Vehicle driving control method and system

Abstract

The invention provides a vehicle driving control method and system, and the method comprises the steps: obtaining vehicle moving reference information under the condition that a first vehicle determines that a vehicle moving condition is satisfied, planning a first vehicle moving route capable of enabling a second vehicle to drive away from a current parking position according to the vehicle moving reference information, and transmitting the first vehicle moving route to the second vehicle, and receiving vehicle moving route confirmation information sent by the second vehicle under the condition of determining that the second vehicle can execute vehicle moving operation based on the first vehicle moving route, and sending vehicle moving completion information to the second vehicle after driving to the target position according to the first vehicle moving route, so that the second vehicle is driven away from the current parking position. According to the method and the device, the first vehicle can run to the target position based on the planned first vehicle moving route, an idle channel is provided for the second vehicle so that the second vehicle can run away from the current parking position, the driver does not need to be contacted with the vehicle returning to move the vehicle any more, the time for waiting for the driver to move the vehicle is shortened, and the vehicle moving efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle driving, and more particularly to a vehicle driving control method and system. Background Art

[0002] As the number of cars in our country continues to increase, parking spaces are becoming more and more precious, and it is difficult to find an available parking space when you need to park.

[0003] When emergency parking is required due to insufficient parking spaces, the vehicle may be parked in a position in the departure direction of a parked vehicle, causing the vehicle to block other vehicles.

[0004] When the driver of the blocked vehicle needs to drive away the vehicle, he needs to contact the driver of the vehicle blocking the road to make him return to the vehicle for moving. The waiting time for moving the vehicle is long, which makes the efficiency of moving the vehicle low. Summary of the invention

[0005] In view of this, the present invention provides a vehicle driving control method and system to solve the problem of low vehicle maneuvering efficiency.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A vehicle driving control method is applied to a first vehicle, and the vehicle driving control method comprises:

[0008] When it is determined that the conditions for moving the vehicle are met, obtain reference information for moving the vehicle;

[0009] Planning a moving route for the first vehicle that enables the second vehicle to leave the current parking position according to the vehicle moving reference information;

[0010] Sending the first vehicle's moving route to the second vehicle, and receiving moving route confirmation information sent by the second vehicle when it is determined that the moving operation can be performed based on the first vehicle's moving route;

[0011] After the first vehicle drives to the target position according to the moving route of the first vehicle, a moving completion message is sent to the second vehicle, so that the second vehicle drives away from the current parking position.

[0012] Optionally, determining that a vehicle moving condition is met includes:

[0013] Sending vehicle information to a second vehicle, and receiving vehicle confirmation information sent by the second vehicle when the second vehicle determines that the first vehicle is a road-blocking vehicle based on the vehicle information;

[0014] Sending a vehicle moving request to a user terminal corresponding to the first vehicle;

[0015] If the vehicle moving confirmation instruction sent by the user terminal is received, it is determined that the vehicle moving condition is met.

[0016] Optionally, planning a moving route for the first vehicle that enables the second vehicle to leave the current parking position according to the moving vehicle reference information includes:

[0017] Determining a safe avoidance position based on the vehicle moving reference information;

[0018] Planning a first vehicle moving route to the safe avoidance position, and selecting at least one first vehicle moving route that meets a preset route screening condition from the first vehicle moving routes;

[0019] The preset route screening condition includes: an idle passage provided after the first vehicle drives to a target position according to the first vehicle moving route, which enables the second vehicle to leave a current parking position.

[0020] Optionally, sending the moving route of the first vehicle to the second vehicle, and receiving moving route confirmation information sent by the second vehicle when it is determined that the moving operation can be performed based on the moving route of the first vehicle, includes:

[0021] Sending the at least one first vehicle moving route to the second vehicle, so that the second vehicle selects a first vehicle moving route that can successfully perform a moving operation and whose moving distance satisfies a preset distance condition from the at least one first vehicle moving route;

[0022] Receive the vehicle moving route confirmation information sent by the second vehicle; the vehicle moving route confirmation information includes the screened vehicle moving route of the first vehicle.

[0023] Optionally, driving to a target location according to the first vehicle moving route includes:

[0024] Performing a vehicle driving operation based on the first vehicle moving route, and detecting obstacle information during driving to a target position in the first vehicle moving route;

[0025] If it is determined based on the obstacle information that the obstacle is a movable obstacle, waiting for a first preset time;

[0026] If it is determined that the movable obstacle still exists after waiting for the first preset time, output a warning message and continue to wait for a second preset time;

[0027] After waiting for the second preset time, determining whether the movable obstacle exists;

[0028] If not, continue to perform the vehicle driving operation based on the first vehicle moving route;

[0029] If so, a moving route for the first vehicle that enables the second vehicle to leave the current parking position is planned according to the current vehicle moving reference information.

[0030] Optionally, after sending the vehicle moving completion information to the second vehicle, the method further includes:

[0031] When performing route planning based on the current parking position, determining whether a parking route to the current parking position can be planned;

[0032] If yes, driving to the current parking position according to the parking route;

[0033] If not, the vehicle moves to the initial position of the first vehicle before it is moved.

[0034] A vehicle driving control method is applied to a second vehicle, the vehicle driving control method comprising:

[0035] Obtaining a first vehicle moving route sent by the first vehicle that enables the second vehicle to leave the current parking position; the first vehicle moving route is a route planned by the first vehicle according to the moving reference information obtained by the first vehicle when it is determined that the moving condition is met;

[0036] When it is determined that the vehicle moving operation can be performed based on the vehicle moving route of the first vehicle, sending vehicle moving route confirmation information to the first vehicle;

[0037] Receive the vehicle moving completion information sent by the first vehicle after the first vehicle drives to the target position according to the vehicle moving route of the first vehicle, and control the second vehicle to leave the current parking position.

[0038] Optionally, when it is determined that the vehicle moving operation can be performed based on the vehicle moving route of the first vehicle, sending vehicle moving route confirmation information to the first vehicle includes:

[0039] Determining whether a first vehicle moving route that can successfully perform a vehicle moving operation and whose moving distance satisfies a preset distance condition can be screened out from the first vehicle moving routes;

[0040] If so, a moving vehicle route confirmation message is sent to the first vehicle; the moving vehicle route confirmation message includes the screened moving vehicle route of the first vehicle.

[0041] Optionally, controlling the second vehicle to leave the current parking position includes:

[0042] Based on the surrounding environment information of the second vehicle, determining whether it is possible to leave the current parking position;

[0043] If not, sending a route planning continuation message to the first vehicle, so that the first vehicle re-plans the vehicle moving route and drives according to the re-planned vehicle moving route;

[0044] If so, a moving route for the second vehicle is planned, and the second vehicle is controlled to leave the current parking position according to the moving route of the second vehicle. During the leaving process, if a new obstacle is detected, a vehicle takeover request is sent to the user terminal of the second vehicle.

[0045] A vehicle driving control system comprises a first vehicle for executing the above claims and a second vehicle for executing the above claims.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] The present invention provides a vehicle driving control method and system. In the present invention, when the first vehicle determines that the vehicle moving condition is met, the first vehicle obtains the vehicle moving reference information, plans the first vehicle moving route that can make the second vehicle leave the current parking position according to the vehicle moving reference information, sends the first vehicle moving route to the second vehicle, and receives the vehicle moving route confirmation information sent by the second vehicle when it is determined that the vehicle moving operation can be performed based on the first vehicle moving route. After driving to the target position according to the first vehicle moving route, the vehicle moving completion information is sent to the second vehicle to make the second vehicle leave the current parking position. That is, through the present invention, the first vehicle can drive to the target position based on the planned vehicle moving route of the first vehicle, and provide an idle channel for the second vehicle to make the second vehicle leave the current parking position. The present invention no longer needs to contact the driver to return to the vehicle for moving the vehicle, reduces the time waiting for the driver to move the vehicle, and improves the efficiency of moving the vehicle. In addition, in the present invention, after the first vehicle plans the vehicle moving route of the first vehicle, it will send a message to the second vehicle to confirm whether the vehicle moving route of the first vehicle is feasible, which can improve the accuracy of the determined vehicle moving route of the first vehicle, and thus improve the reliability and success rate of moving the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0049] Figure 1 A method flow chart of a vehicle driving control method provided by an embodiment of the present invention;

[0050] Figure 2A flow chart of a method for planning a moving route for a first vehicle provided by an embodiment of the present invention;

[0051] Figure 3 A method flow chart of another vehicle driving control method provided by an embodiment of the present invention;

[0052] Figure 4 A method flow chart of another vehicle driving control method provided by an embodiment of the present invention;

[0053] Figure 5 A schematic diagram of the structure of a vehicle driving control device provided by an embodiment of the present invention;

[0054] Figure 6 A schematic diagram of the structure of another vehicle driving control device provided by an embodiment of the present invention;

[0055] Figure 7 A schematic diagram of the structure of a vehicle driving control system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] As the number of cars in our country continues to increase, parking spaces are becoming more and more precious, and it is difficult to find an available parking space when you need to park.

[0058] When emergency parking is required due to insufficient parking spaces, the driver may park in a position in the direction of departure of a parked vehicle, causing his vehicle to block other vehicles. When the driver of the blocked vehicle needs to drive away, he can manually push the vehicle to remove the blocked vehicle. Due to various factors such as the physical fitness of the pusher, the type of vehicle, and the parking location of the vehicle, it is often difficult to move the vehicle by manually pushing the vehicle, and it is easy to cause vehicle collisions.

[0059] At this time, it is necessary to contact the driver of the vehicle blocking the road and ask him to return to the vehicle to move it. This wastes a lot of time for the driver. If the driver fails to return in time, he may even be fined, have his vehicle towed away, and other penalties. It also makes the waiting time for moving the vehicle longer, resulting in lower efficiency.

[0060] To this end, an embodiment of the present invention provides a vehicle driving control method and system, which plans a vehicle moving route based on the interaction between the blocking vehicle and the blocked vehicle, so that the blocking vehicle automatically drives to a safe position where the blocked vehicle can leave.

[0061] Specifically, when the first vehicle (i.e., the above-mentioned blocking vehicle) determines that the vehicle moving condition is met, it obtains the vehicle moving reference information, plans the first vehicle moving route that can enable the second vehicle (i.e., the above-mentioned blocked vehicle) to leave the current parking position according to the vehicle moving reference information, sends the first vehicle moving route to the second vehicle, and receives the vehicle moving route confirmation information sent by the second vehicle when it is determined that the vehicle moving operation can be performed based on the first vehicle moving route. After driving to the target position according to the first vehicle moving route, it sends the vehicle moving completion information to the second vehicle so that the second vehicle leaves the current parking position. That is, through the present invention, the first vehicle can drive to the target position based on the planned first vehicle moving route, provide an idle channel for the second vehicle, so that the second vehicle leaves the current parking position. The present invention no longer needs to contact the driver to return to the vehicle for moving the vehicle, reduces the time waiting for the driver to move the vehicle, and improves the efficiency of moving the vehicle. In addition, in the present invention, after the first vehicle plans the first vehicle moving route, it will send a message to the second vehicle to confirm whether the first vehicle moving route is feasible, which can improve the accuracy of the determined first vehicle moving route, and thus improve the reliability and success rate of moving the vehicle.

[0062] Based on the above content, an embodiment of the present invention provides a vehicle driving control method, which is completed based on the interaction between a first vehicle and a second vehicle. In practical applications, the first vehicle is a road-blocking vehicle, and the second vehicle is a blocked vehicle. When the second vehicle needs to leave, the first vehicle blocks the exit passage, so that the second vehicle cannot leave.

[0063] Since the communication protocols of the first vehicle and the second vehicle may be different, in order to meet the communication needs of the two, it is necessary to pre-develop a vehicle data interaction platform (software), which can be installed by the car owner in the driving computer. The vehicle data interaction platform (software) of one vehicle can receive the data output by the ADAS (Advanced Driving Assistance System) of the other vehicle through the vehicle data interaction platform (software) of the other vehicle, parse the data and transmit it to the ADAS system of the vehicle. Relying on the vehicle data interaction platform (software), different vehicles can transmit high-speed information through WLAN (Wireless Local Area Network).

[0064] When implementing the vehicle driving control method of the present invention, it is necessary to have a function usage preset condition:

[0065] 1. Both vehicles are equipped with a multi-vehicle intelligent driving data interaction platform (software);

[0066] 2. Both vehicles have no faults;

[0067] 3. Environmental conditions allow at least one vehicle to move.

[0068] The vehicle driving control method of the present invention can only be executed when the preset conditions for function use are met.

[0069] Reference Figure 1 , the vehicle driving control method may include:

[0070] S11. The first vehicle determines whether the vehicle moving condition is met; if so, executing step S12; if not, ending.

[0071] Specifically, when the owner of the first vehicle temporarily parks the vehicle due to insufficient parking space or the like, and believes that there is a possibility of hindering the departure of other vehicles (such as the second vehicle), the owner turns on the smart vehicle moving function through the vehicle data interaction platform (software) in the on-board computer and then leaves the vehicle.

[0072] During the time when the vehicle owner has not returned, the on-board computer of the first vehicle will enter a low power consumption mode and receive data through the WLAN prefabricated information interaction interface.

[0073] When the blocked vehicle, such as the second vehicle that needs to leave, is powered on, the vehicle data interaction platform (software) of the second vehicle will automatically identify the WLAN preset information interface in the environment, and at the same time, a pop-up interface of the second vehicle will inform the owner of the blocked vehicle (i.e. the owner of the second vehicle) that he can leave the vehicle by intelligently moving the vehicle.

[0074] The owner of the stuck car can request the activation of the smart car moving function through the interface of his own car system. After the function is activated, the second vehicle will connect to the prefabricated WLAN interface of the nearest vehicle. After the connection, the second vehicle can obtain the vehicle information of the nearest vehicle (such as the first vehicle). Specifically, the first vehicle can send its own vehicle information to the second vehicle, and the second vehicle displays the vehicle information for the stuck car owner to confirm whether the vehicle connected through the WLAN interface is the vehicle blocking his departure. If so, click the confirmation command. At this time, the first vehicle will receive the vehicle confirmation information sent by the second vehicle when it determines that the first vehicle is a road-blocking vehicle based on the vehicle information. Then, the first vehicle sends a car moving request to the user terminal corresponding to the first vehicle, such as the owner's mobile phone, etc., which can be sent specifically through the intelligent interconnection system and other methods.

[0075] After the car owner receives the car moving request through the user terminal, if the car owner confirms that the car can be moved, the first vehicle receives the car moving confirmation instruction sent by the user terminal, and then determines that the car moving conditions are met, and the two vehicles start to perform function activation handshake.

[0076] If the owner of the first vehicle refuses the request to move the vehicle, the moving function will be exited, and the second vehicle will notify the owner of the blocked vehicle through the vehicle computer that the other party has refused the request to move the vehicle.

[0077] S12: The first vehicle obtains vehicle moving reference information.

[0078] In practical applications, the vehicle-moving reference information may include vehicle size information of the second vehicle, a relative position relationship between the first vehicle and the second vehicle, surrounding environment information of the first vehicle, and the like.

[0079] Among them, the vehicle size information of the second vehicle can be that after the first vehicle and the second vehicle establish communication through WLAN, the two start to try to transmit data, and the first data transmitted to each other is the vehicle size information, which includes the vehicle length and the length safety distance, the vehicle width and the width safety distance.

[0080] After the vehicle size information is transmitted to each other, in order to ensure the reliability of subsequent data control, a data verification operation may be performed on the first vehicle and the second vehicle.

[0081] The data verification operation can be specifically that the first vehicle and the second vehicle measure the same distance. For example, if the side of the first vehicle is located at the front of the second vehicle, the first vehicle and the second vehicle can respectively measure the distance between the front of the second vehicle and the side of the first vehicle, and transmit the measured distance to each other so that the other party can verify whether the measured distance is the same as the distance measured by itself. If they are the same, it means that there is no problem with the measurement sensor of the vehicle, and the data verification passes. If they are different, it means that there is a problem with the measurement sensor of at least one vehicle, and the vehicle moving operation is exited at this time.

[0082] After the data of the first vehicle and the second vehicle are verified, the bandwidth support information will continue to be verified. For example, the first vehicle sends a message with a timestamp to the second vehicle. After the second vehicle receives the message, it determines the timestamp of receiving the message and calculates the difference between the two timestamps, which is the transmission delay between the first vehicle and the second vehicle. If the transmission delay is large, it means that the bandwidth of the communication between the two is poor, and the vehicle moving operation is launched. If the transmission delay is small, it means that the bandwidth of the communication between the two is good, and the current bandwidth can support the subsequent vehicle moving operation. At this time, the two vehicles complete the functional handshake.

[0083] The relative position relationship between the first vehicle and the second vehicle specifically refers to the relative parking orientation of the first vehicle and the second vehicle (such as the side of the first vehicle facing the front of the second vehicle, the front of the first vehicle facing the front of the second vehicle, etc.), relative distance, etc.

[0084] The surrounding environment information of the first vehicle may include: the size of obstacles in the movable direction of the vehicle, the closest distance to the obstacles, etc.

[0085] It should be noted that in this embodiment, the information that the first vehicle or the second vehicle refers to when moving the vehicle includes not only the surrounding environment determined by the vehicle's own computer through environmental sensors (radar, camera, etc.) to avoid obstacles, accelerate, decelerate, etc., but also information sharing through multi-vehicle interaction. This is because when multiple vehicles interact, the environmental sensors of multiple vehicles can obtain more environmental information (such as the surrounding environmental information of the first vehicle includes not only the environmental data collected by the environmental sensors of the first vehicle, but also the environmental data collected by the environmental sensors of the second vehicle), and the two vehicles can plan the best avoidance route, reducing the calculation intensity of the single-vehicle ADAS system and saving avoidance time.

[0086] S13. The first vehicle plans a first vehicle moving route that can enable the second vehicle to leave the current parking position according to the vehicle moving reference information.

[0087] In actual application, the first vehicle will plan a first vehicle moving route, and the first vehicle moving route should meet the following conditions:

[0088] If the first vehicle drives according to the moving route of the first vehicle, the idle channel reserved for the second measurement can enable the second vehicle to leave the current stop position, such as leaving the parking space in the parking lot.

[0089] In one implementation of the present invention, referring to Figure 2 , step S13 is implemented based on the following steps:

[0090] S21. Determine a safe avoidance position based on the vehicle moving reference information.

[0091] Specifically, the first vehicle can confirm whether there is an empty area in the current surrounding environment, and whether a safe distance can be left for the second vehicle if the vehicle drives to the empty area, based on the vehicle size information of the second vehicle, the relative position relationship between the first vehicle and the second vehicle, and the surrounding environment information of the first vehicle. If it is determined that there is an empty area behind the first vehicle, the vehicle can drive to the empty area to avoid the second vehicle, and the second vehicle can ensure a safe distance when the second vehicle drives, the empty area is used as a safe avoidance position.

[0092] S22, planning a moving route for the first vehicle to the safe avoidance position.

[0093] In practical applications, a path planning algorithm is used to plan a driving route from the current position of the first vehicle to a safe avoidance position, and the route is used as the moving route of the first vehicle.

[0094] It should be noted that, in order to avoid subsequent vehicle moving failures, multiple first vehicle moving routes can be planned during route planning to select the optimal vehicle moving route. In addition, other vehicle moving routes can be used as backups. When the optimal vehicle moving route fails, the backup vehicle moving route is used for vehicle moving.

[0095] When using the path planning algorithm to plan a path, it is necessary to determine whether the obstacle can be avoided. If it can be avoided, the first vehicle moving route is planned. If it cannot be avoided, the moving operation is exited.

[0096] S23: Filter out at least one first vehicle moving route that meets a preset route screening condition from the first vehicle moving routes.

[0097] Among them, the preset route screening condition includes: an idle channel provided after the first vehicle drives to the target position according to the first vehicle moving route, which enables the second vehicle to leave the current parking position.

[0098] Specifically, assuming that the first vehicle drives to the target position in the first vehicle moving route according to the first vehicle moving route, an idle channel will be left for the second vehicle. In addition to the safety distance of the first vehicle itself, it is determined whether the channel distance vacated by the second vehicle is sufficient. If the distance is sufficient, it is retained. If all the first vehicle moving routes do not meet the conditions, the routes are replanned.

[0099] Generally speaking, in order to ensure that the second vehicle can be successfully moved as much as possible, three better moving routes for the first vehicle can be selected for the second vehicle to choose.

[0100] S14. The first vehicle sends the first vehicle moving route to the second vehicle.

[0101] Specifically, based on the WLAN interface, the at least one first vehicle moving route is sent to the second vehicle at the same time.

[0102] S15. The second vehicle determines whether it can perform the vehicle moving operation based on the vehicle moving route of the first vehicle; if so, execute step S16; if not, return a route verification failure message to the first vehicle so that the first vehicle replans the route.

[0103] Specifically, the second vehicle determines whether it can screen out, from the first vehicle's moving routes, a first vehicle's moving route that can successfully perform the moving operation and whose moving distance satisfies a preset distance condition.

[0104] In practical applications, a preset distance condition may be preconfigured, and the preset distance condition may be less than a preset distance threshold or a minimum moving distance.

[0105] Specifically, after receiving the first vehicle's moving route sent by the first vehicle, the second vehicle will review the first vehicle's moving route. The review specifically means that based on the relative position between the second vehicle and the first vehicle, it is calculated whether the idle channel left after the first vehicle drives along the first vehicle's moving route can ensure that the second vehicle can smoothly leave the current parking position. For the above three first vehicle moving routes, a review operation is required to select a route that can ensure that the second vehicle can successfully perform the moving operation, that is, successfully leave the current parking position, and from the selected routes, a route with the shortest moving distance of the first vehicle or a moving distance less than a preset distance threshold is selected.

[0106] It should be noted that if there are multiple routes with a moving distance less than a preset distance threshold, a route with the shortest moving distance or a route that is easier to achieve can be selected from them.

[0107] Then, vehicle moving route confirmation information including the screened vehicle moving route of the first vehicle is generated.

[0108] S16. The second vehicle sends vehicle moving route confirmation information to the first vehicle.

[0109] Specifically, the second vehicle sends vehicle moving route confirmation information to inform the first vehicle of the route to follow for vehicle moving operation.

[0110] It should be noted that in this embodiment, multiple first vehicle moving routes are sent to the second vehicle for selection. In addition, after the first vehicle determines multiple first vehicle moving routes, it can perform a route selection operation by itself, select the best first vehicle moving route from them, and then send it to the second vehicle for combination. In addition, it is also possible not to send it to the second vehicle for review, and directly after the first vehicle selects the best first vehicle moving route, the vehicle moving operation is performed according to this route. Which implementation method is selected can be configured according to the specific implementation scenario.

[0111] S17: The first vehicle drives to the target location according to the first vehicle moving route.

[0112] Specifically, after the first vehicle receives the first vehicle moving route selected by the second vehicle, the first vehicle starts to execute the vehicle moving function and starts to drive away according to the established route.

[0113] When the vehicle is driven based on the first vehicle moving route and in the process of driving to the target position in the first vehicle moving route, obstacle information is detected in real time. The obstacle information in this embodiment is mainly new obstacles that have not appeared when planning the route, such as new vehicles, people, animals, etc. The obstacle information includes the type of obstacle (such as vehicle, person, animal, etc.) and the relative position to the first vehicle.

[0114] If a new obstacle is detected, it is determined based on the obstacle information whether the new obstacle is a movable obstacle. Specifically, it can be determined whether the type in the obstacle information is a movable vehicle, person, animal, etc., or a static obstacle such as a flower bed.

[0115] If it is a movable obstacle, wait for the first preset time, which can be configured as 3 minutes, so that the movable obstacle has enough time to leave. If the movable obstacle still exists after more than 3 minutes, perform warning information output operations such as flashing lights and honking, and then continue to wait for the second preset time, which can be configured as 2 minutes, so that after the movable obstacle is prompted, the movable obstacle is given time to leave. After 2 minutes, confirm whether the movable obstacle still exists. If it does not exist, continue to move the vehicle according to the original first vehicle moving route until the first vehicle moves to the target location. After the first vehicle is moved, the moving completion information is sent to the second vehicle.

[0116] If, after 2 minutes, the movable obstacle still exists, then based on the current vehicle-moving reference information, a first vehicle-moving route that enables the second vehicle to leave the current parking position is replanned.

[0117] S18: The first vehicle sends a vehicle moving completion message to the second vehicle.

[0118] Specifically, after the first vehicle moves to the target position in the moving route of the first vehicle, a moving completion message is sent to the second vehicle, informing the second vehicle that the first vehicle has completed the moving and can start the moving operation.

[0119] S19. The second vehicle controls the second vehicle to drive away from the current parking position.

[0120] Specifically, when the second vehicle leaves the current parking position, such as a parking space, it will also perform path planning, and during path planning, it will determine whether it can leave the current parking position based on the surrounding environment information of the second vehicle. Specifically, it can be determined whether it can leave the current parking position while ensuring the safety distance of the second vehicle based on obstacles around the second vehicle.

[0121] If not, it means that the free passage left by the first vehicle is too narrow to leave, and the first vehicle needs to re-plan its route and continue to move the vehicle. Then, a message of continuing to plan the route is sent to the first vehicle. After the first vehicle receives the message, it re-plans the moving route and drives according to the re-planned moving route.

[0122] If it is possible, it means that the idle passage left by the first vehicle can allow the second vehicle to leave. At this time, the second vehicle will plan a moving route for the second vehicle, which can be specifically planned according to a route planning algorithm. Then the departure logic is executed, which can specifically control the second vehicle to leave the current parking position from the idle passage left by the first vehicle according to the moving route of the second vehicle. During the departure process, if a new obstacle is detected, a vehicle takeover request is sent to the user terminal of the second vehicle so that the driver can take over the vehicle until the second vehicle leaves the above-mentioned current parking position.

[0123] After the second vehicle determines that it has left the current parking position, the vehicle human-machine interface (instrument or display screen, etc.) will prompt the owner of the second vehicle with a message "The vehicle has successfully left, do you want to exit the moving function?" If the second vehicle owner chooses no, the first vehicle starts to detect whether the second vehicle has confirmed leaving through the surround view system. If it is detected that the second vehicle has not left successfully, the avoidance logic is re-executed, that is, the above-mentioned route planning and avoidance operations according to the route. If it is confirmed that the second vehicle has left, the function exit logic is automatically executed.

[0124] If the owner of the second vehicle selects yes, the second vehicle sends a second vehicle departure success message to the first vehicle.

[0125] In this embodiment, when the second vehicle leaves the current parking position, it will be determined again whether it can leave successfully, thereby improving the safety and reliability of vehicle moving.

[0126] In another implementation of the present invention, after the second vehicle leaves, the first vehicle will also adjust its parking position, such as parking at the above-mentioned current parking position corresponding to the second vehicle, or returning to the original parking position of the first vehicle, which is now specifically introduced.

[0127] When the first vehicle performs route planning based on the current parking position, it is determined whether a parking route to the current parking position can be planned.

[0128] Specifically, when the second vehicle sends the second vehicle departure success information to the first vehicle, the above-mentioned current parking position corresponding to the second vehicle will also be shared with the first vehicle. After the first vehicle receives the shared current parking position, it disconnects the WLAN connection with the second vehicle and starts to execute the function exit logic.

[0129] At this time, the current position of the first vehicle will be used as the starting point, and the above-mentioned current parking position will be used as the target point. Route planning will be performed based on information such as the length, width, and safety distance of the vehicle itself to determine a parking route that can be planned from the current position to the current parking position.

[0130] If it is possible, the vehicle will drive to the current parking position according to the parking route, and after the parking is successful, the owner of the first vehicle will be notified through the intelligent interconnection system that the function has been completed and the vehicle has been parked successfully. In this embodiment, the vehicle drives to the current parking position because, generally speaking, the current parking position of the second vehicle is more likely to be a parking space, and the first vehicle blocks the second vehicle, so the parking position of the first vehicle may not be a parking space. Therefore, after the second vehicle leaves, the first vehicle returns to the current parking position to standardize parking.

[0131] If not, the system will drive to the initial position before the first vehicle was moved, i.e. restore the original position, and notify the owner of the first vehicle through the intelligent interconnection system that the function has been completed and the vehicle has returned to the initial position to avoid the owner being unable to find the first vehicle.

[0132] In this embodiment, when the first vehicle determines that the conditions for moving the vehicle are met, the first vehicle obtains the moving vehicle reference information, plans the first vehicle moving route that can enable the second vehicle to leave the current parking position according to the moving vehicle reference information, sends the first vehicle moving route to the second vehicle, and receives the moving route confirmation information sent by the second vehicle when it is determined that the moving operation can be performed based on the first vehicle moving route. After driving to the target position according to the first vehicle moving route, the first vehicle sends the moving vehicle completion information to the second vehicle so that the second vehicle leaves the current parking position. That is, through the present invention, the first vehicle can drive to the target position based on the planned first vehicle moving route, provide an idle channel for the second vehicle, so that the second vehicle leaves the current parking position. The present invention no longer needs to contact the driver to return to the vehicle for moving the vehicle, reduces the time waiting for the driver to move the vehicle, and improves the efficiency of moving the vehicle. In addition, in the present invention, after the first vehicle plans the first vehicle moving route, it will send a message to the second vehicle to confirm whether the first vehicle moving route is feasible, which can improve the accuracy of the determined first vehicle moving route, and thus improve the reliability and success rate of moving the vehicle.

[0133] In addition, the embodiments of the present invention break the current situation where the intelligent driving function can only utilize the vehicle's own sensors. By performing calculations through sensors of multiple vehicles at the same time, the vehicle's route planning ability can be effectively improved. The solution utilizes the system interaction between the blocked vehicle and the blocking vehicle, allowing the two vehicles to avoid each other on their own within the smallest range of activity, effectively reducing the time required for executing the vehicle moving function and meeting the needs of blocked drivers to leave quickly.

[0134] It should be noted that, in this embodiment, the interactive avoidance of two vehicles is taken as an example for explanation. If there are multiple vehicles interacting, such as the first vehicle and the second vehicle blocking the third vehicle, the above method can be adaptively modified to adapt to the scenario of interactive avoidance of multiple vehicles.

[0135] Optionally, based on the above-mentioned embodiment of a vehicle driving control method, another embodiment of the present invention provides a vehicle driving control method, which is applied to a first vehicle, referring to Figure 3 , the vehicle driving control method comprises:

[0136] S31. When it is determined that the vehicle moving conditions are met, obtaining vehicle moving reference information;

[0137] S32, planning a moving route for the first vehicle that enables the second vehicle to leave the current parking position according to the vehicle moving reference information;

[0138] S33, sending the first vehicle's moving route to the second vehicle, and receiving moving route confirmation information sent by the second vehicle when it is determined that the moving operation can be performed based on the first vehicle's moving route;

[0139] S34: After the first vehicle drives to the target position according to the moving route of the first vehicle, sending moving completion information to the second vehicle, so that the second vehicle drives away from the current parking position.

[0140] Further, determine the conditions for moving the vehicle, including:

[0141] Sending vehicle information to a second vehicle, and receiving vehicle confirmation information sent by the second vehicle when the second vehicle determines that the first vehicle is a road-blocking vehicle based on the vehicle information;

[0142] Sending a vehicle moving request to a user terminal corresponding to the first vehicle;

[0143] If the vehicle moving confirmation instruction sent by the user terminal is received, it is determined that the vehicle moving condition is met.

[0144] Further, planning a moving route for the first vehicle that enables the second vehicle to leave the current parking position according to the moving vehicle reference information includes:

[0145] Determining a safe avoidance position based on the vehicle moving reference information;

[0146] Planning a first vehicle moving route to the safe avoidance position, and selecting at least one first vehicle moving route that meets a preset route screening condition from the first vehicle moving routes;

[0147] The preset route screening condition includes: an idle passage provided after the first vehicle drives to a target position according to the first vehicle moving route, which enables the second vehicle to leave a current parking position.

[0148] Further, sending the first vehicle moving route to the second vehicle, and receiving moving route confirmation information sent by the second vehicle when it is determined that the moving operation can be performed based on the first vehicle moving route, includes:

[0149] Sending the at least one first vehicle moving route to the second vehicle, so that the second vehicle selects a first vehicle moving route that can successfully perform a moving operation and whose moving distance satisfies a preset distance condition from the at least one first vehicle moving route;

[0150] Receive the vehicle moving route confirmation information sent by the second vehicle; the vehicle moving route confirmation information includes the screened vehicle moving route of the first vehicle.

[0151] Further, driving to a target location according to the first vehicle moving route includes:

[0152] Performing a vehicle driving operation based on the first vehicle moving route, and detecting obstacle information during driving to a target position in the first vehicle moving route;

[0153] If it is determined based on the obstacle information that the obstacle is a movable obstacle, waiting for a first preset time;

[0154] If it is determined that the movable obstacle still exists after waiting for the first preset time, output a warning message and continue to wait for a second preset time;

[0155] After waiting for the second preset time, determining whether the movable obstacle exists;

[0156] If not, continue to perform the vehicle driving operation based on the first vehicle moving route;

[0157] If so, a moving route for the first vehicle that enables the second vehicle to leave the current parking position is planned according to the current vehicle moving reference information.

[0158] Further, after sending the vehicle moving completion information to the second vehicle, the method further includes:

[0159] When performing route planning based on the current parking position, determining whether a parking route to the current parking position can be planned;

[0160] If yes, driving to the current parking position according to the parking route;

[0161] If not, the vehicle moves to the initial position of the first vehicle before it is moved.

[0162] In this embodiment, when the first vehicle determines that the conditions for moving the vehicle are met, the first vehicle obtains the moving vehicle reference information, plans the first vehicle moving route that can enable the second vehicle to leave the current parking position according to the moving vehicle reference information, sends the first vehicle moving route to the second vehicle, and receives the moving route confirmation information sent by the second vehicle when it is determined that the moving operation can be performed based on the first vehicle moving route. After driving to the target position according to the first vehicle moving route, the first vehicle sends the moving vehicle completion information to the second vehicle so that the second vehicle leaves the current parking position. That is, through the present invention, the first vehicle can drive to the target position based on the planned first vehicle moving route, provide an idle channel for the second vehicle, so that the second vehicle leaves the current parking position. The present invention no longer needs to contact the driver to return to the vehicle for moving the vehicle, reduces the time waiting for the driver to move the vehicle, and improves the efficiency of moving the vehicle. In addition, in the present invention, after the first vehicle plans the first vehicle moving route, it will send a message to the second vehicle to confirm whether the first vehicle moving route is feasible, which can improve the accuracy of the determined first vehicle moving route, and thus improve the reliability and success rate of moving the vehicle.

[0163] It should be noted that for the specific implementation of each step in this embodiment, please refer to the corresponding description in the above embodiment, which will not be repeated here.

[0164] Optionally, based on the above-mentioned embodiment of a vehicle driving control method, another embodiment of the present invention provides a vehicle driving control method, which is applied to a second vehicle, referring to Figure 4 , the vehicle driving control method comprises:

[0165] S41, obtaining a first vehicle moving route sent by the first vehicle that enables the second vehicle to leave the current parking position; the first vehicle moving route is a route planned by the first vehicle according to the moving reference information obtained by the first vehicle when it is determined that the moving condition is met;

[0166] S42: if it is determined that the vehicle moving operation can be performed based on the vehicle moving route of the first vehicle, sending vehicle moving route confirmation information to the first vehicle;

[0167] S43: receiving the vehicle moving completion information sent by the first vehicle after the first vehicle drives to the target position according to the vehicle moving route of the first vehicle, and controlling the second vehicle to drive away from the current parking position.

[0168] Further, when it is determined that the vehicle moving operation can be performed based on the vehicle moving route of the first vehicle, sending vehicle moving route confirmation information to the first vehicle includes:

[0169] Determining whether a first vehicle moving route that can successfully perform a vehicle moving operation and whose moving distance satisfies a preset distance condition can be screened out from the first vehicle moving routes;

[0170] If so, a moving vehicle route confirmation message is sent to the first vehicle; the moving vehicle route confirmation message includes the screened moving vehicle route of the first vehicle.

[0171] Further, controlling the second vehicle to leave the current parking position includes:

[0172] Based on the surrounding environment information of the second vehicle, determining whether it is possible to leave the current parking position;

[0173] If not, sending a route planning continuation message to the first vehicle, so that the first vehicle re-plans the vehicle moving route and drives according to the re-planned vehicle moving route;

[0174] If so, a moving route for the second vehicle is planned, and the second vehicle is controlled to leave the current parking position according to the moving route of the second vehicle. During the leaving process, if a new obstacle is detected, a vehicle takeover request is sent to the user terminal of the second vehicle.

[0175] In this embodiment, when the first vehicle determines that the conditions for moving the vehicle are met, the first vehicle obtains the moving vehicle reference information, plans the first vehicle moving route that can enable the second vehicle to leave the current parking position according to the moving vehicle reference information, sends the first vehicle moving route to the second vehicle, and receives the moving route confirmation information sent by the second vehicle when it is determined that the moving operation can be performed based on the first vehicle moving route. After driving to the target position according to the first vehicle moving route, the first vehicle sends the moving vehicle completion information to the second vehicle so that the second vehicle leaves the current parking position. That is, through the present invention, the first vehicle can drive to the target position based on the planned first vehicle moving route, provide an idle channel for the second vehicle, so that the second vehicle leaves the current parking position. The present invention no longer needs to contact the driver to return to the vehicle for moving the vehicle, reduces the time waiting for the driver to move the vehicle, and improves the efficiency of moving the vehicle. In addition, in the present invention, after the first vehicle plans the first vehicle moving route, it will send a message to the second vehicle to confirm whether the first vehicle moving route is feasible, which can improve the accuracy of the determined first vehicle moving route, and thus improve the reliability and success rate of moving the vehicle.

[0176] It should be noted that for the specific implementation of each step in this embodiment, please refer to the corresponding description in the above embodiment, which will not be repeated here.

[0177] Optionally, corresponding to the above-mentioned embodiment of a vehicle driving control method, another embodiment of the present invention provides a vehicle driving control device, which is applied to a first vehicle, referring to Figure 5 , the vehicle driving control device comprises:

[0178] The information acquisition module 11 is used to acquire the vehicle moving reference information when it is determined that the vehicle moving conditions are met;

[0179] A route planning module 12, configured to plan a first vehicle moving route that enables the second vehicle to leave a current parking position according to the vehicle moving reference information;

[0180] A route confirmation module 13, configured to send the first vehicle's moving route to the second vehicle, and receive moving route confirmation information sent by the second vehicle when it is determined that the moving operation can be performed based on the first vehicle's moving route;

[0181] The vehicle moving control module 14 is used to send a vehicle moving completion message to the second vehicle after the first vehicle drives to a target position according to the vehicle moving route, so that the second vehicle drives away from the current parking position.

[0182] Optionally, corresponding to the above-mentioned embodiment of a vehicle driving control method, another embodiment of the present invention provides a vehicle driving control device, which is applied to a second vehicle, referring to Figure 6 , the vehicle driving control device comprises:

[0183] The route processing module 21 is used to obtain a first vehicle moving route sent by the first vehicle that enables the second vehicle to leave the current parking position; the first vehicle moving route is a route planned by the first vehicle according to the moving reference information obtained by the first vehicle when it is determined that the moving condition is met;

[0184] An information sending module 22 is used to send vehicle moving route confirmation information to the first vehicle when it is determined that the vehicle moving operation can be performed based on the vehicle moving route of the first vehicle;

[0185] The vehicle control module 23 is used to receive the vehicle moving completion information sent by the first vehicle after the first vehicle drives to the target position according to the vehicle moving route of the first vehicle, and control the second vehicle to leave the current parking position.

[0186] In this embodiment, when the first vehicle determines that the conditions for moving the vehicle are met, the first vehicle obtains the moving vehicle reference information, plans the first vehicle moving route that can enable the second vehicle to leave the current parking position according to the moving vehicle reference information, sends the first vehicle moving route to the second vehicle, and receives the moving route confirmation information sent by the second vehicle when it is determined that the moving operation can be performed based on the first vehicle moving route. After driving to the target position according to the first vehicle moving route, the first vehicle sends the moving vehicle completion information to the second vehicle so that the second vehicle leaves the current parking position. That is, through the present invention, the first vehicle can drive to the target position based on the planned first vehicle moving route, provide an idle channel for the second vehicle, so that the second vehicle leaves the current parking position. The present invention no longer needs to contact the driver to return to the vehicle for moving the vehicle, reduces the time waiting for the driver to move the vehicle, and improves the efficiency of moving the vehicle. In addition, in the present invention, after the first vehicle plans the first vehicle moving route, it will send a message to the second vehicle to confirm whether the first vehicle moving route is feasible, which can improve the accuracy of the determined first vehicle moving route, and thus improve the reliability and success rate of moving the vehicle.

[0187] It should be noted that for the specific working process of each module in this embodiment, please refer to the corresponding description in the above embodiment, which will not be repeated here.

[0188] Optionally, based on the above-mentioned embodiment of a vehicle driving control method, another embodiment of the present invention provides a vehicle driving control system, referring to Figure 7 , comprising a first vehicle 1 for executing the above claims, and a second vehicle 2 for executing the above claims.

[0189] In this embodiment, when the first vehicle determines that the conditions for moving the vehicle are met, the first vehicle obtains the moving vehicle reference information, plans the first vehicle moving route that can enable the second vehicle to leave the current parking position according to the moving vehicle reference information, sends the first vehicle moving route to the second vehicle, and receives the moving route confirmation information sent by the second vehicle when it is determined that the moving operation can be performed based on the first vehicle moving route. After driving to the target position according to the first vehicle moving route, the first vehicle sends the moving vehicle completion information to the second vehicle so that the second vehicle leaves the current parking position. That is, through the present invention, the first vehicle can drive to the target position based on the planned first vehicle moving route, provide an idle channel for the second vehicle, so that the second vehicle leaves the current parking position. The present invention no longer needs to contact the driver to return to the vehicle for moving the vehicle, reduces the time waiting for the driver to move the vehicle, and improves the efficiency of moving the vehicle. In addition, in the present invention, after the first vehicle plans the first vehicle moving route, it will send a message to the second vehicle to confirm whether the first vehicle moving route is feasible, which can improve the accuracy of the determined first vehicle moving route, and thus improve the reliability and success rate of moving the vehicle.

[0190] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle driving control method, characterized in that: Applied to a first vehicle, the vehicle driving control method includes: When it is determined that the conditions for moving the vehicle are met, obtain reference information for moving the vehicle; Planning a moving route for the first vehicle that enables the second vehicle to leave the current parking position according to the vehicle moving reference information; Sending the first vehicle's moving route to the second vehicle, and receiving moving route confirmation information sent by the second vehicle when it is determined that the moving operation can be performed based on the first vehicle's moving route; After the first vehicle drives to the target position according to the moving route of the first vehicle, a moving completion message is sent to the second vehicle, so that the second vehicle drives away from the current parking position.

2. The vehicle driving control method according to claim 1, characterized in that: Determine that the conditions for moving the vehicle are met, including: Sending vehicle information to a second vehicle, and receiving vehicle confirmation information sent by the second vehicle when the second vehicle determines that the first vehicle is a road-blocking vehicle based on the vehicle information; Sending a vehicle moving request to a user terminal corresponding to the first vehicle; If the vehicle moving confirmation instruction sent by the user terminal is received, it is determined that the vehicle moving condition is met.

3. The vehicle driving control method according to claim 1, characterized in that: Planning a moving route for the first vehicle that enables the second vehicle to leave the current parking position according to the moving vehicle reference information includes: Determining a safe avoidance position based on the vehicle moving reference information; Planning a first vehicle moving route to the safe avoidance position, and selecting at least one first vehicle moving route that meets a preset route screening condition from the first vehicle moving routes; The preset route screening condition includes: an idle passage provided after the first vehicle drives to a target position according to the first vehicle moving route, which enables the second vehicle to leave a current parking position.

4. The vehicle driving control method according to claim 3, characterized in that: Sending the first vehicle's moving route to the second vehicle, and receiving moving route confirmation information sent by the second vehicle when the second vehicle determines that the moving operation can be performed based on the first vehicle's moving route, includes: Sending the at least one first vehicle moving route to the second vehicle, so that the second vehicle selects a first vehicle moving route that can successfully perform a moving operation and whose moving distance satisfies a preset distance condition from the at least one first vehicle moving route; Receive the vehicle moving route confirmation information sent by the second vehicle; the vehicle moving route confirmation information includes the screened vehicle moving route of the first vehicle.

5. The vehicle driving control method according to claim 1, characterized in that: Driving to a target location according to the first vehicle moving route includes: Performing a vehicle driving operation based on the first vehicle moving route, and detecting obstacle information during driving to a target position in the first vehicle moving route; If it is determined based on the obstacle information that the obstacle is a movable obstacle, waiting for a first preset time; If it is determined that the movable obstacle still exists after waiting for the first preset time, output a warning message and continue to wait for a second preset time; After waiting for the second preset time, determining whether the movable obstacle exists; If not, continue to perform the vehicle driving operation based on the first vehicle moving route; If so, a moving route for the first vehicle that enables the second vehicle to leave the current parking position is planned according to the current vehicle moving reference information.

6. The vehicle driving control method according to claim 1, characterized in that: After sending the vehicle moving completion information to the second vehicle, the method further includes: When performing route planning based on the current parking position, determining whether a parking route to the current parking position can be planned; If yes, driving to the current parking position according to the parking route; If not, the vehicle moves to the initial position of the first vehicle before it is moved.

7. A vehicle driving control method, characterized in that: Applied to a second vehicle, the vehicle driving control method comprises: Obtaining a first vehicle moving route sent by the first vehicle that enables the second vehicle to leave the current parking position; the first vehicle moving route is a route planned by the first vehicle according to the moving reference information obtained by the first vehicle when it is determined that the moving condition is met; When it is determined that the vehicle moving operation can be performed based on the vehicle moving route of the first vehicle, sending vehicle moving route confirmation information to the first vehicle; Receive the vehicle moving completion information sent by the first vehicle after the first vehicle drives to the target position according to the vehicle moving route of the first vehicle, and control the second vehicle to leave the current parking position.

8. The vehicle driving control method according to claim 7, characterized in that: When it is determined that the vehicle moving operation can be performed based on the vehicle moving route of the first vehicle, sending vehicle moving route confirmation information to the first vehicle includes: Determining whether a first vehicle moving route that can successfully perform a vehicle moving operation and whose moving distance satisfies a preset distance condition can be screened out from the first vehicle moving routes; If so, a moving vehicle route confirmation message is sent to the first vehicle; the moving vehicle route confirmation message includes the screened moving vehicle route of the first vehicle.

9. The vehicle driving control method according to claim 7, characterized in that: Controlling the second vehicle to leave the current parking position includes: Based on the surrounding environment information of the second vehicle, determining whether it is possible to leave the current parking position; If not, sending a route planning continuation message to the first vehicle, so that the first vehicle re-plans the vehicle moving route and drives according to the re-planned vehicle moving route; If so, a moving route for the second vehicle is planned, and the second vehicle is controlled to leave the current parking position according to the moving route of the second vehicle. During the leaving process, if a new obstacle is detected, a vehicle takeover request is sent to the user terminal of the second vehicle.

10. A vehicle driving control system, characterized in that: The invention comprises a first vehicle for executing the method according to any one of claims 1 to 6, and a second vehicle for executing the method according to any one of claims 7 to 9.

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