Vehicle control method, server, vehicle and storage medium

Abstract

The invention provides a vehicle control method, a server, a vehicle and a storage medium, and the vehicle control method comprises the steps that after the server receives callable information of a first vehicle and first vehicle information, the server can call the first vehicle provided with an automatic driving system which at least can autonomously control the vehicle to run. After the server receives first request information, requesting to stop moving, of a second vehicle in a preset state, the server responds to the first request information, determines a vehicle stopping strategy according to the first vehicle information and the second vehicle information, and then determines the first vehicle as a target vehicle according to the vehicle stopping strategy and the first vehicle information. And the second request information is sent to the target vehicle, and after the target vehicle responds to the second request information, the resistance is applied to the second vehicle according to the vehicle stopping strategy, so that the second vehicle stops moving, and potential safety hazards to other pedestrians or vehicles are reduced.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of vehicle control, and in particular, to a vehicle control method, a server, a vehicle, and a storage medium. Background Art

[0002] When a traveling vehicle is in a preset state, such as an out-of-control state, a driver may control the out-of-control vehicle to ram roadside facilities such as a buffer zone or a roadside railing to force the vehicle to stop moving. During the process of the out-of-control vehicle ramming roadside facilities such as a buffer zone or a roadside railing, it will pose a safety hazard to pedestrians or other vehicles. Summary of the Invention

[0003] In view of this, a vehicle control method, a server, a vehicle, and a storage medium of the present application can reduce the safety hazards caused by vehicles in a preset state.

[0004] In the first aspect of the present application, a vehicle control method is provided. After the server receives the callable information and the first vehicle information of the first vehicle, the server can call the first vehicle equipped with an autonomous driving system that can at least autonomously control the vehicle to travel. After the server receives the first request information for the second vehicle in the preset state to stop moving, in response to the first request information, the server determines a vehicle stop strategy according to the first vehicle information and the second vehicle information. Then, according to the vehicle stop strategy and the first vehicle information, the first vehicle is determined as the target vehicle, and a second request information is sent to the target vehicle. After the target vehicle responds to the second request information, it applies a resistance to the second vehicle according to the vehicle stop strategy to make the second vehicle stop moving.

[0005] It can be understood that the determination of the vehicle stop strategy takes into account the first vehicle information and the second vehicle information, making the formulation of the vehicle stop strategy more accurate. The target vehicle equipped with an autonomous driving system that can at least autonomously control the vehicle to travel can apply a resistance to the second vehicle in the preset state more accurately according to the vehicle stop strategy, reducing the safety hazards to other pedestrians or vehicles.

[0006] In some embodiments of the first aspect, the number of target vehicles is multiple, and among them, the multiple target vehicles are at least one first vehicle determined from multiple first vehicles according to the vehicle stop strategy and the first vehicle information.

[0007] In some embodiments of the first aspect, after the first vehicle is determined as the target vehicle according to the vehicle stop strategy, the server sends a third request information to enable the target vehicle to send vehicle control authority information. The server receives the vehicle control authority information of the vehicle sent by the target vehicle, and directly controls the target vehicle to apply a resistance to the second vehicle according to the vehicle stop strategy based on the control authority information to make the second vehicle stop moving.

[0008] In some embodiments of the first aspect, a vehicle stopping strategy is determined based on first vehicle information and second vehicle information, including: determining a predicted driving trajectory and / or a predicted speed of the vehicle stopping strategy according to the first vehicle information and the in-vehicle personnel information and / or the degree of vehicle out-of-control of the second vehicle in the second vehicle information.

[0009] A vehicle control method is provided in the second aspect of the present application. The vehicle control method is applied to a first vehicle equipped with an autonomous driving system that can at least autonomously control the vehicle's driving. The vehicle control method includes: the first vehicle determines whether the first vehicle is in a callable state. If the first vehicle is in a callable state, a callable information is generated and sent to the server to prompt the server that the first vehicle can be called. Then, the first vehicle receives a second request sent by the server. In response to the second request, a resistance is applied to the second vehicle according to the vehicle stopping strategy to stop the second vehicle from moving.

[0010] It can be understood that the first vehicle equipped with an autonomous driving system that can at least autonomously control the vehicle's driving is used to apply a resistance to the second vehicle according to the vehicle stopping strategy, reducing the casualties of the in-vehicle personnel of the first vehicle that assists the second vehicle to stop. The first vehicle can apply the resistance to the second vehicle more precisely according to the vehicle stopping strategy, reducing the potential safety hazards to other pedestrians or vehicles.

[0011] In some embodiments of the second aspect, the vehicle control method further includes that after the first vehicle responds to the third request information of the server, the control authority information of the first vehicle is sent to the server to transfer its own control authority information to the server.

[0012] A vehicle control method is provided in the third aspect of the present application, which is applied to a first vehicle. The first vehicle is equipped with an autonomous driving system that can at least autonomously control the vehicle's driving. The vehicle control method includes: determining whether the first vehicle is in a callable state; if the first vehicle is in a callable state, generating callable information and sending the callable information to the second vehicle; receiving the second request information of the second vehicle, and the second request information instructs the first vehicle to apply a resistance to the second vehicle according to the vehicle stopping strategy to stop the second vehicle from moving.

[0013] A server is provided in the fourth aspect of the present application. The server includes a processor and a memory. A computer program is stored in the memory. When the computer program is executed by the processor, the vehicle control method of the first aspect is implemented.

[0014] A vehicle is provided in the fifth aspect of the present application. The vehicle includes a processor and a memory. A computer program is stored in the memory. When the computer program is executed by the processor, the vehicle control method of the second aspect or the third aspect is implemented.

[0015] In a sixth aspect of the present application, a storage medium stores a computer program which, when executed by a processor, implements the vehicle control method according to the first, second or third aspect. Description of the Drawings

[0016] Figure 1 It is a diagram of the application scenario of the vehicle control method according to an embodiment of the present application.

[0017] Figure 2 It is a communication schematic diagram of the vehicle control method according to an embodiment of the present application.

[0018] Figure 3 It is a flowchart of the vehicle control method according to an embodiment of the present application.

[0019] Figure 4 It is a diagram of the application scenario of the vehicle control method according to another embodiment of the present application.

[0020] Figure 5 It is a flowchart of the vehicle control method according to another embodiment of the present application.

[0021] Figure 6 It is a flowchart of the vehicle control method according to still another embodiment of the present application.

[0022] Figure 7 It is a diagram of the application scenario of the vehicle control method according to yet another embodiment of the present application.

[0023] Figure 8 It is a schematic structural diagram of the server provided by the embodiment of the present application.

[0024] Figure 9 It is a schematic structural diagram of a vehicle provided by the embodiment of the present application.

[0025] Figure 10 It is a schematic structural diagram of another vehicle provided by the embodiment of the present application. Detailed Embodiments

[0026] In the present application, "a plurality of" refers to two or more. Additionally, it should be understood that in the description of the present application, terms such as "first" and "second" are only used for the purpose of distinguishing descriptions, and cannot be construed as indicating or implying relative importance, nor can they be construed as indicating or implying an order.

[0027] In the embodiments of the present application, words such as "exemplary" or "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0028] First, a brief description of the related technologies will be given below.

[0029] When the vehicle is in a preset state, for example, when devices such as the brakes and steering wheel on the vehicle malfunction or the driver becomes incapacitated and the vehicle is out of control, the driver in the vehicle will control the out-of-control vehicle to ram roadside facilities such as a buffer zone or a roadside railing to force the vehicle to stop moving. During the process of the out-of-control vehicle ramming the buffer zone or roadside railing and other roadside facilities, it will pose a safety hazard to pedestrians or other vehicles.

[0030] A vehicle equipped with a full Self-driving system can be called a fully autonomous vehicle. A fully autonomous vehicle can achieve autonomous driving of the vehicle without the operator operating the vehicle control system. For example, a fully autonomous vehicle can travel to a destination according to a preset driving route and driving speed. When the vehicle in the preset state is a fully autonomous vehicle, if there is no passenger in the vehicle and no driver can control the fully autonomous vehicle to ram roadside facilities, it is impossible to force the fully autonomous vehicle to stop moving, and the fully autonomous vehicle in the preset state will pose a greater safety hazard to pedestrians or other vehicles.

[0031] In view of this, a vehicle control method, a server, a vehicle, and a storage medium according to the present application can reduce the safety hazards caused by vehicles in a preset state.

[0032] Please refer to Figure 1 and Figure 2 , Figure 1 which is an application scenario diagram of the vehicle control method according to an embodiment of the present application, Figure 2Communication schematic diagram of the vehicle control method according to the embodiment of the present application. The vehicle control method can be applied to the server 100, the first vehicle 200, and the second vehicle 300. Among them, the first vehicle 100 is equipped with at least an autonomous driving system that can independently control the vehicle to travel. The server 100 can establish a communication connection with the first vehicle 200 and the second vehicle 300 through communication technologies such as vehicle-to-X (V2X) wireless communication technology. After the server 100 receives the callable notification information and the first vehicle information sent by the first vehicle 200, the server 100 can call the first vehicle 200 in which there is no one in the vehicle and is equipped with at least an autonomous driving system that can independently control the vehicle to travel. After the server 100 receives the first request information for the second vehicle 300 in a preset state to request to stop moving and the second vehicle information, the server 100 responds to the first request information, determines a vehicle stop strategy according to the first vehicle information and the second vehicle information, and then determines the first vehicle 200 as the target vehicle according to the vehicle stop strategy and the first vehicle information among all the callable first vehicles 200, and generates a second request information. Finally, the server 100 sends the second request information and the vehicle stop strategy to the target vehicle. After the target vehicle responds to the second request information, it applies a resistance to the second vehicle 300 according to the vehicle stop strategy to make the second vehicle 300 stop moving.

[0033] In some embodiments, the server 100 can be the server 100 of the traffic management system, that is, the traffic management system includes the server 100 and traffic infrastructure. The traffic infrastructure includes monitoring devices such as cameras. The monitoring devices send the first vehicle information of the first vehicle 200 and the second vehicle information of the second vehicle 300 obtained to the server 100, so that the first vehicle information and the second vehicle information received by the server 100 are more accurate.

[0034] Please refer to Figure 3 , Figure 3 Flow schematic diagram provided by an embodiment of the present application. The vehicle control method is applied to the server 100, and the vehicle control method includes the following steps:

[0035] Step S101: Receive the callable information of the first vehicle and the first vehicle information.

[0036] The first vehicle 200 is provided with an autonomous driving system that can at least autonomously control the vehicle's driving. That is, while the first vehicle 200 can achieve autonomous driving, a person can also operate the vehicle control system of the first vehicle 200. The first vehicle information may include the vehicle position, vehicle speed, vehicle weight, and driving trajectory of the first vehicle 200. The callable information indicates that the first vehicle 200 can be called by the server 100 and there are no passengers or dangerous substances in the first vehicle 200, etc. That is, after the server 100 receives the callable information, it can determine that there are no people or dangerous substances in the first vehicle 200 corresponding to the callable information and it can be called by the server 100. For example, three first vehicles 200 send information to the server 100. Among them, the first first vehicle 200 and the second first vehicle 200 send callable information to the server 100, and the third first vehicle 200 sends non-callable information to the server 100. Then the server 100 can call the first and second first vehicles 200 and cannot call the third first vehicle 200.

[0037] It can be understood that the first vehicle 200 can be mobilized by the server 100 only when there are no people or dangerous substances in the first vehicle 200.

[0038] Step S102: Receive the first request information and the second vehicle information of the second vehicle.

[0039] The second vehicle 300 can be the first vehicle 200 provided with an autonomous driving system that can at least autonomously control the vehicle's driving, or it can be a vehicle without an autonomous driving system that can at least autonomously control the vehicle's driving. The second vehicle 300 information may include the vehicle position, vehicle speed, personnel information in the vehicle, and driving trajectory of the second vehicle 300.

[0040] It can be understood that when the second vehicle is a vehicle without an autonomous driving system that can at least autonomously control the vehicle's driving, according to the vehicle control method of this embodiment, the safety hazards caused by the second vehicle to other vehicles or pedestrians can be reduced to a greater extent.

[0041] The first request information can be used to instruct the second vehicle 300 to request the server 100 to stop moving. That is, after the server 100 receives the first request information, the server 100 responds to the first request information and calls the first vehicle 200 to make the second vehicle 300 stop moving.

[0042] Among them, when the second vehicle 300 detects that the vehicle is in a preset state, it generates the first request information. The preset state includes an out-of-control state, a restricted driving state, or a state where the passengers in the vehicle have a preset identity. The preset identity can be a first person who needs to get off immediately or is restricted from traveling, and this preset state can be set according to the actual situation.

[0043] It can be understood that after the server 100 receives the first request information of the second vehicle 300, it can confirm that the second vehicle 300 is in a preset state and call the first vehicle 200 to stop the second vehicle 300 from moving.

[0044] Step S103: Determine a vehicle stop strategy based on the first vehicle information and the second vehicle information.

[0045] The vehicle stop strategy refers to a strategy that can stop the second vehicle 300 from moving. The vehicle stop strategy may include the first vehicle 200 that can apply resistance to the second vehicle 300, as well as the number, predicted travel trajectory, and predicted speed of the first vehicle 200.

[0046] In one example, the server 100 determines a vehicle stop strategy based on the vehicle positions, vehicle speeds, and travel trajectories of the first vehicle 200 and the second vehicle 300. The vehicle stop strategy is: determine three first vehicles 200 near the vehicle position of the second vehicle 300, apply resistance to the second vehicle 300 until the second vehicle 300 stops moving. The predicted speeds of the three first vehicles 200 are the first speed, the second speed, and the third speed respectively, and the predicted travel trajectories of the three first vehicles 200 are the first trajectory, the second trajectory, and the third trajectory respectively. Among them, the server 100 can determine the first vehicle 200 that can apply resistance to the second vehicle 300 and the number of the first vehicles 200 according to the vehicle position of the second vehicle 300. The server 100 obtains the predicted speed of the first vehicle 200 based on the speed of the determined first vehicle 200 and the speed of the second vehicle 300, and the server 100 obtains the predicted travel trajectory of the first vehicle 200 based on the travel trajectory of the determined first vehicle 200 and the travel trajectory of the second vehicle 300.

[0047] Step S104: Determine the first vehicle as the target vehicle according to the vehicle stop strategy and the first vehicle information, and send the second request information to the target vehicle.

[0048] The target vehicle refers to the first vehicle 200 that is determined to apply resistance to the second vehicle 300. It can be understood that the vehicle stop strategy in step S103 includes the first vehicle 200 that can apply resistance to the second vehicle 300, and the first vehicle 200 can be determined as the target vehicle according to the first vehicle information corresponding to the first vehicle 200.

[0049] The second request information is used to instruct the target vehicle to apply resistance to the second vehicle 300 according to the vehicle stop strategy to stop the second vehicle 300 from moving. As in the previous example, one of the three target vehicles responds to the second request information and applies resistance to the second vehicle 300 according to the first speed and the first trajectory until the second vehicle 300 stops moving.

[0050] Thus, after the server 100 receives the callable information and the first vehicle information of the first vehicle 200 without passengers inside, the server 100 can call the first vehicle 200 without passengers inside and equipped with at least an autonomous driving system that can autonomously control the vehicle's driving. After the server 100 receives the first request information for the second vehicle 300 in a preset state to stop moving, the server 100 responds to the first request information, determines a vehicle stop strategy based on the first vehicle information and the second vehicle information, and then can determine the first vehicle 200 as the target vehicle according to the vehicle stop strategy and the first vehicle information among all the callable first vehicles 200, and sends the second request information to the target vehicle. After the target vehicle responds to the second request information, it applies resistance to the second vehicle 300 according to the vehicle stop strategy to make the second vehicle 300 stop moving.

[0051] It can be understood that since there are no passengers inside the target vehicle equipped with at least an autonomous driving system that can autonomously control the vehicle's driving, the casualties of the people inside the target vehicle assisting the second vehicle 300 to stop can be reduced. At the same time, the determination of the vehicle stop strategy takes into account the first vehicle information and the second vehicle information, making the formulation of the vehicle stop strategy more accurate. The target vehicle can apply resistance to the second vehicle 300 in a preset state more accurately according to the vehicle stop strategy, reducing the potential safety hazards to other pedestrians or vehicles.

[0052] In some embodiments, the number of target vehicles is multiple, where the multiple target vehicles are at least one of the first vehicles 200 determined among the multiple first vehicles 200 according to the vehicle stop strategy and the first vehicle information. That is, the number of target vehicles is greater than or equal to 2. Specifically, the following steps can be used to select at least one target vehicle from all the first vehicles 200.

[0053] Step S201: Add the multiple first vehicles to the callable list;

[0054] In one example, after the server 100 receives the callable information of the multiple first vehicles 200, it adds the multiple first vehicles 200 to the callable list. It can be understood that through the callable list, the server 100 can promptly mobilize the callable first vehicles 200.

[0055] Step S202: Determine at least one of the first vehicles in the callable list as the target vehicle according to the vehicle stop strategy.

[0056] It can be understood that the vehicle stop strategy in step S103 includes the first vehicle 200 that can apply resistance to the second vehicle 300, and the number of the first vehicles 200. The server 100 can determine, from the callable list, the first vehicle 200 that applies resistance to the second vehicle 300 in the vehicle stop strategy, and this first vehicle 200 is the target vehicle. The number of the first vehicles 200 that apply resistance to the second vehicle 300 in the vehicle stop strategy may be more than one. Therefore, the number of target vehicles determined by the server 100 is at least one.

[0057] Please refer to Figure 4 , in an application scenario of this embodiment, the server 100 adds the first vehicle 200a, the first vehicle 200b, and the first vehicle 200c to the callable list. After receiving the first request information of the second vehicle 300, the server 100 searches in the callable list and finds that the first vehicle 200a and the first vehicle 200b are near the position of the second vehicle 300. Therefore, the server 100 determines the first vehicle 200a and the first vehicle 200b as the target vehicles.

[0058] In some embodiments, step S202 includes the following steps:

[0059] Step S301: Determine at least one first vehicle in the callable list as the target vehicle according to the vehicle stop strategy and the multiple first vehicles in the order of weight from largest to smallest.

[0060] In the vehicle stop strategy, there can be multiple first vehicles 200 that can apply resistance to the second vehicle 300. The server 100 can determine the target vehicle from these multiple first vehicles 200 in the callable vehicle list in combination with the weight of the first vehicle 200.

[0061] In an example, the server 100 determines that the first vehicles 200 that apply resistance to the second vehicle 300 according to the vehicle stop strategy are a car and a truck. Then, the server 100 compares the weights of the car and the truck and determines the heavier truck as the target vehicle.

[0062] In some embodiments, after determining the first vehicle as the target vehicle according to the vehicle stop strategy and the first vehicle information, the vehicle control method further includes the following steps:

[0063] Step S401: Send a third request information to the target vehicle so that the target vehicle sends vehicle control authority information.

[0064] After determining the target vehicle, the server 100 can also generate the third request information. The third request information instructs the target vehicle to send vehicle control authority information. That is, in response to the third request information, the target vehicle sends the control authority of the vehicle to the server 100.

[0065] Step S402: Receive the vehicle control authority information sent by the target vehicle.

[0066] It can be understood that after the target vehicle transfers the vehicle control authority to the server 100, the server 100 can control the target vehicle. That is, the server 100 can send a control instruction to the target vehicle. After the target vehicle responds to the control instruction, it performs the corresponding actions of the control instruction. For example, after the server 100 sends a control instruction to drive at the first speed value to the target vehicle, after the target vehicle responds to the control instruction, the target vehicle drives at the first speed value.

[0067] Step S403: Based on the control authority information, control the target vehicle to apply resistance to the second vehicle to stop the second vehicle.

[0068] In one example, the server 100 directly controls a target vehicle to apply resistance to the second vehicle 300 at the first speed and along the first trajectory based on the control authority information until the second vehicle 300 stops moving.

[0069] It can be understood that after the server 100 determines the target vehicle, there are two ways to call the target vehicle. One is that the server 100 sends the second request information and the vehicle stop strategy to the target vehicle, so that the target vehicle applies resistance to the second vehicle 300 according to the vehicle stop strategy. The other is that the server 100 sends the third request information to the target vehicle, requesting the target vehicle to transfer the vehicle control authority to itself, and then the server 100 controls the target vehicle to apply resistance to the second vehicle 300 according to the vehicle stop strategy.

[0070] In some embodiments, step S103: Determine the vehicle stop strategy according to the first vehicle information and the second vehicle information includes:

[0071] Step S501: According to the first vehicle information, and the in-vehicle personnel information and / or the vehicle out-of-control degree of the second vehicle, determine the predicted driving trajectory and / or the predicted speed of the vehicle stop strategy.

[0072] The second vehicle information further includes in-vehicle personnel information and the vehicle out-of-control degree. The personnel information includes pregnant women, children, the elderly, etc. It can be understood that the server 100 can also combine the personnel information and the vehicle out-of-control degree to determine the vehicle stop strategy.

[0073] In one example, when there is a pregnant woman among the in-vehicle personnel of the second vehicle 300 received by the server 100, the predicted vehicle speed of the target vehicle is reduced to avoid a strong impact of the target vehicle on the second vehicle 300, thereby reducing the harm to the pregnant woman.

[0074] The degree of vehicle out-of-control includes complete vehicle out-of-control and partial vehicle out-of-control. When the vehicle is completely out-of-control, when a person performs any operation on the vehicle, the vehicle does not respond to any operation. When the vehicle is partially out-of-control, when a person performs certain operations on the vehicle, the vehicle can respond to these operations. For example, if the brakes of the vehicle fail and the steering wheel does not fail, it indicates that the vehicle is partially out-of-control. In one example, the brakes of the second vehicle 300 fail, and the driver in the second vehicle 300 turns the steering wheel to control the vehicle towards the buffer zone. At this time, the server 100 determines the predicted driving trajectory in the target strategy according to the operation of the driver in the second vehicle 300 turning the steering wheel, and cooperates with the operation of the driver of the second vehicle 300 on the steering wheel, so that the predicted driving trajectory matches the trajectory of the second vehicle 300, so that the target vehicle can apply resistance to the second vehicle 300 more accurately.

[0075] It can be understood that the vehicle stop strategy will be updated and determined in real time according to the first vehicle information and the second vehicle information. For example, due to the presence of a pregnant woman or vehicle out-of-control in the second vehicle 300, the vehicle stop strategy can be made safer and more accurate.

[0076] The embodiment of the present application also provides a vehicle control method. The vehicle control method is applied to the first vehicle 200 equipped with at least an autonomous driving system that can control the vehicle to drive. Please refer to Figure 5 , the vehicle control method includes the following steps:

[0077] Step S601: Determine whether the first vehicle is in a callable state.

[0078] The first vehicle 200 can determine whether its own state is in a callable state according to whether there are passengers. If there are passengers in its own vehicle, it is determined that the first vehicle 200 is in a callable state. If there are no passengers in its own vehicle, it is determined that the first vehicle 200 is not in a callable state.

[0079] Step S602: If the first vehicle is in a callable state, generate callable information and send the callable information to the server.

[0080] Next, callable information is generated according to the first vehicle 200 being in a callable state. It can be understood that if there are no people in the first vehicle 200, it can be used as a vehicle to assist the second vehicle 300 to stop, so callable information is generated. If there are people in the first vehicle 200, it cannot be used as a vehicle to assist the second vehicle 300 to stop, so non-callable information is generated to avoid harming the people in the first vehicle 200.

[0081] After the first vehicle 200 generates callable information, it sends the callable notification information to the server 100. In some embodiments, after the first vehicle 200 generates non-callable information, it can also send the non-callable information to the server 100. After receiving the non-callable information, the server 100 will not call the first vehicle 200.

[0082] Step S603: Receive the second request information from the server.

[0083] The second request information instructs the first vehicle 200 to apply resistance to the second vehicle 300 according to the vehicle stop strategy so that the second vehicle 300 stops moving.

[0084] In one example, in response to the second request information, the first vehicle 200 applies resistance to the second vehicle 300 at a first speed and along a first trajectory until the second vehicle 300 stops moving. It can be understood that if the first vehicle 200 receives the second request information, it means that the first vehicle 200 is the target vehicle determined by the server 100, and the first vehicle 200 is used to apply resistance to the second vehicle 300.

[0085] In this way, the first vehicle 200 determines whether there is a passenger in the first vehicle 200, generates callable information based on the absence of passengers in the first vehicle 200, and sends the callable information to the server 100 to prompt the server 100 that the first vehicle 200 is available for calling. Then, the first vehicle 200 receives the second request information sent by the server 100, and in response to the second request information, applies resistance to the second vehicle 300 according to the vehicle stop strategy so that the second vehicle 300 stops moving. It can be understood that the first vehicle 200, which has at least an autonomous driving system that can control the vehicle's driving and has no passengers in the vehicle, is used to apply resistance to the second vehicle 300 according to the vehicle stop strategy, reducing the casualties of the personnel in the first vehicle 200 that assists the second vehicle 300 to stop. The first vehicle 200 can apply resistance to the second vehicle 300 more precisely according to the vehicle stop strategy, reducing the potential safety hazards to other pedestrians or vehicles.

[0086] In some embodiments, the vehicle control method further includes step S701: In response to the third request information from the server, send the control authority information of the first vehicle to the server.

[0087] After the first vehicle 200 receives the third request information from the server 100, in response to the third request information, it transfers its own control authority information to the server 100 so that the server 100 can directly control the first vehicle 200.

[0088] In some embodiments, after the callable information is sent to the server 100, the vehicle control method further includes step S801: sending a notification message that the first vehicle 200 has been called to the user terminal.

[0089] The reserved user terminal refers to the user terminal that reserves the callable first vehicle 200. The user terminal may include a mobile phone, a computer, a smart watch, etc. In one example, after the first vehicle 200 sends the callable information to the server 100, it then sends a notification message that the vehicle has been called, such as the message "The vehicle you reserved has been called", to the user terminal, so that the user can understand that the reserved vehicle cannot be taken and then arrange the subsequent itinerary in a timely manner according to this situation, avoiding wasting the user's time.

[0090] An embodiment of the present application further provides a vehicle control method, which is applied to the first vehicle 200. Please refer to Figure 6 , the vehicle control method includes the following steps:

[0091] Step S901: Determine whether the first vehicle is in a callable state.

[0092] It can be understood that the method for the first vehicle 200 to determine whether it is in a callable state refers to steps S601 and S602.

[0093] Step S902: If the first vehicle is in a callable state, generate callable information and send the callable information to the second vehicle.

[0094] It can be understood that the vehicle control method of the embodiment of the present application can also be directly applied between the first vehicle 200 and the second vehicle 300. That is, after the first vehicle 200 generates the callable information, it can send the callable information to the second vehicle 300. The second vehicle 300 as the sending target can be the second vehicle 300 that has a preset distance (i.e., is adjacent) or a communication connection with the first vehicle 200. The preset distance can be set according to the actual situation.

[0095] It can be understood that after the first vehicle 200 determines that it is in a callable state, according to the second vehicle information of the adjacent or communication-connected second vehicle 300 received and its own first vehicle information, a vehicle stop strategy can be formulated. The specific formulation method and the content of the vehicle stop strategy can refer to the execution steps of the above-mentioned server 100.

[0096] Step S903: Receive the second request information of the second vehicle.

[0097] The second request information instructs the first vehicle 200 to apply resistance to the second vehicle 300 according to the vehicle stopping strategy, so that the second vehicle 300 stops moving. It can be understood that, as described above, the second request information is used to instruct the first vehicle 200 to apply resistance to the second vehicle 300 according to the vehicle stopping strategy, so that the second vehicle 300 stops moving.

[0098] Please refer to Figure 7 , after receiving the second request information, the first vehicle 200, in response to the second request information, applies resistance to the second vehicle 300 according to the vehicle stopping strategy until the second vehicle 300 stops moving.

[0099] It can be understood that the vehicle control method of the embodiment of the present application is directly applied between the first vehicle 200 and the second vehicle 300. It can be applied to sections not managed by the traffic management system.

[0100] The embodiment of the present application also provides a vehicle control method, which is applied to the second vehicle 300. The vehicle control method includes the following steps:

[0101] Step S1001: When the second vehicle is in a preset state, generate first request information and send the first request information to the server.

[0102] The preset state includes an out-of-control state, a restricted driving state, or the passengers in the vehicle being of a preset identity. The passengers in the vehicle being of a preset identity can be the first person who needs to get off immediately or is restricted from traveling. This preset state can be set according to the actual situation.

[0103] That is, whether the second vehicle 300 is an out-of-control vehicle, a restricted driving vehicle, or a vehicle with a preset identity of a person inside, it can be used as the vehicle to which resistance is applied. For example, when the second vehicle 300 is in a restricted driving state, the server 100 can call the target vehicle to apply resistance to the second vehicle 300 to restrict the driving of the second vehicle 300. Another example is that the passengers in the second vehicle 300 are the first person, and the server 100 can call the target vehicle to apply resistance to the second vehicle 300 to restrict the first person from traveling by vehicle.

[0104] It can be understood that the second vehicle 300 can use the first request information generated according to the preset state of the second vehicle 300 to request the server 100 to assist itself in stopping moving.

[0105] Please refer to Figure 8, An embodiment of the present application further provides a server 100. The server 100 includes a processor 11 and a memory 12. It is a terminal capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application-specific integrated circuits, programmable gate arrays, digital processors, and embedded devices, etc. As an embodiment, the memory 12 is used to store program codes and various data. The memory 12 may include a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electrically-erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM), or other optical disc memories, magnetic disk storage, tape storage, or any other computer-readable medium capable of carrying or storing data.

[0106] As an embodiment, at least one processor 11 may include an integrated circuit, which may include a single-packaged integrated circuit or multiple integrated circuits with the same or different functions, including a combination of microprocessors, digital processing chips, image processors 11, and various control chips. At least one processor 11 is the control core (Control Unit) of the control terminal. By running or executing programs or modules stored in the memory 12 and calling data stored in the memory 12, it performs various functions of the server 100 and processes data. The above integrated units implemented in the form of software function modules can be stored in a computer-readable storage medium. The above software function modules are stored in a storage medium and include several instructions for causing a computer device (which may be a personal computer, a terminal, or a network device, etc.) or a processor 11 (processor) to execute part or all of steps S101 to S104, steps S201 to S202, step S301, steps S401 to S403, and step S501 of this application. Program codes are stored in the memory 12, and at least one processor 11 can call the program codes stored in the memory 12 to execute related functions. In an embodiment of this application, the memory 12 stores multiple instructions, and the multiple instructions are executed by at least one processor 11 to implement part or all of steps S101 to S104, steps S201 to S202, step S301, steps S401 to S403, and step S501 of the above vehicle control method. Specifically, the specific implementation method of at least one processor 11 for the above instructions corresponds to the description of the relevant steps in the embodiment, which will not be elaborated here.

[0107] Please refer to Figure 9, an embodiment of the present application further provides a vehicle 200, which includes a processor 21 and a memory 22. The vehicle 200 includes a terminal capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application specific integrated circuits, programmable gate arrays, digital signal processors, and embedded devices. As an embodiment, the memory 22 is used to store program codes and various data. The memory 22 may include a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electrically-erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM), or other optical disc memories, magnetic disk memories, tape memories, or any other computer-readable medium capable of carrying or storing data.

[0108] As an embodiment, at least one processor 21 may include an integrated circuit, which may include a single packaged integrated circuit or multiple packaged integrated circuits with the same or different functions, including a combination of microprocessors, digital processing chips, image processors, and various control chips. At least one processor 21 is the control core (Control Unit) of the control terminal. By running or executing programs or modules stored in the memory 22 and calling data stored in the memory 22, it executes various functions of the vehicle 200 and processes data. The above integrated units implemented in the form of software function modules can be stored in a computer-readable storage medium. The above software function modules are stored in a storage medium and include several instructions for causing a computer device (which may be a personal computer, a terminal, or a network device, etc.) or a processor 21 (processor) to execute part or all of steps S601 to S603, step S701, and step S801, or to execute part or all of steps S901 to S903. Program codes are stored in the memory 22, and at least one processor 21 can call the program codes stored in the memory 22 to execute related functions. In an embodiment of the present application, the memory 22 stores multiple instructions, and the multiple instructions are executed by at least one processor 21 to implement part or all of steps S601 to S604, step S701, and step S801 of the above vehicle 200 control method, or to execute part or all of steps S901 to S903. Specifically, the specific implementation method of at least one processor 21 for the above instructions corresponds to the description of the relevant steps in the embodiment, which will not be elaborated here.

[0109] Please refer to Figure 10, an embodiment of the present application further provides a vehicle 300, which includes a processor 31 and a memory 32. The vehicle 300 includes a terminal capable of automatically performing numerical calculations and / or information processing according to preset or stored instructions, and its hardware includes, but is not limited to, a microprocessor, an application-specific integrated circuit, a programmable gate array, a digital signal processor, and an embedded device, etc. As an embodiment, the memory 32 is used to store program codes and various data. The memory 32 may include a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electrically-erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM), or other optical disc memories, magnetic disk storage, tape storage, or any other computer-readable medium capable of carrying or storing data.

[0110] As an embodiment, at least one processor 31 may include an integrated circuit, which may include a single packaged integrated circuit, or may include multiple integrated circuits with the same or different functions in packages, including a combination of a microprocessor, a digital processing chip, an image processor 31, and various control chips. At least one processor 31 is the control core (Control Unit) of the control terminal. By running or executing programs or modules stored in the memory 32, and by invoking data stored in the memory 32, it performs various functions of the vehicle 30 and processes data. The above-mentioned integrated unit implemented in the form of software function modules can be stored in a computer-readable storage medium. The above-mentioned software function modules are stored in a storage medium and include several instructions for causing a computer device (which may be a personal computer, a terminal, or a network device, etc.) or a processor 31 (processor) to execute part or all of the steps of S1001. Program codes are stored in the memory 32, and at least one processor 31 can call the program codes stored in the memory 32 to execute related functions. In an embodiment of the present application, the memory 32 stores multiple instructions, and the multiple instructions are executed by at least one processor 31 to implement part or all of the steps of S1001 of the vehicle 300 control method. Specifically, the specific implementation method of at least one processor 31 for the above instructions corresponds to the description of the relevant steps in the embodiment, which will not be elaborated here.

[0111] An embodiment of the present application also provides a storage medium. Among them, a computer program is stored thereon, and when the computer program is executed by a processor, it implements the vehicle control method provided in the foregoing embodiment.

[0112] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application. Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, which will not be elaborated here.

[0113] Those skilled in the art will understand that the present application is not limited to the specific embodiments herein, and various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments only. Without departing from the concept of the present application, more other equivalent embodiments can also be included, all of which fall within the scope of protection of the present application.

Claims

1. A vehicle control method, applied to a server, characterized in that The vehicle control method includes: Receiving the callable information and the first vehicle information of the first vehicle, where the callable information is used to indicate that the first vehicle is in a callable state. Among them, the first vehicle is equipped with at least an autonomous driving system that can independently control the vehicle to travel; Receiving the first request information and the second vehicle information of the second vehicle, where the first request information is generated when the second vehicle is in a preset state, and the first request information instructs the second vehicle to request the server to stop moving; Determining a vehicle stop strategy according to the first vehicle information and the second vehicle information; Determining the first vehicle as the target vehicle according to the vehicle stop strategy and the first vehicle information, and sending a second request information to the target vehicle, so that the target vehicle applies resistance to the second vehicle according to the vehicle stop strategy, so that the second vehicle stops moving.

2. The vehicle control method according to claim 1, wherein The number of the target vehicles is multiple, where the multiple target vehicles are at least one of the first vehicles determined from the multiple first vehicles according to the vehicle stop strategy and the first vehicle information.

3. The vehicle control method according to claim 1, wherein, After determining the first vehicle as the target vehicle according to the vehicle stop strategy and the first vehicle information, the vehicle control method further includes: Sending a third request information to the target vehicle, so that the target vehicle sends vehicle control authority information; Receiving the vehicle control authority information sent by the target vehicle; Based on the control authority information, controlling the target vehicle to apply resistance to the second vehicle according to the vehicle stop strategy, so that the second vehicle stops moving.

4. The vehicle control method according to claim 1, characterized in that, The determining a vehicle stop strategy according to the first vehicle information and the second vehicle information includes: Determining the predicted driving trajectory and / or predicted speed of the vehicle stop strategy according to the first vehicle information and the in-vehicle personnel information and / or vehicle out-of-control degree of the second vehicle in the second vehicle information.

5. A vehicle control method is applied to a first vehicle, and the first vehicle is provided with at least an autonomous driving system capable of autonomously controlling the vehicle driving, characterized in that, The vehicle control method includes: Determining whether the first vehicle is in a callable state; If the first vehicle is in the callable state, generating callable information and sending the callable information to the server; Receiving the second request information of the server, where the second request information instructs the first vehicle to apply resistance to the second vehicle according to the vehicle stop strategy, so that the second vehicle stops moving.

6. The vehicle control method according to claim 5, wherein, The vehicle control method further includes: In response to the third request information of the server, sending the control authority information of the first vehicle to the server.

7. A vehicle control method is applied to a first vehicle, and the first vehicle is provided with at least an autonomous driving system capable of autonomously controlling the vehicle driving, characterized in that, The vehicle control method includes: Determining whether the first vehicle is in a callable state; If the first vehicle is in the callable state, generating callable information and sending the callable information to the second vehicle; Receiving the second request information of the second vehicle, where the second request information instructs the first vehicle to apply resistance to the second vehicle according to the vehicle stop strategy, so that the second vehicle stops moving.

8. A server, characterized in that, The server includes a processor and a memory, and a computer program is stored in the memory. When the computer program is executed by the processor, the vehicle control method described in any one of claims 1 to 4 is implemented.

9. A vehicle, characterized in that, The vehicle includes a processor and a memory, and a computer program is stored in the memory. When the computer program is executed by the processor, it implements the vehicle control method according to any one of claims 7 or 5 to 6.

10. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the vehicle control method according to any one of claims 1 to 4, implements the vehicle control method according to claim 7, or implements the vehicle control method according to any one of 5 to 6.

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