Vehicle control methods and vehicles

Abstract

The application discloses a control method of a vehicle and the vehicle, and applies to the technical field of intelligent driving, and the method comprises the following steps: acquiring a first distance between the vehicle and a left width-limiting column of a width-limiting device and a second distance between the vehicle and a right width-limiting column of the width-limiting device respectively when the vehicle is at a first position; controlling the vehicle to drive straight to a second position, and 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 respectively; determining a first width-limiting device width 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 device according to the first width-limiting device width. The technical scheme provided by the 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 smoothly pass through the width-limiting device, and the risk of the vehicle being damaged when passing through the width-limiting device is effectively reduced.

Description

Technical Field

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

[0002] Width-restricting devices are typically used to limit the passage of oversized vehicles on a certain road section, thereby protecting that section of road. These devices are usually quite narrow, and drivers typically rely on experience to navigate them. This places high demands on the driver's driving skills and distance judgment; even a slight mistake can lead to scratches and damage to the vehicle.

[0003] Therefore, how to effectively reduce the risk of vehicle damage when passing through width restriction equipment is an urgent problem to be solved. Summary of the Invention

[0004] The embodiments of this application provide a vehicle control method and a vehicle, which can at least to some extent enable the vehicle to pass smoothly through width restriction equipment and effectively reduce the risk of damage to the vehicle when passing through width restriction equipment.

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

[0006] According to a first aspect of the embodiments of this application, a vehicle control method is provided, comprising:

[0007] With the vehicle in the first position, the first distance between the vehicle and the left width-limiting post of the width-limiting device and the second distance between the vehicle and the right width-limiting post of the width-limiting device are obtained respectively.

[0008] Control the vehicle to travel straight to the second position, and obtain the third distance between the vehicle and the left width restriction post, the fourth distance between the vehicle and the right width restriction post, and the fifth distance between the first position and the second position respectively;

[0009] The width of the first width-limiting device is determined based on the first distance, the second distance, the third distance, the fourth distance, and the fifth distance;

[0010] Vehicles are controlled to pass through the width-restricting device based on the width of the first width-restricting device.

[0011] In some embodiments, determining the width of the first width-limiting device based on a first distance, a second distance, a third distance, a fourth distance, and a fifth distance includes:

[0012] Determine the sixth distance based on the first distance, third distance, fifth distance, and the law of cosines;

[0013] Determine the seventh distance based on the second, fourth, and fifth distances and the law of cosines;

[0014] The sum of the sixth and seventh distances 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 based on the width of a first width-limiting device includes:

[0016] Control the vehicle to proceed straight to multiple target locations in sequence, following the direction closest to the width restriction equipment;

[0017] The width of the second width limiting device is determined according to each target location, resulting in multiple width limiting device widths.

[0018] Calculate the weighted average of the width of the first width-limited device and the widths of multiple second width-limited devices to obtain the average width-limited device width, wherein the weights of the width of the first width-limited device and the widths of multiple second width-limited devices increase sequentially;

[0019] Vehicles are controlled to pass through width-restricting devices based on the average width of the devices.

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

[0021] Acquire an image of the width-limiting device;

[0022] Determine the width of the third width-limiting device based on the image;

[0023] The average width of the width-limiting device is verified based on the width of the third width-limiting device.

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

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

[0026] Obtain the first vehicle width when the rearview mirrors are not folded and the second vehicle width when all the rearview mirrors are folded;

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

[0028] In some embodiments, controlling a vehicle to pass through a width-limiting device based on the width of a first width-limiting device, the width of a first vehicle body, and the width of a second vehicle body includes:

[0029] If 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, it is determined that the vehicle cannot pass through the width-limiting device;

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

[0031] When the difference between the width of the first width limiting device and the width of the first vehicle body is less than a preset threshold, and the difference between the width of the first width limiting device and the width of the second vehicle body is greater than a preset threshold, the vehicle is controlled to fold its rearview mirrors and pass through the width limiting device.

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

[0033] Determine the centerline of the width-limiting device based on the width of the first width-limiting device;

[0034] Determine the vehicle's centerline;

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

[0036] When the vehicle turns so that its centerline coincides with the centerline of the equipment, control the vehicle to pass through the width-limiting equipment at a preset speed.

[0037] According to a second aspect of the embodiments of this application, a vehicle is provided, including a processor and a memory, the memory storing computer program instructions executable by the processor, wherein when the processor executes the computer program instructions, it implements the steps of the method as described in any of the first aspects above.

[0038] According to a third aspect of the embodiments of this application, a computer-readable storage medium is provided, which stores computer program instructions that, when executed by a processor, cause the processor to perform the steps of the method as described in any of the first aspects above.

[0039] According to a fourth aspect of the embodiments of this application, a computer program product is provided, including a computer program that, when executed by a processor, causes the processor to perform the steps of the method as described in any of the first aspects above.

[0040] In this application, when the vehicle is in the first position, the first distance between the vehicle and the left width-limiting post of the width-limiting device and the second distance between the vehicle and the right width-limiting post of the width-limiting device are obtained respectively; the vehicle is controlled to move straight to the second position, and the third distance between the vehicle and the left width-limiting post, the fourth distance between the vehicle and the right width-limiting post, 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 based on 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 based on the width of the first width-limiting device. The technical solution provided by this application can accurately calculate the width of the width-limiting device and automatically control the vehicle to pass through the width-limiting device based on 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 above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0042] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0043] Figure 1 A schematic flowchart of a vehicle control method according to some embodiments of this application is shown;

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

[0045] Figure 3 It shows Figure 1 A schematic diagram illustrating the calculation of the width of the first width-limiting device in the middle;

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

[0047] Figure 5 A schematic diagram of the structure of a vehicle according to some embodiments of this application is shown. Detailed Implementation

[0048] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0049] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this 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 can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0051] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

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

[0053] Figure 1 A flowchart illustrating a vehicle control method according to some embodiments of this application is shown. 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 the first position, the first distance between the vehicle and the left width-limiting post of the width-limiting device and the second distance between the vehicle and the right width-limiting post of the width-limiting device are obtained respectively.

[0055] Figure 2 A schematic diagram of the structure of a vehicle control system according to some embodiments of this application is shown. For example... Figure 2 As shown, the vehicle control system may include an intelligent driving domain control module, an infotainment module, an instrument cluster, a body control module, rearview mirrors, a steering module, a front center millimeter-wave radar, a front left millimeter-wave radar, a front right millimeter-wave radar, and a front-view camera. The intelligent driving domain control module collects data from the millimeter-wave radars and the front-view camera, processes this data to calculate the width of the width-limiting device, and controls the vehicle to pass smoothly through the device based on the calculated width. That is, the vehicle control method in this embodiment can be executed within the intelligent driving domain control module. The body control module can adjust the state of the rearview mirrors, and may fold them if necessary. The infotainment module can provide a soft switch for confirming passage through the width-limiting device; when the width of the width-limiting device is less than the vehicle's width, it will drive the instrument cluster to display that the vehicle cannot pass and output a voice warning.

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

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

[0058] Figure 3 It shows Figure 1 A schematic diagram illustrating the calculation of the width of the first width-limiting device. (See diagram below.) 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-restricting device, the vehicle needs to be controlled to travel straight. That is, from the first position to the second position, the angle of the vehicle relative to the width-restricting device remains unchanged. The second position can be a position closer to the width-restricting device than the first position, or a position farther away from the width-restricting device. Considering that the vehicle needs to pass through the width-restricting device, to shorten the passage time, the second position can be chosen to be closer to the device. When the vehicle reaches the second position, the third and fourth distances can be collected by the same millimeter-wave radar as in step 101. The intelligent driving domain control module obtains the third and fourth distances from the millimeter-wave radar for calculating the width of the width-restricting device.

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

[0061] In the implementation process, the first width-limiting device width can be determined by using the cosine theorem, the first distance, the second distance, the third distance, the fourth distance, and the fifth distance.

[0062] In some embodiments, a sixth distance may be determined based on a first distance, a third distance, a fifth distance and the law of cosines; a seventh distance may be determined based on a second distance, a fourth distance, a fifth distance and the law of cosines; and the sum of the sixth distance and the seventh distance may be determined as the width of the first width-limiting device.

[0063] Continue to refer to Figure 3 Given the lengths of the three sides of the triangle a, b, and c, the angle α can be calculated using the Law of Cosines. Similarly, given the lengths of the three sides of a triangle, a, d, and e, the angle β can be calculated, i.e. The sixth distance m can be calculated using the following formula:

[0064]

[0065] The seventh distance n can be calculated using Formula 2 below:

[0066]

[0067] Then, by adding the sixth distance m and the seventh distance n, the width s1 of the first width-limiting device can be obtained.

[0068] By utilizing the distance collected by millimeter-scale radar during vehicle movement, the width of the width-limiting device can be accurately calculated, 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] Understandably, after calculating the width of the first width-restriction device, vehicles can be guided through the device based on its width, effectively reducing the risk of damage to vehicles when passing through it.

[0071] In some embodiments, after obtaining the width of the first width-limiting device, the vehicle can be controlled to travel straight to multiple target locations in the direction of approaching the width-limiting device; the width of the corresponding second width-limiting device is determined according to each target location, resulting in multiple second width-limiting device widths; the weighted average of the first width-limiting device width and the multiple second width-limiting device widths is calculated 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 sequentially; and the vehicle is controlled to pass through the width-limiting device based on the average width-limiting device width.

[0072] Taking multiple target locations as the third and fourth positions as an example, the widths s2 and s3 of the second width-limiting device corresponding to the third position and the fourth position are calculated using steps 101 to 103. Assuming 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, since the closer the millimeter-wave radar is to the width-limiting device, the more accurate the collected data. Therefore, k1, k2, and k3 can be set to increase sequentially. The average width of the width-limiting device can be calculated according to the following formula:

[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 acquired; the width of the third width limiting device can be determined based on the image; the width of the average width limiting device can be verified based on the width of the third width limiting device; 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] Understandably, the forward-facing camera can capture images of the width-limiting device. The intelligent driving domain control module can obtain these images from the forward-facing camera, perform image processing, obtain the width of the third width-limiting device, and use the width of the third width-limiting device to verify the width of the average width-limiting device or the width of the first width-limiting device.

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

[0077] The method for verifying the width of the first width-limiting device using the width of the third width-limiting device is the same as the method for verifying the width of the average width-limiting device described above, and will not be repeated here.

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

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

[0080] In some embodiments, a first vehicle body width with the rearview mirrors folded and a second vehicle body width with the rearview mirrors fully folded can be obtained; the vehicle can be controlled to pass through the width limiting device based on the width of the first width limiting device, the first vehicle body width, and the second vehicle body width.

[0081] Considering the different vehicle widths before and after the folding rearview mirrors, different control strategies are needed for these two scenarios in order to achieve accurate vehicle control.

[0082] In the implementation process, if 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, it can be determined that the vehicle cannot pass 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 greater than the preset threshold, the vehicle can be controlled to pass through the width limiting device without folding the rearview mirrors; 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 width of the second vehicle body is greater than the preset threshold, the vehicle can be controlled to fold the rearview mirrors and pass through the width limiting device.

[0083] The preset threshold can be calibrated according to the actual situation. In this embodiment, the specific value of the preset threshold is not limited.

[0084] Understandably, if 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, it means that even if the vehicle folds its rearview mirrors, it cannot pass through the width-limiting device. In this case, the infotainment module can output a voice prompt indicating that it cannot pass 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 greater than the preset threshold, the vehicle can be controlled to switch to the width-limiting device passing mode and automatically towed 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 width of the second vehicle body is greater than the preset threshold, then the rearview mirrors need to be folded, and the vehicle needs to be switched to the width-limiting device passing 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 be determined that the vehicle cannot pass through the width-limiting device if the difference between the average width of the width-limiting device and the second vehicle width is less than a preset threshold; if the difference between the average width of the width-limiting device and the first vehicle width is greater than a preset threshold, the vehicle can be controlled to pass through the width-limiting device without folding the rearview mirrors; if the difference between the average width of the width-limiting device and the first vehicle width is less than a preset threshold, and the difference between the average width of the width-limiting device and the second vehicle width is greater than a preset threshold, the vehicle can be controlled to fold the rearview mirrors before passing through the width-limiting device.

[0086] In some embodiments, the centerline of the width limiting device can be determined based on the width of the first width limiting device; the centerline of the vehicle body can be determined; the vehicle can be steered based on the centerline of the vehicle body and the centerline of the device; and when the vehicle steers to the point where the centerline of the vehicle body coincides with the centerline of the device, the vehicle can be controlled to pass through the width limiting device at a preset speed.

[0087] Understandably, after determining the width of the first width-limiting device, the intelligent driving domain control module can use the halfway point of the device's width to determine its centerline and display it through the infotainment module. The intelligent driving domain control module can also determine the vehicle's centerline based on its dimensions and display it through the infotainment module. The intelligent driving domain control module can then control the steering module to steer the vehicle until its centerline coincides with the device's centerline, and then control the vehicle to smoothly pass through the width-limiting device at a low speed along the centerline.

[0088] In other embodiments, if the average width of the width-limiting device is calculated, the center line of the width-limiting device can 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] This application, with the vehicle in a first position, obtains a first distance between the vehicle and the left width-limiting post of the width-limiting device, and a second distance between the vehicle and the right width-limiting post of the width-limiting device; controls the vehicle to travel straight to a second position, and obtains a third distance between the vehicle and the left width-limiting post, a fourth distance between the vehicle and the right width-limiting post, and a fifth distance between the first and second positions; determines the width of the first width-limiting device based on the first, second, third, fourth, and fifth distances; and controls the vehicle to pass through the width-limiting device based on the width of the first width-limiting device. The technical solution provided by this application can accurately calculate the width of the width-limiting device and automatically control the vehicle to pass through it based on that width, enabling the vehicle to pass smoothly through the width-limiting device, effectively reducing the risk of vehicle damage when passing through the width-limiting device, and improving the traffic efficiency at the width-limiting device.

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

[0091] Figure 4 A block diagram of a vehicle control device according to some embodiments of this application is shown. Figure 4As shown, the vehicle control device of this application embodiment may include: a first acquisition module 401, a second acquisition module 402, a width calculation module 403, and a vehicle control module 404. The first acquisition module 401 is used to acquire, when the vehicle is in a first position, a first distance between the vehicle and the left width-limiting post of the width-limiting device, and a second distance between the vehicle and the right width-limiting post of the width-limiting device, respectively. The second acquisition module 402 is used to control the vehicle to travel straight to a second position and acquire, respectively, a third distance between the vehicle and the left width-limiting post, a fourth distance between the vehicle and the right width-limiting post, 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 further configured to determine a sixth distance based on a first distance, a third distance, a fifth distance and the law of cosines; determine a seventh distance based on a second distance, a fourth distance, a fifth distance and the law of cosines; 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 further configured to control the vehicle to travel straight to multiple target locations in a direction approaching the width restriction device; determine the corresponding width of the second width restriction device according to each target location to obtain multiple widths of the second width restriction device; calculate the weighted average of the width of the first width restriction device and the widths of the multiple second width restriction devices to obtain the average width of the width restriction device, wherein the weights of the width of the first width restriction device and the widths of the multiple second width restriction devices increase sequentially; and control the vehicle to pass through the width restriction device according to the average width of the width restriction device.

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

[0095] In some embodiments, the vehicle control module 404 is further configured to acquire a first vehicle body width when the rearview mirrors are not folded and a second vehicle body width when the rearview mirrors are fully folded; and control the vehicle to pass through the width limiting device based on the width of the first width limiting device, the first vehicle body width and the second vehicle body width.

[0096] In some embodiments, the vehicle control module 404 is further configured 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 width of the second vehicle body is less than a preset threshold; 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 width of the first vehicle body is greater than a preset threshold; and control the vehicle to fold the rearview mirrors and pass through the width limiting device when the difference between the width of the first width limiting device and the width of the first vehicle body is less than a preset threshold and the difference between the width of the first width limiting device and the width of the second vehicle body is greater than a preset threshold.

[0097] In some embodiments, the vehicle control module 404 is further configured to determine the center line of the width limiting device based on the width of the first width limiting device; determine the center line of the vehicle body; control the vehicle to steer based on the center line of the vehicle body and the center line of the device; and control the vehicle to pass through the width limiting device at a preset speed when the vehicle steers to the point where the center line of the vehicle body coincides with the center line of the device.

[0098] Based on the same inventive concept, this application also provides a vehicle, see reference. Figure 5 The diagram shows a structural schematic of a vehicle according to an embodiment of this application. The vehicle includes one or more memories 504, one or more processors 502, and at least one computer program (computer program instructions) stored in the memory 504 and executable on the processor 502. When the processor 502 executes the computer program, it implements the method described above.

[0099] Among them, Figure 5 In this document, a bus architecture (represented by bus 500) is used. Bus 500 may include any number of interconnected buses and bridges, linking 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 peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further 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, i.e., 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 can be used to store data used by processor 502 during operation.

[0100] Based on the same inventive concept, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, cause the processor to perform the steps of the method described above.

[0101] Based on the same inventive concept, embodiments of this application provide a computer program product, including a computer program, which, when executed by a processor, causes the processor to perform the steps of the method 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 or transmitted via a computer-readable medium. Other examples and embodiments are within the scope and spirit of this 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, hardwired, or any combination thereof. Furthermore, the functional units may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single 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. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0104] The units described as separate components may or may not be physically separate. Similarly, the components of the control device may or may not be physical units; they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0105] If the integrated unit is implemented as 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 this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing computer program instructions, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0106] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method of a vehicle, characterized by, The method comprises the following steps: acquiring a first distance between the vehicle and a left width-limiting column of a width-limiting device and a second distance between the vehicle and a right width-limiting column of the width-limiting device when the vehicle is at a first position; controlling the vehicle to move straight to a second position and 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 a first width-limiting device width according to the first distance, the second distance, the third distance, the fourth distance and the fifth distance; controlling the vehicle to pass through the width-limiting device according to the first width-limiting device width, wherein the controlling the vehicle to pass through the width-limiting device according to the first width-limiting device width comprises the following steps: controlling the vehicle to move straight to a plurality of target positions in turn in a direction close to the width-limiting device; determining a corresponding second width-limiting device width according to each target position to obtain a plurality of 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 increase in turn; acquiring an image of the width-limiting device; determining 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; controlling the vehicle to pass through the width-limiting device according to the average width-limiting device width when the verification is successful.

2. The control method of a vehicle according to claim 1, characterized by 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 comprises the following steps: determining a sixth distance according to the first distance, the third distance, the fifth distance and the cosine theorem; determining a seventh distance according to the second distance, the fourth distance, the fifth distance and the cosine theorem; determining the first width-limiting device width as a sum of the sixth distance and the seventh distance.

3. The control method of a vehicle according to claim 1, characterized by The controlling the vehicle to pass through the width-limiting device according to the first width-limiting device width comprises the following steps: acquiring a first vehicle body width of the vehicle when the rearview mirrors are not folded and a second vehicle body width of the vehicle when the rearview mirrors are all folded; 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.

4. The control method of a vehicle according to claim 3, characterized by 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 comprises the following steps: determining that the vehicle cannot pass through the width-limiting device when a difference between the first width-limiting device width and the second vehicle body width is less than a preset threshold value; controlling the vehicle to pass through the width-limiting device without folding the rearview mirrors when a difference between the first width-limiting device width and the first vehicle body width is greater than the preset threshold value. In a case where the difference between the first width-limiting device width and the first vehicle body width is less than the preset threshold value, and the difference between the first width-limiting device width and the second vehicle body width is greater than the preset threshold value, the vehicle is controlled to pass through the width-limiting device after folding the rearview mirror.

5. The control method of a vehicle according to claim 1, characterized by The controlling the vehicle to pass through the width-limiting device according to the first width-limiting device width comprises: determining a device center line of the width-limiting device according to the first width-limiting device width; determining a vehicle body center line of the vehicle; controlling the vehicle to turn according to the vehicle body center line and the device center line; in a case where the vehicle turns to the vehicle body center line coinciding with the device center line, controlling the vehicle to pass through the width-limiting device at a preset speed.

6. A vehicle comprising a processor and a memory, wherein, The memory stores computer program instructions capable of being executed by the processor, and the processor executes the computer program instructions to implement the steps of the method according to any one of claims 1 to 5.

7. A computer readable storage medium characterized by The computer readable storage medium stores computer program instructions, and the computer program instructions are executed by the processor to cause the processor to implement the steps of the method according to any one of claims 1 to 5.

8. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to cause the processor to implement the steps of the method according to any one of claims 1 to 5.

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