Method and device for controlling vehicle, terminal and vehicle

Abstract

The embodiment of the invention provides a method and device for controlling a vehicle, a terminal and the vehicle. The method is applied to a terminal, and comprises the steps that under the condition that a vehicle is in a parking failure scene, a detrapping instruction is sent to the vehicle, a first detrapping interface is displayed, the detrapping instruction is used for indicating the vehicle to enter a detrapping mode, and the first detrapping interface comprises a first scene image of the vehicle; acquiring a heuristic position selected in the first scene image; and sending the heuristic position to the vehicle, so that the vehicle performs replanning according to the heuristic position. According to the technical scheme provided by the embodiment of the invention, when the automatic parking of the vehicle fails, the driver does not need to enter the driving position again to assist the automatic parking of the vehicle, so that the convenience of a subsequent processing scheme of the vehicle in a parking failure scene is improved, and the driving experience of a user is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and more specifically, to a method, device, terminal and vehicle for controlling a vehicle. Background Art

[0002] Currently, most vehicles support remote parking function, which allows the vehicle to be controlled by a remote control device (such as smart key, mobile phone) outside the vehicle to complete the parking operation with one click.

[0003] However, due to the limitations of perception capabilities, planning and decision-making algorithms, control accuracy, etc., the parking system cannot guarantee automatic parking in complex and diverse social environments. At this time, the driver is required to get back in the car and drive manually to complete the parking process.

[0004] This process is rather cumbersome and brings a bad product experience to the driver. Summary of the invention

[0005] The embodiments of the present application provide a method, device, terminal and vehicle for controlling a vehicle.

[0006] In a first aspect, an embodiment of the present application provides a method for controlling a vehicle, which is applied to a terminal, and the method includes: when the vehicle is in a parking failure scenario, sending an escape instruction to the vehicle, and displaying a first escape interface, the escape instruction is used to instruct the vehicle to enter an escape mode, and the first escape interface includes a first scene image of the vehicle; obtaining an inspiration position selected in the first scene image; sending the inspiration position to the vehicle, so that the vehicle is replanned according to the inspiration position.

[0007] In a second aspect, an embodiment of the present application provides a method for controlling a vehicle, which is applied to a vehicle, and the method includes: entering an escape mode after receiving an escape command sent by a terminal; receiving an inspiration position sent by the terminal, the inspiration position being selected from a first scene image of the vehicle displayed on the terminal; performing path planning based on the vehicle's current position, the inspiration position, and a designated parking space; and driving to the inspiration position if the planning is successful, and then starting an automatic parking process to complete automatic parking.

[0008] In a third aspect, an embodiment of the present application provides a device for controlling a vehicle, the device comprising: a data sending module, for sending an escape instruction to the vehicle when the vehicle is in a parking failure scenario, the escape instruction being used to instruct the vehicle to enter an escape mode; a display module, for displaying a first escape interface, the first escape interface comprising a first scene image of the vehicle; a position module, for acquiring an inspiration position selected in the first scene image; and a data sending module, for sending an inspiration position to the vehicle so that the vehicle is replanned according to the inspiration position.

[0009] In a fourth aspect, an embodiment of the present application provides a device for controlling a vehicle, the device comprising: an escape module, for entering an escape mode after receiving an escape command sent by a terminal; a position receiving module, for receiving an inspiration position sent by the terminal, the inspiration position being selected from a first scene image of the vehicle displayed on the terminal; a path planning module, for performing path planning based on the vehicle's current position, the inspiration position, and a designated parking space; and a vehicle control module, for driving to the inspiration position if the planning is successful, and then starting the automatic parking process to complete the automatic parking.

[0010] In a fifth aspect, an embodiment of the present application provides an electronic device, comprising: a memory; one or more processors coupled to the memory; one or more programs, wherein one or more applications are stored in the memory and configured to be executed by one or more processors, and the one or more programs are configured to execute the method of the first aspect.

[0011] In a sixth aspect, an embodiment of the present application provides a vehicle, comprising: a memory; one or more processors coupled to the memory; one or more programs, wherein one or more applications are stored in the memory and configured to be executed by one or more processors, and the one or more programs are configured to execute the method of the first aspect.

[0012] In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer program instructions are stored. The computer program instructions can be called by a processor to execute the method of the first aspect or the second aspect.

[0013] In an eighth aspect, an embodiment of the present application provides a computer program product, which, when instructions in the computer program product are executed, is used to implement the method of the first aspect or the second aspect.

[0014] Compared with the technical solutions provided by related technologies, the technical solutions provided by the embodiments of the present application are that, when the vehicle is in an automatic parking failure scenario, the terminal controls the vehicle to enter an escape mode and displays a first escape interface. The user can select an inspiration position in the first scene image of the vehicle displayed on the first escape interface and send it to the vehicle. The vehicle re-plans according to the above-mentioned inspiration position. After the re-planning is successful, the vehicle drives to the inspiration position to escape from the current predicament position, and then starts the automatic parking process at the inspiration position or in the process of driving to the inspiration position. When the vehicle fails to park automatically, the driver does not need to re-enter the driving seat to assist the vehicle in automatic parking, thereby improving the convenience of subsequent processing solutions for the vehicle in parking failure scenarios and improving the user's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 A schematic diagram of an implementation environment provided for an embodiment of the present application.

[0017] Figure 2 A flowchart of a method for controlling a vehicle provided in an embodiment of the present application.

[0018] Figure 3 A flowchart of another method for controlling a vehicle provided in an embodiment of the present application.

[0019] Figure 4 A schematic diagram of the remote parking interface provided in an embodiment of the present application.

[0020] Figure 5 This is a schematic diagram of the first escape interface provided in an embodiment of the present application.

[0021] Figure 6 This is a schematic diagram of the second escape interface provided in an embodiment of the present application.

[0022] Figure 7 A flowchart of another method for controlling a vehicle provided in an embodiment of the present application.

[0023] Figure 8 A block diagram of a device for controlling a vehicle provided in an embodiment of the present application.

[0024] Fig. 9 A block diagram of a device for controlling a vehicle provided in an embodiment of the present application.

[0025] Fig.10 A structural block diagram of a terminal provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0027] In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0028] Please refer to Figure 1 , which shows a schematic diagram of an implementation environment shown in an embodiment of the present application. The implementation environment includes a terminal 100 and a vehicle 200, and a wireless communication connection, such as a Bluetooth connection, is established between the terminal 100 and the vehicle 200.

[0029] The vehicle 200 has a remote parking function. In the embodiment of the present application, the vehicle 200 has an automatic parking system. After obtaining the remote parking command sent by the terminal 100, the automatic parking is completed by the automatic parking system. In addition, the vehicle 200 also has an environmental perception system, including an image acquisition device and a radar (such as a laser radar, a millimeter wave radar, an ultrasonic radar), etc. The image acquisition device is used to collect environmental images of the vehicle 200, and the radar is used to collect environmental point cloud data of the vehicle 200.

[0030] The terminal 100 is installed with a vehicle control application, through which the remote control function of the vehicle 200 can be realized, for example, remote parking. In the embodiment of the present application, when the vehicle 200 is in the automatic parking failure scenario, the terminal 100 controls the vehicle 200 to enter the escape mode and displays the first escape interface. The user can select an inspiration position in the first scene image of the vehicle 200 displayed in the first escape interface and send it to the vehicle 200. The vehicle 200 then drives to the inspiration position to escape from the current predicament position, and then starts the automatic parking process at the inspiration position or in the process of driving to the inspiration position. When the vehicle 200 fails to park automatically, there is no need for the driver to re-enter the driving seat to assist the automatic parking of the vehicle 200, thereby improving the convenience of the subsequent processing steps of the vehicle 200 in the parking failure scenario and improving the user experience.

[0031] In some embodiments, the implementation environment further includes a server 300, and the server 300 and the vehicle 200 interact with each other through the Tbox in the vehicle 200. In the embodiment of the present application, the vehicle 200 processes the environmental image collected by the image acquisition device and the environmental point cloud data collected by the radar to obtain a panoramic image of the vehicle 200, and sends the panoramic image to the server 300 through the Tbox. In addition, the server 300 also establishes a wireless communication connection with the terminal 100, and the transmission of the panoramic image is realized through the wireless communication connection.

[0032] Please refer to Figure 2 , which shows a flow chart of a method for controlling a vehicle provided by an embodiment of the present application. The method is applied to Figure 1 The terminal in the embodiment. The method includes the following process.

[0033] S201, when the vehicle is in a parking failure scenario, sending an escape instruction to the vehicle, and displaying a first escape interface.

[0034] Parking failure scenarios include but are not limited to the vehicle failing to plan a parking path, the vehicle planning a parking path more times than the maximum number, the vehicle's obstacle avoidance timeout during automatic parking, the vehicle's automatic parking system exiting before automatic parking is completed, etc.

[0035] The escape command is used to instruct the vehicle to enter the escape mode.

[0036] The first escape interface includes a first scene image of the vehicle, which may be a panoramic image of the vehicle, which generally includes elements such as the vehicle, obstacles in the environment in which the vehicle is located, and parking lines. In some embodiments, the environmental perception system in the vehicle collects its own environmental information (including environmental images, environmental point cloud data, etc.), and then obtains a panoramic image based on the above environmental information, and sends the above panoramic image to the cloud through Tbox, and the cloud sends the panoramic image to the terminal, and the terminal displays the first scene image on the first escape interface.

[0037] In some embodiments, when the vehicle detects that it is in an automatic parking failure scenario, it sends a notification message to the terminal. Based on the notification message, the terminal sends an escape instruction to the vehicle and displays the first escape interface. At the same time, the terminal sends a reminder message to remind the user that the vehicle has entered the escape mode. For example, the terminal can display a reminder message "The vehicle has entered the escape mode, please select the inspiration position" in a pop-up reminder window. The reminder message can also be a voice message.

[0038] In other embodiments, the vehicle displays a remote control parking interface, which includes an escape control. When the user finds that the vehicle's automatic parking has failed, or that the vehicle's automatic parking result does not meet expectations, the escape control can be triggered, after which the terminal sends an escape command to the vehicle and displays a first escape interface.

[0039] S202: Obtain an inspiration position selected in the first scene image.

[0040] The inspiration position is the position where the vehicle successfully plans a parking path, that is, the vehicle can achieve automatic parking at the inspiration position. The driver can select a position in the first scene image where the vehicle can successfully complete automatic parking based on his own experience as the inspiration position.

[0041] The heuristic position may include one position or may be composed of multiple positions, for example, the positions of multiple sampling points on the side of a specified rectangle, where the specified rectangle is a rectangle determined based on the length and width of the vehicle. When the projection of the vehicle completely falls into the rectangle, it means that the vehicle has arrived at the heuristic position. In the embodiment of the present application, only the positions of multiple sampling points on the side of the specified rectangle are used as an example for description.

[0042] The inspiration position can be represented by longitude and latitude information, or by coordinates based on a specified coordinate system, or based on the relative position relationship between the inspiration position and the vehicle, which can be pre-negotiated by the vehicle and the terminal, and the embodiments of the present application do not limit this.

[0043] In some embodiments, the first scene image can be enlarged so that the user can better select the inspiration position. In other embodiments, after the driver selects the inspiration position, the inspiration position can also be translated and rotated to adjust the inspiration position.

[0044] S203, sending the inspired position to the terminal, so that the vehicle is replanned according to the inspired position.

[0045] Correspondingly, the terminal receives the inspiration position and re-plans according to the inspiration position, that is, plans the first path between the current position of the vehicle to the inspiration position, and the parking path starting from the inspiration position. If the vehicle planning is successful, it will first drive to the inspiration position and then restart the automatic parking process.

[0046] To summarize, the technical solution provided by the embodiment of the present application is that when the vehicle is in an automatic parking failure scenario, the terminal controls the vehicle to enter an escape mode and displays a first escape interface. The user can select an inspiration position in the first scene image of the vehicle displayed in the first escape interface and send it to the vehicle. The vehicle re-plans according to the above-mentioned inspiration position. After the re-planning is successful, the vehicle drives to the inspiration position to escape from the current predicament position, and then starts the automatic parking process at the inspiration position or in the process of driving to the inspiration position. When the vehicle fails to park automatically, the driver does not need to re-enter the driving seat to assist the vehicle in automatic parking, thereby improving the convenience of subsequent processing solutions for the vehicle in parking failure scenarios and improving the user's driving experience.

[0047] Please refer to Figure 3 , which shows a flow chart of a method for controlling a vehicle provided by an embodiment of the present application. The method is applied to Figure 1 The terminal in the embodiment. The method includes the following process.

[0048] S301, displaying the remote parking interface.

[0049] The remote control parking interface includes the heuristic escape control and the remote control escape control. The heuristic escape control is used to trigger the vehicle to enter the heuristic escape mode, that is, the driver gives the heuristic position (also known as the heuristic position), the vehicle first drives to the heuristic position to complete the escape, and then restarts the automatic parking process to complete the automatic parking. The remote control escape control is used to trigger the vehicle to enter the remote control parking mode, that is, the driver remotely controls the vehicle to escape, and then the vehicle restarts the automatic parking process to complete the automatic parking.

[0050] In some embodiments, the remote parking interface further includes other controls, such as remote parking controls, function status controls, and interactive interface controls, etc. The remote parking controls are used to trigger the remote parking function, the function status controls are used to trigger the viewing of the function status of the vehicle, and the interactive interface is used to trigger the display of the automatic parking scene diagram of the vehicle.

[0051] Combined with reference Figure 4 , which shows a schematic diagram of a remote parking interface 400 provided by an embodiment of the present application. The remote parking interface 400 includes an inspiration escape control 410 and a remote escape control 420.

[0052] In some embodiments, the user triggers the vehicle control application in the terminal to display the remote control parking interface. In other embodiments, the terminal automatically displays the remote control parking interface when it detects that the vehicle has not completed parking and the driver has left the vehicle.

[0053] S302, after acquiring a first trigger signal corresponding to an inspiration escape control, sending a first escape instruction to the vehicle, and displaying a first escape interface.

[0054] The first trigger signal may be any one of a single-click signal, a double-click signal, a sliding signal, and a drag signal. In the embodiment of the present application, only the single-click signal is used as an example for explanation.

[0055] The first escape instruction is used to instruct the vehicle to enter an inspiration escape mode.

[0056] The first escape interface includes a first scene image. The first scene image may include elements such as a vehicle, obstacles around the vehicle, and parking lines. In some embodiments, the first escape interface also includes a remote control escape control. When the user triggers the remote control escape control in the first escape interface, the terminal controls the vehicle to switch from the inspired escape mode to the remote control escape mode.

[0057] Combined with reference Figure 5 , which shows a schematic diagram of a first escape interface provided by an embodiment of the present application. The first escape interface 500 includes a vehicle 510 , a parking space line 520 and a remote control escape control 420 .

[0058] S303: Obtain an inspiration position selected in the first scene image.

[0059] The user selects the position in the first scene image where the vehicle can park automatically based on his / her own experience as the inspiration position, and then the terminal marks the inspiration position selected by the user. Figure 5 The first escape interface 500 also includes an inspiration position 540. Figure 5 In the figure, the inspiration position 540 is a rectangle. When the projection of the vehicle 510 completely falls into the rectangle, it means that the vehicle 510 has entered the inspiration position 540.

[0060] S304: Send the heuristic position to the vehicle to instruct the vehicle to replan according to the heuristic position.

[0061] In some embodiments, the first escape interface further includes a confirmation control, and after obtaining a trigger signal corresponding to the confirmation control, the terminal sends the inspiration position to the vehicle. Before the user triggers the confirmation control, the user can perform translation and rotation operations on the selected inspiration position to adjust the inspiration position.

[0062] S305, after acquiring a second trigger signal corresponding to the remote control escape control, sending a second escape instruction to the vehicle, and displaying a second escape interface.

[0063] The second trigger signal may be any one of a single-click signal, a double-click signal, a sliding signal, and a drag signal. In the embodiment of the present application, only the single-click signal is used as an example for explanation.

[0064] The second escape instruction is used to instruct the vehicle to enter a remote control escape mode.

[0065] The second escape interface includes a second scene image of the vehicle and a plurality of vehicle remote control controls. The second scene image also includes elements such as the vehicle, obstacles around the vehicle, and parking space lines. The plurality of vehicle remote control controls include a steering wheel control control, a straight-line driving control, and a gear switching control. The steering wheel control control is used to control the steering wheel angle of the vehicle to control the steering of the vehicle. The straight-line driving control is used to trigger the vehicle to drive along a specified straight line. The gear switching control is used to trigger the terminal to control the gear switching of the vehicle.

[0066] In some embodiments, the second escape interface further includes an inspiration escape control. After the user triggers the inspiration escape control in the second escape interface, the terminal controls the vehicle to switch from the remote control escape mode to the inspiration escape mode.

[0067] Combined with reference Figure 6, which shows a schematic diagram of a second interactive interface 600 provided by an embodiment of the present application. The second interactive interface 600 includes a vehicle 610, a parking space line 620, a straight-line driving control 630, a gear switching control 640, a steering wheel control control 650, and an inspiration escape control 410.

[0068] S306, after acquiring the third trigger signal for the target control among the multiple vehicle remote control controls, sending an operation instruction corresponding to the target control to the vehicle to instruct the vehicle to execute the operation instruction.

[0069] The target control is selected by the user. There can be one or more target controls.

[0070] For the steering wheel control control, after the driver triggers the steering wheel control control, the terminal displays a virtual steering wheel, and the driver can rotate the virtual steering wheel. The terminal reads the angle and direction of the rotation operation, and then sends the angle and direction of the rotation operation to the vehicle. After the vehicle receives the angle and direction, it controls the steering wheel to rotate according to the angle and direction.

[0071] For the gear switching control, after the driver triggers the gear switching control, the terminal displays the gear list, and the driver selects the gear to be switched in the gear list. After the terminal obtains the gear selected by the user, it sends the above gear to the vehicle, and the vehicle switches the gear after receiving the gear. Alternatively, every time the user triggers the gear switching control, the terminal switches to the next gear of the current gear according to the arrangement order of the gears in the gear list. For example, the gear list includes forward gear, reverse gear, and parking gear, and the current gear of the vehicle is the forward gear. When the terminal obtains the first trigger signal for the gear switching control, it determines to control the vehicle to switch to the reverse gear. When the terminal obtains the trigger signal for the gear switching control again, it determines to switch the vehicle to the parking gear.

[0072] For the straight-line driving control, after the driver triggers the straight-line driving control, the terminal sends a straight-line driving instruction to the vehicle, and the vehicle goes straight according to the straight-line driving instruction. When the driver triggers the straight-line driving control again, the terminal sends a stop straight-line driving instruction to the vehicle to instruct the vehicle to stop driving in a straight line.

[0073] In an embodiment of the present application, while the user is operating the vehicle remote control, the vehicle collects its own location information in real time and sends it to the terminal, so that the terminal updates the vehicle's location information in the second scene image for the user to view.

[0074] In some embodiments, the vehicle plans a parking path with its current position as the starting point during driving, and starts the automatic parking process when the planning is successful. In some embodiments, after the vehicle re-plans successfully, a first reminder message is sent to the terminal to remind the vehicle that the re-planning has been completed. At this time, the terminal controls multiple vehicle remote control controls to enter a locked state. If a trigger signal from the user to the vehicle remote control is received, the terminal does not respond to the trigger signal, thereby preventing the vehicle from continuing to drive after the re-planning is successful.

[0075] In other embodiments, when the terminal does not receive a trigger signal corresponding to the vehicle remote control control within a preset time, the vehicle plans a parking path starting from its current position, and when the planning is successful, the automatic parking process is started. When the planning fails, a second reminder message is sent to the terminal to remind the user to continue to remotely control the vehicle. The preset time is set based on experiments or experience, for example, 10 seconds.

[0076] In summary, the technical solution provided by the embodiment of the present application is that when the vehicle is in a scenario where automatic parking fails, the terminal provides two options: an inspired escape control and a remote control escape control. When the user triggers the inspired escape control, the vehicle is controlled to enter the inspired escape mode and a first escape interface is displayed. The user can select an inspired position in the first scene image of the vehicle displayed in the first escape interface and send it to the vehicle. The vehicle is re-planned according to the above-mentioned inspired position. After the re-planning is successful, the vehicle first drives to the inspired position and then starts the automatic parking process at the inspired position. When the user triggers the remote control escape control, the vehicle is controlled to enter the remote control escape mode. The user can operate the vehicle remote control control in the second escape interface to control the vehicle to drive according to the operation instructions corresponding to the vehicle remote control control. In this way, when the vehicle fails to park automatically, there is no need for the driver to re-enter the driving seat to assist the vehicle in automatic parking, thereby improving the convenience of subsequent processing steps of the vehicle in the parking failure scenario and improving the user's driving experience.

[0077] In some embodiments, the terminal supports the vehicle to switch between the inspiration escape mode and the remote control escape mode. The switching process between the two is described below in combination with S701-S702. Among them, S701 is used to describe the process of switching from the inspiration escape mode to the remote control escape mode, and S702 is used to describe the process of switching from the remote control escape mode to the inspiration escape mode.

[0078] S701, when the vehicle is in the inspired escape mode, after obtaining the fourth trigger signal for the remote escape control, or after obtaining the first notification message sent by the vehicle, a first mode switching instruction is sent to the vehicle to instruct the vehicle to switch from the inspired escape mode to the remote escape mode.

[0079] In the heuristic escape mode, the terminal obtains a heuristic position selected in the first scene image; and sends the heuristic position to the vehicle to instruct the vehicle to replan according to the heuristic position.

[0080] The fourth trigger signal may be any one of a single-click signal, a double-click signal, a sliding signal, and a drag signal. In the embodiment of the present application, only the fourth trigger signal being a single-click signal is used as an example for description.

[0081] When the user needs to switch to the remote control escape mode, the user can actively trigger the remote control escape control in the first escape interface to switch the escape mode.

[0082] The first notification message is used to notify the vehicle that automatic parking path planning with the inspiration position as the starting point has failed.

[0083] In the embodiment of the present application, when the vehicle is replanned according to the inspiration position selected by the user, if the replanning fails, a first notification message will be sent to the terminal, and the terminal will automatically switch to the remote escape mode and send a reminder message to remind the user that the vehicle has switched to the remote escape mode. The replanning failure includes: the failure of the first path planning from the current position of the vehicle to the inspiration position, or / and the failure of the parking path planning starting from the inspiration position.

[0084] Further, after receiving the first notification information, the terminal reminds the user to reselect the inspiration position, and automatically switches to the remote control escape mode when the number of selections is greater than the preset number and the vehicle still fails to replan successfully. The preset number of times is set based on experiments or experience, and is not limited in the embodiment of the present application, for example, 3 times.

[0085] S702, when the vehicle is in the remote control escape mode, after obtaining the fifth trigger signal corresponding to the inspiration escape control in the second escape interface, sending a second mode switching instruction to the vehicle to instruct the vehicle to switch from the remote control escape mode to the inspiration escape mode.

[0086] In the remote control escape mode, after obtaining the third trigger signal for the target control among multiple vehicle remote control controls, the terminal sends an operation instruction corresponding to the target control to the vehicle to instruct the vehicle to execute the operation instruction.

[0087] The fifth trigger signal may be any one of a single-click signal, a double-click signal, a sliding signal, and a dragging signal. In the embodiment of the present application, only the fifth trigger signal being a single-click signal is used as an example for description.

[0088] When the user needs to switch to the inspiration escape mode, the user can actively trigger the inspiration escape control in the second escape interface to achieve the switching of the escape mode.

[0089] In summary, with the technical solution provided in the embodiments of the present application, the terminal can switch between the remote control escape mode and the inspiration escape mode, and the terminal's processing solution after parking failure is more flexible, thereby improving the success rate of remote control parking.

[0090] Please refer to Figure 7 , the present application embodiment provides a flow chart of a method for controlling a vehicle. The method is applied to Figure 1 The vehicle in the embodiment. The method includes the following process.

[0091] S801, after receiving the escape command sent by the terminal, entering the escape mode.

[0092] In some embodiments, the vehicle enters the inspiration escape mode upon receiving the first escape instruction displayed by the terminal.

[0093] In the inspiration escape mode, the terminal displays a first escape interface, obtains an inspiration position obtained on the first escape interface, and then sends the inspiration position to the vehicle.

[0094] S802, receiving the inspiration position sent by the terminal.

[0095] The inspiration position is selected from a first scene image of the vehicle displayed on the terminal.

[0096] S803, performing path planning based on the current position of the vehicle, the heuristic position, and the designated parking space.

[0097] The replanning of the vehicle according to the heuristic position includes: planning a first path from the current position of the vehicle to the heuristic position, and planning a parking path starting from the heuristic position.

[0098] S804, driving to the inspiration position if the planning is successful, and then starting the automatic parking process to complete the automatic parking.

[0099] Successful planning means that both the first path and the parking path are successfully planned.

[0100] In some embodiments, when the vehicle is driving to the inspiration position, the current position of the vehicle is used as the starting point for parking path planning. If the planning is successful, the automatic parking process is started to complete the automatic parking. In this way, the efficiency of automatic parking can be improved.

[0101] In other embodiments, the vehicle receives the second escape instruction sent by the terminal and enters the remote control escape mode. In the remote control escape mode, the terminal displays the second escape interface, which includes a second scene image of the vehicle and multiple vehicle remote control controls; after obtaining the third trigger signal for the target control among the multiple vehicle remote control controls, the operation instruction corresponding to the target control is sent to the vehicle. Accordingly, the vehicle receives the operation instruction corresponding to the target control, and during driving, the vehicle will plan the parking path with its current position as the starting point. If the planning is successful, the automatic parking process will be started.

[0102] To summarize, the technical solution provided by the embodiment of the present application is that when the vehicle is in an automatic parking failure scenario, the terminal controls the vehicle to enter an escape mode and displays a first escape interface. The user can select an inspiration position in the first scene image of the vehicle displayed in the first escape interface and send it to the vehicle. The vehicle re-plans according to the above-mentioned inspiration position. After the re-planning is successful, the vehicle drives to the inspiration position to escape from the current predicament position, and then starts the automatic parking process at the inspiration position or in the process of driving to the inspiration position. When the vehicle fails to park automatically, the driver does not need to re-enter the driving seat to assist the vehicle in automatic parking, thereby improving the convenience of subsequent processing solutions for the vehicle in parking failure scenarios and improving the user's driving experience.

[0103] Please refer to Figure 8 , which shows a block diagram of a device for controlling a vehicle provided in an embodiment of the present application. The device includes: a data sending module 910, a display module 920, and a position acquisition module 930.

[0104] The data sending module 910 is used to send an escape instruction to the vehicle when the vehicle is in a parking failure scenario, and the escape instruction is used to instruct the vehicle to enter an escape mode.

[0105] The display module 920 is used to display a first escape interface, where the first escape interface includes a first scene image of the vehicle.

[0106] The position acquisition module 930 is used to acquire the inspiration position selected in the first scene image.

[0107] The data sending module 910 is further used to send the inspiration position to the vehicle so that the vehicle can replan according to the inspiration position.

[0108] In one embodiment, the display module 920 is further used to display a remote parking interface, which includes an inspiration escape control and a remote escape control. The data sending module 910 is used to send a first escape instruction to the vehicle after acquiring a first trigger signal corresponding to the inspiration escape control, and the first escape instruction is used to instruct the vehicle to enter an inspiration escape mode. The display module is used to display the first escape interface,

[0109] In some embodiments, the data sending module 910 is used to send a second escape instruction to the vehicle after obtaining a second trigger signal corresponding to the remote control escape control, and the second escape instruction is used to instruct the vehicle to enter the remote control escape mode. The display module 920 is used to display a second escape interface, and the second escape interface includes a second scene image of the vehicle and multiple vehicle remote control controls. The data sending module 910 is also used to send an operation instruction corresponding to the target control to the vehicle after obtaining a third trigger signal for the target control among the multiple vehicle remote control controls, so as to instruct the vehicle to execute the operation instruction.

[0110] In some embodiments, the device further includes: a mode switching module (not shown in the figure). The mode switching module is used to send a first mode switching instruction to the vehicle when the vehicle is in the heuristic escape mode, after obtaining the fourth trigger signal for the remote control escape control, or after obtaining the first notification message sent by the vehicle, to instruct the vehicle to switch from the heuristic escape mode to the remote control escape mode, and the first notification message is used to notify the vehicle that the automatic parking path planning using the heuristic escape mode has failed.

[0111] In some embodiments, the mode switching module is also used to send a second mode switching instruction to the vehicle when the vehicle is in the remote control escape mode, after obtaining the fifth trigger signal corresponding to the inspiration escape control in the second escape interface, to instruct the vehicle to switch from the remote control escape mode to the inspiration escape mode.

[0112] To summarize, the technical solution provided by the embodiment of the present application is that when the vehicle is in an automatic parking failure scenario, the terminal controls the vehicle to enter an escape mode and displays a first escape interface. The user can select an inspiration position in the first scene image of the vehicle displayed in the first escape interface and send it to the vehicle. The vehicle re-plans according to the above-mentioned inspiration position. After the re-planning is successful, the vehicle drives to the inspiration position to escape from the current predicament position, and then starts the automatic parking process at the inspiration position or in the process of driving to the inspiration position. When the vehicle fails to park automatically, the driver does not need to re-enter the driving seat to assist the vehicle in automatic parking, thereby improving the convenience of subsequent processing solutions for the vehicle in parking failure scenarios and improving the user's driving experience.

[0113] Please refer to Fig. 9 , which shows a block diagram of a device for controlling a vehicle provided in an embodiment of the present application. The device includes: an escape module 1010 , a position receiving module 1020 , a path planning module 1030 and a vehicle control module 1040 .

[0114] The escape module 1010 is used to enter an escape mode after receiving an escape command sent by the terminal.

[0115] The position receiving module 1020 is used to receive the inspiration position sent by the terminal, and the inspiration position is selected from the first scene image of the vehicle displayed on the terminal.

[0116] The path planning module 1030 is used to plan a path based on the current position, the heuristic position, and the designated parking space of the vehicle.

[0117] The vehicle control module 1040 is used to drive to the inspiration position if the planning is successful, and then start the automatic parking process to complete the automatic parking.

[0118] In some embodiments, the path planning module 1030 is also used to plan a parking path using the current position of the vehicle as a starting point during the process of driving to the inspiration position.

[0119] The vehicle control module 1040 is also used to start the automatic parking process if the planning is successful to complete the automatic parking.

[0120] To summarize, the technical solution provided by the embodiment of the present application is that when the vehicle is in an automatic parking failure scenario, the terminal controls the vehicle to enter an escape mode and displays a first escape interface. The user can select an inspiration position in the first scene image of the vehicle displayed in the first escape interface and send it to the vehicle. The vehicle re-plans according to the above-mentioned inspiration position. After the re-planning is successful, the vehicle drives to the inspiration position to escape from the current predicament position, and then starts the automatic parking process at the inspiration position or in the process of driving to the inspiration position. When the vehicle fails to park automatically, the driver does not need to re-enter the driving seat to assist the vehicle in automatic parking, thereby improving the convenience of subsequent processing solutions for the vehicle in parking failure scenarios and improving the user's driving experience.

[0121] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0122] In several embodiments provided in the present application, the coupling between modules may be electrical, mechanical or other forms of coupling.

[0123] In addition, each functional module in each embodiment of the present application can be integrated into a processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or software functional modules.

[0124] See also Fig.10, which shows that the embodiment of the present application also provides an electronic device 1100, which includes: one or more processors 1110, a memory 1120, and one or more applications. Among them, the one or more applications are stored in the memory 1120 and are configured to be executed by the one or more processors 1110, and the one or more applications are configured to execute the method described in the above embodiment.

[0125] The processor 1110 may include one or more processing cores. The processor 1110 uses various interfaces and lines to connect various parts of the entire battery management system, and executes various functions and processes data of the battery management system by running or executing instructions, programs, code sets or instruction sets stored in the memory 1120, and calling data stored in the memory 1120. Optionally, the processor 1110 can be implemented in at least one hardware form of digital signal processing (DSP), field programmable gate array (FPGA), and programmable logic array (PLA). The multi-core processor 1110 can integrate one or more combinations of a central processing unit 1110 (CPU), a graphics multi-core processor 1110 (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 1110, but may be implemented separately through a communication chip.

[0126] The memory 1120 may include a random access memory 1120 (Random Access Memory, RAM), and may also include a read-only memory 1120 (Read-Only Memory). The memory 1120 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 1120 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the various method embodiments described below, etc. The data storage area may also store data created by the electronic device during use (such as a phone book, audio and video data, chat record data), etc.

[0127] An embodiment of the present application further provides a computer-readable storage medium, in which computer program instructions are stored. The computer program instructions can be called by a processor to execute the method described in the above embodiment.

[0128] The computer-readable storage medium may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk or a ROM. Optionally, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer-readable storage medium has storage space for computer program instructions for executing any method step of the above method. These computer program instructions may be read from or written to one or more computer program products. The computer program instructions may be compressed in an appropriate form.

[0129] The above are only preferred embodiments of the present application, and are not intended to limit the present application in any form. Although the present application has been disclosed as above with preferred embodiments, it is not intended to limit the present application. Any technical personnel in the field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present application. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A method for controlling a vehicle, characterized in that: Applied to a terminal, the method comprises: When the vehicle is in a parking failure scenario, sending an escape instruction to the vehicle, and displaying a first escape interface, wherein the escape instruction is used to instruct the vehicle to enter an escape mode, and the first escape interface includes a first scene image of the vehicle; obtaining a heuristic position selected in the first scene image; The heuristic position is sent to the vehicle so that the vehicle performs replanning according to the heuristic position.

2. The method according to claim 1, characterized in that Before sending the escape instruction to the vehicle and displaying the first escape interface, the method further includes: Displaying a remote parking interface, the remote parking interface including an inspiration escape control and a remote escape control; The sending of the escape instruction to the vehicle and displaying the first escape interface include: After acquiring the first trigger signal corresponding to the inspiration escape control, sending a first escape instruction to the vehicle, and displaying the first escape interface, the first escape instruction is used to instruct the vehicle to enter an inspiration escape mode.

3. The method according to claim 2, characterized in that After displaying the remote parking interface, the method further includes: After acquiring a second trigger signal corresponding to the remote control escape control, sending a second escape instruction to the vehicle, and displaying a second escape interface; the second escape instruction is used to instruct the vehicle to enter a remote control escape mode, and the second escape interface includes a second scene image of the vehicle and a plurality of vehicle remote control controls; After acquiring the third trigger signal for the target control among the plurality of vehicle remote control controls, an operation instruction corresponding to the target control is sent to the vehicle to instruct the vehicle to execute the operation instruction.

4. The method according to claim 2, characterized in that: The method further comprises: When the vehicle is in the inspired escape mode, after obtaining the fourth trigger signal for the remote escape control, or after obtaining the first notification message sent by the vehicle, a first mode switching instruction is sent to the vehicle to instruct the vehicle to switch from the inspired escape mode to the remote escape mode, and the first notification message is used to notify the vehicle that the automatic parking path planning using the inspired escape mode has failed.

5. The method according to claim 2, characterized in that: The method further comprises: When the vehicle is in the remote control escape mode, after obtaining the fifth trigger signal corresponding to the inspiration escape control in the second escape interface, a second mode switching instruction is sent to the vehicle to instruct the vehicle to switch from the remote control escape mode to the inspiration escape mode.

6. A method for controlling a vehicle, characterized in that: Applied to a vehicle, the method comprises: After receiving the escape command sent by the terminal, enter the escape mode; receiving an inspiration position sent by the terminal, the inspiration position being selected from a first scene image of the vehicle displayed by the terminal; Performing path planning based on the current position of the vehicle, the heuristic position, and the designated parking space; If the planning is successful, the vehicle drives to the inspiration position, and then starts the automatic parking process to complete the automatic parking.

7. The method according to claim 6, characterized in that The method further comprises: In the process of driving to the inspiration position, a parking path is planned with the current position of the vehicle as the starting point. If the planning is successful, the automatic parking process is started to complete the automatic parking.

8. A device for controlling a vehicle, characterized in that: The device comprises: The data sending module is used to send an escape instruction to the vehicle when the vehicle is in a parking failure scenario, wherein the escape instruction is used to instruct the vehicle to enter an escape mode. A display module, used for displaying a first escape interface, wherein the first escape interface includes a first scene image of the vehicle; A position acquisition module, used to acquire a heuristic position selected in the first scene image; The data sending module is further used to send the inspiration position to the vehicle, so that the vehicle is replanned according to the inspiration position.

9. A device for controlling a vehicle, characterized in that: The device comprises: The escape module is used to enter the escape mode after receiving the escape command sent by the terminal; A position receiving module, used for receiving an inspiration position sent by the terminal, wherein the inspiration position is selected from a first scene image of the vehicle displayed by the terminal; A path planning module, used for performing path planning based on the current position of the vehicle, the heuristic position, and the designated parking space; The vehicle control module is used to drive to the inspiration position when the planning is successful, and then start the automatic parking process to complete the automatic parking.

10. An electronic device comprising: Memory; One or more processors coupled to the memory; One or more applications, wherein one or more of the applications are stored in the memory and configured to be executed by one or more of the processors, and one or more of the applications are configured to execute the method according to any one of claims 1-5.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and the computer program instructions can be called by a processor to execute the method according to any one of claims 1 to 7.

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