Control method, device, equipment and readable storage medium of vehicle

Abstract

The embodiment of the application provides a kind of vehicle control method, device, equipment and readable storage medium.It belongs to the field of vehicle.The method comprises: obtaining the driving preparation data of vehicle, driving preparation data is used to express the matching relationship between the component state corresponding to the component of the vehicle and the preset preparation state;Obtain the cover data corresponding to the energy input port cover plate of vehicle, cover data is used to express the opening and closing state of the energy input port cover plate;In the case where driving preparation data indicates that component state matches with preset preparation state, and cover data indicates that energy input port cover plate is in closed state, control the vehicle to be in driving preparation state.Improve the state recognition efficiency of energy input port cover, avoid the occurrence of dangerous accident, and then improve the safety of driving.

Description

Technical Field

[0001] This application relates to the field of vehicle systems, and in particular to a vehicle control method, apparatus, device, and readable storage medium. Background Technology

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

[0003] In related technologies, after the vehicle terminal completes charging, the driver may not close the charging port cover before driving away after unplugging the charging gun.

[0004] However, if the charging port cover is open (not closed) while driving, it can obstruct the field of vision visible in the rearview mirror, potentially leading to a dangerous accident. Summary of the Invention

[0005] This application provides 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 dangerous accidents, and thus enhance driving safety. The technical solution is as follows:

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

[0007] Acquire the vehicle's driving preparation data, which is used to express the matching relationship between the component state corresponding to the vehicle's components and the preset preparation state;

[0008] Obtain the cover data of the energy input port of the vehicle, the cover data being used to express the open and 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 state, which indicates that the vehicle has driving capability.

[0010] On the other hand, a vehicle control device is provided, the device comprising:

[0011] The acquisition module is used to acquire the driving preparation data of the vehicle, wherein the driving preparation data is used to express the matching relationship between the component state corresponding to the vehicle's component and the preset preparation state.

[0012] The acquisition module is also used to acquire the cover data of the energy input port of the vehicle, and the cover data is used to express the open and closed state of the energy input port cover.

[0013] The control module is configured 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 has driving capability.

[0014] On the other hand, a computer-readable storage medium is provided, wherein at least one segment is stored in the storage medium, the at least one segment being 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, wherein a processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform a vehicle control method as described above.

[0016] The beneficial effects of the technical solutions provided in this application include at least the following:

[0017] Based on the matching relationship between the component states of the vehicle and the preset preparation states, the corresponding driving preparation data for the vehicle is determined; then, the cover data corresponding to the energy input port cover is obtained. When the component states match the preset preparation states 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 state 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 open / closed state of the energy input port cover in addition to checking the component states, the situation where the vehicle is driven in a driving preparation state with the energy input port cover not closed is avoided, thereby improving the driving safety of the vehicle to a certain extent. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart illustrating the vehicle control method provided in an embodiment of this application;

[0020] Figure 2 This is a flowchart of a vehicle control method provided in an exemplary embodiment of this application;

[0021] Figure 3 This is a flowchart of a vehicle control method provided in yet another exemplary embodiment of this application;

[0022] Figure 4 This is a flowchart of a vehicle control device provided in an exemplary embodiment of this application;

[0023] Figure 5 This is a flowchart of a vehicle control device provided in yet another exemplary embodiment of this application;

[0024] Figure 6 This is a structural block diagram of a computer device provided in an exemplary embodiment of this application. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0026] As shown in the figure Figure 1 A flowchart illustrating a method for controlling a vehicle according to an embodiment of this application is shown. The flowchart includes a vehicle 10, which includes an energy input port and a corresponding energy input port cover.

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

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

[0029] The preset readiness state is used to instruct the components of vehicle 10 to complete the corresponding system checks. Illustratively, the preset readiness state for the vehicle engine refers to an indication that the vehicle engine is in a safe environment and fault-free after a complete safety check and fault check. For specific components, component states, and preset readiness states, please refer to the corresponding content in the following embodiments; they will not be repeated here.

[0030] The actuator of vehicle 10 acquires cover data corresponding to the energy input port cover, which refers to the open / closed state of the energy input port cover. The cover data includes open and closed states. The open state means that the energy input port and the energy input port cover are not closed, and the closed state means that the energy input port and the energy input port cover are closed.

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

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

[0033] Among them, the driving preparation state refers to the state in which vehicle 10 is ready to drive.

[0034] Indicatively, when the component states of each component in the vehicle 10 match the preset preparation states and the energy input port cover is closed, the vehicle 10 is in a drivable state and can be started at any time.

[0035] It should be noted that the information (including but not limited to driving preparation data), data (including but not limited to data used for analysis, data stored, data displayed), 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 related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions.

[0036] Based on the above description, the vehicle control method involved in the embodiments of this application will be explained. Figure 2 This is a flowchart of a vehicle control method provided in an exemplary embodiment of this application, which is illustrated by applying the method to a vehicle, such as... Figure 2 As shown, the method includes:

[0037] Step 200: Obtain vehicle driving preparation data.

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

[0039] An energy input port refers to the interface or port through which a vehicle receives energy. Energy includes, but is not limited to, electrical energy, fuel, and natural gas. Correspondingly, the energy input port can be implemented as a charging interface for receiving electrical energy, a fuel interface for receiving fuel, and so on. During the process of the vehicle receiving energy, the energy input port is connected to an energy nozzle, and energy is input (injected) into the energy input port through the energy nozzle. In this embodiment, 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, meaning the energy input port is not exposed to the open environment. When the vehicle needs to receive energy, the energy input port is connected to the energy nozzle, and at this time, the energy input port and the energy input port cover are in an open state.

[0041] Optionally, the size of the energy inlet can be the same as the size of the energy inlet cover, or the size of the energy inlet can be smaller than the size of the energy inlet itself. Ensure that the energy inlet cover completely covers the energy inlet.

[0042] Internal components refer to the various components installed within a vehicle, including but not limited to energy supply equipment, engine, dashboard, fuel pump, fuel injectors, air filter, etc. Energy supply equipment includes the engine / motor, etc.

[0043] During vehicle operation, the internal components work together to support normal vehicle movement. Before driving, the vehicle needs to perform a self-check process, which refers to the vehicle's actuators (or control systems) checking the status of the corresponding internal components.

[0044] Component status indicates the usage status of a component, including normal and abnormal states. A normal state means that the component operates normally as designed and expected, while an abnormal state means that the component deviates from the design and expected operation, such as due to malfunction or blockage.

[0045] To illustrate, taking a new energy vehicle as an example, the internal components include a motor. The actuators inside the vehicle detect the motor status (corresponding component status) of the motor, which includes normal status and abnormal status.

[0046] Before the vehicle is driven, the actuators inside the vehicle acquire the status of all internal components and generate driving preparation data based on the component status.

[0047] In other words, driving preparation data is used to express the matching relationship between the component state corresponding to the vehicle's components and the preset preparation state.

[0048] The preset ready state is used to indicate that all components in the vehicle are in normal condition.

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

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

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

[0052] Determine the product results corresponding to the states of n components, and determine the vehicle's driving preparation data based on the product results.

[0053] Schematic representation: In response to the product result being a first value, it is determined that the vehicle's driving preparation data matches the preset preparation state. In response to the product result being a second value, it is determined that the vehicle's driving preparation data does not match the preset preparation state.

[0054] In this embodiment, when the vehicle's driving preparation data indicates that the component state of the vehicle's components matches a preset preparation state, a second prompt message is displayed on the vehicle's in-vehicle screen. The in-vehicle 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 inform the driver that the vehicle is in a driving-ready state and can be driven at any time. Illustratively, the second prompt message is implemented as a highlighted icon corresponding to the character "READY".

[0055] In another alternative embodiment, the various components within the vehicle are connected via actuators to form different systems.

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

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

[0058] System status indicates the operational status of the system. System status includes normal status and abnormal status.

[0059] Driving preparation data is used to express the matching status between the vehicle's component and system states and the preset preparation state. The preset preparation state indicates that the component states corresponding to all components are in a normal state and the system states corresponding to all systems are in a normal state.

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

[0061] Optionally, the open / closed state of the vehicle's energy input port cover can be obtained, and cover data can be generated based on the open / closed state.

[0062] The cover data is used to express the open and closed state of the energy input port cover. The cover data includes both closed and open states. An open state indicates that the energy input port and the energy input port cover are not closed, while a closed state indicates that the energy input port and the energy input port cover are closed.

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

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

[0065] The first method involves using motion sensors to determine the cover data corresponding to the energy input port cover.

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

[0067] Acquire the cover movement data collected by the motion sensor within a first preset time period. The first preset time period can be determined based on whether a driver is present in the vehicle. For example, if a driver is present in the vehicle at time point 1, determine the first preset time period corresponding to time point 1, and then acquire the cover movement data collected by the motion sensor within the first preset time period. The first preset time period includes time point 1, which is located 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 any time interval.

[0068] In the embodiments of this application, the presence of a driver inside the vehicle can be determined by the opening status of the vehicle door, by the vehicle's internal camera components, or by other means. This application does not limit the determination in this regard.

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

[0070] The cover plate motion data includes multiple motion data corresponding to the first preset time period, as well as multiple position data of the multiple motion data relative to the vehicle's center of gravity.

[0071] Based on the cover plate motion data, displacement trajectory data corresponding to the energy input port cover plate is generated. This displacement trajectory data indicates 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 can be generated with the vehicle's center of gravity as the 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 preset requirements, the energy input port cover is determined to be in a closed state. In response to the displacement trajectory data not meeting preset requirements, the energy input port cover is determined to be in an open state.

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

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

[0076] The system determines that the energy input port cover is in a closed state if the displacement trajectory data and the target trajectory data conform to a preset relationship; conversely, it determines that the energy input port cover is in an open state if the displacement trajectory data and the target trajectory data do not conform to the preset relationship. The preset relationship indicates 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 further used to indicate that the trajectory length of the first trajectory of the displacement trajectory data identifier is consistent with the length of the second trajectory of the target trajectory data identifier, and that the trajectory arc of the first trajectory of the displacement trajectory data identifier is consistent with the trajectory arc of the second trajectory of the target trajectory data identifier.

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

[0079] Optionally, the energy inlet cover is equipped with a distance sensor.

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

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

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

[0083] In another optional embodiment, when the vehicle is stationary, second distance data collected by a distance sensor within a first preset time period is acquired. This second distance data is used to indicate the 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 can be established with the vehicle's center of gravity as the origin, the x-axis pointing directly in front of the vehicle's center of gravity as the x-axis, the vertical axis pointing above the vehicle's center of gravity as the z-axis, and the axis pointing to the right of the vehicle's center of gravity as the y-axis. 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 during a first preset time period is acquired. The second distance data includes lateral distance data, longitudinal distance data, and vertical distance data. The lateral distance data refers to the distance generated by the energy input port cover in the lateral 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, longitudinal distance data, and vertical distance data, the displacement distance data corresponding to the energy input port cover is determined.

[0087] If the displacement distance data is less than a preset distance threshold, the energy input port cover is determined to be in a closed state; if the displacement distance data is greater than the preset distance threshold, the energy input port cover is determined to be in an open state.

[0088] The third method involves using a camera assembly to determine the cover data corresponding to the energy input port cover.

[0089] Optionally, a camera assembly may be installed on the vehicle body.

[0090] Acquire images to be identified captured by the camera component within a first preset time period. The images to be identified include the power input port cover and the power input port.

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

[0092] If there is an obstruction at the vehicle frame, determine that the energy input port cover is in the open state; if there is no obstruction at the vehicle frame, determine that the energy input port cover is in the closed state.

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

[0094] Optionally, the vehicle's energy input port is equipped with a first pressure sensor, and the energy input port cover is equipped 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] Acquire the first pressure-sensitive data and the second pressure-sensitive data collected by the first pressure-sensitive sensor and the second pressure-sensitive sensor respectively within the first preset time period.

[0096] In response to a match between the first pressure-sensitive data and / or the second pressure-sensitive data and the preset pressure-sensitive data, it is determined that the energy input port cover is in a closed state; in response to a mismatch between the first pressure-sensitive data and / or the second pressure-sensitive data and the preset pressure-sensitive data, it is determined that the energy input port cover is in an open state.

[0097] Optionally, the first pressure-sensitive data is used to indicate the voltage jump data generated by the external force received by the first pressure-sensitive sensor. The voltage jump data includes a first value (e.g., 1) and a second value (e.g., 0). The second pressure-sensitive data is used to indicate the voltage jump data generated by the external force received by the second pressure-sensitive sensor. In this embodiment, the external force can be implemented as manual force applied to the energy input port cover, or as an automatic starting force that controls the opening / closing of the energy input port cover through a program.

[0098] The preset pressure sensitivity data is set to the first value.

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

[0100] Step 202: When the driving preparation data indicator component status matches the preset preparation status, and the cover data indicator energy input port cover is in the closed state, control the vehicle to be in the driving preparation state.

[0101] Optionally, the vehicle's actuators determine the matching status of the component states corresponding to each component in the driving preparation data with the preset preparation states, and determine the closure status of the cover plate 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 the closed state, the vehicle is controlled to be in the driving preparation state.

[0103] The driving readiness status indicates that the vehicle is ready to drive, and in this status, the driver can start the vehicle at any time.

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

[0105] In other words, the vehicle can start at any time when all components inside the vehicle are ready and the energy input port cover is closed; if any of the above conditions are not met, the vehicle cannot be driven. This also prevents the vehicle from being driven while its components are in an abnormal state, or from being driven while the energy input port cover is not closed, thus improving the driving safety of the vehicle to a certain extent.

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

[0107] The first prompt message can be at least one of the following: audio prompt message, text prompt message, video prompt message, image prompt message, etc.

[0108] The following describes how the first prompt message is implemented.

[0109] When the first prompt message is an audio prompt message, in response to the vehicle being in a ready-to-drive state, an audio prompt message is broadcast through the vehicle's audio output component (such as a microphone). The first prompt message is illustrative: "The charging port cover is not closed. Please close it in time."

[0110] When the first prompt message is a text prompt, it is displayed on the vehicle's in-vehicle screen in response to the vehicle being in a ready-to-drive state. Optionally, the first prompt message is processed according to a preset processing method, and the processed first prompt message is displayed on the in-vehicle screen. The preset processing method includes, but is not limited to, at least one of bolding, highlighting, and flashing.

[0111] When the first prompt message is a video prompt message, in response to the vehicle being in a ready-to-drive state, the video prompt message is played on the vehicle's in-vehicle screen. Optionally, the video prompt message is pre-set. If it is determined that the energy input port cover is not closed, the video prompt message is played directly on the in-vehicle screen.

[0112] When the first prompt message is an image prompt message, in response to the vehicle being in a ready-to-drive state, the image prompt message is displayed on the vehicle's screen. The image prompt message presents the situation where 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 the open state, the input port cover is automatically controlled to switch to the closed state.

[0114] Schematic illustration: When the energy input port cover does not have an automatic opening and closing function, a first prompt message is displayed in response to the cover data indicating that the energy input port cover is in the open state. In response to receiving an operation command for the energy input port cover, the cover is controlled to switch to the closed state. In response to the energy input port cover being in the closed state, the first prompt message is canceled and a third prompt message is displayed, indicating that the energy input port cover has successfully switched from the open state to the closed state. The implementation method of the third prompt message is the same as that of the first prompt message described above, and will not be repeated here.

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

[0116] In this embodiment, the vehicle's driving preparation data is determined based on the matching relationship between the component states corresponding to the vehicle's components and preset preparation states; then, the cover data corresponding to the energy input port cover is obtained. When the component states match the preset preparation states 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 state 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 of the energy input port cover in addition to checking the component states, the situation where the vehicle is driven in a driving preparation state with the energy input port cover not closed is avoided, thereby improving the vehicle's driving safety to a certain extent.

[0117] like Figure 3 As shown, Figure 3 This is a flowchart illustrating the display of a first prompt message provided in an exemplary embodiment of this application, which is used to describe the application of this method in a vehicle, such as... Figure 3 As shown, the method includes:

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

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

[0120] The first preset time period can be determined based on whether a driver is present in the vehicle. For example, if a driver is present in the vehicle at time point 1, the first preset time period corresponding to time point 1 is determined, and then the cover movement data collected by the motion sensor within the first preset time period is acquired. The first preset time period includes time point 1, which is located 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 any time interval.

[0121] In the embodiments of this application, the presence of a driver inside the vehicle can be determined by the opening status of the vehicle door, by the vehicle's internal camera components, or by other means. This application does not limit the determination in this regard.

[0122] The cover plate motion data includes multiple motion data corresponding to the first preset time period, as well as multiple position data of the multiple motion data relative to the vehicle's center of gravity.

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

[0124] Step 301: Obtain the 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 gravity of the vehicle is obtained, and a second position of the energy input port relative to the center of gravity of the vehicle is obtained.

[0126] Based on the first and second positions, target trajectory data of the energy input port cover moving from the first state to the second state is simulated and generated. The first state indicates that the energy input port cover is in a fully open state, and the second state indicates 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 the second trajectory corresponding to the movement of the energy input port cover.

[0128] Based on the above, it can be understood that the displacement trajectory data is the trajectory generated when the energy input port cover actually moves, while the target trajectory data is the trajectory generated when the energy input port cover moves under ideal conditions.

[0129] Step 302: Based on the degree of matching between the cover plate motion data and the target trajectory data, determine the target angle between the energy input port cover plate and the energy input port.

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

[0131] Optionally, determine the third position corresponding to the energy input port in the cover plate motion data, and determine the fourth position corresponding to the energy input port cover plate.

[0132] Obtain the first position corresponding to the energy input port cover in the target trajectory data, and obtain the second position corresponding to the energy input port in the target trajectory data.

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

[0134] Based on the positional difference data, the degree of overlap between the cover plate 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: Based on the target angle, display the first prompt message.

[0137] Optionally, the first prompt message may also indicate the angle formed between the energy input port cover and the energy input port when they are not closed. Indicatively, the target angle is 30°, and the first prompt message indicates 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 based on the angle between the energy input port cover and the energy input port as shown in the first prompt information.

[0139] In this embodiment, the vehicle's driving preparation data is determined based on the matching relationship between the component states corresponding to the vehicle's components and preset preparation states; then, the cover data corresponding to the energy input port cover is obtained. When the component states match the preset preparation states 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 state 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 of the energy input port cover in addition to checking the component states, the situation where the vehicle is driven in a driving preparation state with the energy input port cover not closed is avoided, thereby improving the vehicle's driving safety to a certain extent.

[0140] In this embodiment, a preset artificial intelligence recognition model is integrated into the vehicle. This model is used to further identify the opening and closing status of the energy input port cover based on the energy replenishment status within the vehicle. The specific implementation process is as follows.

[0141] S1, obtain the geographical location data of the vehicle within the second preset time period.

[0142] Optionally, the second preset time period can be determined based on the vehicle's driving trajectory.

[0143] In a schematic way, the vehicle's driving trajectory is acquired, the start and end times of the driving trajectory are determined, and the time period from the start to the end of the driving trajectory is set as a second preset time period.

[0144] Optionally, the second preset time period can be a time range from the current time point to a preset time period prior to the current time point.

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

[0146] S2, filter geographical location data that meets the preset geographical requirements from the geographical location data to obtain the target geographical 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 can be filtered from the geographic location data.

[0149] Taking new energy vehicles as an example, energy replenishment points are implemented as charging stations. The vehicle's driving trajectory is acquired, and all geographical location data contained within that trajectory is identified. From this geographical location data, target geographical location data related to the destination station is filtered out.

[0150] S3, obtain the energy replenishment data corresponding to the target geographical location data.

[0151] Optionally, energy replenishment data is used to indicate energy-related data input to the vehicle. Energy replenishment data includes, but is not limited to, total energy replenishment amount, energy data, and energy consumption value. Total energy replenishment amount refers to the total amount of energy input by the vehicle at the energy replenishment point, energy data refers to the type of energy provided by the energy replenishment point, and energy consumption value refers to the total energy value corresponding to the vehicle's arrival at the energy replenishment point.

[0152] To illustrate, taking new energy vehicles as an example, energy replenishment data includes the total amount of electricity replenished, electricity consumption data, and electricity consumption value. For example, the total amount of electricity replenished is 60%, and the electricity consumption value is 40%.

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

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

[0155] In this embodiment of the 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 and the p energy replenishment data correspond one-to-one, and p is a positive integer.

[0156] The distance between the o-th target geographic sub-data and the (o+1)-th 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 total energy replenishment between the oth energy replenishment sub-data corresponding to the oth target geographic sub-data and the o+1th energy replenishment sub-data corresponding to the o+1th target geographic sub-data is determined by a preset artificial intelligence recognition model.

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

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

[0160] To illustrate, taking a new energy vehicle 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%), it means that the driver does not need to charge the vehicle and controls the charging port cover of the vehicle to close.

[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 the full energy 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 output through a preset artificial intelligence recognition model: the energy input port cover is still in the open state.

[0163] To illustrate, 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 electrical energy after charging in two adjacent charging stations is less than the preset electrical energy threshold (100%), it means that the driver has the potential to replenish the vehicle's electrical energy. In this case, the charging port cover should still be kept open.

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

[0165] The nearest energy replenishment point to the current geographical location is identified through an artificial intelligence recognition model.

[0166] In response to a discrepancy between the total energy supply and the preset energy threshold, the system sends recommendations for energy replenishment points to the vehicle.

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

[0168] It is necessary to note that the first result and the second result mentioned above are specifically manifested as control signals. That is, the artificial intelligence recognition model outputs the control signal corresponding to the first result (the 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 this embodiment, the vehicle's driving preparation data is determined based on the matching relationship between the component states corresponding to the vehicle's components and preset preparation states; then, the cover data corresponding to the energy input port cover is obtained. When the component states match the preset preparation states 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 state 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 of the energy input port cover in addition to checking the component states, the situation where the vehicle is driven in a driving preparation state with the energy input port cover not closed is avoided, thereby improving the vehicle's driving safety to a certain extent.

[0170] Please see Figure 4 This diagram illustrates a structural block diagram of a vehicle control device provided in an exemplary embodiment of this application. The device includes the following components.

[0171] The acquisition module 400 is used to acquire the driving preparation data of the vehicle, wherein the driving preparation data is used to express the matching relationship between the component state corresponding to the vehicle's component and the preset preparation state.

[0172] The acquisition module 400 is also used to acquire cover data corresponding to the energy input port cover of the vehicle, and the cover data is used to express the open and closed state of the energy input port cover.

[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 configured to control the vehicle to be in a driving ready state when the cover plate data indicates that the energy input port is in an open state, the driving ready state being used to indicate a state in which the vehicle cannot be driven.

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

[0176] In an optional embodiment, such as 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 configured to acquire the cover movement data collected by the motion sensor within a first preset time period.

[0179] The generation module 403 is used to generate 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 configured 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, such as Figure 5 As shown, the cover data includes an open state and a closed state; the acquisition module 400 is also used to acquire a first position of the energy input port cover relative to the center of gravity of the vehicle;

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

[0183] The generation module 403 is used to simulate and generate target trajectory data of the energy input port cover moving from a first state to a second state based on the first position and the second position. 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 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 fact that the displacement trajectory data and the target trajectory data conform to 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 fact that the displacement trajectory data and the target trajectory data do not conform to the preset relationship.

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

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

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

[0189] The acquisition module 400 is further configured to filter 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;

[0190] The acquisition module 400 is further configured to acquire energy replenishment data corresponding to the target geographical location data, wherein the energy replenishment data is used to indicate the energy-related data of the vehicle.

[0191] The acquisition module 400 is further configured to, in response to the energy input port cover being in an open state, identify the cover data corresponding to the energy input port cover based on the energy replenishment data using a preset artificial intelligence recognition model.

[0192] In an optional embodiment, such as Figure 5 As shown, the target geographic location data includes p target geographic sub-data, and the energy replenishment data includes p energy replenishment sub-data. The p target geographic sub-data and the p energy replenishment sub-data correspond one-to-one, where p is a positive integer.

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

[0194] The acquisition module 400 is further configured to determine the total energy replenishment between the 0th energy replenishment sub-data corresponding to the 0th target geographic sub-data and the 0+1th energy replenishment sub-data corresponding to the 0+1th target geographic sub-data through a preset artificial intelligence recognition model;

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

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

[0197] In the device provided in this application embodiment, driving preparation data for the vehicle is determined based on the matching relationship between the component states corresponding to the vehicle's components and preset preparation states; then, cover data corresponding to the energy input port cover is acquired. When the component states match the preset preparation states 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 state 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 of the energy input port cover in addition to checking the component states, the situation where the vehicle is driven in a driving preparation state with the energy input port cover not closed 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 embodiments is only an example of 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 can be 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 embodiments and the vehicle control method embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0199] Figure 6 This illustration shows a structural block diagram of a computer device 600 provided in an exemplary embodiment of this application. Optionally, the computer device 600 may be implemented as a mobile device, such as a vehicle-mounted terminal or other mobile smart terminal.

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

[0201] Processor 601 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 601 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 601 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 601 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 601 may also include an AI (Artificial Intelligence) processor, which is used to handle computational 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 high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 602 are used to store at least one instruction, which is executed by the processor 601 to implement the model training method or behavior encoding method provided in the method embodiments of this 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, memory 602, and peripheral device interface 603 can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface 603 via a bus, signal line, or circuit board. For example, the peripheral device may include at least one of the following: 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] Peripheral interface 603 can be used to connect at least one I / O (Input / Output) related peripheral device to processor 601 and memory 602.

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

[0206] Display screen 605 is used to display a user interface (UI). This UI may include graphics, text, icons, video, and any combination thereof. When display screen 605 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 601 for processing. In this case, display screen 605 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard.

[0207] The camera assembly 606 is used to capture images or videos. Optionally, the camera assembly 606 includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is located on the front panel of the terminal, and the rear-facing camera is located 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 that are input to the processor 601 for processing, or input to the radio frequency circuit 604 to realize voice communication.

[0209] Positioning component 615 is used to calculate the current geographic location of device 600 to enable navigation or LBS (Location Based Service). Positioning component 908 can be a positioning component based on the US GPS (Global Positioning System) or China's BeiDou system.

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

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

[0212] Accelerometer 610 can detect the magnitude of acceleration along the three coordinate axes of a coordinate system established by computer device 600. For example, accelerometer 610 can be used to detect the components of gravitational acceleration along the three coordinate axes. Processor 601 can control display screen 605 to display the user interface in either a landscape or portrait view based on the gravitational acceleration signal acquired by accelerometer 610. Accelerometer 610 can also be used for games or for acquiring user motion data.

[0213] The gyroscope sensor 611 can detect the orientation and rotation angle of the computer device 600. The gyroscope sensor 611 can work in conjunction with the accelerometer sensor 610 to collect the user's 3D movements of the computer device 600.

[0214] The pressure sensor 612 can be disposed on the side bezel of the computer device 600 and / or on the lower layer of the display screen 605. When the pressure sensor 612 is disposed on the side bezel of the computer device 600, it can detect the user's grip signal on the computer device 600, and the processor 601 can perform left / right hand recognition or quick operation based on the grip signal collected by the pressure sensor 612. When the pressure sensor 612 is disposed on the lower layer of the display screen 605, the processor 601 can control the operable controls on the UI interface based on the user's pressure operation on the display screen 605. The operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

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

[0216] A proximity sensor 614, also known as a distance sensor, is typically mounted on the front panel of the computer device 600. The proximity sensor 614 is used to detect 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 a screen-on state to a 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 a screen-off state to a screen-on state.

[0217] Those skilled in the art will understand that Figure 6 The structure shown does not constitute a limitation on computer device 600, and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0218] This application also provides a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein 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 in the above method embodiments.

[0219] This application provides a computer program product or computer program that 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 executes the computer instructions, causing the computer device to perform the vehicle control method provided in the above-described method embodiments.

[0220] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

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

Claims

1. A method for controlling a vehicle, characterized in that, The method includes: Acquire the vehicle's driving preparation data, which is used to express the matching relationship between the component state corresponding to the vehicle's components and the preset preparation state; Obtain the cover data corresponding to the energy input port cover of the vehicle, and the cover data is used to express the open and closed state of the energy input port cover; 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, which is used to indicate that the vehicle is in a driving ready state. Based on the relative position between the energy input port cover and the energy input port, a first prompt message is displayed. The first prompt message is used to indicate the angle between the energy input port cover and the energy input port of the vehicle. The relative position is determined based on the degree of matching between the cover movement data and the target trajectory data. The target trajectory data refers to the trajectory of the energy input port cover moving from a fully open state to a closed state. Obtain the geographical location data of the vehicle within a second preset time period; the second preset time period includes the time period between the start and end times of the vehicle's driving trajectory; The target geographical location data is obtained by filtering charging stations from the geographical location data, and the target geographical location data includes p charging stations; Obtain the energy replenishment data corresponding to the target geographical location data, wherein the energy replenishment data includes the total amount of electricity replenished, electricity data, and electricity consumption value; In response to the energy input port cover being in the open state, the cover data corresponding to the energy input port cover is identified through a preset artificial intelligence model based on the energy replenishment data: The distance data between the 0th charging station and the (0+1)th charging station is determined by a preset artificial intelligence recognition model, where 0 < 0 ≤ p, and the 0th charging station and the (0+1)th charging station are two adjacent charging stations on the driving trajectory. The preset artificial intelligence recognition model is used to determine the power value after inputting power between the 0th and 0+1th charging stations; In response to the distance data being greater than a preset threshold and the power value after inputting power at the 0th charging station and the (0+1)th charging station being equal to 100%, a first result is output through the preset artificial intelligence recognition model. The first result is used to indicate that the energy input port cover should be in the closed state. Based on the first result, the energy input port cover is controlled to switch from the open state to the closed state. In response to the distance data being less than or equal to the preset threshold and / or the power value after inputting power at the o-th charging station and the o+1-th charging station being less than 100%, a second result is output through the preset artificial intelligence recognition model. The second result is used to indicate that the energy input port cover should remain open. The energy input port cover is kept open according to the second result.

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

3. The method according to claim 2, characterized in that, The method further includes: When the vehicle is in the driving preparation state, a first prompt message is displayed, which is used to indicate 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 includes: When the cover plate data indicates that the energy input port cover plate is in the open state, the cover plate is automatically controlled to switch to the closed state. With the energy input port cover 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 installed at the energy input port cover; The acquisition of the cover data of the vehicle's energy input port includes: Acquire the cover plate motion data collected by the motion sensor within a first preset time period; Based on the cover plate motion data, the displacement trajectory data corresponding to the energy input port cover plate is generated; 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 plate data includes the open state and the closed state; The step of determining the cover data corresponding to the energy input port cover based on the displacement trajectory data includes: Obtain the first position of the energy input port cover relative to the center of gravity of the vehicle; Obtain the 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 moving from the first state to the second state is simulated and generated. The first state is used to indicate that the energy input port cover is in the fully open state, and the second state is used to indicate that the energy input port and the energy input port cover are in the closed state. In response to the fact that the displacement trajectory data and the target trajectory data conform to a preset relationship, it is determined that the energy input port cover is in the closed state; In response to the fact that the displacement trajectory data and the target trajectory data do not conform to the preset relationship, it is determined that the energy input port cover is in the open state.

7. A vehicle control device, characterized in that, The device further includes: The acquisition module is used to acquire the driving preparation data of the vehicle, wherein the driving preparation data is used to express the matching relationship between the component state corresponding to the vehicle's component and the preset preparation state. The acquisition module is also used to acquire cover data corresponding to the energy input port cover of the vehicle, and the cover data is used to express the open and closed state of the energy input port cover. The 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. The driving preparation state is used to indicate that the vehicle is in a driving ready state. The display module is used to display a first prompt message based on the relative position between the energy input port cover and the energy input port. The first prompt message is used to indicate the angle between the energy input port cover and the energy input port of the vehicle. The relative position is determined based on the degree of matching between the cover movement data and the target trajectory data. The target trajectory data refers to the trajectory of the energy input port cover moving from a fully open state to a closed state. The acquisition module is further configured to acquire the geographical location data corresponding to the vehicle within a second preset time period; the second preset time period includes the time period between the start and end times of the vehicle's driving trajectory; filter charging stations from the geographical location data to obtain target geographical location data, the target geographical location data including p charging stations; acquire energy replenishment data corresponding to the target geographical location data, the energy replenishment data including total energy replenishment, energy data, and energy consumption value; responding to the energy input port cover being in an open state, based on the energy replenishment data, identify the cover data corresponding to the energy input port cover through a preset artificial intelligence model: determine the distance data between the 0th charging station and the (0+1)th charging station through the preset artificial intelligence recognition model, 0 < 0 ≤ p, the 0th charging station and the (0+1)th charging station are two adjacent charging stations on the driving trajectory; determine the energy value after inputting energy between the 0th and (0+1)th charging stations through the preset artificial intelligence recognition model; responding to the distance data being greater than a preset threshold and the 0th charging station being in an open state, the module further configures the module to acquire the energy replenishment data. If the energy input value at the 0th and (0+1)th charging stations is equal to 100%, a first result is output through the preset artificial intelligence recognition model. The first result indicates that the energy input port cover should be in the closed state. Based on the first result, the energy input port cover is controlled to switch from the open state to the closed state. In response to the distance data being less than or equal to the preset threshold and / or the energy input value at the 0th and (0+1)th charging stations being less than 100%, a second result is output through the preset artificial intelligence recognition model. The second result indicates that the energy input port cover should remain in the open state. Based on the second result, the energy input port cover is kept in the open state.

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