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

Abstract

This application provides a vehicle control method, apparatus, device, and readable storage medium. The method includes: acquiring vehicle-related operating data; receiving a first transport control signal automatically generated and sent by a target component, the first transport control signal being used to control the vehicle to be in a transport control mode, which is the mode the vehicle is in when transporting between different locations after completing production testing; and, based on the first transport control signal, controlling the vehicle to be in the transport control mode when the operating data meets transport requirements; wherein, the transport control mode is used to control the vehicle's second controller to be in a torque-limiting mode, the torque-limiting mode being used to control the second controller to maintain a power mode where the output torque of the second controller is less than a preset torque threshold. This increases the coverage of application scenarios for judging transport scenarios to a certain extent, further improving the safety of the vehicle during transport.

Description

Technical Field

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

[0002] As vehicles become increasingly intelligent, more electronic devices are installed inside, vehicle wiring harnesses become more complex, and the requirements for vehicle safety become increasingly stringent.

[0003] In related technologies, after a vehicle rolls off the assembly line and completes testing in the final assembly workshop, during the internal transfer and logistics transportation process within the workshop, a unique mode (such as factory mode, barge control mode, etc.) is designed in the vehicle's internal system to support the transfer of the vehicle to other locations after its first complete testing.

[0004] However, when the vehicle is transferred again in the workshop or in other specific scenarios, the vehicle cannot automatically enter the special mode. It needs to be manually adjusted or the vehicle needs to be kept in a stopped state to ensure the safety of the vehicle during the transfer process. Summary of the Invention

[0005] This application provides a vehicle control method, device, equipment, and readable storage medium, which improves vehicle safety during transportation to a certain extent. The technical solution is as follows:

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

[0007] Obtain the operating data corresponding to the vehicle, and the operating data is used to indicate the working status of each component in the vehicle;

[0008] The first transport control signal automatically generated and sent by the target component is received. The first transport control signal is used to control the vehicle to be in the transport control mode. The transport control mode is the mode in which the vehicle is transferred between different locations after the production test is completed.

[0009] If the operating data meets the transport requirements, the vehicle is controlled to be in the transport control mode based on the first transport control signal;

[0010] The transport control mode is used to control the second controller of the vehicle to be in a torque limiting mode. The torque limiting mode is used to control the output torque of the second controller to be less than a preset torque threshold in a power mode.

[0011] On the other hand, a vehicle control device is provided, the device comprising:

[0012] The acquisition module is used to acquire the operating data corresponding to the vehicle, and the operating data is used to indicate the working status of each component in the vehicle.

[0013] The receiving module is used to receive a first transport control signal automatically generated and sent by the target component. The first transport control signal is used to control the vehicle to be in the transport control mode. The transport control mode is the mode in which the vehicle is transferred between different locations after completing production testing.

[0014] The control module is used to control the vehicle to be in the barge control mode based on the first barge control signal when the operating data meets the barge requirements;

[0015] The transport control mode is used to control the second controller of the vehicle to be in a torque limiting mode. The torque limiting mode is used to control the output torque of the second controller to be less than a preset torque threshold in a power mode.

[0016] 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.

[0017] 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.

[0018] The beneficial effects of the technical solutions provided in this application include at least the following:

[0019] The first controller automatically sends a first transport control signal to the vehicle when it is in a transport scenario. The first controller determines whether the vehicle's operating data meets the transport requirements. If it does, the first controller puts the vehicle into transport control mode. This increases the coverage of application scenarios for determining transport scenarios, avoiding situations where the vehicle can only enter transport control mode when manually entering or entering a transport scenario for the first time. This, to a certain extent, ensures the lifespan of the vehicle's internal components and the safety of driving the vehicle when in a transport scenario. Attached Figure Description

[0020] 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.

[0021] Figure 1 This is a flowchart illustrating the vehicle control method provided in an embodiment of this application;

[0022] Figure 2 This is a flowchart of a vehicle control method provided in an exemplary embodiment of this application;

[0023] Figure 3 This is a flowchart corresponding to a method for determining the transport status of a vehicle by a target component, as provided in an exemplary embodiment of this application;

[0024] Figure 4 This is a flowchart of a vehicle control device provided in an exemplary embodiment of this application;

[0025] Figure 5 This is a flowchart of a vehicle control device provided in yet another exemplary embodiment of this application;

[0026] Figure 6 This is a structural block diagram of a computer device provided in an exemplary embodiment of this application. Detailed Implementation

[0027] 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. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0028] In this application, the terms "first" and "second" are used to distinguish between identical or similar items that have essentially the same function. It should be understood that there is no logical or temporal dependency between "first" and "second", nor is there any limitation on the quantity or execution order.

[0029] It should be noted that all information, data (including but not limited to data used for analysis, stored data, and displayed data) and signals involved in this application have been authorized by the user or by all parties in full, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the framework data involved in this application was obtained with full authorization.

[0030] First, the computer system of a vehicle control method provided in this application will be introduced.

[0031] Figure 1 A structural block diagram of a computer system 100 provided in an exemplary embodiment of this application is shown. The computer system 100 can implement a system architecture for a vehicle control method. The computer system 100 includes a vehicle 110.

[0032] Vehicle 110 includes at least one of the following: gasoline-powered vehicle, electric vehicle, hybrid vehicle, fuel cell vehicle, and solar-powered vehicle. A hybrid vehicle is a combination of a gasoline-powered vehicle and an electric vehicle. This application does not limit the specific type of vehicle.

[0033] The vehicle 110 is equipped with a vibration component and a display component. The number of vibration components / display components can be one or more, and this application embodiment does not limit this. The vibration component is a device in the vehicle used to generate vibration, and the vibration component can be a vibration motor installed in the steering wheel, seat, etc. The display component is a device in the vehicle used to display information, and the display component can be an instrument panel, a central control display screen, a HUD (Head-Up Display) screen, indicator lights, etc., and is not limited here.

[0034] In this embodiment of the application, the vehicle 110 includes a first controller 1100, a second controller 1101, and a target component 1102.

[0035] The first controller 1100 is an electronic control unit that controls the vehicle's electrical system, responsible for managing and controlling the vehicle's electrical equipment. Schematic, the first controller 1100 is implemented as a Body Control Module (BCM).

[0036] The second controller 1101 is used to control vehicle operation and is responsible for the distribution of vehicle power energy. Energy distribution includes unit-specific torque management, battery coordination management, charging management, and fault diagnosis. Schematic, the second controller 1101 is implemented as a vehicle control unit (VCU).

[0037] Target component 1102 refers to a component connected to the vehicle for transmitting transport control signals to control the vehicle 110 to be in transport control mode. Target component 1102 can be a component inside the vehicle 110 or implemented as a component outside the vehicle 110. This application does not limit it in this way.

[0038] The vehicle control method provided in this application embodiment is mainly executed by the first controller 1100 in the vehicle 110.

[0039] The first controller 1100 acquires the vehicle's operating data. It receives the first transport control signal automatically generated and sent by the target component 1102. If the first controller 1100 determines that the operating data meets the transport requirements, it controls the vehicle 110 to enter the transport control mode according to the first transport control signal.

[0040] In the barge transport control mode, the second controller 1101 is in the torque limiting mode, which means that the output torque of the second controller 1101 is less than a preset threshold.

[0041] It should be noted that after assembly, vehicle 110 has at least two operating modes. The operating states of the various components within vehicle 110 differ under each operating mode. These at least two operating modes include, but are not limited to, normal driving mode, transport control mode, factory mode, transportation mode, display vehicle mode, and reserved mode.

[0042] In summary, the vehicle control method provided in this application embodiment automatically sends a first transport control signal when the vehicle is in a transport scenario through a first controller of the target component. The first controller determines whether the vehicle's operating data meets the transport requirements. If it does, the first controller controls the vehicle to enter the transport control mode. This increases the coverage of application scenarios for determining the transport scenario, avoiding situations where the vehicle can only enter the transport control mode when manually entering or entering the transport scenario for the first time. This, to a certain extent, ensures the service life of the vehicle's internal components and the safety of driving the vehicle when it is in a transport scenario.

[0043] Secondly, the flow of the vehicle control method provided in the embodiments of this application will be described.

[0044] Based on the above introduction, Figure 2 This is a flowchart of a vehicle control method provided in an embodiment of this application, which is applied to, for example... Figure 1 Taking vehicle 110 as an example, the solution is explained in steps 200 to 220 below.

[0045] Step 200: Obtain the vehicle's corresponding operating data.

[0046] Vehicles, that is Figure 1 Vehicle 110. Operational data is used to indicate the operating status of various components within the vehicle.

[0047] Optionally, operational data includes vehicle status data, driving behavior data, environmental perception data, vehicle historical data, and network communication data.

[0048] The vehicle status data includes mechanical system data and electronic system data.

[0049] Mechanical system data reflects the operating status of a vehicle's mechanical systems, thereby ensuring vehicle performance and safety. Mechanical system data includes power controllers (such as the engine), throttle position, brake usage, transmission gear position, and so on.

[0050] Electronic system data includes various data generated by the vehicle's electronic control unit, including but not limited to vehicle stability control data, which are used to monitor the vehicle's electronic systems and diagnose faults.

[0051] In this embodiment of the application, the operating data includes mechanical system data, which includes the power switch activation status information of the vehicle and the gear setting information of the vehicle.

[0052] Enable status information is used to indicate the on / off state of the power switch, including the on and off states.

[0053] Gears are determined based on different gear ratios in the vehicle's transmission. Gear settings vary depending on the vehicle type.

[0054] When the vehicle type is Type 1, the vehicle gears include parking, reverse, neutral, and drive. Illustratively, Type 1 is implemented as a manual transmission vehicle.

[0055] When the vehicle type is Type II, the vehicle gears include Park, Reverse, Neutral, Drive, Sport, Low, and other special gears. This is illustrative; Type II is implemented as an automatic transmission vehicle.

[0056] Driving behavior data includes operating habit data and driving trajectory data.

[0057] The driving habit data is used to record the driver's acceleration, braking, steering and other driving habits. The first controller analyzes the driving behavior data to provide personalized services for the driver, such as recommending driving modes or providing safety reminders.

[0058] The driving trajectory data includes the vehicle's satellite positioning data, speed, and driving plan, which are used to describe the vehicle's movement trajectory. The first controller analyzes the driving trajectory data to formulate traffic flow analysis strategies, driving behavior strategies, and predict vehicle movement trajectories.

[0059] Vehicle historical data includes manufacturing and maintenance data as well as battery data.

[0060] Manufacturing and maintenance data (M&M data) is used to indicate manufacturing data recorded during the vehicle's production process, such as manufacturing time, production batch, and mileage. M&M data also indicates maintenance data during vehicle use, such as maintenance records and accident history.

[0061] Battery data includes information such as the vehicle's battery status (status of charge / discharge), battery temperature, and battery health.

[0062] Network communication data includes vehicle-to-everything (V2X) data and vehicle-road cooperative data.

[0063] Vehicle-to-everything (V2X) data refers to the data received (collected) when a vehicle communicates with other vehicles or vehicle servers. Examples include real-time vehicle monitoring information.

[0064] Vehicle-road cooperative data refers to communication data between vehicles and road infrastructure. Examples include road construction information, traffic congestion information, and traffic light information.

[0065] Step 210: Receive the first transport control signal automatically generated and sent by the target component.

[0066] The target component refers to the component connected to the vehicle used to transmit transport control signals that indicate the vehicle is in transport control mode. In other words, the target component is used to identify whether the vehicle is in a transport scenario.

[0067] The first transport control signal is used to control the vehicle to be in transport control mode. Transport control mode is the operating mode in which the vehicle is transferred between different locations after completing testing.

[0068] The connection between the target component and the vehicle can be achieved in at least one of the following ways:

[0069] (1) The target component is implemented as an internal component of the vehicle. The target component and the first controller complete signal transmission through a hardware connection line. Optionally, a hardware interface is configured between the target component and the first controller, through which the first controller receives the first transport control signal sent by the target component.

[0070] (2) The target component is implemented as an external component of the vehicle. The target component is connected to the vehicle via a wired or wireless connection. When the target component is connected to the vehicle wirelessly, the first controller receives the first transport control signal sent by the target component through a network interface. When the target component is connected to the vehicle via a wired connection, the wired hardware interface connecting the target component and the vehicle is determined, and the first controller receives the first transport control signal sent by the target component through the wired hardware interface.

[0071] Based on the above, in one optional embodiment, the association relationship between the target component and the vehicle is determined. The association relationship refers to the connection method between the target component and the vehicle.

[0072] When the association indicates that the target component is an internal component of the vehicle, the hardware interface between the target component and the first controller is determined; the first controller receives the first transport control signal through the hardware interface.

[0073] If the association indicates that the target component is an external component of the vehicle, the network interface between the target component and the first controller is determined; the first controller receives the first transport control signal through the network interface.

[0074] The specific process by which the first controller receives the first transport control signal sent by the target component can be implemented as follows: Any one of the following formulas:

[0075] (1) The target component and the first controller communicate via messages.

[0076] The system receives a first target message automatically sent by the target component according to a preset period. This first target message corresponds to a transshipment control mode. Based on the first target message, a first transshipment control signal is generated. Illustratively, after receiving the first target message, the transshipment control mode indicated in the first target message is determined, and then a first transshipment control signal corresponding to that mode is generated.

[0077] In an optional embodiment, the first controller pre-stores a preset mode lookup table. The preset mode lookup table is used to record the correspondence between message information and the vehicle's operating mode.

[0078] The vehicle's operating modes include at least one of the following: normal driving mode, transport control mode, factory mode, transportation mode, display mode, and reserved mode. Different operating modes correspond to different message information. A table of preset modes is provided in Table 1 below.

[0079] Table 1

[0080]

[0081]

[0082] Determine the target operating mode corresponding to the first target message information from the preset mode lookup table.

[0083] When the target operating mode indicates that the vehicle's operating mode is the transport control mode, a first transport control signal is generated.

[0084] Optionally, the message includes a header address and message content. The above Table 1 is processed to obtain a pre-defined pattern comparison table, as detailed in Table 2 below.

[0085] Table 2

[0086] Work mode Message Information Normal driving mode Message 1 (F100, 0x00) Barge transport control mode Message 2 (F100, 0x02) Factory Pattern Message 3 (F100, 0x01) Transportation mode Message 4 (F100, 0x03) Exhibition vehicle mode Message 5 (F100, 0x04) Reserved mode Message 6 (F100, 0x05-0xFF)

[0087] (2) The target component and the first controller communicate through instruction writing.

[0088] When the target component determines that the vehicle is in a transport scenario, it determines the corresponding transport instruction for the vehicle's transport control mode and writes the transport instruction directly into the vehicle's register. Based on this transport instruction, the first controller controls the vehicle to enter the transport control mode. The transport instruction is pre-set by relevant personnel.

[0089] The details of how the target determines that the vehicle is in a transshipment scenario can be found in the following embodiments, which will not be elaborated here.

[0090] Step 220: If the operating data meets the transshipment requirements, control the vehicle to be in transshipment control mode based on the first transshipment control signal.

[0091] The first controller determines whether the operating data matches the transshipment requirements. If the operating data matches the transshipment requirements, it controls the vehicle to be in transshipment control mode based on the first transshipment control signal.

[0092] In this embodiment of the application, the operating data includes the power switch activation status information, the vehicle gear setting information, and the vehicle speed.

[0093] When the power switch is in the on state and the gear is in the preset gear (e.g., parking gear) and the driving speed is less than the preset speed threshold (e.g., 3 kph), the vehicle is controlled to enter the transport control mode based on the first transport control signal.

[0094] The transport control mode is used to control the vehicle's second controller to be in torque-limiting mode. In torque-limiting mode,

[0095] The output torque of the second controller is less than the preset torque threshold. In other words, the torque limiting mode is used to control the power mode in which the output torque of the second controller is less than the preset torque threshold.

[0096] In another alternative embodiment, the first controller is an electronic control unit that controls the vehicle's electrical system. For example, the first controller is implemented as a body control module (BCM).

[0097] In the barge control mode, the first controller sends barge control commands to the second and third controllers.

[0098] The second controller is used to control vehicle operation and is responsible for the distribution of vehicle power. For example, the second controller is implemented as a VCU.

[0099] The third controller is used to control the usage status of the vehicle's entertainment and functional systems. For example, the third controller can be implemented as a function controller or an In-Vehicle Infotainment Unit (IHU). Function controllers include seat controllers, air conditioning controllers, audio controllers, and window controllers. The IHU integrates functions such as navigation, music, video, voice recognition, telephone, and information interaction.

[0100] After receiving the transport control command, the second controller controls the input torque of the second controller to be less than the preset torque threshold.

[0101] After receiving the transport control command, the third controller controls the seat controller to turn off the heating, ventilation, and massage functions, as well as the air conditioning controller to turn off the air conditioning and prevent it from starting, the vehicle window controller to close the vehicle window and prevent it from opening, the first controller to prevent the steering wheel heating function from being turned on, and the audio controller to prevent the audio playback function from being started.

[0102] In another optional embodiment, after receiving the shuttle control command, the third controller displays a first prompt message on the central control screen in the vehicle's windshield. The first prompt message is used to indicate that the vehicle is currently in shuttle control mode. The first prompt message can be any one of text, image, video, or audio information, or a combination of the above implementations; this application does not limit its implementation in this regard.

[0103] In another optional embodiment, after receiving the transport control command, the third controller sets the maximum driving speed of the vehicle. For example, the maximum driving speed is 50 kph. That is, in the transport control mode, the maximum driving speed of the vehicle is 50 kph. If the maximum driving speed of the vehicle exceeds 50 kph, the third controller sends a second prompt message to the first controller. The second prompt message is used to indicate that the vehicle is speeding. The second prompt message can be any one of text, image, video, or audio information, or a combination of the above implementations; this application does not limit this.

[0104] In the barge transport control mode, the maximum vehicle speed is 50 kph. If the maximum vehicle speed exceeds 50 kph, the third controller sends a deceleration command to the first controller, which then automatically reduces the vehicle speed to below 50 kph based on the deceleration command.

[0105] In another alternative embodiment, the vehicle is equipped with a head-up display (HUD). The HUD is a function that projects vehicle information into the driver's field of vision. Vehicle information includes, but is not limited to, vehicle speed, navigation instructions, and the status of driver assistance systems.

[0106] After receiving the transport control command, the third controller disables and prohibits the head-up display (HUD) function from being activated. In other words, the HUD function is prohibited in transport control mode. If the driver activates the HUD function while the vehicle is in transport control mode, the third controller sends a disable command to the first controller. Upon receiving the disable command, the first controller displays a third prompt message on the vehicle's central control screen, indicating that the HUD function is prohibited, such as "HUD function is currently disabled!". The first prompt message can be any of the following: text, image, video, or audio information, or a combination of these methods; this application does not limit its implementation.

[0107] In an optional embodiment, a power switch shutdown command is received, which means turning off the vehicle's power supply. Illustratively, when the power is off, the vehicle's power controller (e.g., engine, combustion engine, etc.), the vehicle's internal circuitry, and equipment are all de-energized.

[0108] The system acquires the vehicle's current operating mode and stores it as the operating mode for the next time the vehicle is powered on. For example, if the vehicle is currently in transport control mode, the first controller stores this mode and, upon powering up again after a power outage, directly controls the vehicle to return to transport control mode. If the vehicle is currently in normal driving mode, the first controller stores this mode and, upon powering up again after a power outage, directly controls the vehicle to return to normal driving mode.

[0109] In another optional embodiment, the activation status of the transport control mode is obtained, which indicates whether the vehicle is in the transport control mode. The activation status includes an on state and a off state, where the on state indicates that the vehicle is currently in the transport control mode, and the off state indicates that it is not in the transport control mode.

[0110] When the enabled status indicates that the vehicle is in the transport control mode, a second transport control signal sent by the target component is received. The second transport control signal is used to control the vehicle to exit the transport control mode.

[0111] The first controller, based on the second transport control signal, controls the vehicle to exit the transport control mode and switch to normal driving mode.

[0112] The specific process of the first controller receiving the second transport control signal sent by the target component can be found in step 210 above, and will not be repeated here.

[0113] In this embodiment, the target component automatically sends a first transport control signal to the first controller when the vehicle is in a transport scenario. The first controller determines whether the vehicle's operating data meets the transport requirements. If it does, the first controller controls the vehicle to enter the transport control mode. This increases the coverage of application scenarios for determining transport scenarios, avoiding situations where the vehicle can only enter the transport control mode when manually entering or entering the transport scenario for the first time. This, to a certain extent, ensures the service life of the vehicle's internal components and the safety of driving the vehicle when it is in a transport scenario.

[0114] The following embodiments detail how the target component determines that the vehicle is in a transport scenario. Please refer to... Figure 3 , Figure 3 A flowchart corresponding to the method for determining a vehicle transport scenario by the target component according to an embodiment of this application is shown. It should be noted that the target component is the executing entity of this method.

[0115] Step 300: The target component determines the vehicle's working scenario.

[0116] The specific determination method can be implemented in any of the following ways:

[0117] The first method involves determining the vehicle's transport status through communication with specific devices.

[0118] Specifically, "specific equipment" refers to equipment deployed along the vehicle transfer and transportation line. During the transfer of vehicles between different locations, specific equipment is deployed between the first and second locations to monitor the vehicle's status. This specific equipment is configured with the same equipment type; that is, the equipment type of the specific equipment is a target-specific type.

[0119] Identify the external devices that establish a communication connection with the target component.

[0120] Identify the device type of the external device. When the device type of the external device indicates that the device type of the external device is a target-specific type, the external device is identified as the specific device.

[0121] In this situation, it means the vehicle is on a transit transport line. At this point, the target component determines that the vehicle is in a transshipment scenario.

[0122] The target component generates a first transport control signal and sends the first transport control signal to the vehicle's first controller.

[0123] The second method involves determining the vehicle's transport status based on voice control commands.

[0124] The target component includes an audio acquisition module. This module collects audio information and converts it into text content.

[0125] When preset text appears in the text content, it confirms that the target component has received a voice transport command. The voice transport command is used to indicate that the vehicle is in a transport scenario. The preset text is illustrative and is set in advance by relevant personnel; the preset text is "Start Transport Mode".

[0126] Based on the voice transport command, a first transport control signal is generated and sent to the vehicle's first controller.

[0127] The third method is to determine the vehicle's transport status based on the vehicle's environmental information.

[0128] The target component includes an image acquisition module.

[0129] The image acquisition module acquires images of the vehicle's external environment, which refers to information about the external environment in which the vehicle is located.

[0130] Image processing techniques are used to identify scene content contained in external environment images.

[0131] If the scene content matches the preset transshipment scene, the vehicle is determined to be in transshipment status.

[0132] A first transport control signal is generated and sent to the vehicle's first controller.

[0133] This is an illustration of edge detection performed on an external environment image to extract edge information from the external environment image.

[0134] Calculate the geometric features corresponding to the target image region selected by the edge information. These geometric features include the area, perimeter, shape factor, etc. of the target image region.

[0135] The extracted geometric features are matched with a preset transport scenario to determine whether the vehicle is in the transport scenario.

[0136] The preset transshipment scenarios include factory scenarios and ocean scenarios.

[0137] In another optional embodiment, a deep learning method is used to identify whether an external environment image contains a preset barge transport scenario. This method includes the following steps. The following steps are illustrated using a marine scenario as an example; the implementation process for a factory scenario is the same as for a marine scenario.

[0138] S1, Data Preparation Stage.

[0139] Acquire ocean remote sensing image data, which includes training datasets, validation datasets, and test datasets.

[0140] Preprocessing is performed on marine remote sensing image data to obtain target marine remote sensing image data. The preprocessing process includes, but is not limited to, at least one of grayscale detection, edge detection, etc.

[0141] S2, Model Building.

[0142] Construct an initial model for scene recognition based on multiple branches. The initial model includes modules such as convolutional neural network layers.

[0143] S3, Model Training.

[0144] Obtain the preprocessed target training dataset and validation dataset. The target training dataset and validation dataset contain the same image content, while the validation dataset is the target training dataset labeled with scene categories.

[0145] The first image from the target training dataset is input into the initial model to obtain a second image labeled with scene categories. Image features are extracted from the first image using the initial model, and the degree of association between the image features and at least one scene category is identified to obtain at least one association degree. The scene category corresponding to the highest value among the at least one association degree is determined as the scene category of the first image, and the second image is obtained based on the first image and its scene category. The at least one scene category includes, but is not limited to, ocean scenes, factory scenes, road scenes, mountain scenes, etc.

[0146] The target loss is determined based on the difference between the second image and the third image in the target training set. The model parameters of the initial model are adjusted based on the target loss. Through multiple iterations of training, the model parameters of the initial model are continuously adjusted until the calculated target loss is less than the preset loss value, or the training count reaches the preset number, at which point training stops.

[0147] The trained initial model is designated as the scene category recognition model.

[0148] S4, Model Application.

[0149] The external environment image is input into the scene category recognition model to obtain the scene category corresponding to the external environment image.

[0150] When the scene category indicates that the external environment image is a marine scene, the target component generates a first transport control signal and sends the first transport control signal to the vehicle's first controller.

[0151] The third method is to determine the vehicle's transport status based on the vehicle's parameters.

[0152] Among them, vehicle parameters include the vehicle's first location information.

[0153] The target component obtains the vehicle's initial location information.

[0154] If the first location information meets the preset location requirements, the vehicle is determined to be in a transport state. The target component generates a first transport control signal and sends the first transport control signal to the vehicle's first controller.

[0155] The preset location requirement refers to the vehicle's location being within a preset area of ​​the transfer point. The transfer point is marked in advance.

[0156] The fourth method is to determine the vehicle's transshipment status based on its unsealed condition.

[0157] The "open status" refers to whether the vehicle has been used. Open status includes both "inactive" and "activated." "Inactive" means the vehicle has never been used, while "activated" means the vehicle has been used.

[0158] The target component obtains the vehicle's electronic registration information through the first controller. This electronic registration information indicates relevant information registered after the vehicle was put into use, including the vehicle's registration date, maintenance records, and accident history. In other words, the first controller sends the vehicle's electronic registration information to the target component.

[0159] When the electronic registration information indicates that the vehicle's unlocked status is inactive, the first controller sends the vehicle's transportation plan to the target component. That is, it acquires the vehicle's transportation plan, which refers to the route planning for the vehicle's transfer between different target locations.

[0160] Optionally, the transportation plan includes at least two destinations. These at least two destinations include an initial destination and a final destination. The initial destination is the starting point of the vehicle's transit process, i.e., the first location in the transportation plan. The final destination is the ending point of the vehicle's transit process, i.e., the last location in the transportation plan.

[0161] The second location information of the vehicle is obtained. When the second location information matches the initial target location, it is determined that the vehicle has a transfer requirement and is in a transfer state. The target component generates a first transfer control signal and sends the first transfer control signal to the vehicle's first controller.

[0162] If the second location information does not match any of the at least two target locations, it is determined that the vehicle may be in a transfer process. Upon determining that the vehicle is in a transfer state, the target component generates a first transfer control signal and sends it to the vehicle's first controller.

[0163] When the second location information matches the termination target location, it is determined from the transportation plan whether there is a transportation sub-plan originating from the termination target location. If no transportation sub-plan originating from the termination target location exists in the transportation plan, it is determined that the vehicle has completed the transfer. If a transportation sub-plan originating from the termination target location exists in the transportation plan, it is determined that the vehicle has a transfer requirement (i.e., a transshipment requirement), the target component generates a first transshipment control signal, and sends the first transshipment control signal to the vehicle's first controller.

[0164] In an optional embodiment, taking the fourth implementation as an example, the first controller is described as the executing entity, sending the vehicle's electronic registration information to the target component. If the electronic registration information indicates that the vehicle's unlocked status is inactive, a transportation plan for the vehicle is sent to the target component. When the target component determines that the vehicle's second location information matches at least two target locations included in the transportation plan, it receives a first transshipment control signal sent by the target component.

[0165] Schematic illustration: When the target component determines that the second location information matches the initial target location, it receives the first transfer control signal sent by the target component. When the target component determines that the second location information does not match any of the at least two target locations, it receives the first transfer control signal sent by the target component. When the target component determines that the second location information matches the termination target location and there is a sub-transfer plan in the transportation plan that starts from the termination target location, it receives the first transfer control signal sent by the target component.

[0166] It should be noted that in this embodiment, the process of the target component acquiring information is all initiated by the first controller sending information to the target component.

[0167] In this embodiment, the target component automatically sends a first transport control signal to the first controller when the vehicle is in a transport scenario. The first controller determines whether the vehicle's operating data meets the transport requirements. If it does, the first controller controls the vehicle to enter the transport control mode. This increases the coverage of application scenarios for determining transport scenarios, avoiding situations where the vehicle can only enter the transport control mode when manually entering or entering the transport scenario for the first time. This, to a certain extent, ensures the service life of the vehicle's internal components and the safety of driving the vehicle when it is in a transport scenario.

[0168] In this embodiment of the application, the target component is implemented as a diagnostic instrument or an electrical testing device as an example for illustration. Please refer to the following content for details.

[0169] In one optional embodiment, the diagnostic tool is implemented as a device that connects externally to the vehicle for detecting, diagnosing, and repairing faults in the vehicle's electronic systems. The diagnostic tool communicates with the vehicle's electronic control unit, reads the vehicle's operating data and fault codes, and helps relevant personnel quickly locate and repair problems.

[0170] Electrical testing equipment is installed inside vehicles to conduct comprehensive testing and diagnosis of the vehicle's electrical system, ensuring the safety of the vehicle's electrical performance.

[0171] Optionally, the vehicle receives a transport control signal via a diagnostic tool and electrical testing equipment to control the vehicle to be in transport control mode.

[0172] Indicatively, the diagnostic tool sends a transport control signal to the vehicle to enter transport control mode. Alternatively, the diagnostic tool sends a transport control signal to the vehicle to enter transport control mode. The electrical testing equipment or diagnostic tool sends the message information corresponding to the transport control mode to the vehicle's first controller via a preset designated address. The first controller controls the vehicle to enter transport control mode. The first controller periodically sends the message information corresponding to the transport control mode to the second and third controllers via the preset designated address. The second controller controls the vehicle to limit torque to control the vehicle's power output and close functions such as the sunroof.

[0173] Determine the vehicle's operating data, including the vehicle's power setting, gear, and speed.

[0174] If the vehicle's operating data meets the requirements for transshipment, the vehicle is controlled to enter transshipment control mode. For example, if the vehicle's power is on, the gear is in Park (P), and the vehicle's speed is below 3 kph, then the vehicle's operating data meets the transshipment requirements.

[0175] When the vehicle enters the transport control mode, the vehicle speed must not exceed 50 kph, the sunroof function (the sunroof refers to the glass screen located on the roof of the vehicle) must be closed, and the head-up display function must be turned off.

[0176] In the vehicle's transport control mode, if a power-down operation is received (power-down operation means turning the vehicle off), all current vehicle settings are saved and stored. The next time the vehicle receives a power-on operation, the vehicle's mode and function before the power-down are read, and the current vehicle mode and function are set to the saved mode and function.

[0177] In this embodiment, the target component automatically sends a first transport control signal to the first controller when the vehicle is in a transport scenario. The first controller determines whether the vehicle's operating data meets the transport requirements. If it does, the first controller controls the vehicle to enter the transport control mode. This increases the coverage of application scenarios for determining transport scenarios, avoiding situations where the vehicle can only enter the transport control mode when manually entering or entering the transport scenario for the first time. This, to a certain extent, ensures the service life of the vehicle's internal components and the safety of driving the vehicle when it is in a transport scenario.

[0178] 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.

[0179] The acquisition module 400 is used to acquire the operating data corresponding to the vehicle, and the operating data is used to indicate the working status of each component in the vehicle.

[0180] The receiving module 401 is used to receive a first transport control signal automatically generated and sent by the target component. The first transport control signal is used to control the vehicle to be in the transport control mode. The transport control mode is the mode in which the vehicle is transferred between different locations after completing production testing.

[0181] Control module 402 is used to control the vehicle to be in the transport control mode based on the first transport control signal when the operating data meets the transport requirements;

[0182] The transport control mode is used to control the second controller of the vehicle to be in a torque limiting mode. The torque limiting mode is used to control the output torque of the second controller to be less than a preset torque threshold in a power mode.

[0183] In an optional embodiment, such as Figure 5 As shown, the receiving module 401 is used to receive the first target message information automatically sent by the target component according to a preset period, and the first target message information corresponds to the transshipment control mode;

[0184] The generation module 403 is used to generate the first transshipment control signal based on the first target message information.

[0185] In an optional embodiment, such as Figure 5 As shown, the first controller stores a preset mode lookup table, which is used to record the correspondence between message information and the vehicle's operating mode;

[0186] The acquisition module 400 is used to determine the target working mode corresponding to the first target message information from the preset mode lookup table;

[0187] The generation module 403 is used to generate the first barge control signal when the target working mode indicates that the working mode of the vehicle is the barge control mode.

[0188] In an optional embodiment, such as Figure 5 As shown, the acquisition module 400 is used to determine the association between the target component and the vehicle;

[0189] The acquisition module 400 is configured to, when the association indicates that the target component is an internal component of the vehicle, determine the hardware interface between the target component and the first controller; and receive the first transport control signal through the hardware interface.

[0190] The acquisition module 400 is configured to determine the network interface between the target component and the first controller when the association indicates that the target component is an external component of the vehicle; and to receive the first transport control signal through the network interface.

[0191] In an optional embodiment, such as Figure 5 As shown, the acquisition module 400 is used to acquire the activation status of the barge transport control mode, and the activation status is used to indicate whether the vehicle is in the barge transport control mode.

[0192] The receiving module 401 is configured to receive a second transport control signal sent by the target component when the start-up state indicates that the vehicle is in the transport control mode. The second transport control signal is used to control the vehicle to exit the transport control mode.

[0193] The control module 402 is used to control the vehicle to exit the barge control mode based on the second barge control signal.

[0194] In an optional embodiment, such as Figure 5 As shown, the operating data includes the power switch activation status information of the vehicle, the gear setting information of the vehicle, and the driving speed of the vehicle. The gear is determined based on different gear ratios in the transmission within the vehicle.

[0195] The acquisition module 400 is used to determine that the operating data meets the transport requirements when the activation status information indicates that the power switch is on, the gear is in a preset gear, and the driving speed is less than a preset speed threshold.

[0196] In an optional embodiment, such as Figure 5 As shown, the sending module 404 is used to send the electronic registration information of the vehicle to the target component, the electronic registration information being used to indicate the relevant information of the vehicle after it is used;

[0197] The sending module 404 is used to send the vehicle's transportation plan to the target component when the electronic registration information indicates that the vehicle's opening status is not enabled. The transportation plan refers to the route planning of the vehicle's transfer between different target locations.

[0198] The receiving module 401 is used to receive the first transshipment control signal sent by the target component when the target component determines that the second location information of the vehicle matches at least two target locations included in the transportation plan.

[0199] In the apparatus provided in this application embodiment, the target component automatically sends a first transport control signal to the first controller when the vehicle is in a transport scenario. The first controller determines whether the vehicle's operating data meets the transport requirements. If it does, the first controller controls the vehicle to enter the transport control mode. This increases the coverage of application scenarios for determining transport scenarios, avoiding situations where the vehicle can only enter the transport control mode when manually entering or entering the transport scenario for the first time. This, to a certain extent, ensures the service life of the vehicle's internal components and the safety of driving the vehicle when it is in a transport scenario.

[0200] 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.

[0201] Figure 6This illustration shows a structural block diagram of a computer device 600 provided in an exemplary embodiment of this application. The computer device 600 can be a portable mobile terminal, such as a smartphone, tablet computer, MP3 player (Moving Picture Experts Group Audio Layer III), MP4 player (Moving Picture Experts Group Audio Layer IV), laptop computer, or desktop computer. The computer device 600 may also be referred to as a user device, portable terminal, laptop terminal, desktop terminal, or other names. Optionally, the computer device 600 can also be implemented as a mobile device, such as a vehicle-mounted terminal or other portable smart terminal.

[0202] Typically, computer device 600 includes a processor 601 and a memory 602.

[0203] 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.

[0204] 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.

[0205] 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.

[0206] Peripheral interface 603 can be used to connect at least one I / O (Input / Output) related peripheral device to processor 601 and memory 602. In some embodiments, processor 601, memory 602 and peripheral interface 603 are integrated on the same chip or circuit board; in some other embodiments, any one or two of processor 601, memory 602 and peripheral interface 603 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0207] The radio frequency (RF) circuit 604 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 604 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 604 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Optionally, the RF circuit 604 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The RF circuit 604 can communicate with other terminals through at least one wireless communication protocol. This wireless communication protocol includes, but is not limited to: the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit 604 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0208] Display screen 605 is used to display a UI (User Interface). This UI may include graphics, text, icons, videos, 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. In some embodiments, there may be one display screen 605, disposed on the front panel of computer device 600; in other embodiments, there may be at least two display screens, disposed on different surfaces of computer device 600 or in a folded design; in still other embodiments, display screen 605 may be a flexible display screen, disposed on a curved or folded surface of computer device 600. Furthermore, display screen 605 may be configured as a non-rectangular irregular shape, i.e., a non-rectangular screen. Display screen 605 may be made of materials such as LCD (Liquid Crystal Display) or OLED (Organic Light-Emitting Diode).

[0209] The camera assembly 606 is used to acquire 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. In some embodiments, there are at least two rear-facing cameras, which are any one of a main camera, a depth-sensing camera, a wide-angle camera, and a telephoto camera, to achieve background blurring by fusion of the main camera and the depth-sensing camera, panoramic shooting by fusion of the main camera and the wide-angle camera, VR (Virtual Reality) shooting, or other fusion shooting functions. In some embodiments, the camera assembly 606 may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cool light flash, which can be used for light compensation at different color temperatures.

[0210] 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, converting them into electrical signals that are input to the processor 601 for processing, or to the radio frequency circuit 604 for voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, each positioned at a different location within the computer device 600. The microphone may also be an array microphone or an omnidirectional microphone. The speaker is used to convert electrical signals from the processor 601 or the radio frequency circuit 604 into sound waves. The speaker may be a conventional diaphragm speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement. In some embodiments, the audio circuit 607 may also include a headphone jack.

[0211] The positioning component 615 is used to calculate the current geographic location of the device 600 in order to enable navigation or LBS (Location Based Service). The positioning component 615 can be a positioning component based on the US GPS (Global Positioning System) or the Chinese BeiDou system.

[0212] Power supply 608 is used to supply power to the various components in computer device 600. Power supply 608 can be alternating current, direct current, a disposable battery, or a rechargeable battery. When power supply 608 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery that is charged via a wired line, while a wireless rechargeable battery is a battery that is charged via a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0213] 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.

[0214] 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.

[0215] 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 acquire the user's 3D movements on the computer device 600. Based on the data acquired by the gyroscope sensor 611, the processor 601 can perform the following functions: motion sensing (e.g., changing the UI based on the user's tilt), image stabilization during shooting, game control, and inertial navigation.

[0216] 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.

[0217] An optical sensor 613 is used to collect ambient light intensity. In one embodiment, the processor 601 can control the display brightness of the display screen 605 based on the ambient light intensity collected by the optical sensor 613. For example, when the ambient light intensity is high, the display brightness of the display screen 605 is increased; when the ambient light intensity is low, the display brightness of the display screen 605 is decreased. In another embodiment, the processor 601 can also dynamically adjust the shooting parameters of the camera assembly 606 based on the ambient light intensity collected by the optical sensor 613.

[0218] 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.

[0219] Those skilled in the art will understand that Figure 6 The structure shown does not constitute a limitation on the computer device 600, and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0220] 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.

[0221] 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.

[0222] 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.

[0223] The above description is merely an optional 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, executed by a first controller within the vehicle, includes: The vehicle's operating data is obtained. The operating data is used to indicate the working status of each component in the vehicle. The operating data includes the power switch activation status information of the vehicle, the gear setting information of the vehicle, and the vehicle's driving speed. Send the vehicle's electronic registration information to the target component. The electronic registration information is used to indicate the relevant information logged in after the vehicle is used. If the electronic registration information indicates that the vehicle's unlocked status is inactive, send the vehicle's transportation plan to the target component. The transportation plan refers to the route planning for the vehicle to be transferred between at least two target locations. The first controller receives the first target message information automatically sent by the target component according to a preset period. The first controller stores a preset mode lookup table and determines the transport control mode corresponding to the first target message information from the preset mode lookup table, thereby generating a first transport control signal. When the target component determines that the second location information of the vehicle matches the at least two target locations included in the transportation plan, it receives the first transshipment control signal sent by the target component. The first transshipment control signal is used to control the vehicle to be in a transshipment control mode, which is the mode in which the vehicle is transferred between different locations after completing production testing. The target component determines the vehicle to be in a transshipment scenario by at least one of the following methods: determining the vehicle's transshipment status through communication with a specific device, where the specific device refers to equipment configured on the vehicle's transshipment line; determining the vehicle's transshipment status based on the vehicle's environmental information, acquiring an image of the vehicle's external environment through an image acquisition module, and using image processing technology to identify the scene content contained in the external environment image; or determining the vehicle's transshipment status based on the vehicle's vehicle parameters, where the vehicle parameters include the vehicle's first location information. In response to the activation status information indicating that the power switch is in the on state, the gear is in P gear, and the driving speed is less than a preset speed threshold, based on the first transport control signal, the vehicle is controlled to be in the transport control mode. The transport control mode is used to control the second controller of the vehicle to be in the torque limiting mode. The torque limiting mode is used to control the output torque of the second controller to be less than a preset torque threshold in the power mode. In response to the vehicle being in the transport control mode, a power-down operation is received for the vehicle, and the current settings of the vehicle are stored; when the vehicle receives a power-on operation again, the settings stored before the vehicle was powered down are read and applied.

2. The method according to claim 1, characterized in that, The first target message information corresponds to the barge control mode.

3. The method according to claim 2, characterized in that, The generation of the first barge control signal includes: Determine the target operating mode corresponding to the first target message information from the preset mode lookup table; When the target operating mode indicates that the vehicle's operating mode is the transport control mode, the first transport control signal is generated.

4. The method according to any one of claims 1 to 3, characterized in that, Receiving the first transport control signal sent by the target component includes: Determine the association between the target component and the vehicle; If the association indicates that the target component is an internal component of the vehicle, determine the hardware interface between the target component and the first controller; and receive the first transport control signal through the hardware interface. If the association indicates that the target component is an external component of the vehicle, determine the network interface between the target component and the first controller; and receive the first transport control signal through the network interface.

5. The method according to any one of claims 1 to 3, characterized in that, The method further includes: Obtain the activation status of the barge transport control mode, the activation status being used to indicate whether the vehicle is in the barge transport control mode; When the start-up state indicates that the vehicle is in the transport control mode, a second transport control signal sent by the target component is received. The second transport control signal is used to control the vehicle to exit the transport control mode. Based on the second transport control signal, the vehicle is controlled to exit the transport control mode.

6. A vehicle control device, characterized in that, The device further includes: The acquisition module is used to acquire the operating data corresponding to the vehicle. The operating data is used to indicate the working status of each component in the vehicle. The operating data includes the power switch activation status information of the vehicle, the gear setting information of the vehicle, and the driving speed of the vehicle. The receiving module is configured to send the vehicle's electronic registration information to the target component, the electronic registration information indicating the vehicle's login information after it is used; when the electronic registration information indicates that the vehicle's unlocked status is inactive, it sends the vehicle's transportation plan to the target component, the transportation plan referring to the route planning of the vehicle's transfer between at least two target locations; receive first target message information automatically sent by the target component according to a preset period, the first controller storing a preset mode lookup table, determining the transshipment control mode corresponding to the first target message information from the preset mode lookup table, and then generating a first transshipment control signal; and when the target component determines that the vehicle's second location information matches the at least two targets included in the transportation plan... During location matching, the first transport control signal sent by the target component is received. This first transport control signal controls the vehicle to be in a transport control mode, which is the mode the vehicle is in when it is transferred between different locations after completing production testing. The target component determines the vehicle's transport status in at least one of the following ways: determining the vehicle's transport status through communication with a specific device, where the specific device refers to equipment configured on the vehicle's transfer transport line; determining the vehicle's transport status based on the vehicle's environmental information, acquiring external environmental images of the vehicle through an image acquisition module, and using image processing technology to identify scene content contained in the external environmental images; or determining the vehicle's transport status based on vehicle parameters, where the vehicle parameters include the vehicle's first location information. The control module is configured to respond to the activation status information indicating that the power switch is in the on state, the gear is in P gear, and the driving speed is less than a preset speed threshold, and based on the first transport control signal, control the vehicle to be in the transport control mode, the transport control mode is configured to control the second controller of the vehicle to be in the torque limiting mode, the torque limiting mode is configured to control the output torque of the second controller to be less than a preset torque threshold in the power mode. A module for responding to the vehicle being in the transport control mode, receiving a power-down operation on the vehicle, storing the current settings of the vehicle, and then reading and applying the settings stored before the vehicle was powered down when the vehicle receives a power-on operation again.

7. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing at least one program, which is loaded and executed by the processor to implement the vehicle control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The storage medium stores at least one program, which is loaded and executed by a processor to implement the vehicle control method as described in any one of claims 1 to 5.

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