency lane.

[0054] Step 104 , controlling the vehicle to travel toward the target location according to the vehicle position data and the vehicle dynamic data.

[0055] The embodiment of the present invention detects whether the driver's hands are off the steering wheel during vehicle driving. When it is detected that the driver's hands are off the steering wheel, the duration of the driver's hands being off the steering wheel is detected. When it is detected that the duration of the driver's hands being off the steering wheel exceeds a set time threshold, the vehicle position data and the vehicle dynamic data are obtained, and a target position is determined through the vehicle position data. The vehicle is stopped at the target position based on the vehicle position data and the vehicle dynamic data. After the vehicle is parked at the target position, the vehicle is braked, thereby stopping the vehicle while reducing the risk of vehicle collision caused by emergency braking.

[0056] In other embodiments, before controlling the vehicle to drive to the target position based on the vehicle position data and vehicle dynamic data, the vehicle's emergency lights and turn signals are activated to alert the rear vehicles to dangerous situations. Turning on the turn signals will convey the information that the vehicle is about to stop to the surrounding vehicles, thereby further reducing the risk of collision with the rear vehicles.

[0057] In an optional embodiment of the present invention, the vehicle control method further includes:

[0058] Step S105, after the vehicle reaches the target position, the current parking position of the vehicle is obtained.

[0059] In actual vehicle driving, there are situations where the vehicle is adjacent to or separated by one or more lanes from an area where the vehicle can stop safely. When the vehicle is far away from an area where the vehicle can stop safely or separated by multiple lanes, the vehicle driving route is segmented to divide a longer vehicle driving route into multiple shorter vehicle driving routes, so that the vehicle does not need to process too much vehicle status information during driving, thereby reducing the risk of vehicle failure or error during driving.

[0060] Step S106, when the current parking position of the vehicle is located in the parking lane, control the vehicle to park.

[0061] When the vehicle is adjacent to an area where the vehicle can be stopped safely, the vehicle's driving route is short and there is no need to segment the vehicle's driving route. After the vehicle reaches the target position, the vehicle's current parking position is detected. When the vehicle's current parking position is within an area where the vehicle can be stopped safely, it is determined that the vehicle can be parked safely, i.e., the vehicle is controlled to park.

[0062] Step S107, when the current parking position of the vehicle is not located in the parking lane, the current parking position of the vehicle is used to update the vehicle position data; and step S103 is executed using the updated vehicle position data.

[0063] When the vehicle is far away from an area where the vehicle can be stopped safely or there are multiple lanes between them, the vehicle's driving route is long and it is necessary to segment the vehicle's driving route to divide the long vehicle driving route into multiple shorter vehicle driving routes. After the vehicle reaches the target position, the vehicle's current parking position is detected. When the vehicle's current parking position is not located in an area where the vehicle can be stopped safely, the vehicle's current parking position is used to update the vehicle's position data, and the target position is determined again based on the vehicle's position data, so that the vehicle is controlled to continue driving to the new target position based on the vehicle's position data and the vehicle's dynamic data. After one or more repetitions, when the vehicle's current parking position is located in an area where the vehicle can be stopped safely, it is determined that the vehicle can be stopped safely, i.e., the vehicle is controlled to park.

[0064] In an optional embodiment of the present invention, the vehicle control method further includes:

[0065] Step S1021, when the driver's hands-off time reaches a preset time threshold, a hands-off alarm signal is issued.

[0066] When it is detected that the driver's hands-off time reaches the preset time threshold, a hands-off alarm signal is issued to remind the driver to hold the steering wheel. When the driver holds the steering wheel again, the hands-off time count ends and is reset to zero, and the vehicle continues to drive normally. If the driver holds the steering wheel again, the hands-off time count continues.

[0067] In an optional embodiment of the present invention, the vehicle control method further includes:

[0068] Step S108, when it is detected that the vehicle is at the target position, parking control is performed on the vehicle.

[0069] After the vehicle is driven to the target area, the vehicle stops. In order to prevent the vehicle from deviating, the vehicle needs to be parked. In this embodiment, the parking control is specifically to activate the electronic parking brake through the adaptive cruise control system after the vehicle comes to a complete stop, so as to ensure that the vehicle remains stable when stopped. When the driver holds the steering wheel again and needs to restart the vehicle, the driver releases the parking control by pressing the accelerator pedal, thereby automatically canceling the parking control state and starting the vehicle.

[0070] refer to Figure 2 In an optional embodiment of the present invention, the step of determining the target position according to the vehicle position data includes:

[0071] Step S201, performing path planning based on the vehicle location data to determine the vehicle driving route;

[0072] After obtaining the vehicle position data, path planning is performed based on the vehicle position data. Specifically, a map of the vehicle's surrounding environment is created based on the specific positioning of the vehicle's current position, lane markings, and the traffic environment around the vehicle's current position, and an area where the vehicle can be safely stopped is determined based on the traffic environment around the vehicle's current position. Subsequently, a path search algorithm is used, including common algorithms such as the Dijkstra algorithm, the A-star algorithm, and the RRT (rapidly explored random tree) algorithm. Starting from the vehicle's current position, the surrounding nodes are gradually explored until a path to an area where the vehicle can be safely stopped is found. The cost of each path is then evaluated, which may include path length, required time, energy consumed, etc. Based on the evaluation results, the optimal path is selected, and the generated optimal path is then smoothed to reduce the tortuosity of the path and improve driving comfort, thereby obtaining the vehicle's driving route.

[0073] Step S202, determining the end point of the driving route according to the vehicle driving route.

[0074] Step S203: determining the end point of the driving route as the target location.

[0075] In the embodiment of the present invention, since the vehicle driving route is the optimal route planned by the path search algorithm with the area where the vehicle can be safely stopped as the arrival area, the end point of the driving route is located within the area where the vehicle can be safely stopped. The end point of the driving route is used as the target position, which satisfies the safe parking of the vehicle while reducing the driving time of the vehicle.

[0076] refer to Figure 3 In an optional embodiment of the present invention, controlling the vehicle to travel to the target location according to the vehicle position data and the vehicle dynamic data includes:

[0077] Step S301, determining the vehicle's driving direction and turning position according to the driving route.

[0078] After obtaining the driving route, the driving route is broken down into a series of road sections and turning points. Detailed direction instructions are generated based on each road section on the driving route. These instructions include going straight, turning left, turning right, etc. For each turning point, the specific turning position is determined based on the actual road conditions and traffic rules.

[0079] Step S302: determining a steering wheel angle according to the vehicle's driving direction and the steering position.

[0080] When the vehicle reaches the turning position, the angle between the current driving direction and the next driving direction is calculated, and the steering wheel angle is determined based on the angle between the current driving direction and the next driving direction to turn the vehicle to the next driving direction.

[0081] Step S303, determining the vehicle speed according to the vehicle dynamic data.

[0082] During the driving process of the vehicle, the vehicle dynamic data is obtained, which includes the current speed and acceleration of the vehicle. The current speed and acceleration of the vehicle are collected in real time through on-board sensors such as speed sensors and GPS. The speed sensor is usually installed on the wheel or drive shaft and can directly measure the rotation speed of the wheel; while the GPS can provide the absolute speed of the vehicle relative to the earth's surface, thereby obtaining the current speed of the vehicle, and then determining the current speed of the vehicle based on the change in the speed of the vehicle per unit time. At the same time, the current speed and acceleration of the vehicle are used to predict the speed of the vehicle in the future without any intervention.

[0083] Step S304: Control the vehicle to travel toward the target position according to the steering wheel angle and the vehicle speed.

[0084] During vehicle driving, the current vehicle speed and acceleration are used to determine whether the current vehicle speed is too fast or too slow, and the vehicle speed is then adjusted to ensure smooth driving of the vehicle. When the vehicle reaches the turning position, the steering wheel angle is determined based on the angle between the current driving direction and the next driving direction, and the steering wheel is turned to turn the vehicle. At the same time, the vehicle speed is adjusted to ensure that the vehicle does not turn too fast or too slow during the turning process.

[0085] In this embodiment, when controlling the vehicle speed, ACC (Adaptive Cruise Control) and PCM (Power Controller) work together. Adaptive Cruise Control is an advanced driver assistance system that can actively adjust the vehicle speed according to the driving conditions of the vehicle in front to maintain a safe distance; the Power Controller (PCM) is mainly responsible for controlling the power system of the vehicle, including key components such as the engine and transmission, and can collect, process and record various information of the vehicle, and use this information to control the movement of the vehicle. ACC (Adaptive Cruise Controller) and PCM (Power Controller) control the power output of the vehicle by adjusting the engine output and the gear shifting logic of the transmission to ensure that the vehicle's deceleration process is smooth without generating too much inertia.

[0086] In an optional embodiment of the present invention, obtaining the vehicle position data and the vehicle dynamic data to control the vehicle to travel to the target position further includes:

[0087] Step S305 , while the vehicle is traveling toward the target location, obstacles in the environment are detected and the distance to the obstacles is determined.

[0088] During the driving of the vehicle, the vehicle provides real-time data through sensors or cameras to detect whether there are obstacles in the driving environment of the vehicle. Obstacles include roadblocks and other vehicles. Sensors can be laser radar (LiDAR), millimeter wave radar, visual sensor (Camera) and ultrasonic sensor. These sensors can not only detect obstacles in the vehicle's surrounding environment, but also provide detailed information about the vehicle's surrounding environment, including the location, shape and speed of the obstacle. When an obstacle is detected, the distance to the obstacle is determined.

[0089] Step S306: When the distance is less than a preset distance threshold, the vehicle is braked.

[0090] In an embodiment of the present application, the distance threshold is determined based on the vehicle speed, acceleration and the vehicle's surrounding environment. In other embodiments, the distance threshold can also be set manually. After determining the distance to the obstacle, the distance is compared with the distance threshold. When the distance is less than the preset distance threshold, the vehicle is controlled to brake, thereby avoiding a collision between the vehicle and the obstacle.

[0091] A vehicle control method provided by an embodiment of the present invention detects the duration of the driver's hands being off the steering wheel during vehicle driving. When it is detected that the duration of the driver's hands being off the steering wheel exceeds a set time threshold, vehicle position data and vehicle dynamic data are obtained and a target position is determined through the vehicle position data. The vehicle is stopped at the target position based on the vehicle position data and the vehicle dynamic data. After the vehicle is parked at the target position, the vehicle is braked, thereby stopping the vehicle while reducing the risk of vehicle collision caused by emergency braking.

[0092] Reference Figure 4 , shows a structural block diagram of an embodiment of a vehicle control device of the present invention, the vehicle control device comprising:

[0093] The detection module 401 is used to detect the driver's hands-off time during vehicle driving;

[0094] The acquisition module 402 is used to acquire vehicle driving state information when the driver's hands-free time reaches a preset time threshold; the vehicle state information includes: vehicle position data and vehicle dynamic data;

[0095] A position determination module 403, used to determine a target position according to the vehicle position data;

[0096] The control module 404 is used to control the vehicle to travel to the target position according to the vehicle position data and the vehicle dynamic data.

[0097] In an optional embodiment of the present invention, the location determination module 403 includes:

[0098] The planning submodule is used to plan the path according to the vehicle location data and determine the vehicle's driving route;

[0099] A first determination submodule is used to determine the end point of the driving route according to the vehicle driving route;

[0100] The second determination submodule is used to determine the end point of the driving route as the target location.

[0101] In an optional embodiment of the present invention, the location determination module 403 further includes:

[0102] A third determination submodule is used to determine the driving direction and turning position of the vehicle according to the driving route;

[0103] A steering angle determination submodule, used to determine the steering wheel angle according to the vehicle's driving direction and steering position;

[0104] A vehicle speed determination submodule, used to determine the vehicle speed according to vehicle dynamic data;

[0105] The first control submodule is used to control the vehicle to travel toward the target position according to the steering wheel angle and the vehicle speed.

[0106] In an optional embodiment of the present invention, the location determination module 403 further includes:

[0107] The obstacle detection submodule is used to detect obstacles in the environment and determine the distance to the obstacles while the vehicle is driving towards the target location;

[0108] The braking submodule is used to control the vehicle braking when the distance is less than a preset distance threshold.

[0109] In an optional embodiment of the present invention, the device further comprises:

[0110] A parking position acquisition module is used to obtain the current parking position of the vehicle after the vehicle reaches the target position;

[0111] The parking submodule is used to control the parking of the vehicle when the current parking position of the vehicle is in the parking lane;

[0112] The judgment submodule updates the vehicle position data using the vehicle's current parking position when the vehicle's current parking position is not located in the parking lane; and uses the updated vehicle position data to perform the step of determining the target position based on the vehicle position data.

[0113] In an optional embodiment of the present invention, the device further comprises:

[0114] The alarm module is used to send out a hands-off alarm signal when the driver's hands-off time reaches a preset time threshold.

[0115] In an optional embodiment of the present invention, the device further comprises:

[0116] The parking control module is used to perform parking control on the vehicle when it is detected that the vehicle is in the target position.

[0117] An embodiment of the present invention further provides a vehicle, comprising:

[0118] A processor and a storage medium, wherein the storage medium stores a computer program executable by the processor, and when the vehicle is running, the processor executes the computer program to perform the vehicle control method as described in any one of the embodiments of the present invention.

[0119] A vehicle control method, comprising:

[0120] Detect the length of time the driver takes their hands off the vehicle while the vehicle is in motion;

[0121] When the driver's hands-off time reaches a preset time threshold, obtaining vehicle driving state information; the vehicle state information includes: vehicle position data and vehicle dynamic data;

[0122] Determining a target position according to the vehicle position data;

[0123] The vehicle is controlled to travel toward the target position according to the vehicle position data and the vehicle dynamic data.

[0124] Optionally, determining the target position according to the vehicle position data includes:

[0125] Perform path planning based on the vehicle location data to determine the vehicle's driving route;

[0126] Determine the end point of the driving route according to the vehicle driving route;

[0127] The end point of the driving route is determined as the target location.

[0128] Optionally, controlling the vehicle to travel toward the target location according to the vehicle position data and the vehicle dynamic data includes:

[0129] Determining the vehicle's driving direction and turning position according to the driving route;

[0130] Determining a steering wheel angle according to the vehicle driving direction and the steering position;

[0131] determining a vehicle speed based on the vehicle dynamics data;

[0132] The vehicle is controlled to travel toward the target position according to the steering wheel angle and the vehicle speed.

[0133] Optionally, the method further comprises:

[0134] While the vehicle is traveling toward the target location, detecting obstacles in the environment and determining the distance to the obstacles;

[0135] When the distance is less than a preset distance threshold, the vehicle is controlled to brake.

[0136] Optionally, the method further comprises:

[0137] After the vehicle reaches the target position, the current parking position of the vehicle is obtained;

[0138] When the current parking position of the vehicle is located in a parking lane, controlling the vehicle to park;

[0139] In the case that the current parking position of the vehicle is not located in the parking lane, the current parking position of the vehicle is used to update the vehicle position data; and the updated vehicle position data is used to perform the step of determining the target position according to the vehicle position data.

[0140] Optionally, the method further comprises:

[0141] When the driver's hands-off time reaches a preset time threshold, a hands-off warning signal is issued.

[0142] Optionally, the method further comprises:

[0143] When it is detected that the vehicle is at the target position, parking control is performed on the vehicle.

[0144] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the processor.

[0145] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0146] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the vehicle control method as described in any one of the embodiments of the present invention is executed.

[0147] A vehicle control method, comprising:

[0148] Detect the length of time the driver takes their hands off the vehicle while the vehicle is in motion;

[0149] When the driver's hands-off time reaches a preset time threshold, obtaining vehicle driving state information; the vehicle state information includes: vehicle position data and vehicle dynamic data;

[0150] Determining a target position according to the vehicle position data;

[0151] The vehicle is controlled to travel toward the target position according to the vehicle position data and the vehicle dynamic data.

[0152] Optionally, determining the target position according to the vehicle position data includes:

[0153] Perform path planning based on the vehicle location data to determine the vehicle's driving route;

[0154] Determine the end point of the driving route according to the vehicle driving route;

[0155] The end point of the driving route is determined as the target location.

[0156] Optionally, controlling the vehicle to travel toward the target location according to the vehicle position data and the vehicle dynamic data includes:

[0157] Determining the vehicle's driving direction and turning position according to the driving route;

[0158] Determining a steering wheel angle according to the vehicle driving direction and the steering position;

[0159] determining a vehicle speed based on the vehicle dynamics data;

[0160] The vehicle is controlled to travel toward the target position according to the steering wheel angle and the vehicle speed.

[0161] Optionally, the method further comprises:

[0162] While the vehicle is traveling toward the target location, detecting obstacles in the environment and determining the distance to the obstacles;

[0163] When the distance is less than a preset distance threshold, the vehicle is controlled to brake.

[0164] Optionally, the method further comprises:

[0165] After the vehicle reaches the target position, the current parking position of the vehicle is obtained;

[0166] When the current parking position of the vehicle is located in a parking lane, controlling the vehicle to park;

[0167] In the case that the current parking position of the vehicle is not located in the parking lane, the current parking position of the vehicle is used to update the vehicle position data; and the updated vehicle position data is used to perform the step of determining the target position according to the vehicle position data.

[0168] Optionally, the method further comprises:

[0169] When the driver's hands-off time reaches a preset time threshold, a hands-off warning signal is issued.

[0170] Optionally, the method further comprises:

[0171] When it is detected that the vehicle is at the target position, parking control is performed on the vehicle.

[0172] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0173] It will be appreciated by those skilled in the art that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0174] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0175] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0176] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0177] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. A vehicle control method, characterized in that: include: Detect the length of time the driver takes their hands off the vehicle while the vehicle is in motion; When the driver's hands-off time reaches a preset time threshold, obtaining vehicle status information; The vehicle status information includes: vehicle position data and vehicle dynamic data; Determining a target position according to the vehicle position data; The vehicle is controlled to travel toward the target position according to the vehicle position data and the vehicle dynamic data.

2. The method according to claim 1, characterized in that Determining the target position according to the vehicle position data includes: Perform path planning based on the vehicle location data to determine the vehicle's driving route; Determine the end point of the driving route according to the vehicle driving route; The end point of the driving route is determined as the target location.

3. The method according to claim 2, characterized in that The controlling the vehicle to travel to the target position according to the vehicle position data and the vehicle dynamic data comprises: Determining the vehicle's driving direction and turning position according to the driving route; Determining a steering wheel angle according to the vehicle driving direction and the steering position; determining a vehicle speed based on the vehicle dynamics data; The vehicle is controlled to travel toward the target position according to the steering wheel angle and the vehicle speed.

4. The method according to claim 3, further comprising: While the vehicle is traveling toward the target location, detecting obstacles in the environment and determining the distance to the obstacles; When the distance is less than a preset distance threshold, the vehicle is controlled to brake.

5. The method according to claim 1, characterized in that The method further comprises: After the vehicle reaches the target position, the current parking position of the vehicle is obtained; When the current parking position of the vehicle is located in a parking lane, controlling the vehicle to park; In the case that the current parking position of the vehicle is not located in the parking lane, the current parking position of the vehicle is used to update the vehicle position data; and the updated vehicle position data is used to perform the step of determining the target position according to the vehicle position data.

6. The method according to claim 1, characterized in that The method further comprises: When the driver's hands-off time reaches a preset time threshold, a hands-off warning signal is issued.

7. The method according to claim 1, characterized in that The method further comprises: When it is detected that the vehicle is at the target position, parking control is performed on the vehicle.

8. A vehicle control device, characterized in that: include: A detection module, used to detect the length of time the driver takes the hands off the vehicle during driving; An acquisition module, used for acquiring vehicle driving state information when the driver's hands-free time reaches a preset time threshold; The vehicle status information includes: vehicle position data and vehicle dynamic data; A position determination module, used to determine a target position based on the vehicle position data; A control module is used to control the vehicle to travel to the target position according to the vehicle position data and the vehicle dynamic data.

9. A vehicle, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the steps of the vehicle control method according to any one of claims 1 to 7 when executed by the processor.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle control method according to any one of claims 1 to 7 are implemented.

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