Vehicle control method and device, wearable equipment and storage medium

Abstract

The invention discloses a vehicle control method and device, wearable equipment and a storage medium, and the method comprises the steps: transmitting a positioning request signal to a target base station in a current driving road section when a current user is in a driving state, obtaining a vehicle position and a vehicle speed of a target vehicle driven by the current user based on a positioning response signal, a control request signal is generated based on the vehicle position and the vehicle speed, and the control request signal is sent to a vehicle-mounted controller, so that the vehicle-mounted controller controls the target vehicle based on the control request signal; according to the invention, through signal interaction with the target base station in the current driving road section, the current position and the current speed of the target vehicle are accurately obtained, and the control request signal is sent to the vehicle-mounted controller, so that the vehicle is accurately controlled in time, the risks of vehicle overspeed, vehicle lane departure and violation are effectively reduced, and the driving safety of the vehicle is improved. According to the invention, the vehicle is controlled before an accident occurs, and the probability of occurrence of traffic accidents is reduced.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to a vehicle control method, device, wearable device and storage medium. Background Art

[0002] Current traffic monitoring is passive monitoring, which is unable to remind and control vehicles before traffic accidents and vehicle violations occur, resulting in the inability to effectively avoid traffic accident tragedies and the inability to effectively reduce penalties for vehicle violations. Red light running and violations can only be punished after the fact, which cannot avoid the above situations.

[0003] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present invention is to provide a vehicle control method, apparatus, wearable device and storage medium, aiming to solve the technical problem that the passive traffic monitoring in the prior art cannot remind and control the vehicle before traffic accidents and vehicle violations occur, resulting in the inability to effectively avoid traffic accident tragedies and the inability to effectively reduce the penalties for vehicle violations.

[0005] To achieve the above object, the present invention provides a vehicle control method, which is applied to a wearable device and comprises the following steps:

[0006] When the current user is in a driving state, a positioning request signal is sent to a target base station in the current driving section, so that the target base station feeds back a positioning response signal based on the positioning request signal;

[0007] Acquire the vehicle position and vehicle speed of the target vehicle currently driven by the user based on the positioning response signal;

[0008] A control request signal is generated based on the vehicle position and the vehicle speed, and the control request signal is sent to an onboard controller of the target vehicle so that the onboard controller controls the target vehicle based on the control request signal.

[0009] Optionally, acquiring the vehicle position and vehicle speed of the target vehicle currently driven by the user based on the positioning response signal includes:

[0010] Acquire transmission delay information in a signal interaction process with the target base station based on the positioning response signal;

[0011] The vehicle position and vehicle speed of the target vehicle currently driven by the user are acquired based on the transmission delay information.

[0012] Optionally, generating a control request signal based on the vehicle position and the vehicle speed, and sending the control request signal to an onboard controller of the target vehicle so that the onboard controller controls the target vehicle based on the control request signal, comprises:

[0013] Acquire the vehicle position of the target vehicle currently driven by the user based on the positioning response signal;

[0014] Divide the transmission channel data in the signal interaction process with the target base station into time periods based on the positioning response signal to obtain multiple time slots, and send and receive signals in each time slot at a fixed time;

[0015] Obtaining the time difference information of signal transmission and reception in each time slot;

[0016] determining a vehicle speed of the target vehicle based on the time difference information;

[0017] A control request signal is generated based on the vehicle speed and the vehicle position, and the control request signal is sent to an onboard controller of the target vehicle so that the onboard controller controls the target vehicle based on the control request signal.

[0018] Optionally, acquiring the vehicle position and vehicle speed of the target vehicle currently driven by the user based on the positioning response signal includes:

[0019] Acquire the vehicle speed of the target vehicle currently driven by the user based on the positioning response signal;

[0020] Acquire the device location of the current user based on the positioning response signal;

[0021] Locating the driver's seat position of the target vehicle driven by the current user to obtain the driver's position;

[0022] A vehicle position of the target vehicle is obtained based on the device position and the driver position.

[0023] Optionally, the positioning of the driver's seat position of the target vehicle driven by the current user to obtain the driver's position includes:

[0024] Obtaining the vehicle model of the target vehicle driven by the current user;

[0025] Acquiring cabin size and seat distribution information of the target vehicle based on the vehicle model;

[0026] The driver's seat position of the target vehicle driven by the current user is located based on the cabin size and the seat distribution information to obtain the driver's position.

[0027] Optionally, generating a control request signal based on the vehicle position and the vehicle speed, and sending the control request signal to an onboard controller of the target vehicle, comprises:

[0028] Acquire the signal light information recognized by the target base station based on the positioning response signal;

[0029] generating a control request signal and driving prompt information based on the vehicle position, the vehicle speed and the signal light information;

[0030] The control request signal is sent to the on-board controller of the target vehicle, and a visual driving reminder and / or a voice driving reminder is performed based on the driving prompt information.

[0031] Optionally, generating a control request signal based on the vehicle position and the vehicle speed, and sending the control request signal to an onboard controller of the target vehicle, comprises:

[0032] Acquire lane position information of the current driving section and size information of the target vehicle;

[0033] Determining whether the target vehicle has a lane departure risk based on the size information, the vehicle position, the vehicle speed, and the lane position information;

[0034] If there is a risk, generating lane correction information based on the size information, the vehicle position and the lane position information;

[0035] A control request signal is generated based on the lane correction information, and the control request signal is sent to an onboard controller of the target vehicle.

[0036] In addition, to achieve the above object, the present invention further provides a vehicle control device, the vehicle control device comprising:

[0037] A signal transmission module, used for sending a positioning request signal to a target base station in a current driving section when the current user is in a driving state, so that the target base station feeds back a positioning response signal based on the positioning request signal;

[0038] A position information acquisition module, used to acquire the vehicle position and vehicle speed of the target vehicle currently driven by the user based on the positioning response signal;

[0039] A vehicle control module is used to generate a control request signal based on the vehicle position and the vehicle speed, and send the control request signal to the on-board controller of the target vehicle, so that the on-board controller controls the target vehicle based on the control request signal.

[0040] In addition, to achieve the above-mentioned purpose, the present invention also proposes a wearable device, which includes: a memory, a processor, and a vehicle control program stored in the memory and executable on the processor, wherein the vehicle control program is configured to implement the steps of the vehicle control method described above.

[0041] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a vehicle control program is stored, and when the vehicle control program is executed by a processor, the steps of the vehicle control method described above are implemented.

[0042] The present invention sends a positioning request signal to a target base station in a current driving section when the current user is in a driving state, so that the target base station feeds back a positioning response signal based on the positioning request signal, obtains the vehicle position and vehicle speed of the target vehicle driven by the current user based on the positioning response signal, generates a control request signal based on the vehicle position and the vehicle speed, and sends the control request signal to the on-board controller of the target vehicle, so that the on-board controller controls the target vehicle based on the control request signal; because the present invention accurately obtains the current position and current speed of the target vehicle by performing signal interaction with the target base station in the current driving section, sends the control request signal to the on-board controller, and thus accurately controls the vehicle in a timely manner, effectively reduces the risks of vehicle speeding, vehicle lane deviation and traffic violations, realizes vehicle control before an accident occurs, and reduces the probability of traffic accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a schematic diagram of the structure of a wearable device in a hardware operating environment involved in an embodiment of the present invention;

[0044] Figure 2 A schematic flow chart of a first embodiment of a vehicle control method of the present invention;

[0045] Figure 3 It is a schematic diagram of speed measurement when the target vehicle is traveling on a lane facing the target base station in the first embodiment of the vehicle control method of the present invention;

[0046] Figure 4 It is a schematic diagram of speed measurement when the target vehicle is not traveling on a lane facing the target base station in the first embodiment of the vehicle control method of the present invention;

[0047] Figure 5 A schematic diagram of vehicle positioning according to a first embodiment of a vehicle control method of the present invention;

[0048] Figure 6 A schematic flow chart of a second embodiment of a vehicle control method of the present invention;

[0049] Figure 7 A schematic flow chart of a third embodiment of a vehicle control method of the present invention;

[0050] Figure 8 It is a structural block diagram of the first embodiment of the vehicle control device of the present invention.

[0051] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0052] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0053] Reference Figure 1 , Figure 1 The figure is a schematic diagram of the structure of a wearable device in the hardware operating environment involved in the embodiment of the present invention.

[0054] like Figure 1 As shown, the wearable device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM), or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0055] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the wearable device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0056] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a vehicle control program.

[0057] exist Figure 1In the wearable device shown, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the wearable device of the present invention can be set in the wearable device, and the wearable device calls the vehicle control program stored in the memory 1005 through the processor 1001, and executes the vehicle control method provided in an embodiment of the present invention.

[0058] The embodiment of the present invention provides a vehicle control method, referring to Figure 2 , Figure 2 The figure is a flow chart of a first embodiment of a vehicle control method according to the present invention.

[0059] In this embodiment, the vehicle control method includes the following steps:

[0060] Step S10: When the current user is in a driving state, a positioning request signal is sent to a target base station in the current driving section, so that the target base station feeds back a positioning response signal based on the positioning request signal.

[0061] It should be noted that this embodiment is based on augmented reality (AR) combined with ultra-wideband technology (Ultra Wide Band, UWB), through high-speed WIFI delay-free direct connection technology, using UWB precise positioning and delay-free speed measurement technology and high-speed WIFI delay-free direct connection technology, to invent a device that allows drivers to wear AR to achieve intelligent traffic control and real-time guidance, slow down in advance when encountering a red light at an intersection or even force the vehicle to slow down and brake, and actively remind drivers to drive in the wrong lane and avoid violations of driving on solid lines, thereby avoiding traffic accidents and reducing penalties for violations.

[0062] It should be understood that the executor of the method of this embodiment can be a wearable device with data processing, network communication and program running functions, such as smart wearable devices, AR glasses, AR helmets, etc., or other devices or equipment that can achieve the same or similar functions. The above-mentioned wearable devices are used as examples for illustration here.

[0063] It should be noted that the current user may be a driver wearing the wearable device, and the driving state may be a state in which the current user is driving a vehicle on a road section. The current driving road section may be a traffic road section on which the current user is driving a vehicle.

[0064] It should be understood that the above-mentioned target base station can be a UWB base station unit set up on the current driving section, and one or more UWB base station units can be set up on the traffic section, so as to realize real-time signal interaction and real-time positioning of vehicles traveling on the traffic section.

[0065] It should be noted that the positioning request signal may be a UWB Polling signal sent by the wearable device to the target base station, and the positioning request signal may be a signal requesting the target base station to collect data, by transmitting a large number of low-power pulses in a very short time duration to achieve high-speed data transmission and precise time synchronization. The positioning response signal may be a Responsible signal fed back by the target base station after receiving the positioning request signal.

[0066] It can be understood that this embodiment is applied to after the driver wears the wearable device, the wearable device combining UWB and high-speed WIFI can interact with the UWB base station unit on the driving section without delay in the traffic driving section, reminding to brake and avoid violations, and can use the high-speed WIFI of the wearable device (such as WIFI7) and the on-board high-speed WIFI direct connection to issue braking commands without delay in the car, avoiding running red lights and avoiding violations.

[0067] Step S20: Acquire the vehicle position and vehicle speed of the target vehicle currently driven by the user based on the positioning response signal.

[0068] It should be noted that the vehicle position may be the current driving position of the target vehicle. For example, the vehicle position may be the latitude and longitude coordinates of the vehicle, or may be the relative position with respect to the target base station.

[0069] It can be understood that the wearable device receives the positioning response signal fed back by the target base station and calculates the relative position distance between the wearable device and the target base station based on the transmission time delay information during the signal interaction process.

[0070] Step S30: Generate a control request signal based on the vehicle position and the vehicle speed, and send the control request signal to the onboard controller of the target vehicle, so that the onboard controller controls the target vehicle based on the control request signal.

[0071] It should be understood that the wearable device obtains the vehicle position between the target vehicle and the target base station, as well as the base station type based on the positioning response signal fed back by the target base station. If the base station is a speed detection base station, the current state of the traffic light corresponding to the target base station is obtained. If the traffic light is green, a control request signal is generated based on the vehicle position and the current state of the traffic light, and the control request signal is sent to the on-board controller, so that the on-board controller controls the target vehicle to decelerate to the specified speed of the road section based on the control request signal, so that the target vehicle passes the traffic light at a reasonable speed; if the traffic light is red, the target vehicle is controlled to decelerate to 0 based on the lighting duration of the red light and the vehicle position, so as to brake before the traffic light.

[0072] It can be understood that the wearable device in this embodiment utilizes high-speed WIFI7 direct connection technology and the vehicle's high-speed WIFI 7 real-time interaction. The wearable device transmits control information to the on-board controller of the target vehicle based on the received precise real-time instantaneous vehicle speed, so that the on-board controller controls the target vehicle to achieve automatic deceleration or automatic braking.

[0073] Furthermore, in order to accurately control the target vehicle, the above step S30 may include:

[0074] Acquire the vehicle position of the target vehicle currently driven by the user based on the positioning response signal;

[0075] Divide the transmission channel data in the signal interaction process with the target base station into time periods based on the positioning response signal to obtain multiple time slots, and send and receive signals in each time slot at a fixed time;

[0076] Obtaining the time difference information of signal transmission and reception in each time slot;

[0077] determining a vehicle speed of the target vehicle based on the time difference information;

[0078] A control request signal is generated based on the vehicle speed and the vehicle position, and the control request signal is sent to an onboard controller of the target vehicle so that the onboard controller controls the target vehicle based on the control request signal.

[0079] It should be noted that the above-mentioned time slot may be a time window and / or a time interval, and the time slot is greater than the signal transmission and reception time.

[0080] It can be understood that the wearable device in this embodiment sends a positioning request signal to the target base station. After receiving the positioning request signal, the target base station feeds back a positioning response signal to the wearable device based on the positioning request signal. The wearable device calculates and locates the target vehicle speed and position based on the UWB positioning response signal arrival time information (Time of Arrival, TOA) and UWB signal arrival time difference information (Time Difference of Arrival, TDOA) received during the signal interaction process in the time slot.

[0081] The wearable device measures the speed based on the UWB signal arrival time information TOA corresponding to the positioning response signal received during the signal interaction process; in addition, the UWB signal arrival time difference TDOA positioning method is used to locate the position information of the target vehicle.

[0082] It should be understood that this embodiment divides the communication channel in the signal interaction process between the wearable device and the target base station into multiple continuous time segments (i.e., multiple time slots), where each time slot has a fixed duration, and each transmission and reception of the device signal is performed within the time slot range, and measures the round-trip delay (RTT) experienced from the device sending data to the device receiving data, thereby estimating the distance between the target vehicle and the target base station.

[0083] In a specific implementation, the wearable device obtains the vehicle position and vehicle speed of the target vehicle currently driven by the user based on the positioning response signal, and sends the vehicle position and vehicle speed to the on-board controller, so that the on-board controller controls the speed of the target vehicle based on the vehicle speed to avoid the target vehicle from speeding and / or running a red light, etc. The on-board controller can also correct the driving state of the target vehicle based on the vehicle position, such as providing lane driving assistance to the target vehicle to avoid problems such as lane deviation of the target vehicle.

[0084] Furthermore, in order to provide intelligent reminders to the driver when passing a traffic light, the above step S30 may include:

[0085] Acquire the signal light information recognized by the target base station based on the positioning response signal;

[0086] generating a control request signal and driving prompt information based on the vehicle position, the vehicle speed and the signal light information;

[0087] The control request signal is sent to the on-board controller of the target vehicle, and a visual driving reminder and / or a voice driving reminder is performed based on the driving prompt information.

[0088] It should be noted that the speed detection base station can be a UWB base station installed at a traffic light. The wearable device in this embodiment obtains the real-time signal light status of the traffic light by exchanging signals with the speed detection base station, and determines the current signal light and the lighting time of the current signal light based on the signal light status, so as to decelerate to a safe speed to pass the traffic light when the light is green, and brake and stop in time when the light is red.

[0089] It should be understood that referring to Figure 3 , Figure 3is a schematic diagram of the position between the speed detection base station and the target vehicle, wherein A is the signal transmission position of the target vehicle when transmitting the positioning request signal, and B is the signal receiving position of the target vehicle when receiving the positioning response signal fed back by the target base station; L1 is the relative distance between the signal transmission position of the target vehicle and the target base station, L2 is the relative distance between the signal receiving position of the target vehicle and the target base station, x and y are the position coordinates of the target base station, x1 and y1 are the position coordinates of the signal transmission position of the target vehicle, x2 and y2 are the position coordinates of the signal receiving position of the target vehicle, and h is the height of the target base station. Referring to the following formulas 1, 2 and 3, the positioning of the vehicle and the distance between the target vehicle and the intersection of the traffic light are realized, wherein d1-d2 is the displacement distance during the signal interaction between the target vehicle and the target base station, θ1 is the relative angle between the target vehicle and the target base station when it is at the signal transmission position, θ2 is the relative angle between the target vehicle and the target base station when it is at the signal receiving position, V is the moving speed of the target vehicle during the interaction with the positioning signal of the target base station, and t1 is the signal interaction duration between the target vehicle and the target base station.

[0090] It is understandable that if Figure 3 As shown, Figure 3 This is a schematic diagram of speed measurement when the target vehicle is driving on a lane facing the target base station. When the target vehicle and the target base station are in the same plane, at the coordinate (x1, y1), the wearable device worn by the driver sends a positioning request signal to the target base station and instantly receives a positioning response signal returned by the base station. The time at this time is recorded as Then ct1 = 2L1, because the signal goes back and forth twice, the vehicle continues to drive and arrives at the new position (x2, y2). Similarly, the signal is sent and returned again. The time at this time is recorded as Then 2L2=ct2, and the vehicle continues to travel for For example, the wearable device can be set to continue driving for 1 second after receiving the positioning response signal returned by the target base station, and then transmit the receiving signal for the second time. For the convenience of calculation, the height of the base station is known and recorded as h, and the coordinates of the target base station transmission point are marked as (x, y). According to the trigonometric function equations, the positions of d1 and d2 when the signals are transmitted twice can be solved, and the vehicle speed is V. Refer to the following formula 3, is the time when the return signal is received after the first transmission. Similarly, It is the time when the return signal is received after the second transmission.

[0091]

[0092]

[0093]

[0094]

[0095] Furthermore, in order to effectively prevent the vehicle from deviating from the lane, the above step S30 may include:

[0096] Acquire lane position information of the current driving section and size information of the target vehicle;

[0097] Determining whether the target vehicle has a lane departure risk based on the size information, the vehicle position, the vehicle speed, and the lane position information;

[0098] If there is a risk, generating lane correction information based on the size information, the vehicle position and the lane position information;

[0099] A control request signal is generated based on the lane correction information, and the control request signal is sent to an onboard controller of the target vehicle.

[0100] It is understandable that the wearable device can implant the vehicle's length, width and other dimensional information in advance based on the vehicle model, and map the relative position map of the intersection lanes in the current driving area to the local for storage in advance. When the target base station is a driving detection base station, the wearable device sends a UWB Polling signal to the UWB base station, and the UWB base station receives and returns the Responsible signal. The driver's position is accurately located based on UWB TOA and TDOA, and the exact position of the vehicle is determined based on the relative position comparison between the driver and the length and width of the vehicle. The preset lane map is then compared to determine whether the vehicle has deviated from the lane or has a tendency to deviate, and a voice reminder is given.

[0101] It should be understood that in order to effectively prevent the vehicle from deviating from the lane, Figure 4 , Figure 4Schematic diagram of speed measurement when the target vehicle is not traveling on the lane facing the target base station, where L1 is the relative distance between the signal transmission position of the target vehicle and the target base station, L2 is the relative distance between the signal receiving position of the target vehicle and the target base station, x and y are the position coordinates of the target base station, x1 and y1 are the position coordinates of the signal transmission position of the target vehicle, x'2 and y'2 are the position coordinates of the signal receiving position of the target vehicle, h is the height of the target base station, L6 is the vertical line from the bottom of the target base station to the direction of travel of the target vehicle, L3 is the hypotenuse of the triangle formed by the transmission point of the target base station to the direction of travel of the target vehicle and L6, L4 is the relative distance between the bottom of the target base station and the signal transmission position of the target vehicle, L5 is the relative distance between the bottom of the target base station and the signal receiving position of the target vehicle, refer to the following formulas 4, 5 and 6, according to the relative position comparison of the length and width of the driver and the vehicle, the accurate position of the vehicle is judged, and then compared with the preset lane map to judge whether it deviates from the lane or has a tendency to deviate, where d c is the displacement distance during the signal interaction between the target vehicle and the target base station, θ1 is the relative angle between the target vehicle and the target base station when the target vehicle is at the signal transmission position, θ2 is the relative angle between the target vehicle and the target base station when the target vehicle is at the signal receiving position, V is the moving speed of the target vehicle during the positioning signal interaction with the target base station, t1 is the signal interaction duration between the target vehicle and the target base station, and c is the signal speed of the positioning request signal and the positioning response signal. For example, c can be the electromagnetic wave speed.

[0102] It is understandable that if Figure 4 As shown, when the target vehicle's driving direction and the target base station are not in the same plane, auxiliary lines need to be constructed, where L6 is the vertical line from the bottom of the target base station to the vehicle's driving direction, and L3 is the line between the target base station's transmitting point and the intersection of L6 and the target vehicle's direction. Similarly, based on the trigonometric function equations, the two position differences at the moment when the target vehicle receives the positioning response signal returned by the target base station twice are solved, and then the vehicle speed V is calculated based on the two time differences of the vehicle, such as 1 second.

[0103] 2L1=(ct1) 2 h=y-y1 d1=x-x1 t1=t x_2 -t x_1

[0104] 2L2=(ct2) 2 h=y-y'2 d2=x-x'2 t2=t x_4 -t x_3 Formula 4

[0105]

[0106]

[0107] In the specific implementation, refer to Figure 5 , Figure 5 This is a schematic diagram of vehicle positioning in this embodiment. In this embodiment, the target vehicle can be positioned through three target base stations, wherein the coordinates of target base station 1 are (x1, y1), the coordinates of target base station 2 are (x2, y2), and the coordinates of target base station 3 are (x3, y3). The distance between target base station 1 and the target vehicle is R1, the distance between target base station 2 and the target vehicle is R2, and the distance between target base station 3 and the target vehicle is R3. Refer to the following formula 7 to determine the vehicle position of the target vehicle, wherein (x, y) is the position of the target vehicle.

[0108]

[0109] This embodiment sends a positioning request signal to a target base station in the current driving section when the current user is in a driving state, so that the target base station feeds back a positioning response signal based on the positioning request signal, obtains the vehicle position and vehicle speed of the target vehicle driven by the current user based on the positioning response signal, generates a control request signal based on the vehicle position and the vehicle speed, and sends the control request signal to the on-board controller of the target vehicle, so that the on-board controller controls the target vehicle based on the control request signal; because this embodiment accurately obtains the current position and current speed of the target vehicle by performing signal interaction with the target base station in the current driving section, and sends the control request signal to the on-board controller, the vehicle is accurately controlled in a timely manner, effectively reducing the risks of vehicle speeding, vehicle lane deviation and traffic violations, and achieving vehicle control before an accident occurs, thereby reducing the probability of traffic accidents.

[0110] refer to Figure 6 , Figure 6 It is a flow chart of a second embodiment of a vehicle control method of the present invention.

[0111] Based on the above first embodiment, in this embodiment, step S20 includes:

[0112] Step S21: acquiring transmission delay information in a signal interaction process with the target base station based on the positioning response signal.

[0113] It should be noted that the transmission delay information may be the time delay information of sending and receiving signals by the wearable device during the signal interaction process with the target base station.

[0114] It can be understood that, in this embodiment, by measuring the time from when the sending device sends data to when the receiving device receives the data, the round trip time (RTT) between the devices can be calculated, thereby estimating the distance between the devices.

[0115] Step S22: Acquire the vehicle position and vehicle speed of the target vehicle driven by the current user based on the transmission delay information.

[0116] It can be understood that the wearable device in this embodiment sends a positioning request signal to the target base station. After receiving the positioning request signal, the target base station feeds back a positioning response signal to the wearable device based on the positioning request signal. The wearable device uses TOA (Time of Arrival) and TDOA (Time difference of Arrival) methods to locate the speed and position of the target vehicle based on the UWB signal arrival and reception time information corresponding to the positioning response signal received during the signal interaction process.

[0117] It should be noted that the time slot location distance refers to the process of signal interaction, which is to divide the time into different time slots (time slots), send and receive signals regularly within the time slots, and continuously measure the distance between devices.

[0118] This embodiment obtains the transmission delay information in the signal interaction process with the target base station based on the positioning response signal, and obtains the vehicle position and vehicle speed of the target vehicle driven by the current user based on the transmission delay information; since this embodiment obtains the time delay of signal transmission and data transmission in the signal interaction process, the vehicle position between the target vehicle and the target base station is accurately calculated, thereby improving the accuracy of vehicle control.

[0119] refer to Figure 7 , Figure 7 It is a flow chart of a third embodiment of a vehicle control method of the present invention.

[0120] Based on the above first embodiment, in this embodiment, step S20 includes:

[0121] Step S201: acquiring the vehicle speed of the target vehicle currently driven by the user based on the positioning response signal.

[0122] It should be noted that the step numbers in this embodiment are only for description and do not represent the order of the steps. That is, in this embodiment, the target vehicle can be positioned and the speed can be measured at the same time, or the speed of the target vehicle can be measured first and then the target vehicle can be positioned. This embodiment is not limited to this.

[0123] Step S202: Acquire the device location of the current user based on the positioning response signal.

[0124] It should be noted that the user location information may be location distance information between the current user wearing the wearable device and the target base station.

[0125] It can be understood that in this embodiment, it is the wearable device that interacts with the target base station by signals. Therefore, the position distance calculated during the signal interaction process is actually the position distance between the wearable device and the target base station. Therefore, in order to calculate the relative position distance between the target vehicle and the target base station, further calculation is required based on the user location information.

[0126] Step S203: Locate the driver's seat position of the target vehicle driven by the current user to obtain the driver's position.

[0127] It should be noted that the user equipment position may be the seat position of a driver's seat in the cabin of the target vehicle.

[0128] Furthermore, in order to accurately obtain the location of the user equipment, the above step S202 may include:

[0129] Step S2031: Obtain the vehicle model of the target vehicle driven by the current user;

[0130] Step S2032: acquiring cabin size and seat distribution information of the target vehicle based on the vehicle model;

[0131] Step S2033: Locate the driver's seat position of the target vehicle driven by the current user based on the cabin size and the seat distribution information to obtain the driver's position.

[0132] It should be noted that the user device position may be the position of a wearable device. For example, the wearable device may be a smart watch, a smart bracelet, smart glasses, etc. The position of the wearable device is corrected based on the device type of the wearable device. For example, when the wearable device is a smart watch, the user device position is near the steering wheel of the vehicle; when the wearable device is smart glasses, the user device position is near the top of the seat, etc.

[0133] It should be understood that the wearable device obtains the vehicle model of the target vehicle, obtains the cabin size and seat distribution information of the target vehicle corresponding to the vehicle model by searching the vehicle model mapping table, and obtains the relative position between the driver's seat and the target vehicle based on the cabin size and seat distribution information.

[0134] Step S204: Acquire the vehicle position of the target vehicle based on the device position and the driver position.

[0135] It should be understood that in order to calculate the position distance between the target vehicle and the target base station, this embodiment first calculates the relative position distance between the current user and the target base station, and then calculates the relative position distance between the current user and the target vehicle. The relative position distance between the target vehicle and the target base station is calculated based on the relative position distance between the current user and the target base station and the relative position distance between the current user and the target vehicle.

[0136] This embodiment obtains the vehicle speed of the target vehicle driven by the current user based on the positioning response signal; obtains the device position of the current user based on the positioning response signal; locates the driver's seat position of the target vehicle driven by the current user to obtain the driver's position; obtains the vehicle position of the target vehicle based on the device position and the driver's position; because this embodiment obtains the vehicle speed and the user device position, and obtains the relative position between the target vehicle and the target base station based on the user position information and the user device position obtained during the interaction with the target base station, it achieves accurate positioning and speed measurement of the target vehicle, ensures accurate control of the vehicle, and effectively avoids the problems of vehicle speeding and driving deviation.

[0137] In addition, an embodiment of the present invention further proposes a storage medium, on which a vehicle control program is stored. When the vehicle control program is executed by a processor, the steps of the vehicle control method described above are implemented.

[0138] Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0139] Reference Figure 8 , Figure 8 It is a structural block diagram of the first embodiment of the vehicle control device of the present invention.

[0140] like Figure 8 As shown, the vehicle control device proposed in the embodiment of the present invention includes:

[0141] The signal transmitting module 10 is used to send a positioning request signal to a target base station in the current driving section when the current user is in a driving state, so that the target base station feeds back a positioning response signal based on the positioning request signal;

[0142] A position information acquisition module 20, configured to acquire the vehicle position and vehicle speed of the target vehicle currently driven by the user based on the positioning response signal;

[0143] The vehicle control module 30 is used to generate a control request signal based on the vehicle position and the vehicle speed, and send the control request signal to the on-board controller of the target vehicle, so that the on-board controller controls the target vehicle based on the control request signal.

[0144] Furthermore, the location information acquisition module 20 is also used to obtain the transmission delay information in the signal interaction process between the target base station and the target base station based on the positioning response signal; and to obtain the vehicle position and vehicle speed of the target vehicle driven by the current user based on the transmission delay information.

[0145] Furthermore, the vehicle control module 30 is also used to obtain the vehicle position of the target vehicle driven by the current user based on the positioning response signal; divide the transmission channel data in the signal interaction process with the target base station into time periods based on the positioning response signal to obtain multiple time slots, and send and receive signals regularly in each time slot; obtain the time difference information of signal transmission and reception in each time slot; determine the vehicle speed of the target vehicle based on the time difference information; generate a control request signal based on the vehicle speed and the vehicle position, and send the control request signal to the on-board controller of the target vehicle, so that the on-board controller controls the target vehicle based on the control request signal.

[0146] Furthermore, the position information acquisition module 20 is also used to acquire the vehicle speed of the target vehicle driven by the current user based on the positioning response signal; acquire the device position of the current user based on the positioning response signal; locate the driver's seat position of the target vehicle driven by the current user to obtain the driver's position; and acquire the vehicle position of the target vehicle based on the device position and the driver's position.

[0147] Furthermore, the position information acquisition module 20 is also used to obtain the vehicle model of the target vehicle driven by the current user; obtain the cabin size and seat distribution information of the target vehicle based on the vehicle model; locate the driver's seat position of the target vehicle driven by the current user based on the cabin size and the seat distribution information to obtain the driver's position.

[0148] Furthermore, the vehicle control module 30 is also used to obtain the traffic light information recognized by the target base station based on the positioning response signal; generate a control request signal and driving prompt information based on the vehicle position, the vehicle speed and the traffic light information; send the control request signal to the on-board controller of the target vehicle, and perform visual driving reminders and / or voice driving reminders based on the driving prompt information.

[0149] Furthermore, the vehicle control module 30 is also used to obtain the lane position information of the current driving section and the size information of the target vehicle; determine whether the target vehicle has a lane departure risk based on the size information, the vehicle position, the vehicle speed and the lane position information; if there is a risk, generate lane correction information based on the size information, the vehicle position and the lane position information; generate a control request signal based on the lane correction information, and send the control request signal to the on-board controller of the target vehicle.

[0150] This embodiment sends a positioning request signal to a target base station in the current driving section when the current user is in a driving state, so that the target base station feeds back a positioning response signal based on the positioning request signal, obtains the vehicle position and vehicle speed of the target vehicle driven by the current user based on the positioning response signal, generates a control request signal based on the vehicle position and the vehicle speed, and sends the control request signal to the on-board controller of the target vehicle, so that the on-board controller controls the target vehicle based on the control request signal; because this embodiment accurately obtains the current position and current speed of the target vehicle by performing signal interaction with the target base station in the current driving section, and sends the control request signal to the on-board controller, the vehicle is accurately controlled in a timely manner, effectively reducing the risks of vehicle speeding, vehicle lane deviation and traffic violations, and achieving vehicle control before an accident occurs, thereby reducing the probability of traffic accidents.

[0151] It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present invention. In specific applications, technicians in this field can make settings as needed, and the present invention does not limit this.

[0152] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0153] In addition, for technical details that are not described in detail in this embodiment, reference can be made to the vehicle control method provided in any embodiment of the present invention, and they will not be repeated here.

[0154] In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0155] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0156] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0157] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A vehicle control method, characterized in that: Applied to a wearable device, the vehicle control method includes: When the current user is in a driving state, a positioning request signal is sent to a target base station in the current driving section, so that the target base station feeds back a positioning response signal based on the positioning request signal; Acquire the vehicle position and vehicle speed of the target vehicle currently driven by the user based on the positioning response signal; A control request signal is generated based on the vehicle position and the vehicle speed, and the control request signal is sent to an onboard controller of the target vehicle so that the onboard controller controls the target vehicle based on the control request signal.

2. The vehicle control method according to claim 1, characterized in that: The acquiring the vehicle position and vehicle speed of the target vehicle currently driven by the user based on the positioning response signal comprises: Acquire transmission delay information in a signal interaction process with the target base station based on the positioning response signal; The vehicle position and vehicle speed of the target vehicle currently driven by the user are acquired based on the transmission delay information.

3. The vehicle control method according to claim 2, characterized in that: The acquiring the vehicle position and vehicle speed of the target vehicle currently driven by the user based on the positioning response signal comprises: Acquire the vehicle position of the target vehicle currently driven by the user based on the positioning response signal; Divide the transmission channel data in the signal interaction process with the target base station into time periods based on the positioning response signal to obtain multiple time slots, and send and receive signals in each time slot at a fixed time; Obtaining the time difference information of signal transmission and reception in each time slot; A vehicle speed of the target vehicle is determined based on the time difference information.

4. The vehicle control method according to claim 1, characterized in that: The acquiring the vehicle position and vehicle speed of the target vehicle currently driven by the user based on the positioning response signal comprises: Acquire the vehicle speed of the target vehicle currently driven by the user based on the positioning response signal; Acquire the device location of the current user based on the positioning response signal; Locating the driver's seat position of the target vehicle driven by the current user to obtain the driver's position; A vehicle position of the target vehicle is obtained based on the device position and the driver position.

5. The vehicle control method according to claim 4, characterized in that: The positioning of the driver's seat position of the target vehicle driven by the current user to obtain the driver's position includes: Obtaining the vehicle model of the target vehicle driven by the current user; Acquiring cabin size and seat distribution information of the target vehicle based on the vehicle model; The driver's seat position of the target vehicle driven by the current user is located based on the cabin size and the seat distribution information to obtain the driver's position.

6. The vehicle control method according to any one of claims 1 to 5, characterized in that: The generating of a control request signal based on the vehicle position and the vehicle speed, and sending the control request signal to an onboard controller of the target vehicle, comprises: Acquire the signal light information recognized by the target base station based on the positioning response signal; generating a control request signal and driving prompt information based on the vehicle position, the vehicle speed and the signal light information; The control request signal is sent to the on-board controller of the target vehicle, and a visual driving reminder and / or a voice driving reminder is performed based on the driving prompt information.

7. The vehicle control method according to any one of claims 1 to 5, characterized in that: The generating of a control request signal based on the vehicle position and the vehicle speed, and sending the control request signal to an onboard controller of the target vehicle, comprises: Acquire lane position information of the current driving section and size information of the target vehicle; Determining whether the target vehicle has a lane departure risk based on the size information, the vehicle position, the vehicle speed, and the lane position information; If there is a risk, generating lane correction information based on the size information, the vehicle position and the lane position information; A control request signal is generated based on the lane correction information, and the control request signal is sent to an onboard controller of the target vehicle.

8. A vehicle control device, characterized in that: The vehicle control device comprises: A signal transmission module, used for sending a positioning request signal to a target base station in a current driving section when the current user is in a driving state, so that the target base station feeds back a positioning response signal based on the positioning request signal; A position information acquisition module, used to acquire the vehicle position and vehicle speed of the target vehicle currently driven by the user based on the positioning response signal; A vehicle control module is used to generate a control request signal based on the vehicle position and the vehicle speed, and send the control request signal to the on-board controller of the target vehicle, so that the on-board controller controls the target vehicle based on the control request signal.

9. A wearable device, characterized in that: The wearable device includes: a memory, a processor, and a vehicle control program stored in the memory and executable on the processor, wherein the vehicle control program is configured to implement the vehicle control method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores a vehicle control program, and when the vehicle control program is executed by the processor, the vehicle control method according to any one of claims 1 to 7 is implemented.

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