Vehicle control method and vehicle

Abstract

The invention discloses a vehicle control method and a vehicle, which are applied to the technical field of intelligent driving, and the method comprises the following steps: when the vehicle is at a first position, respectively acquiring a first distance between the vehicle and a left width limiting column of width limiting equipment and a second distance between the vehicle and a right width limiting column of the width limiting equipment; controlling the vehicle to go straight to a second position, and respectively acquiring a third distance between the vehicle and the left width limiting column, a fourth distance between the vehicle and the right width limiting column, and a fifth distance between the first position and the second position; determining the width of the first width limiting equipment according to the first distance, the second distance, the third distance, the fourth distance and the fifth distance; and controlling the vehicle to pass through the width-limiting equipment according to the first width-limiting equipment width. Through the technical scheme provided by the invention, the width of the width limiting equipment can be accurately calculated, and the vehicle is automatically controlled to pass through the width limiting equipment according to the width, so that the vehicle smoothly passes through the width limiting equipment, and the risk that the vehicle is damaged when passing through the width limiting equipment is effectively reduced.

Description

Technical Field

[0001] The present application belongs to the field of intelligent driving technology, and in particular, relates to a vehicle control method and a vehicle. Background Art

[0002] Width limiting devices are usually used to restrict the passage of over-width vehicles on a certain road section, so as to achieve the purpose of protecting the road section. The width of width limiting devices is usually narrow. In related technologies, the driver usually controls the vehicle to pass through the width limiting device based on experience, which places high demands on the driver's driving control skills and distance judgment ability. Any slight mistake will cause scratches on the vehicle and cause damage to the vehicle.

[0003] Based on this, how to effectively reduce the risk of vehicles being damaged when passing through width-limiting equipment is an issue that needs to be addressed urgently. Summary of the invention

[0004] The embodiments of the present application provide a vehicle control method and a vehicle, thereby enabling the vehicle to smoothly pass through a width limiting device, at least to a certain extent, and effectively reducing the risk of damage to the vehicle when passing through the width limiting device.

[0005] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0006] According to a first aspect of an embodiment of the present application, a vehicle control method is provided, comprising:

[0007] When the vehicle is in the first position, respectively obtaining a first distance between the vehicle and a left width limiting column of the width limiting device and a second distance between the vehicle and a right width limiting column of the width limiting device;

[0008] Control the vehicle to go straight to the second position, and respectively obtain a third distance between the vehicle and the left width limit column, a fourth distance between the vehicle and the right width limit column, and a fifth distance between the first position and the second position;

[0009] Determine the width of the first width-limiting device according to the first distance, the second distance, the third distance, the fourth distance, and the fifth distance;

[0010] The vehicle is controlled to pass through the width limiting device according to the width of the first width limiting device.

[0011] In some embodiments, determining the first width-limiting device width according to the first distance, the second distance, the third distance, the fourth distance, and the fifth distance includes:

[0012] According to the first distance, the third distance, the fifth distance and the law of cosines, the sixth distance is determined;

[0013] According to the second distance, the fourth distance, the fifth distance and the law of cosines, the seventh distance is determined;

[0014] The sum of the sixth distance and the seventh distance is determined as the width of the first width-limiting device.

[0015] In some embodiments, controlling a vehicle to pass through a width limiting device according to a width of the first width limiting device includes:

[0016] Control the vehicle to go straight to multiple target locations in sequence in the direction close to the width limiting device;

[0017] Determine a corresponding second width-limiting device width according to each target position, and obtain multiple second width-limiting device widths;

[0018] Calculating a weighted average of the first width-limiting device width and the plurality of second width-limiting device widths to obtain an average width-limiting device width, wherein the weights of the first width-limiting device width and the plurality of second width-limiting device widths are increased in sequence;

[0019] The vehicles passing through the width limiting devices are controlled according to the average width of the width limiting devices.

[0020] In some embodiments, after obtaining the average width of the width-limiting device, the vehicle control method further includes:

[0021] Get the image of the width-limited device;

[0022] Determine the width of the third width-limiting device according to the image;

[0023] Verify the average width-limited device width according to the third width-limited device width;

[0024] If the verification is successful, the vehicle is controlled to pass through the width limiting device based on the average width of the width limiting device.

[0025] In some embodiments, controlling a vehicle to pass through a width limiting device according to a width of the first width limiting device includes:

[0026] Obtaining a first body width of the vehicle when the rearview mirrors are not folded and a second body width of the vehicle when the rearview mirrors are fully folded;

[0027] The vehicle is controlled to pass through the width limiting device according to the first width of the width limiting device, the first vehicle body width and the second vehicle body width.

[0028] In some embodiments, according to the first width limiting device width, the first vehicle body width, and the second vehicle body width, controlling the vehicle to pass through the width limiting device includes:

[0029] When the difference between the width of the first width limiting device and the second vehicle body width is less than a preset threshold, determining that the vehicle cannot pass through the width limiting device;

[0030] When the difference between the width of the first width limiting device and the first vehicle body width is greater than a preset threshold, controlling the vehicle to pass through the width limiting device without folding the rearview mirror;

[0031] When the difference between the width of the first width limiting device and the first vehicle body width is smaller than a preset threshold, and the difference between the width of the first width limiting device and the second vehicle body width is larger than a preset threshold, the vehicle is controlled to pass through the width limiting device after folding the rearview mirror.

[0032] In some embodiments, controlling a vehicle to pass through a width limiting device according to a width of the first width limiting device includes:

[0033] Determine the equipment center line of the width-limiting equipment according to the width of the first width-limiting equipment;

[0034] Determine the vehicle's body centerline;

[0035] Control vehicle steering based on vehicle body centerline and equipment centerline;

[0036] When the vehicle turns to the point where the centerline of the vehicle body coincides with the centerline of the device, the vehicle is controlled to pass through the width limiting device at a preset speed.

[0037] According to a second aspect of an embodiment of the present application, a vehicle is provided, comprising a processor and a memory, wherein the memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, the steps of any method of the first aspect described above are implemented.

[0038] According to a third aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor is prompted to implement the steps of any method of the first aspect described above.

[0039] According to a fourth aspect of an embodiment of the present application, a computer program product is provided, including a computer program. When the computer program is executed by a processor, it prompts the processor to implement the steps of any method of the first aspect described above.

[0040] In the present application, when the vehicle is in the first position, the first distance between the vehicle and the left width limiting column of the width limiting device and the second distance between the vehicle and the right width limiting column of the width limiting device are obtained respectively; the vehicle is controlled to go straight to the second position, and the third distance between the vehicle and the left width limiting column, the fourth distance between the vehicle and the right width limiting column, and the fifth distance between the first position and the second position are obtained respectively; the width of the first width limiting device is determined according to the first distance, the second distance, the third distance, the fourth distance and the fifth distance; the vehicle is controlled to pass through the width limiting device according to the width of the first width limiting device. The technical solution provided by the present application can accurately calculate the width of the width limiting device, and automatically control the vehicle to pass through the width limiting device according to the width, so that the vehicle can pass through the width limiting device smoothly, effectively reducing the risk of damage to the vehicle when passing through the width limiting device, and improving the traffic efficiency of the vehicle at the width limiting device.

[0041] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0043] Figure 1 A schematic flow chart of a vehicle control method according to some embodiments of the present application is shown;

[0044] Figure 2 A functional module diagram of a vehicle control system according to some embodiments of the present application is shown;

[0045] Figure 3 Shows Figure 1 Schematic diagram of calculating the width of the first width-limiting device;

[0046] Figure 4 A block diagram of a vehicle control device according to some embodiments of the present application is shown;

[0047] Figure 5 A schematic structural diagram of a vehicle according to some embodiments of the present application is shown. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0049] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0050] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0051] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0052] It should also be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the objects used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those shown or described.

[0053] Figure 1 FIG. 1 is a flow chart showing a method for controlling a vehicle according to some embodiments of the present application. Figure 1 As shown, a vehicle control method is provided, which may include the following steps 101 to 104.

[0054] In step 101, when the vehicle is in a first position, a first distance between the vehicle and a left width limiting pole of the width limiting device and a second distance between the vehicle and a right width limiting pole of the width limiting device are respectively obtained.

[0055] Figure 2 FIG. 1 shows a schematic diagram of a control system of a vehicle according to some embodiments of the present application. Figure 2 As shown, the control system of the vehicle may include an intelligent driving domain control module, an infotainment module, an instrument, a body control module, a rearview mirror, a steering module, a front central millimeter-wave radar, a front left millimeter-wave radar, a front right millimeter-wave radar, and a front-view camera. Among them, the intelligent driving domain control module is used to collect data collected by each millimeter-wave radar and the front-view camera, process these data to calculate the width of the width-limiting device, and control the vehicle to pass through the width-limiting device smoothly according to the calculated width. That is, the control method of the vehicle in the embodiment of the present application can be executed in the intelligent driving domain module. The body control module can adjust the state of the rearview mirror and drive the rearview mirror to fold when necessary. The infotainment module can provide a soft switch for confirming the passage of the width-limiting device. When the width of the width-limiting device is less than the width of the vehicle body, it will drive the instrument to display that the vehicle cannot pass and output a voice warning.

[0056] During the implementation process, when the vehicle reaches the first position near the width limiting device, the first distance between the vehicle and the left width limiting column of the width limiting device and the second distance between the vehicle and the right width limiting column of the width limiting device can be measured by any one of the front central millimeter-wave radar, the front left millimeter-wave radar, and the front right millimeter-wave radar. The intelligent driving domain control module obtains the first distance and the second distance from the millimeter-wave radar to calculate the width of the width limiting device.

[0057] In step 102, the vehicle is controlled to go straight to the second position, and the third distance between the vehicle and the left width limit column, the fourth distance between the vehicle and the right width limit column, and the fifth distance between the first position and the second position are respectively obtained.

[0058] Figure 3 Shows Figure 1 Schematic diagram of calculating the width of the first width-limited device in . Figure 3 As shown, the first distance is c, the second distance is e, the third distance is b, the fourth distance is d, and the fifth distance is a.

[0059] It should be noted that in order to accurately measure the width of the width-limiting device, it is necessary to control the vehicle to go straight, that is, from the first position to the second position, the angle of the vehicle relative to the width-limiting device remains unchanged. Among them, the second position can be a position closer to the width-limiting device than the first position, or it can be a position farther away from the width-limiting device. Taking into account that the vehicle needs to pass through the width-limiting device, in order to shorten the passing time, the second position can choose a position closer to the width-limiting device. When the vehicle runs to the second position, the third distance and the fourth distance can be collected by the same radar millimeter-wave radar as in step 101, and the intelligent driving domain control module obtains the third distance and the fourth distance from the millimeter-wave radar for calculating the width of the width-limiting device.

[0060] In step 103, the width of the first width-limiting device is determined according to the first distance, the second distance, the third distance, the fourth distance and the fifth distance.

[0061] During the implementation process, the cosine theorem, the first distance, the second distance, the third distance, the fourth distance and the fifth distance may be used to determine the width of the first width-limiting device.

[0062] In some embodiments, the sixth distance can be determined based on the first distance, the third distance, the fifth distance and the cosine theorem; the seventh distance can be determined based on the second distance, the fourth distance, the fifth distance and the cosine theorem; and the sum of the sixth distance and the seventh distance is determined as the width of the first width-limiting device.

[0063] Continue to refer to Figure 3 , the sixth distance is m, the seventh distance is n, and the three sides of the triangle are known to be a, b, and c. The angle α can be calculated by the cosine theorem, that is, Similarly, if the lengths of the three sides of a triangle are known, a, d, and e, the angle β can be calculated, that is, The sixth distance m can be calculated according to the following formula 1:

[0064]

[0065] The seventh distance n can be calculated according to the following formula 2:

[0066]

[0067] Furthermore, the sixth distance m and the seventh distance n are added together to obtain the first width-limiting device width s1.

[0068] By utilizing the distance collected by the millimeter radar during the dynamic movement of the vehicle, the width of the width-limiting device can be accurately calculated, thereby improving the accuracy of vehicle control.

[0069] In step 104, the vehicle is controlled to pass through the width limiting device according to the width of the first width limiting device.

[0070] It is understandable that after calculating the width of the first width limiting device, the vehicle can be guided to pass through the width limiting device according to the width of the first width limiting device, effectively reducing the risk of damage to the vehicle when passing through the width limiting device.

[0071] In some embodiments, after obtaining the width of the first width-limiting device, the vehicle can also be controlled to go straight to multiple target positions in the direction approaching the width-limiting device; determine the corresponding second width-limiting device width according to each target position to obtain multiple second width-limiting device widths; calculate the weighted average of the first width-limiting device width and the multiple second width-limiting device widths to obtain the average width-limiting device width, wherein the weights of the first width-limiting device width and the multiple second width-limiting device widths increase in sequence; and control the vehicle to pass through the width-limiting device according to the average width of the width-limiting device.

[0072] Taking the case where the multiple target positions are the third position and the fourth position, the second width-limiting device width s2 corresponding to the third position and the second width-limiting device width s3 corresponding to the fourth position are calculated using the method of steps 101 to 103. Assuming that the weight of the first width-limiting device width s1 is k1, the weight of the second width-limiting device width s2 corresponding to the third position is k2, and the weight of the second width-limiting device width s3 corresponding to the fourth position is k3, the closer the millimeter-wave radar is to the width-limiting device, the more accurate the data collected, so k1, k2, and k3 can be set to increase in sequence, and the average width of the width-limiting device can be calculated according to the following formula three:

[0073]

[0074] In some embodiments, after obtaining the average width of the width limiting device, an image of the width limiting device can also be obtained; the third width limiting device width can be determined based on the image; the average width of the width limiting device can be verified based on the third width limiting device width; if the verification is successful, the vehicle can be controlled to pass through the width limiting device based on the average width of the width limiting device.

[0075] It can be understood that the front-view camera can capture images of the width-limiting device, and the intelligent driving domain control module can obtain the image from the front-view camera and perform image processing to obtain the third width-limiting device width, and use the third width-limiting device width to verify the average width of the width-limiting device or the first width-limiting device width.

[0076] Taking the verification of the average width of the width limiting device as an example, if the difference between the average width of the width limiting device and the third width of the width limiting device is less than the preset value, the verification is successful and the vehicle can be controlled to pass through the width limiting device according to the average width of the width limiting device; otherwise, the vehicle is not allowed to pass through the width limiting device.

[0077] The method of using the third width-limiting device width to verify the first width-limiting device width may be the same as the method of verifying the average width-limiting device width described above, and will not be described in detail herein.

[0078] By using the third width limiting device width to verify the average width of the width limiting device or the first width limiting device width, the controlled vehicle is allowed to pass through the width limiting device only when the verification is successful, thereby improving the safety of vehicle control.

[0079] In some embodiments, the distances collected by the other two radar sensors using steps 101 and 102 can also be obtained to calculate the fourth width limiting device width and the fifth width limiting device width respectively, and the weighted average of the first width limiting device width, the fourth width limiting device width and the fifth width limiting device width is calculated to obtain the average width limiting device width, and the vehicle is controlled to pass through the width limiting device based on the average width limiting device width.

[0080] In some embodiments, a first body width of the vehicle when the rearview mirrors are not folded and a second body width of the vehicle when the rearview mirrors are fully folded can be obtained; the vehicle is controlled to pass through the width limiting device based on the first width of the width limiting device, the first body width and the second body width.

[0081] Considering the different widths of the vehicle body before and after the rearview mirrors are folded, different control strategies need to be configured for these two situations in order to achieve accurate control of the vehicle.

[0082] During the implementation process, when the difference between the width of the first width limiting device and the second vehicle body width is less than a preset threshold, it can be determined that the vehicle cannot pass through the width limiting device; when the difference between the width of the first width limiting device and the first vehicle body width is greater than the preset threshold, the vehicle can be controlled to pass through the width limiting device without folding the rearview mirrors; when the difference between the width of the first width limiting device and the first vehicle body width is less than the preset threshold, and the difference between the width of the first width limiting device and the second vehicle body width is greater than the preset threshold, the vehicle can be controlled to pass through the width limiting device after folding the rearview mirrors.

[0083] Among them, the preset threshold can be calibrated according to actual conditions, and the embodiment of the present application does not limit the specific value of the preset threshold.

[0084] It can be understood that if the difference between the width of the first width limiting device and the width of the second vehicle body is less than the preset threshold, it means that even if the vehicle folds the rearview mirrors, it cannot pass through the width limiting device. At this time, a voice prompt that the vehicle cannot pass through the width limiting device can be output through the infotainment module; if the difference between the width of the first width limiting device and the width of the first vehicle body is greater than the preset threshold, the vehicle can be controlled to switch to the passing width limiting device mode and automatically tow the vehicle through the width limiting device; if the difference between the width of the first width limiting device and the width of the first vehicle body is less than the preset threshold, and the difference between the width of the first width limiting device and the second vehicle body width is greater than the preset threshold, the rearview mirrors need to be folded, and then the vehicle is switched to the passing width limiting device mode to tow the vehicle through the width limiting device.

[0085] In other embodiments, if the average width of the width limiting device is calculated, it can also be determined that the vehicle cannot pass through the width limiting device when the difference between the average width of the width limiting device and the second vehicle body width is less than a preset threshold; when the difference between the average width of the width limiting device and the first vehicle body width is greater than the preset threshold, the vehicle is controlled to pass through the width limiting device without folding the rearview mirrors; when the difference between the average width of the width limiting device and the first vehicle body width is less than the preset threshold, and the difference between the average width of the width limiting device and the second vehicle body width is greater than the preset threshold, the vehicle is controlled to pass through the width limiting device after folding the rearview mirrors.

[0086] In some embodiments, the center line of the width limiting device can be determined based on the width of the first width limiting device; the body center line of the vehicle can be determined; the vehicle steering can be controlled based on the body center line and the device center line; when the vehicle turns until the body center line coincides with the device center line, the vehicle is controlled to pass through the width limiting device at a preset speed.

[0087] It is understandable that after determining the width of the first width-limiting device, the intelligent driving domain control module can use 1 / 2 of the width of the first width-limiting device to determine the center line of the device, and display the center line of the device through the infotainment module. The intelligent driving domain control module can also determine the center line of the vehicle body according to the size of the vehicle, and display the center line of the vehicle body through the infotainment module. The intelligent driving domain control module can control the steering module to steer the vehicle until the center line of the vehicle body coincides with the center line of the device, and then control the vehicle to pass smoothly through the width-limiting device along the center line of the device at a lower speed.

[0088] In other embodiments, if the average width of the width limiting device is calculated, the device centerline of the width limiting device can also be determined based on the average width of the width limiting device, and then the above method can be used to control the vehicle to pass through the width limiting device.

[0089] The present application obtains the first distance between the vehicle and the left width limiting column of the width limiting device and the second distance between the vehicle and the right width limiting column of the width limiting device respectively when the vehicle is in the first position; controls the vehicle to go straight to the second position, and obtains the third distance between the vehicle and the left width limiting column, the fourth distance between the vehicle and the right width limiting column, and the fifth distance between the first position and the second position respectively; determines the width of the first width limiting device according to the first distance, the second distance, the third distance, the fourth distance and the fifth distance; controls the vehicle to pass through the width limiting device according to the width of the first width limiting device. The technical solution provided by the present application can accurately calculate the width of the width limiting device, and automatically control the vehicle to pass through the width limiting device according to the width, so that the vehicle can pass through the width limiting device smoothly, effectively reducing the risk of damage to the vehicle when passing through the width limiting device, and improving the traffic efficiency of the vehicle at the width limiting device.

[0090] The following describes an embodiment of the device of the present application, which can be used to execute the vehicle control method in the above embodiment of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the vehicle control method in the above embodiment of the present application.

[0091] Figure 4 FIG. 1 is a block diagram of a vehicle control device according to some embodiments of the present application. Figure 4As shown, the control device of the vehicle of the embodiment of the present application may include: a first acquisition module 401, a second acquisition module 402, a width calculation module 403 and a vehicle control module 404, wherein the first acquisition module 401 is used to obtain, when the vehicle is in the first position, a first distance between the vehicle and the left width limiting column of the width limiting device and a second distance between the vehicle and the right width limiting column of the width limiting device; the second acquisition module 402 is used to control the vehicle to go straight to the second position, and obtain a third distance between the vehicle and the left width limiting column, a fourth distance between the vehicle and the right width limiting column, and a fifth distance between the first position and the second position; the width calculation module 403 is used to determine the width of the first width limiting device based on the first distance, the second distance, the third distance, the fourth distance and the fifth distance; the vehicle control module 404 is used to control the vehicle to pass through the width limiting device based on the width of the first width limiting device.

[0092] In some embodiments, the width calculation module 403 is also used to determine the sixth distance based on the first distance, the third distance, the fifth distance and the cosine theorem; determine the seventh distance based on the second distance, the fourth distance, the fifth distance and the cosine theorem; and determine the sum of the sixth distance and the seventh distance as the width of the first width-limiting device.

[0093] In some embodiments, the vehicle control module 404 is also used to control the vehicle to go straight to multiple target positions in sequence in the direction approaching the width limiting device; determine the corresponding second width limiting device width according to each target position to obtain multiple second width limiting device widths; calculate the weighted average of the first width limiting device width and the multiple second width limiting device widths to obtain the average width limiting device width, wherein the weights of the first width limiting device width and the multiple second width limiting device widths increase in sequence; and control the vehicle to pass through the width limiting device according to the average width limiting device width.

[0094] In some embodiments, the vehicle control module 404 is also used to obtain an image of the width limiting device; determine the width of the third width limiting device based on the image; verify the average width of the width limiting device based on the width of the third width limiting device; if the verification is successful, control the vehicle to pass through the width limiting device based on the average width of the width limiting device.

[0095] In some embodiments, the vehicle control module 404 is also used to obtain a first body width of the vehicle when the rearview mirrors are not folded and a second body width of the vehicle when the rearview mirrors are fully folded; and control the vehicle to pass through the width limiting device according to the first width of the width limiting device, the first body width and the second body width.

[0096] In some embodiments, the vehicle control module 404 is also used to determine that the vehicle cannot pass through the width limiting device when the difference between the width of the first width limiting device and the second vehicle body width is less than a preset threshold; to control the vehicle to pass through the width limiting device without folding the rearview mirrors when the difference between the width of the first width limiting device and the first vehicle body width is greater than a preset threshold; and to control the vehicle to pass through the width limiting device after folding the rearview mirrors when the difference between the width of the first width limiting device and the first vehicle body width is less than a preset threshold and the difference between the width of the first width limiting device and the second vehicle body width is greater than a preset threshold.

[0097] In some embodiments, the vehicle control module 404 is also used to determine the device centerline of the width limiting device based on the width of the first width limiting device; determine the body centerline of the vehicle; control the vehicle steering based on the body centerline and the device centerline; when the vehicle turns until the body centerline coincides with the device centerline, control the vehicle to pass through the width limiting device at a preset speed.

[0098] Based on the same inventive concept, the embodiment of the present application further provides a vehicle, referring to Figure 5 , shows a schematic diagram of the structure of a vehicle in an embodiment of the present application, wherein the vehicle includes one or more memories 504, one or more processors 502, and at least one computer program (computer program instruction) stored in the memory 504 and executable on the processor 502, and the processor 502 implements the method described above when executing the computer program.

[0099] Among them, Figure 5 In the embodiment of the present invention, a bus architecture (represented by bus 500) is shown, which may include any number of interconnected buses and bridges, and bus 500 links various circuits including one or more processors represented by processor 502 and memory represented by memory 504. Bus 500 may also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. Bus interface 505 provides an interface between bus 500 and receiver 501 and transmitter 503. Receiver 501 and transmitter 503 may be the same element, namely a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 502 is responsible for managing bus 500 and general processing, while memory 504 may be used to store data used by processor 502 when performing operations.

[0100] Based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium, in which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor is prompted to implement the steps of the method as described above.

[0101] Based on the same inventive concept, an embodiment of the present application provides a computer program product, including a computer program. When the computer program product is executed by a processor, it prompts the processor to implement the steps of the method as described above.

[0102] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on a computer-readable medium or transmitted via a computer-readable medium. Other examples and implementations are within the scope and spirit of the present application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hard wiring, or a combination of any of these. In addition, each functional unit may be integrated into a processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit.

[0103] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0104] The units described as separate components may or may not be physically separated, and the components of the control device may or may not be physical units, that is, they may be located in one place or distributed in multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0105] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly or all or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc., which can store computer program instructions.

[0106] The above description is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims

1. A vehicle control method, characterized in that: include: When the vehicle is in the first position, respectively obtaining a first distance between the vehicle and a left width limiting column of the width limiting device and a second distance between the vehicle and a right width limiting column of the width limiting device; Control the vehicle to go straight to the second position, and respectively obtain a third distance between the vehicle and the left width limit column, a fourth distance between the vehicle and the right width limit column, and a fifth distance between the first position and the second position; Determine a first width-limiting device width according to the first distance, the second distance, the third distance, the fourth distance, and the fifth distance; The vehicle is controlled to pass through the width limiting device according to the width of the first width limiting device.

2. The vehicle control method according to claim 1, characterized in that: The determining the first width-limiting device width according to the first distance, the second distance, the third distance, the fourth distance, and the fifth distance includes: Determine a sixth distance according to the first distance, the third distance, the fifth distance and the law of cosines; Determine a seventh distance according to the second distance, the fourth distance, the fifth distance and the law of cosines; The sum of the sixth distance and the seventh distance is determined as the width of the first width-limiting device.

3. The vehicle control method according to claim 1, characterized in that: The controlling the vehicle to pass through the width limiting device according to the width of the first width limiting device comprises: Controlling the vehicle to move straight to a plurality of target locations in sequence in a direction close to the width limiting device; Determine a corresponding second width-limiting device width according to each target position, and obtain multiple second width-limiting device widths; Calculating a weighted average of the first width-limiting device width and the plurality of second width-limiting device widths to obtain an average width-limiting device width, wherein the weights of the first width-limiting device width and the plurality of second width-limiting device widths are increased in sequence; The vehicle is controlled to pass through the width limiting device according to the average width of the width limiting device.

4. The vehicle control method according to claim 3, characterized in that: After obtaining the average width of the width-limiting device, the method further includes: Acquire an image of the width limiting device; Determine a third width-limiting device width according to the image; Verifying the average width-limiting device width according to the third width-limiting device width; When the verification is successful, the vehicle is controlled to pass through the width limiting device according to the average width of the width limiting device.

5. The vehicle control method according to claim 1, characterized in that: The controlling the vehicle to pass through the width limiting device according to the width of the first width limiting device comprises: Acquire a first body width of the vehicle when the rearview mirrors are not folded and a second body width of the vehicle when the rearview mirrors are all folded; The vehicle is controlled to pass through the width limiting device according to the width of the first width limiting device, the first vehicle body width, and the second vehicle body width.

6. The vehicle control method according to claim 5, characterized in that: The controlling the vehicle to pass through the width limiting device according to the first width limiting device width, the first vehicle body width, and the second vehicle body width includes: When the difference between the width of the first width limiting device and the width of the second vehicle body is less than a preset threshold, determining that the vehicle cannot pass through the width limiting device; When the difference between the width of the first width limiting device and the first vehicle body width is greater than the preset threshold, controlling the vehicle to pass through the width limiting device without folding the rearview mirror; When the difference between the width of the first width limiting device and the first vehicle body width is smaller than the preset threshold, and the difference between the width of the first width limiting device and the second vehicle body width is larger than the preset threshold, the vehicle is controlled to pass through the width limiting device after folding the rearview mirror.

7. The vehicle control method according to claim 1, characterized in that: The controlling the vehicle to pass through the width limiting device according to the width of the first width limiting device comprises: Determining a device center line of the width limiting device according to the width of the first width limiting device; determining a body centerline of the vehicle; Controlling the steering of the vehicle according to the center line of the vehicle body and the center line of the device; When the vehicle turns to the point where the center line of the vehicle body coincides with the center line of the device, the vehicle is controlled to pass through the width limiting device at a preset speed.

8. A vehicle comprising a processor and a memory, characterized in that: The memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, the steps of the method according to any one of claims 1 to 7 are implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, which, when executed by a processor, prompt the processor to implement the steps of the method according to any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the processor is prompted to implement the steps of the method according to any one of claims 1 to 7.

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