Vehicle control method, device and equipment and readable storage medium

Abstract

The embodiment of the invention provides a vehicle control method and device, equipment and a readable storage medium. Belongs to the vehicle-mounted field. The method comprises the following steps: acquiring driving preparation data of a vehicle, wherein the driving preparation data is used for expressing a matching relationship between a component state corresponding to a component of the vehicle and a preset preparation state; acquiring cover plate data corresponding to an energy input port cover plate of the vehicle, wherein the cover plate data is used for expressing the opening and closing state of the energy input port cover plate; and under the condition that the driving preparation data indicates that the assembly state is matched with the preset preparation state and the cover plate data indicates that the energy input port cover plate is in the closed state, the vehicle is controlled to be in the driving preparation state. The state recognition efficiency of the energy input port cover opening is improved, dangerous accidents are avoided, and then the driving safety is improved.

Description

Technical Field

[0001] The present application relates to the vehicle field, and in particular to a vehicle control method, device, equipment and readable storage medium. Background Art

[0002] With the popularity of new energy vehicles, on-board charging has become a key link in the development of technology. The on-board terminal is equipped with a charging port. When driving to a fixed charging pile, the charging port is connected to the charging gun provided at the charging pile to achieve the charging purpose of the on-board terminal.

[0003] In the related art, after the vehicle-mounted terminal completes charging and the driver unplugs the charging gun, the driver may drive away without closing the charging port cover.

[0004] However, during driving, if the charging port cover is in an open state (not closed), it will block the field of view observable in the rearview mirror and cause a dangerous accident. Summary of the invention

[0005] The embodiments of the present application provide a vehicle control method, device, equipment and readable storage medium to improve the efficiency of identifying the state of the energy input port cover, avoid the occurrence of dangerous accidents, and thus improve driving safety. The technical solution is as follows:

[0006] In one aspect, a vehicle control method is provided, the method comprising:

[0007] Acquiring driving preparation data of the vehicle, wherein the driving preparation data is used to express a matching relationship between a component state corresponding to a component of the vehicle and a preset preparation state;

[0008] Acquire cover data of the energy input port of the vehicle, wherein the cover data is used to express the open or closed state of the energy input port cover;

[0009] When the driving preparation data indicates that the component status matches the preset preparation status, and the cover data indicates that the energy input port cover is in a closed state, the vehicle is controlled to be in a driving preparation status, and the driving preparation status is used to indicate that the vehicle has driving capability.

[0010] In another aspect, a vehicle control device is provided, the device comprising:

[0011] An acquisition module, used for acquiring driving preparation data of the vehicle, wherein the driving preparation data is used for expressing a matching relationship between a component state corresponding to a component of the vehicle and a preset preparation state;

[0012] The acquisition module is further used to acquire the cover data of the energy input port of the vehicle, wherein the cover data is used to express the open or closed state of the energy input port cover;

[0013] A control module is used to control the vehicle to be in a driving preparation state when the driving preparation data indicates that the component state matches the preset preparation state and the cover data indicates that the energy input port cover is in a closed state, and the driving preparation state is used to indicate that the vehicle has the ability to drive.

[0014] On the other hand, a computer-readable storage medium is provided, wherein at least one section of information is stored in the computer-readable storage medium, and the at least one section of information is loaded and executed by a processor to implement the vehicle control method as described above.

[0015] On the other hand, a computer program product or computer program is provided, which includes computer instructions stored in a computer-readable storage medium, a processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes to implement the vehicle control method as described above.

[0016] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0017] Based on the matching relationship between the component status corresponding to the vehicle's components and the preset preparation status, the driving preparation data corresponding to the vehicle is determined; and then the cover data corresponding to the energy input port cover is obtained. When the component status matches the preset preparation status and the cover data corresponding to the energy input port cover indicates that the energy input port cover is in a closed state, the vehicle's status is set to a driving preparation state, indicating that the vehicle is in a driving ready state and can be driven at any time. By introducing the condition of checking the opening and closing state corresponding to the energy input port cover on the basis of checking the component status of the component, it is avoided that the vehicle is driven in a driving preparation state when the energy input port cover is not closed, thereby improving the driving safety of the vehicle to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 is a flowchart of a method for implementing a vehicle control method provided in an embodiment of the present application;

[0020] Figure 2 is a flow chart of a vehicle control method provided by an exemplary embodiment of the present application;

[0021] Figure 3 is a flow chart of a vehicle control method provided by another exemplary embodiment of the present application;

[0022] Figure 4 is a flowchart of a vehicle control device provided by an exemplary embodiment of the present application;

[0023] Figure 5 is a flowchart of a control device for a vehicle provided by another exemplary embodiment of the present application;

[0024] Figure 6 It is a structural block diagram corresponding to a computer device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0026] As shown in the figure, Figure 1 A schematic flow chart of a method for controlling a vehicle provided by an embodiment of the present application is shown. The flow chart includes a vehicle 10, which includes an energy input port and an energy input port cover corresponding to the energy input port.

[0027] Optionally, an actuator of the vehicle 10 acquires driving preparation data corresponding to the vehicle.

[0028] The driving preparation data is used to express the matching relationship between the component states corresponding to the components of the vehicle 10 and the preset preparation states. Schematically, the driving preparation data includes the component states corresponding to the vehicle engine, energy supply equipment (such as: battery, etc.), fuel system, etc.

[0029] The preset readiness state is used to indicate that the components of the vehicle 10 have completed the corresponding system inspection. Illustratively, the preset readiness state corresponding to the vehicle engine means that the vehicle engine is in a safe environment and has no faults after the vehicle has been fully checked for safety and faults. For details about the specific components, component states, and preset readiness states, please refer to the corresponding contents of the following embodiments, which will not be elaborated here.

[0030] The actuator of the vehicle 10 obtains the cover plate data corresponding to the energy input port cover plate, and the cover plate data refers to the open and closed state of the energy input port cover plate. The cover plate data includes an open state and a closed state. Among them, the open state refers to the state in which the energy input port and the energy input port cover plate are not closed, and the closed state refers to the state in which the energy input port and the energy input port cover plate are closed.

[0031] Optionally, the actuator of the vehicle 10 determines a matching relationship between a component state in the driving preparation data and a preset preparation state, and determines the cover data.

[0032] When the driving preparation data indicates that the component state matches the preset preparation state, and the cover data indicates that the energy input port cover is in a closed state, the vehicle is controlled to be in a driving preparation state.

[0033] The driving preparation state refers to the vehicle 10 being in a driving ready state.

[0034] Illustratively, when the component states corresponding to the components in the vehicle 10 match the preset ready states and the energy input port cover is in a closed state, the vehicle 10 is in a drivable state and supports starting at any time.

[0035] It should be noted that the information (including but not limited to driving preparation data, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0036] In combination with the above description, the vehicle control method involved in the embodiment of the present application is explained. Figure 2 FIG. 1 is a flow chart of a vehicle control method provided by an exemplary embodiment of the present application, and the method is applied to a vehicle for explanation. Figure 2 As shown, the method includes:

[0037] Step 200, obtaining driving preparation data of the vehicle.

[0038] Optionally, the vehicle includes an energy input port, an energy input port cover corresponding to the energy input port, and internal components.

[0039] The energy input port refers to the interface or port for the vehicle to receive energy. Energy includes but is not limited to electricity, fuel, gas, etc. Correspondingly, the energy input port is implemented as a charging interface for receiving electricity, a fuel interface for receiving fuel, etc. In the process of the vehicle receiving energy, the energy input port is connected to the energy muzzle, and the energy is input (injected) into the energy input port through the energy muzzle. In the embodiment of the present application, the energy input port is implemented as a physical interface.

[0040] The energy input port cover is a device paired with the energy input port. When the vehicle does not need to receive energy, the energy input port and the energy input port cover are in a closed state, that is, the energy input port is not exposed to an open environment. When the vehicle needs to receive energy, the energy input port is connected to the energy muzzle, and at this time, the energy input port and the energy input port cover are in an unclosed state.

[0041] Optionally, the size of the energy input port is the same as the size of the energy input port cover, or the size of the energy input port is smaller than the size of the energy input port, so as to ensure that the energy input port cover can completely cover the energy input port.

[0042] Internal components refer to various components installed in the vehicle, including but not limited to energy supply equipment, engine, dashboard, fuel pump, injector, air filter, etc. Among them, energy supply equipment includes engine / motor, etc.

[0043] During the driving process of the vehicle, the internal components of the vehicle work together to support the normal driving of the vehicle. Before the vehicle drives, the vehicle needs to perform a self-check process, which means that the vehicle's actuator (or control system) checks the component status of the corresponding internal components.

[0044] The component status is used to indicate the corresponding usage status of the component. The component status includes normal status and abnormal status. The normal status means that the component operates normally according to the design and expectations, and the abnormal status means that the component deviates from the design and expectations, such as failure, blockage, etc.

[0045] Schematically, taking a new energy vehicle as an example, the internal components include a motor, and the actuator in the vehicle detects the motor state (corresponding component state) corresponding to the motor, and the motor state includes a normal state and an abnormal state.

[0046] Before the vehicle drives, the actuator in the vehicle obtains the component status corresponding to all internal components in the vehicle and generates driving preparation data based on the component status.

[0047] That is, the driving preparation data is used to express the matching relationship between the component status corresponding to the components of the vehicle and the preset preparation status.

[0048] The preset readiness state indicates that all components in the vehicle are in normal condition.

[0049] Optionally, the vehicle includes n components, and the n components correspond to n component states, where n is a positive integer.

[0050] Get the component status corresponding to the i-th component, and in response to the component status indicating that the i-th component is in a normal state, set the component status corresponding to the i-th component to a first value (such as: 1); in response to the component status being in an abnormal state, set the component status corresponding to the i-th component to a second value (such as: 0), where i is a positive integer less than or equal to n.

[0051] Repeat the above steps to obtain n component states corresponding to n components respectively.

[0052] The product results corresponding to the states of the n components are determined, and the driving preparation data of the vehicle is determined based on the product results.

[0053] Illustratively, in response to the multiplication result being a first value, it is determined that the driving preparation data corresponding to the vehicle matches the preset preparation state. In response to the multiplication result being a second value, it is determined that the driving preparation data corresponding to the vehicle does not match the preset preparation state.

[0054] In an embodiment of the present application, when the vehicle's driving preparation data indicates that the component state corresponding to the vehicle's component matches the preset preparation state, a second prompt message is displayed on the vehicle's onboard screen. The onboard screen includes but is not limited to the instrument panel screen, the central control terminal screen, and the window glass screen, etc. The second prompt message is used to remind the driver that the vehicle is in a driving ready state and can be driven at any time. Schematically, the second prompt message is implemented as a highlighted icon corresponding to the character "READY".

[0055] In another optional embodiment, various components in the vehicle are connected through actuators to form different systems.

[0056] Schematically, taking new energy vehicles as an example, the power battery pack, drive motor, motor controller, etc. are connected to the actuator to form an electric drive system (electronic control system), and the speed sensor, etc. are connected to the actuator to form a navigation system, and so on.

[0057] While detecting the component status corresponding to the component, the system status corresponding to the system formed by the component is detected.

[0058] The system status is used to indicate the usage status of the system. The system status includes normal status and abnormal status.

[0059] The driving readiness data is used to express the matching status between the component status and system status of the vehicle and the preset readiness status, wherein the preset readiness status is used to indicate that the component status corresponding to all components is in a normal state and the system status corresponding to all systems is in a normal state.

[0060] Step 201, obtaining cover data corresponding to the energy input port cover of the vehicle.

[0061] Optionally, the opening and closing status of the energy input port cover of the vehicle is obtained, and the cover data is generated based on the opening and closing status.

[0062] Among them, the cover data is used to express the open and closed state of the energy input port cover. The cover data includes the closed state and the open state. The open state refers to the state where the energy input port and the energy input port cover are not closed, and the closed state refers to the state where the energy input port and the energy input port cover are closed.

[0063] In the embodiment of the present application, the cover data corresponding to the energy input port cover is determined by components such as a camera component, a motion sensor, and a distance sensor.

[0064] The specific process of determining the cover plate data includes but is not limited to any one of the following methods.

[0065] The first method is to determine the cover data corresponding to the energy input port cover through a motion sensor.

[0066] Optionally, a motion sensor is provided at the energy input port cover.

[0067] Obtain the cover plate motion data collected by the motion sensor within the first preset time period. The first preset time period can be determined based on whether a driver appears in the vehicle. Schematically, if a driver appears in the vehicle at time point 1, determine the first preset time period corresponding to time point 1, and then obtain the cover plate motion data collected by the motion sensor within the first preset time period. Among them, the first preset time period includes time point 1, and time point 1 is at the midpoint of the first preset time period. For example: the first preset time period corresponding to time 1 is [time point 1-a, time 1+a], and a is an arbitrary time period.

[0068] In an embodiment of the present application, whether a driver is present in the vehicle can be determined by the open state of the vehicle door, by the vehicle's internal camera assembly, or by other means, which is not limited in the present application.

[0069] In another optional embodiment, the cover motion data collected by the motion sensor is acquired every first preset time period. In this way, the first preset time period is set by relevant personnel, such as every ten minutes, every hour, etc.

[0070] The cover plate motion data includes a plurality of motion data corresponding to a first preset time period, and a plurality of position data of the plurality of motion data relative to the center of mass of the vehicle.

[0071] Based on the cover plate motion data, displacement trajectory data corresponding to the energy input port cover plate is generated, wherein the displacement trajectory data is used to indicate the motion trajectory of the energy input port cover plate.

[0072] Optionally, based on multiple motion data and multiple position data, displacement trajectory data corresponding to the energy input port cover is generated with the vehicle's center of mass as a reference.

[0073] Based on the displacement trajectory data, the cover data corresponding to the energy input port cover is determined. Optionally, in response to the displacement trajectory data meeting the preset requirements, it is determined that the energy input port cover is in a closed state. In response to the displacement trajectory data not meeting the preset requirements, it is determined that the energy input port cover is in an open state.

[0074] In an optional embodiment, a first position of the energy input port cover relative to the center of mass of the vehicle is obtained, and a second position of the energy input port relative to the center of mass of the vehicle is obtained.

[0075] Based on the first position and the second position, target trajectory data of the energy input port cover moving from the first state to the second state is simulated and generated, wherein the first state is used to indicate that the energy input port cover is in a fully open state, and the second state is used to indicate that the energy input port and the energy input port cover are in a closed state.

[0076] In response to the displacement trajectory data and the target trajectory data meeting a preset relationship, it is determined that the energy input port cover is in a closed state; in response to the displacement trajectory data and the target trajectory data not meeting a preset relationship, it is determined that the energy input port cover is in an open state. The preset relationship is used to indicate that the first trajectory identified by the displacement trajectory data coincides with the second trajectory identified by the target trajectory data.

[0077] In an optional embodiment, the preset relationship is also used to indicate that the trajectory length of the first trajectory identified by the displacement trajectory data is consistent with the length of the second trajectory identified by the target trajectory data, and the trajectory curvature of the first trajectory identified by the displacement trajectory data is consistent with the trajectory curvature of the second trajectory identified by the target trajectory data.

[0078] The second method is to determine the cover data corresponding to the energy input port cover through a distance sensor.

[0079] Optionally, the energy input port cover is provided with a distance sensor.

[0080] The first distance data collected by the distance sensor within the first preset time period is obtained. The first distance data is used to indicate the distance value between the energy input port cover and the energy input port.

[0081] Based on the first distance data, cover plate data corresponding to the energy input port cover plate is determined.

[0082] Illustratively, in response to the distance data being less than a preset distance threshold, it is determined that the energy input port cover is in a closed state; in response to the distance data being greater than the preset distance threshold, it is determined that the energy input port cover is in an open state.

[0083] In another optional embodiment, when the vehicle is stationary, second distance data collected by the distance sensor within the first preset time period is obtained, and the second distance data is used to indicate displacement data generated by the energy input port cover in any direction. Any direction includes the lateral direction, the longitudinal direction, and the vertical direction.

[0084] Optionally, a vehicle coordinate system is established with the vehicle mass center as the origin, the x-axis pointing to the front of the vehicle mass center, the z-axis pointing vertically above the vehicle mass center, and the y-axis pointing to the right of the vehicle mass center. The lateral direction is parallel to the direction indicated by the y-axis in the vehicle coordinate system, the longitudinal direction is parallel to the direction indicated by the x-axis in the vehicle coordinate system, and the vertical direction is parallel to the direction indicated by the z-axis in the vehicle coordinate system.

[0085] Optionally, second distance data collected by the distance sensor in the first preset time period is obtained, and the second distance data includes transverse distance data, longitudinal distance data and vertical distance data. Among them, the transverse distance data refers to the distance generated by the energy input port cover in the transverse direction, the longitudinal distance data refers to the distance generated by the energy input port cover in the longitudinal direction, and the vertical distance data refers to the distance generated by the energy input port cover in the vertical direction.

[0086] Based on the horizontal distance data, the longitudinal distance data and the vertical distance data, the displacement distance data corresponding to the energy input port cover is determined.

[0087] In response to the displacement distance data being less than a preset distance threshold, it is determined that the energy input port cover is in a closed state; in response to the displacement distance data being greater than the preset distance threshold, it is determined that the energy input port cover is in an open state.

[0088] The third method is to determine the cover data corresponding to the energy input port cover through a camera component.

[0089] Optionally, a camera assembly is provided on the body of the vehicle.

[0090] The image to be identified captured by the camera assembly within a first preset time period is obtained. The image to be identified includes the energy input port cover and the energy input port.

[0091] Identify whether there is any occlusion at the vehicle body frame corresponding to the energy input port in the image to be identified.

[0092] In response to the presence of obstruction at the vehicle body frame, it is determined that the energy input port cover is in an open state; in response to the absence of obstruction at the vehicle body frame, it is determined that the energy input port cover is in a closed state.

[0093] The fourth method is to determine the cover data corresponding to the energy input port cover through a pressure sensor.

[0094] Optionally, the energy input port of the vehicle is provided with a first pressure sensor, and the energy input port cover is provided with a second pressure sensor. The positions of the first pressure sensor and the second pressure sensor can be matched or staggered, and this application does not limit this.

[0095] The first pressure sensing data and the second pressure sensing data respectively collected by the first pressure sensing sensor and the second pressure sensing sensor within a first preset time period are acquired.

[0096] In response to the first pressure data and / or the second pressure data matching the preset pressure data, it is determined that the energy input port cover is in a closed state; in response to the first pressure data and / or the second pressure data not matching the preset pressure data, it is determined that the energy input port cover is in an open state.

[0097] Optionally, the first pressure sensing data is used to indicate voltage jump data generated by the external force received by the first pressure sensing sensor, and the voltage jump data includes a first value (such as: 1) and a second value (such as: 0). The second pressure sensing data is used to indicate voltage jump data generated by the external force received by the second pressure sensing sensor. In an embodiment of the present application, the external force can be implemented as manpower manually applied to the energy input port cover, or it can be implemented as a self-starting force that automatically controls the opening / closing of the energy input port cover through a program.

[0098] The preset pressure-sensing data is implemented as a first value.

[0099] Illustratively, in response to the first pressure sensing data and / or the second pressure sensing data matching the first numerical value, it is determined that the energy input port cover is in a closed state; in response to the first pressure sensing data and / or the second pressure sensing data matching the first numerical value (that is, matching the second numerical value), it is determined that the energy input port cover is in an open state.

[0100] Step 202, when the driving preparation data indicates that the component state matches the preset preparation state, and the cover data indicates that the energy input port cover is in a closed state, control the vehicle to be in a driving preparation state.

[0101] Optionally, the actuator of the vehicle determines whether the component state corresponding to each component in the driving preparation data matches the preset preparation state, and determines the closing state of the cover data.

[0102] When the status of each component matches the preset preparation status and the cover data indicates that the energy input port cover is in a closed state, the vehicle is controlled to be in a driving preparation state.

[0103] The driving readiness state is used to indicate that the vehicle is in a driving-ready state. In the driving-ready state, the driver can drive the vehicle at any time.

[0104] In another optional embodiment, when the cover data indicates that the energy input port is in an open state, the vehicle is controlled to be in a driving ready state, wherein the driving ready state is used to indicate a state in which the vehicle cannot be driven.

[0105] That is to say, when all components in the vehicle are in a ready state and the energy input port cover is closed, the vehicle can set off at any time; if any of the above conditions is not met, the vehicle cannot be driven. At the same time, it avoids the situation where the vehicle components are in an abnormal state but still in the driving state, and the energy input port cover is not closed. The vehicle's driving safety is improved to a certain extent.

[0106] Optionally, when the vehicle is in a state ready to drive, a first prompt message is displayed, wherein the first prompt message is used to prompt that the energy input port cover of the vehicle is in an open state.

[0107] The first prompt information can be implemented as at least one of audio prompt information, text prompt information, video prompt information, image prompt information, etc.

[0108] The implementation method of the first prompt information is introduced as follows.

[0109] When the first prompt information is implemented as an audio prompt information, in response to the vehicle being in a driving ready state, the audio prompt information is broadcast through the vehicle's audio output component (such as a microphone). Schematically, the first prompt information is "The charging port cover is not closed, please close it in time."

[0110] When the first prompt information is implemented as text prompt information, in response to the vehicle being in a driving standby state, the text prompt information is displayed on the vehicle screen. Optionally, the first prompt information is processed according to a preset processing method, and the processed first prompt information is displayed on the vehicle screen. The preset processing method includes but is not limited to at least one of bold, highlight, flash, etc.

[0111] When the first prompt information is implemented as video prompt information, in response to the vehicle being in a driving standby state, the video prompt information is played on the vehicle's onboard screen. Optionally, the video prompt information is pre-set. When it is determined that the energy input port cover is not closed, the video prompt information is directly played on the vehicle's onboard screen.

[0112] When the first prompt information is implemented as image prompt information, in response to the vehicle being in a driving ready state, the image prompt information is displayed on the vehicle screen of the vehicle. The image prompt information presents the situation that the energy input port cover is not closed in the form of an image.

[0113] In an optional embodiment, when the cover data indicates that the energy input port cover is in an open state, the energy input port cover is automatically controlled to switch to a closed state.

[0114] Illustratively, when the energy input port cover does not have the function of automatic opening and closing, in response to the cover data of the energy input port cover indicating that the energy input port cover is in an open state, a first prompt message is displayed. In response to receiving an operation instruction for the energy input port cover, the energy input port cover is controlled to switch to a closed state. In response to the energy input port cover being in a closed state, the first prompt message is canceled and a third prompt message is displayed, and the third prompt message is used to indicate that the energy input port cover has been successfully switched from an open state to a closed state. Among them, the implementation method of the third prompt message can refer to the implementation method of the first prompt message mentioned above, which will not be repeated here.

[0115] In an optional embodiment, when the energy input port cover is in a closed state, the vehicle is controlled to be in a driving ready state.

[0116] In the embodiment of the present application, the driving preparation data corresponding to the vehicle is determined based on the matching relationship between the component status corresponding to the vehicle's components and the preset preparation status; and then the cover data corresponding to the energy input port cover is obtained. When the component status matches the preset preparation status and the cover data corresponding to the energy input port cover indicates that the energy input port cover is in a closed state, the vehicle's status is set to a driving preparation status, indicating that the vehicle is in a driving ready state and can be driven at any time. By introducing the condition of checking the opening and closing status corresponding to the energy input port cover on the basis of checking the component status of the component, the situation in which the vehicle is driven to travel in a driving preparation state without the energy input port cover being closed is avoided, thereby improving the driving safety of the vehicle to a certain extent.

[0117] like Figure 3 As shown, Figure 3 is a flowchart of displaying the first prompt information provided by an exemplary embodiment of the present application, and is described by applying the method to a vehicle. Figure 3 As shown, the method includes:

[0118] Step 300: Acquire cover plate motion data collected by a motion sensor within a first preset time period.

[0119] Optionally, a motion sensor is provided at the energy input port cover.

[0120] The first preset time period can be determined based on whether there is a driver in the vehicle. Schematically, if a driver appears in the vehicle at time point 1, the first preset time period corresponding to time point 1 is determined, and then the cover motion data collected by the motion sensor in the first preset time period is obtained. The first preset time period includes time point 1, and time point 1 is at the midpoint of the first preset time period. For example, the first preset time period corresponding to time 1 is [time point 1-a, time 1+a], where a is an arbitrary time period.

[0121] In an embodiment of the present application, whether a driver is present in the vehicle can be determined by the open state of the vehicle door, by the vehicle's internal camera assembly, or by other means, which is not limited in the present application.

[0122] The cover plate motion data includes a plurality of motion data corresponding to a first preset time period, and a plurality of position data of the plurality of motion data relative to the center of mass of the vehicle.

[0123] Based on the multiple motion data and the multiple position data, displacement trajectory data corresponding to the energy input port cover is generated, and the displacement trajectory data is used to represent the first trajectory corresponding to the movement of the energy input port cover.

[0124] Step 301, obtaining target trajectory data corresponding to the energy input port cover.

[0125] Optionally, a first position of the energy input port cover relative to the center of mass of the vehicle is obtained, and a second position of the energy input port relative to the center of mass of the vehicle is obtained.

[0126] Based on the first position and the second position, target trajectory data of the energy input port cover moving from the first state to the second state is simulated and generated, wherein the first state is used to indicate that the energy input port cover is in a fully open state, and the second state is used to indicate that the energy input port and the energy input port cover are in a closed state.

[0127] Optionally, the target trajectory data is used to represent a second trajectory corresponding to the movement of the energy input port cover.

[0128] In combination with the above, it can be understood that the displacement trajectory data is the trajectory generated when the energy input port cover plate actually moves, and the target trajectory data is the trajectory generated when the energy input port cover plate moves under an ideal state.

[0129] Step 302: Determine a target angle between the energy input port cover and the energy input port based on the matching degree between the cover plate motion data and the target trajectory data.

[0130] The matching degree is used to indicate the degree of overlap between the first track corresponding to the cover motion data and the second track corresponding to the target track data.

[0131] Optionally, a third position corresponding to the energy input port in the cover plate movement data is determined, and a fourth position corresponding to the energy input port cover plate is determined.

[0132] A first position corresponding to the energy input port cover in the target trajectory data is obtained, and a second position corresponding to the energy input port in the target trajectory data is obtained.

[0133] Align the third position corresponding to the energy input port in the cover motion data with the second position corresponding to the energy input port in the target trajectory data, and determine the position difference data between the fourth position corresponding to the energy input port cover in the cover motion data and the first position corresponding to the energy input port cover in the target trajectory data.

[0134] Based on the position difference data, the degree of overlap between the cover motion data and the target trajectory data is determined.

[0135] Based on the degree of overlap, the target angle between the energy input port cover and the energy input port in the cover motion data is determined.

[0136] Step 302: Display first prompt information based on the target angle.

[0137] Optionally, the first prompt information is also used to indicate the angle formed by the energy input port cover and the energy input port in an unclosed state. Schematically, the target angle is 30°, and the first prompt information is used to indicate that the angle between the energy input port cover and the energy input port is 30°.

[0138] During actual driving, the driver decides whether to completely close the energy input port cover according to the angle between the energy input port cover and the energy input port displayed in the first prompt information.

[0139] In the embodiment of the present application, the driving preparation data corresponding to the vehicle is determined based on the matching relationship between the component status corresponding to the vehicle's components and the preset preparation status; and then the cover data corresponding to the energy input port cover is obtained. When the component status matches the preset preparation status and the cover data corresponding to the energy input port cover indicates that the energy input port cover is in a closed state, the vehicle's status is set to a driving preparation status, indicating that the vehicle is in a driving ready state and can be driven at any time. By introducing the condition of checking the opening and closing status corresponding to the energy input port cover on the basis of checking the component status of the component, the situation in which the vehicle is driven to travel in a driving preparation state without the energy input port cover being closed is avoided, thereby improving the driving safety of the vehicle to a certain extent.

[0140] In the embodiment of the present application, a preset artificial intelligence recognition model is integrated in the vehicle, and the preset artificial intelligence recognition model is used to further identify the opening and closing state of the energy input port cover according to the energy replenishment situation in the vehicle. The specific implementation process is as follows.

[0141] S1, obtaining geographic location data corresponding to the vehicle within a second preset time period.

[0142] Optionally, the second preset time period may be determined based on the driving trajectory of the vehicle.

[0143] In an illustrative manner, a driving trajectory of the vehicle is obtained, a starting driving time and an ending driving time of the driving trajectory are determined, and a time period from the starting driving time to the ending driving time is set as a second preset time period.

[0144] Optionally, the second preset time period may be a time range of a preset time period before the current time point.

[0145] Illustratively, the current time point is h, and the second preset time period is [h-preset time period, h].

[0146] S2, selecting geographic location data that meets preset geographic requirements from the geographic location data to obtain target geographic location data.

[0147] Among them, the preset geographical requirements refer to the geographical location related to the energy replenishment point.

[0148] Optionally, target geographic location data related to energy replenishment points are filtered out from the geographic location data.

[0149] Taking new energy vehicles as an example, the energy replenishment point is implemented as a charging station. The driving trajectory of the vehicle is obtained, and all the geographical location data contained in the driving trajectory are determined, and the target geographical location data related to the terminal station is screened out from the geographical location data.

[0150] S3, obtaining energy replenishment data corresponding to the target geographic location data.

[0151] Optionally, the energy replenishment data is used to indicate the energy-related data input into the vehicle, including but not limited to the total amount of energy replenishment, energy data, energy consumption value, etc. The total amount of energy replenishment refers to the total amount of energy input by the vehicle at the energy replenishment point, the energy data refers to the type of energy provided by the energy replenishment point, and the energy consumption value refers to the total energy value corresponding to when the vehicle arrives at the energy replenishment point.

[0152] For example, taking new energy vehicles as an example, energy replenishment data includes total electric energy replenishment, electric energy data, and electric energy consumption value. For example, total electric energy replenishment is 60%, and electric energy consumption value is 40%.

[0153] S4, in response to the energy input port cover being in an open state, based on the energy replenishment data, identifying the cover data corresponding to the energy input port cover through a preset artificial intelligence recognition model.

[0154] Optionally, when the energy input port cover is in an open state, a preset artificial intelligence recognition model is used to determine whether the energy replenishment data meets the preset energy requirements. When the preset energy requirements are met, the artificial intelligence recognition model outputs a first result that the energy input port cover is in a closed state. The vehicle's actuator controls the energy input port cover to switch from an open state to a closed state based on the first result. When the preset energy requirements are not met, the artificial intelligence recognition model outputs a second result that the energy input port cover is in an open state. The vehicle's actuator maintains the energy input port cover in an open state based on the second result.

[0155] In an embodiment of the present application, the target geographic location data includes p target geographic sub-data, and the energy replenishment data includes p energy replenishment sub-data, wherein the p target geographic sub-data correspond one-to-one to the p energy replenishment data, and p is a positive integer.

[0156] The distance data between the oth target geographic sub-data and the o+1th target geographic sub-data is determined by a preset artificial intelligence recognition model, where o is a positive integer less than or equal to p.

[0157] The sum of energy supplements between the oth energy supplement sub-data corresponding to the oth target geographic sub-data and the o+1th energy supplement sub-data corresponding to the o+1th target geographic sub-data is determined through a preset artificial intelligence recognition model.

[0158] In response to the distance data meeting the preset distance requirement and the total energy replenishment meeting the preset energy threshold, a first result that the energy port is in a closed state is output through a preset artificial intelligence recognition model.

[0159] The preset distance requirement refers to that the distance data is less than a preset distance threshold.

[0160] Schematically, taking new energy vehicles as an example, if the distance between two adjacent charging stations is greater than a preset threshold and the power value (electric energy value) after the power input in the two charging stations is equal to the preset energy threshold (100%), this means that the driver does not need to charge the vehicle and controls the vehicle's charging port cover to be closed.

[0161] In an optional embodiment, the total energy replenishment refers to the energy value after the vehicle inputs energy, and the preset energy threshold refers to the energy value corresponding to when the energy is in a full state.

[0162] In an optional embodiment, in response to the distance data not meeting a preset distance threshold and / or the total energy replenishment not meeting a preset energy threshold, a second result is outputted through a preset artificial intelligence recognition model that the energy input port cover is still in an open state.

[0163] Illustratively, taking new energy vehicles as an example, if the distance between adjacent charging stations is less than or equal to a preset threshold, and / or the electric energy charged in two adjacent charging stations is less than a preset electric energy threshold (100%), this means that the driver has the potential to replenish electric energy for the vehicle. At this time, the charging port cover is still kept open.

[0164] In another optional embodiment, the current total energy amount and current geographical location of the vehicle are obtained through an artificial intelligence recognition model.

[0165] Use artificial intelligence recognition models to obtain the energy replenishment point closest to the current geographic location.

[0166] In response to the total amount of energy not being equal to a preset energy threshold, recommendation information of an energy replenishment point is sent to the vehicle.

[0167] The artificial intelligence recognition model is used to identify the position difference between the current geographical location and the energy replenishment point. In response to the position difference being less than a preset threshold, a second result that the energy input port cover is in an open state is outputted. The vehicle's actuator controls the energy input port cover to be in an open state based on the second result.

[0168] It should be noted that the first result and the second result mentioned in the above content are specifically expressed as control signals, that is, the artificial intelligence recognition model outputs a control signal corresponding to the first result (a control signal corresponding to the second result), and the actuator controls the opening and closing state of the energy input port cover based on the control signal.

[0169] In the embodiment of the present application, the driving preparation data corresponding to the vehicle is determined based on the matching relationship between the component status corresponding to the vehicle's components and the preset preparation status; and then the cover data corresponding to the energy input port cover is obtained. When the component status matches the preset preparation status and the cover data corresponding to the energy input port cover indicates that the energy input port cover is in a closed state, the vehicle's status is set to a driving preparation status, indicating that the vehicle is in a driving ready state and can be driven at any time. By introducing the condition of checking the opening and closing status corresponding to the energy input port cover on the basis of checking the component status of the component, the situation in which the vehicle is driven to travel in a driving preparation state without the energy input port cover being closed is avoided, thereby improving the driving safety of the vehicle to a certain extent.

[0170] See also Figure 4 , which shows a structural block diagram of a vehicle control device provided by an exemplary embodiment of the present application. The device includes the following contents.

[0171] An acquisition module 400 is used to acquire driving preparation data of the vehicle, wherein the driving preparation data is used to express a matching relationship between a component state corresponding to a component of the vehicle and a preset preparation state;

[0172] The acquisition module 400 is further used to acquire cover plate data corresponding to the energy input port cover plate of the vehicle, wherein the cover plate data is used to express the open or closed state of the energy input port cover plate;

[0173] The control module 401 is used to control the vehicle to be in a driving preparation state when the driving preparation data indicates that the component state matches the preset preparation state and the cover data indicates that the energy input port cover is in a closed state. The driving preparation state is used to indicate that the vehicle is in a driving ready state.

[0174] In an optional embodiment, the control module 401 is used to control the vehicle to be in a driving ready state when the cover data indicates that the energy input port is in an open state, and the driving ready state is used to indicate that the vehicle cannot be driven.

[0175] In an optional embodiment, if Figure 5 As shown, the display module 402 is used to display a first prompt message when the vehicle is in the driving ready state, and the first prompt message is used to prompt that the energy input port cover of the vehicle is in the open state.

[0176] In an optional embodiment, if Figure 5 As shown, the control module 401 is used to automatically control the energy input port cover to switch to the closed state when the cover data indicates that the energy input port cover is in the open state;

[0177] The control module 401 is used to control the vehicle to be in the driving preparation state when the energy input port cover is in the closed state.

[0178] In an optional embodiment, a motion sensor is provided at the energy input port cover; the acquisition module 400 is further used to acquire the cover motion data collected by the motion sensor within a first preset time period;

[0179] A generating module 403, for generating displacement trajectory data corresponding to the energy input port cover plate based on the cover plate motion data;

[0180] The acquisition module 400 is further used to determine the cover plate data corresponding to the energy input port cover plate based on the displacement trajectory data.

[0181] In an optional embodiment, if Figure 5 As shown, the cover data includes the open state and the closed state; the acquisition module 400 is also used to obtain the first position of the energy input port cover relative to the center of mass of the vehicle;

[0182] The acquisition module 400 is further used to acquire a second position of the energy input port corresponding to the center of mass;

[0183] The generating module 403 is used to simulate and generate target trajectory data of the energy input port cover plate moving from a first state to a second state based on the first position and the second position, wherein the first state is used to indicate that the energy input port cover plate is in a fully open state, and the second state is used to indicate that the energy input port and the energy input port cover plate are in the closed state;

[0184] The acquisition module 400 is further configured to determine that the energy input port cover is in the closed state in response to the displacement trajectory data and the target trajectory data meeting a preset relationship;

[0185] The acquisition module 400 is further configured to determine that the energy input port cover is in the open state in response to the displacement trajectory data and the target trajectory data not conforming to the preset relationship.

[0186] In an optional embodiment, if Figure 5 As shown, the acquisition module 400 is further used to determine the target angle between the energy input port cover and the energy input port based on the matching degree between the cover plate motion data and the target trajectory data;

[0187] The display module 402 is used to display first prompt information based on the target angle, where the first prompt information is used to prompt that the energy input port cover of the vehicle is in the open state.

[0188] In an optional embodiment, if Figure 5 As shown, the acquisition module 400 is further used to acquire the geographical location data corresponding to the vehicle within a second preset time period;

[0189] The acquisition module 400 is further used to filter the geographical location data that meets the preset geographical requirements from the geographical location data to obtain the target geographical location data, wherein the preset geographical requirements refer to the geographical location related to the energy replenishment point;

[0190] The acquisition module 400 is further used to acquire energy supplement data corresponding to the target geographic location data, wherein the energy supplement data is used to indicate energy-related data input into the vehicle;

[0191] The acquisition module 400 is also used to respond to the energy input port cover being in an open state, and based on the energy replenishment data, identify the cover data corresponding to the energy input port cover through a preset artificial intelligence recognition model.

[0192] In an optional embodiment, if Figure 5 As shown, the target geographic location data includes p target geographic sub-data, and the energy supplement data includes p energy supplement sub-data, the p target geographic sub-data correspond to the p energy supplement sub-data one by one, and p is a positive integer;

[0193] The acquisition module 400 is further used to determine the distance data between the oth target geographic sub-data and the o+1th target geographic sub-data through a preset artificial intelligence recognition model, 0<o≤p;

[0194] The acquisition module 400 is further used to determine the energy supplement sum between the oth energy supplement sub-data corresponding to the oth target geographic sub-data and the o+1th energy supplement sub-data corresponding to the o+1th target geographic sub-data through a preset artificial intelligence recognition model;

[0195] The acquisition module 400 is further configured to output a first result that the energy input port cover is in the closed state through a preset artificial intelligence recognition model in response to the distance data meeting a preset distance requirement and the energy replenishment sum meeting a preset energy threshold;

[0196] The acquisition module 400 is also used to output a second result that the energy input port cover is still in the open state through a preset artificial intelligence recognition model in response to the distance data not meeting the preset distance threshold and / or the total energy replenishment not meeting the preset energy threshold.

[0197] In the device provided in the embodiment of the present application, the driving preparation data corresponding to the vehicle is determined based on the matching relationship between the component status corresponding to the component of the vehicle and the preset preparation status; and then the cover data corresponding to the energy input port cover is obtained. When the component status matches the preset preparation status and the cover data corresponding to the energy input port cover indicates that the energy input port cover is in a closed state, the state of the vehicle is set to the driving preparation state, indicating that the vehicle is in a driving ready state and can be driven at any time. By introducing the condition of checking the opening and closing state corresponding to the energy input port cover on the basis of checking the component status of the component, the situation where the energy input port cover is not closed and the vehicle is driven in the driving preparation state is avoided, thereby improving the driving safety of the vehicle to a certain extent.

[0198] It should be noted that the vehicle control device provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle control device provided in the above embodiment and the vehicle control method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0199] Figure 6 The block diagram of the structure of a computer device 600 provided by an exemplary embodiment of the present application is shown. Optionally, the computer device 600 is implemented as a movable device, such as a movable intelligent terminal such as a vehicle-mounted terminal.

[0200] Typically, the computer device 600 includes a processor 601 and a memory 602 .

[0201] The processor 601 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 601 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 601 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 601 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 601 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0202] The memory 602 may include one or more computer-readable storage media, which may be non-transitory. The memory 602 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 602 is used to store at least one instruction, which is used to be executed by the processor 601 to implement the model training method or behavior coding method provided in the method embodiment of the present application.

[0203] In some embodiments, the computer device 600 may also optionally include: a peripheral device interface 603 and at least one peripheral device. The processor 601, the memory 602 and the peripheral device interface 603 may be connected via a bus or a signal line. Each peripheral device may be connected to the peripheral device interface 603 via a bus, a signal line or a circuit board. For example, the peripheral device may include: at least one of a radio frequency circuit 604, a display screen 605, a camera assembly 606, an audio circuit 607, a positioning assembly 615 and a power supply 608.

[0204] The peripheral device interface 603 may be used to connect at least one I / O (Input / Output) related peripheral device to the processor 601 and the memory 602 .

[0205] The radio frequency circuit 604 is used to receive and transmit RF (Radio Frequency) signals, also called electromagnetic signals.

[0206] The display screen 605 is used to display a UI (User Interface). The UI may include graphics, text, icons, videos, and any combination thereof. When the display screen 605 is a touch display screen, the display screen 605 also has the ability to collect touch signals on the surface or above the surface of the display screen 605. The touch signal may be input as a control signal to the processor 601 for processing. At this time, the display screen 605 may also be used to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards.

[0207] The camera assembly 606 is used to collect images or videos. Optionally, the camera assembly 606 includes a front camera and a rear camera. Usually, the front camera is set on the front panel of the terminal, and the rear camera is set on the back of the terminal.

[0208] The audio circuit 607 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, and convert the sound waves into electrical signals and input them to the processor 601 for processing, or input them to the radio frequency circuit 604 to achieve voice communication.

[0209] The positioning component 615 is used to locate the current geographical location of the computing and device 600 to implement navigation or LBS (Location Based Service). The positioning component 908 can be a positioning component based on the US GPS (Global Positioning System) or China's Beidou system.

[0210] The power supply 608 is used to supply power to various components in the computer device 600 .

[0211] In some embodiments, the computer device 600 further includes one or more sensors 609 , including but not limited to: an acceleration sensor 610 , a gyroscope sensor 611 , a pressure sensor 612 , an optical sensor 613 , and a proximity sensor 614 .

[0212] The acceleration sensor 610 can detect the magnitude of acceleration on the three coordinate axes of the coordinate system established by the computer device 600. For example, the acceleration sensor 610 can be used to detect the components of gravity acceleration on the three coordinate axes. The processor 601 can control the display screen 605 to display the user interface in a horizontal view or a vertical view according to the gravity acceleration signal collected by the acceleration sensor 610. The acceleration sensor 610 can also be used to collect game or user motion data.

[0213] The gyro sensor 611 can detect the body direction and rotation angle of the computer device 600 . The gyro sensor 611 can cooperate with the acceleration sensor 610 to collect the user's 3D actions on the computer device 600 .

[0214] The pressure sensor 612 can be set on the side frame of the computer device 600 and / or the lower layer of the display screen 605. When the pressure sensor 612 is set on the side frame of the computer device 600, it can detect the user's grip signal of the computer device 600, and the processor 601 performs left and right hand recognition or shortcut operations according to the grip signal collected by the pressure sensor 612. When the pressure sensor 612 is set on the lower layer of the display screen 605, the processor 601 controls the operability controls on the UI interface according to the user's pressure operation on the display screen 605. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

[0215] The optical sensor 613 is used to collect the ambient light intensity.

[0216] The proximity sensor 614, also called a distance sensor, is usually disposed on the front panel of the computer device 600. The proximity sensor 614 is used to collect the distance between the user and the front of the computer device 600. In one embodiment, when the proximity sensor 614 detects that the distance between the user and the front of the computer device 600 is gradually decreasing, the processor 601 controls the display screen 605 to switch from the screen-on state to the screen-off state; when the proximity sensor 614 detects that the distance between the user and the front of the computer device 600 is gradually increasing, the processor 601 controls the display screen 605 to switch from the screen-off state to the screen-on state.

[0217] Those skilled in the art will understand that Figure 6 The structure shown in the figure does not constitute a limitation on the computer device 600, and the computer device 600 may include more or less components than those shown in the figure, or combine some components, or adopt a different arrangement of components.

[0218] The present application also provides a computer-readable storage medium, in which at least one instruction, at least one program, a code set or an instruction set is stored. The at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement the vehicle control method provided by the above method embodiment.

[0219] The present application provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the vehicle control method provided by the above method embodiment.

[0220] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0221] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: Acquiring driving preparation data of the vehicle, wherein the driving preparation data is used to express a matching relationship between a component state corresponding to a component of the vehicle and a preset preparation state; Acquire cover plate data corresponding to the energy input port cover plate of the vehicle, wherein the cover plate data is used to express the open or closed state of the energy input port cover plate; When the driving preparation data indicates that the component status matches the preset preparation status, and the cover data indicates that the energy input port cover is in a closed state, the vehicle is controlled to be in a driving preparation state, and the driving preparation state is used to indicate that the vehicle is in a driving ready state.

2. The method according to claim 1, characterized in that The method further comprises: When the cover plate data indicates that the energy input port is in an open state, the vehicle is controlled to be in a driving ready state, and the driving ready state is used to indicate a state in which the vehicle cannot be driven.

3. The method according to claim 2, characterized in that The method further comprises: When the vehicle is in the driving ready state, a first prompt message is displayed, where the first prompt message is used to prompt that the energy input port cover of the vehicle is in the open state.

4. The method according to claim 2, characterized in that: The method further comprises: When the cover plate data indicates that the energy input port cover plate is in the open state, automatically controlling the input port cover plate to switch to the closed state; When the energy input port cover is in the closed state, the vehicle is controlled to be in the driving preparation state.

5. The method according to any one of claims 1 to 4, characterized in that: A motion sensor is provided at the energy input port cover; The obtaining of the cover plate data of the energy input port of the vehicle includes: Acquiring cover plate motion data collected by the motion sensor within a first preset time period; Based on the cover plate motion data, generating displacement trajectory data corresponding to the energy input port cover plate; Based on the displacement trajectory data, the cover plate data corresponding to the energy input port cover plate is determined.

6. The method according to claim 5, characterized in that The cover data includes an open state and a closed state; The determining, based on the displacement trajectory data, the cover plate data corresponding to the energy input port cover plate comprises: Obtaining a first position of the energy input port cover relative to the center of mass of the vehicle; Obtaining a second position of the energy input port corresponding to the center of mass; Based on the first position and the second position, target trajectory data of the energy input port cover plate moving from a first state to a second state is simulated and generated, wherein the first state is used to indicate that the energy input port cover plate is in a fully open state, and the second state is used to indicate that the energy input port and the energy input port cover plate are in the closed state; In response to the displacement trajectory data and the target trajectory data meeting a preset relationship, determining that the energy input port cover is in the closed state; In response to the displacement trajectory data and the target trajectory data not conforming to the preset relationship, it is determined that the energy input port cover is in the open state.

7. The method according to claim 6, characterized in that The method further comprises: Determining a target angle between the energy input port cover plate and the energy input port based on a degree of matching between the cover plate motion data and the target trajectory data; Based on the target angle, first prompt information is displayed, where the first prompt information is used to prompt the angle between the energy input port cover and the energy input port of the vehicle.

8. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: Acquiring geographic location data corresponding to the vehicle within a second preset time period; Filtering geographical location data that meets preset geographical requirements from the geographical location data to obtain target geographical location data, wherein the preset geographical requirements refer to geographical locations related to energy replenishment points; Acquire energy supplement data corresponding to the target geographic location data, wherein the energy supplement data is used to indicate energy-related data input into the vehicle; In response to the energy input port cover being in an open state, based on the energy replenishment data, the cover data corresponding to the energy input port cover is identified by a preset artificial intelligence recognition model.

9. The method according to claim 8, characterized in that The target geographic location data includes p target geographic sub-data, and the energy supplement data includes p energy supplement sub-data, the p target geographic sub-data correspond to the p energy supplement sub-data one by one, and p is a positive integer; In response to the energy input port cover being in an open state, based on the energy replenishment data, identifying the cover data corresponding to the energy input port cover by a preset artificial intelligence recognition model, includes: Determine the distance data between the oth target geographic sub-data and the o+1th target geographic sub-data through a preset artificial intelligence recognition model, 0<o≤p; Determine the sum of energy supplements between the oth energy supplement sub-data corresponding to the oth target geographic sub-data and the o+1th energy supplement sub-data corresponding to the o+1th target geographic sub-data by using a preset artificial intelligence recognition model; In response to the distance data meeting the preset distance requirement and the energy replenishment sum meeting the preset energy threshold, outputting a first result that the energy input port cover is in the closed state through a preset artificial intelligence recognition model; In response to the distance data not meeting the preset distance threshold and / or the energy replenishment sum not meeting the preset energy threshold, a second result is outputted through a preset artificial intelligence recognition model, indicating that the energy input port cover is still in the open state.

10. A vehicle control device, characterized in that: The device also includes: An acquisition module, used for acquiring driving preparation data of the vehicle, wherein the driving preparation data is used for expressing a matching relationship between a component state corresponding to a component of the vehicle and a preset preparation state; The acquisition module is further used to acquire cover plate data corresponding to the energy input port cover plate of the vehicle, wherein the cover plate data is used to express the open or closed state of the energy input port cover plate; A control module is used to control the vehicle to be in a driving preparation state when the driving preparation data indicates that the component state matches the preset preparation state and the cover data indicates that the energy input port cover is in a closed state, and the driving preparation state is used to indicate that the vehicle is in a driving ready state.

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