Vehicle control method and vehicle-mounted controller

Abstract

The invention discloses a vehicle control method and a vehicle-mounted controller. Rapid vehicle moving is achieved. The method is applied to a vehicle-mounted controller and comprises the steps that a vehicle moving request sent by a vehicle owner side mobile terminal is responded, and a vehicle is controlled to be started; in response to an awakening word sent by a person outside the vehicle, locking the person outside the vehicle as a commander according to a voiceprint recognition technology and awakening an intelligent driving function; wherein the intelligent driving function is used for controlling the vehicle to move and stop moving according to the voice instruction sent by the commander.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle remote control, and more specifically, to a vehicle control method and a vehicle-mounted controller. Background Art

[0002] As the number of cars continues to increase, parking spaces are becoming increasingly scarce, and the phenomena of "difficult parking" and "disorderly parking" are becoming more and more serious. Various disputes caused by parking problems are frequent, which has a great impact on people's lives and social order. For example, when parked vehicles block the normal passage of other vehicles, the owner of the blocked vehicle needs to notify the owner of the blocked vehicle to go to the vehicle in time to ignite and move the vehicle, but in many cases the owner of the blocked vehicle cannot arrive at the scene immediately, thus causing disputes. Summary of the invention

[0003] In view of this, the present invention provides a vehicle control method and a vehicle-mounted controller to achieve rapid vehicle maneuvering.

[0004] A vehicle control method, applied to a vehicle controller, comprising:

[0005] In response to a vehicle moving request sent by a mobile terminal on the vehicle owner's side, control the vehicle to start;

[0006] In response to a wake-up word issued by a person outside the vehicle, the person outside the vehicle is locked as the commander based on voiceprint recognition technology and the intelligent driving function is awakened;

[0007] Among them, the intelligent driving function is used to control the vehicle to move and stop moving according to the voice instructions issued by the commander.

[0008] Optionally, the vehicle movement includes: vehicle moving forward, vehicle moving backward and vehicle turning.

[0009] Optionally, each of the voice instructions is a voice instruction used to control the vehicle to perform an action or a series of continuous actions.

[0010] Optionally, if no voice command is received again when the time from the last time a voice command was received exceeds a first preset time, the vehicle is controlled to stop moving.

[0011] Optionally, after the vehicle is started, the method further includes: determining whether there is space for moving the vehicle based on information about the environment in which the vehicle is located, and if not, controlling the vehicle to shut down.

[0012] Optionally, the intelligent driving function is also used to detect whether the vehicle is at risk of collision, and if so, control the vehicle to stop moving.

[0013] Optionally, before responding to the wake-up word issued by the person outside the vehicle, it also includes: voice prompting the person outside the vehicle to move to the best position point for voice input to the vehicle, and voice prompting the person outside the vehicle to say a preset wake-up word after moving to the best position point.

[0014] Optionally, after waking up the intelligent driving function, the method further includes: determining the distance of the commander's voice source and guiding the commander to move within a preset distance range from the vehicle by voice;

[0015] When the sound source distance is less than the lower limit of the distance range, the system stops responding to the voice command issued by the commander and controls the vehicle to stop moving.

[0016] Optionally, the intelligent driving function is also used to turn off the intelligent driving function and control the vehicle to track and return to the original position when the time from the last time a voice command was received reaches a second preset time or when an exit command spoken by the commander is received.

[0017] A vehicle-mounted controller comprises: a processor and a memory, wherein a computer program is stored on the processor, and when the computer program is executed by the processor, any vehicle control method disclosed above is implemented.

[0018] It can be seen from the above technical solutions that the parked vehicles designed by the present invention have functions such as remote start, on-site intelligent wake-up and intelligent driving. Therefore, when the parked vehicles block traffic, the owners do not need to rush to the scene to ignite and move the vehicles. They only need to remotely control the vehicle to start. Then, the vehicle will lock the person as the commander and wake up the intelligent driving function after the on-site personnel say the preset wake-up word. At this time, the commander can use voice to command the vehicle to move away, thereby saving time for both parties and realizing rapid vehicle movement. Moreover, since the intelligent driving function only responds to the commander's voice commands, it avoids voice interference from other people on the scene, and can be better applied to scenarios where multiple people are present at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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 some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A flow chart of a vehicle control method disclosed in an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of the communication between the vehicle controller and the mobile terminal on the owner's side;

[0022] Figure 3 A distribution map of parked vehicles in a parking lot;

[0023] Figure 4 A flow chart of another vehicle control method disclosed in an embodiment of the present invention;

[0024] Figure 5 A flow chart of another vehicle control method disclosed in an embodiment of the present invention;

[0025] Figure 6 The present invention is a schematic diagram of the structure of a vehicle-mounted controller disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0026] For the purpose of reference and clarity, the technical terms, abbreviations or acronyms used below are summarized as follows:

[0027] ADAS: Advanced Driving Assistance System;

[0028] ECU: Electronic Control Unit, electronic control unit;

[0029] APP:Application, application.

[0030] 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.

[0031] See also Figure 1 , an embodiment of the present invention discloses a vehicle control method, which is applied to a vehicle controller, and the method includes:

[0032] Step S01: In response to a request to move the vehicle sent by a mobile terminal on the vehicle owner's side, the vehicle is controlled to start, and then the process proceeds to step S02.

[0033] Step S02: In response to a wake-up word issued by a person outside the vehicle, the person outside the vehicle is locked as a commander based on voiceprint recognition technology and the intelligent driving function is awakened; the intelligent driving function is used to control the vehicle to move and stop moving according to the voice command issued by the commander.

[0034] The embodiment of the present invention is applied to a vehicle controller, which controls the vehicle startup according to a user request sent by a mobile terminal on the vehicle owner side. The interaction process is as follows: Figure 2 As shown (the on-board controller is located inside the vehicle, Figure 2 (not shown): The user (i.e., the car owner) uploads the user request to the vehicle remote control system by operating the mobile terminal on the car owner side, and the vehicle remote control system sends the user request to the vehicle controller through the vehicle Internet of Things, triggering the vehicle controller to execute Figure 1 The vehicle control method shown can realize quick vehicle movement.

[0035] The working principle of the embodiment of the present invention is described in detail below:

[0036] As the number of cars continues to increase, parking spaces are becoming increasingly scarce, and the phenomena of "difficult parking" and "disorderly parking" are becoming more and more serious. Various disputes caused by parking problems frequently occur. For example, when a parked vehicle blocks the normal passage of other vehicles, the owner of the blocked vehicle needs to notify the owner of the blocked vehicle to start the ignition and move the vehicle in time, but in many cases the owner of the blocked vehicle cannot arrive at the scene immediately, thus causing disputes. In order to meet the owner's demand for fast car moving, the embodiment of the present invention requires that the vehicle has an intelligent car moving function, which integrates functions such as remote start, on-site intelligent wake-up, and intelligent driving.

[0037] The on-site intelligent wake-up and intelligent driving functions both require voiceprint recognition and speech recognition technology. Voiceprint recognition and speech recognition are the same in principle. They both analyze and process the collected voice signals, extract corresponding features or establish corresponding models, and then make judgments based on them. They belong to the research direction of artificial intelligence speech. However, the fundamental purpose, extracted features, and established models of the two are different: the purpose of speech recognition is to identify the content of the speech; the purpose of voiceprint recognition is to identify the identity of the speaker, also known as speaker recognition, which is a type of biometric technology.

[0038] For vehicles with the intelligent car moving function, after the owner parks the car, electrically locks the car and leaves, if the parked vehicle (hereinafter referred to as car A) blocks the normal passage of other vehicles, the blocked vehicle owner can call the owner's phone number reserved on car A or other means to notify the owner of car A to move the car. After receiving the notification, the owner of car A does not need to go to car A to ignite the engine and move the car. He only needs to remotely control the start of car A through the mobile terminal on the owner's side. Then the on-board controller connected to the voice collector on car A starts to continuously monitor the voice of people outside the car (i.e., on-site personnel). When the person outside the car says a pre-set wake-up word (the content of the wake-up word is, for example, "activate the car moving function"), the on-board controller activates the voice function through voice. The recognition technology recognizes the wake-up word from the voice of the person outside the car, and through voiceprint recognition of the voice with the wake-up word, locks the person outside the car who said the wake-up word as the commander and wakes up the intelligent driving function. After the intelligent driving function is awakened, the commander can use voice to command car A to move and stop, so that car A moves to a position that does not affect the departure of blocked vehicles. The vehicle movement actions include but are not limited to the vehicle moving forward, the vehicle moving backward and the vehicle turning. During the process of moving the car, car A only obeys the voice command of the commander (that is, the intelligent driving function only responds to the voice command issued by the commander), avoiding voice interference from other people on the scene, and can be better applied to scenes where multiple people are present at the same time. After the commander uses voice to command car A to move away, it can drive smoothly, saving time for both parties and meeting the needs of fast car moving.

[0039] The vehicle controller can be developed based on the ADAS controller, which is an ECU for ADAS that can integrate and process data from different sensors (such as cameras, radars, etc.) to achieve various safety and automated driving functions. The embodiment of the present invention integrates the ADAS controller into the vehicle moving solution. The ADAS controller controls the intelligent driving of the vehicle according to the voice commands issued by the on-site commander, without the need for the owner to drive the vehicle in person or for on-site personnel to push the vehicle manually, thus meeting the needs of fast and intelligent vehicle moving.

[0040] In the above disclosed embodiments, the mobile terminal on the car owner's side can be a portable terminal such as the car owner's smart phone, tablet computer or wearable smart device (such as a smart watch or smart bracelet), but is not limited to this.

[0041] To sum up, the embodiments of the present invention are designed to park vehicles with functions such as remote start, on-site intelligent wake-up and intelligent driving. Therefore, when the parked vehicle blocks traffic, the owner does not need to rush to the scene to ignite the engine and move the vehicle. He only needs to remotely control the vehicle to start. Then, the vehicle will lock the person as the commander and wake up the intelligent driving function after the on-site personnel say the preset wake-up word. At this time, the commander can use voice to command the vehicle to move away, thereby saving time for both parties and realizing quick vehicle moving. Moreover, since the intelligent driving function only responds to the commander's voice commands, it avoids voice interference from other people on the scene, and can be better applied to scenarios where multiple people are present at the same time.

[0042] Optionally, to facilitate the on-site personnel to understand the smart car moving function, an APP can be pre-developed, and the on-site personnel can scan the QR code posted on the car body (the QR code can be posted on the front windshield of the car, for example) through their mobile phones to enter the APP, which contains the function introduction and usage instructions for the smart car moving function. After reading the function introduction and usage instructions, the on-site personnel can trigger the preset button on the APP to send a message to the mobile terminal on the owner's side to notify the owner to move the car.

[0043] by Figure 3 Taking the scenario shown as an example, there are four cars A, B, C, and D parked in a certain area of ​​the parking lot. Car B is blocked by car A in front, the wall behind, car C on the left, and car D on the right and cannot drive out. At this time, the owner of car B can scan the QR code posted on the front windshield of car A to enter the smart car moving APP, and use the APP to notify the owner of car A to move the car. After receiving the notification, the owner of car A remotely controls car A to start through the smartphone, and then the owner of car B can be locked as the commander by saying the wake-up word to car A, and then voice-command car A to move forward a distance and then stop, and then successfully drive car B out of the parking space, thereby saving the time of the owner of car A to go to car A to start the engine and move the car after receiving the call, and also saving the waiting time of the owner of car B, avoiding the conflict between the owner of car B and the owner of car A due to long waiting time.

[0044] Optionally, each of the voice commands supported by the intelligent vehicle moving function is a voice command for controlling the vehicle to perform an action or a series of continuous actions. For example, in a certain scenario, the vehicle needs to go straight for two meters, turn right, and continue to go straight for three meters before stopping. The commander can say "the vehicle goes straight for two meters, turn right, and continue to go straight for three meters before stopping", which is a voice command for controlling the vehicle to perform a series of continuous actions, thereby completing the vehicle moving; or, the commander can also first say "the vehicle goes straight", which is a voice command for controlling the vehicle to perform an action, and after the vehicle goes straight for two meters, the commander says "the vehicle turns right", which is a voice command for controlling the vehicle to perform an action, and after the vehicle turns right, the commander says "continue to go straight for three meters", which is a voice command for controlling the vehicle to perform an action, and after the vehicle continues to go straight for three meters, the commander says "stop", which is a voice command for controlling the vehicle to perform an action, thereby completing the vehicle moving.

[0045] Optionally, in the previous embodiment, when the time from the last voice command received exceeds a first preset time (e.g., 1 second), if the vehicle is in a moving state and no voice command is received again, the vehicle is controlled to stop moving, thereby ensuring the safety of the vehicle and people outside the vehicle. For example, after the commander says the voice command "the vehicle goes straight" used to control the vehicle to perform an action, he needs to continue to say "the vehicle goes straight", and the interval between the two voice commands cannot exceed 1 second. If the interval exceeds 1 second, the vehicle stops moving, and the commander needs to send a voice command again to continue moving, thereby avoiding danger to the vehicle and people outside the vehicle due to the commander's negligence in monitoring the vehicle's driving status.

[0046] Optionally, based on any of the above disclosed embodiments, after controlling the vehicle to start, it further includes: judging whether there is space to move the vehicle according to the vehicle's environment information, and if not, directly controlling the vehicle to shut down to ensure the safety of the vehicle and people outside the vehicle, and of course, voice notification can also be used to inform people outside the vehicle that there is currently no space to move the vehicle. The corresponding vehicle control method is as follows Figure 4 As shown, including:

[0047] Step S11: In response to the vehicle moving request sent by the mobile terminal on the vehicle owner's side, control the vehicle to start, and then enter step S12.

[0048] Step S12: judging whether there is space for moving the vehicle according to the vehicle's environment information, if yes, proceeding to step S13, if no, proceeding to step S14;

[0049] Step S13: In response to the wake-up word issued by the person outside the vehicle, the person outside the vehicle is locked as the commander based on voiceprint recognition technology and the intelligent driving function is awakened. The intelligent driving function is used to control the vehicle to move and stop according to the voice command issued by the commander.

[0050] Step S14: Control the vehicle to shut down.

[0051] Optionally, based on any of the embodiments disclosed above, during the movement of the vehicle, the intelligent driving function is also used to determine whether the vehicle has a collision risk in combination with on-site obstacle information. If so, the vehicle is controlled to stop moving, thereby ensuring the safety of the vehicle and people outside the vehicle.

[0052] Optionally, based on any of the above disclosed embodiments, before responding to the wake-up word issued by the person outside the vehicle, it also includes: voice prompting the person outside the vehicle to move to the best position for voice input to the vehicle, and voice prompting the person outside the vehicle to say a preset wake-up word after moving to the best position to ensure the clarity of the collected voice. For example, assuming that the vehicle's voice collector is arranged in the main driver's rearview mirror, after the vehicle is started, the on-board controller can use voice to prompt the on-site personnel "Please move to the main driver's side of the vehicle. When you move into position, please say: Activate the car moving function (wake-up word)".

[0053] Optionally, based on any of the embodiments disclosed above, after waking up the intelligent driving function, it also includes: judging the distance of the commander's sound source, and guiding the commander to move to a preset distance range from the vehicle by voice; when the sound source distance is less than the lower limit of the distance range (for example, less than 50cm), stop responding to the voice command issued by the commander and control the vehicle to stop moving. That is, in order to avoid safety risks caused by the commander being too close to the vehicle, the on-board controller will judge the distance of the collected sound source information, and the vehicle will only take action when it is recognized that the distance is greater than a certain value, such as 50cm; when it is recognized that the commander is too close, the on-board controller will voice-telegraph the commander to move away; when it is recognized that the person is too far away and it is difficult to recognize the sound, the on-board controller will voice-telegraph the commander to move closer.

[0054] Optionally, based on any of the embodiments disclosed above, after waking up the intelligent driving function, the on-board controller continues to interact with the commander through voice, so that the commander can learn about the vehicle dynamics. For example, at the moment of waking up the intelligent driving function, the vehicle sends a voice message saying, "You can command the vehicle through voice. During the command process, please stay at least 50 cm away from the vehicle. The vehicle will stop when it identifies a risk of collision with an obstacle or you say stop."

[0055] The voice acquisition device and voice output device used in any of the above disclosed embodiments may be a built-in device or an external device of the vehicle. When the device is a built-in device of the vehicle, the use of the device can be facilitated by lowering the window.

[0056] Optionally, based on any of the embodiments disclosed above, the intelligent driving function is also used to turn off the intelligent driving function and control the vehicle to track and return to the original position when the time from the last time a voice command was received reaches a second preset time (for example, 5 minutes) or when an exit command is received from the commander. Of course, when the time from the last time a voice command was received reaches a third time (the third time is less than the second time), that is, when the time is about to reach the second preset time, the vehicle can also remind the commander by voice that the intelligent driving function is about to be turned off. If the commander has a new action, the commander responds to the commander's voice command. Otherwise, when the time reaches the second preset time, the intelligent driving function is immediately turned off. The corresponding vehicle control method is as follows Figure 5 As shown, including:

[0057] Step S21: In response to the vehicle moving request sent by the mobile terminal on the vehicle owner's side, control the vehicle to start, and then enter step S22.

[0058] Step S22: judging whether there is space for moving the vehicle according to the vehicle's environment information, if yes, proceeding to step S23, if no, proceeding to step S25;

[0059] Step S23: In response to the wake-up word issued by the person outside the vehicle, the person outside the vehicle is locked as the commander based on the voiceprint recognition technology and the intelligent driving function is awakened, and then the process proceeds to step S24. The intelligent driving function is used to control the vehicle to move and stop according to the voice command issued by the commander.

[0060] Step S24: When the time from the last voice command received reaches a second preset time or when an exit command spoken by the commander is received, the intelligent driving function is turned off, and the vehicle is controlled to track and return to the original position.

[0061] Step S25: Control the vehicle to shut down.

[0062] Optionally, the intelligent driving function is also used to control the vehicle to park in an empty parking space if an empty parking space is identified during the process of tracking back to the original position.

[0063] Optionally, based on any of the embodiments disclosed above, the vehicle dynamics are fed back to the owner's mobile terminal in real time. For example, after the vehicle tracks back to the original position or parks in the vacant parking space, the owner is informed that the smart car moving function has been executed. At this time, the owner can control the vehicle to shut down or the vehicle can shut down automatically.

[0064] In addition, the embodiment of the present invention also discloses a vehicle-mounted controller, such as Figure 6 As shown, it includes: a processor and a memory, wherein a computer program is stored on the processor, and when the computer program is executed by the processor, any vehicle control method disclosed above is implemented.

[0065] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the vehicle controller disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0066] The terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish between similar and different objects, and are not necessarily used to describe a specific order or sequence. Moreover, the terms "comprises", "comprising", or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity, or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity, or device. In the absence of further restrictions, the elements defined by the sentence "comprising a" do not exclude the existence of other identical elements in the process, method, commodity, or device including the elements.

[0067] 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 embodiments of the present invention. Therefore, the embodiments of the present invention will not be limited to the embodiments shown herein, but rather to the widest range consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle control method, characterized in that: Applied to a vehicle-mounted controller, the method comprises: In response to a vehicle moving request sent by a mobile terminal on the vehicle owner's side, control the vehicle to start; In response to a wake-up word issued by a person outside the vehicle, the person outside the vehicle is locked as the commander based on voiceprint recognition technology and the intelligent driving function is awakened; Among them, the intelligent driving function is used to control the vehicle to move and stop moving according to the voice instructions issued by the commander.

2. The vehicle control method according to claim 1, characterized in that: The vehicle movement includes: vehicle moving forward, vehicle moving backward and vehicle turning.

3. The vehicle control method according to claim 1, characterized in that: Each of the voice instructions is a voice instruction used to control the vehicle to perform an action or a series of continuous actions.

4. The vehicle control method according to claim 3, characterized in that: If no voice command is received again within a period of time exceeding a first preset time from the last time a voice command was received, the vehicle is controlled to stop moving.

5. The vehicle control method according to any one of claims 1 to 4, characterized in that: After the vehicle is started, the control further includes: Determine whether there is space to move the vehicle based on the vehicle's surroundings. If not, shut down the vehicle.

6. The vehicle control method according to any one of claims 1 to 4, characterized in that: The intelligent driving function is also used to detect whether the vehicle has a collision risk, and if so, control the vehicle to stop moving.

7. The vehicle control method according to any one of claims 1 to 4, characterized in that: Before responding to the wake-up word issued by the person outside the vehicle, the method further includes: The voice prompts the person outside the vehicle to move to the best position for voice input to the vehicle, and the voice prompts the person outside the vehicle to say a preset wake-up word after moving to the best position.

8. The vehicle control method according to any one of claims 1 to 4, characterized in that: After waking up the intelligent driving function, the method further includes: By judging the distance of the commander's voice source, the commander is guided by voice to move within a preset distance range from the vehicle; When the sound source distance is less than the lower limit of the distance range, the system stops responding to the voice command issued by the commander and controls the vehicle to stop moving.

9. The vehicle control method according to any one of claims 1 to 4, characterized in that: The intelligent driving function is also used to turn off the intelligent driving function and control the vehicle to track and return to the original position when the time from the last time a voice command was received reaches a second preset time or when an exit command spoken by the commander is received.

10. A vehicle-mounted controller, characterized in that: include: A processor and a memory, wherein a computer program is stored on the processor, and when the computer program is executed by the processor, the vehicle control method according to any one of claims 1 to 9 is implemented.

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