Vehicle control method and device and readable storage medium

Abstract

The invention discloses a vehicle control method and device and a readable storage medium, and relates to the technical field of new energy vehicles. The vehicle control method comprises the steps that a first error of a distance sensor in the first direction and a second error of the distance sensor in the second direction are obtained, and the first direction and the second direction are perpendicular to each other; determining a first response distance range of the vehicle in the first direction according to the first error; determining a second response distance range of the vehicle in the second direction according to the second error; under the condition that the distance sensor detects the obstacle, a first distance and a second distance between the distance sensor and the obstacle are obtained, the first distance is the distance in the first direction, and the second distance is the distance in the second direction; and controlling the warning device to output a warning signal under the condition that the first distance belongs to the first response distance range and the second distance belongs to the second response distance range. According to the invention, the obstacle identification accuracy of the vehicle is improved, and the safety of the driving vehicle is ensured.

Description

Technical Field

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

[0002] In everyday driving or parking scenarios, vehicles often scrape against nearby obstacles due to driver negligence or blind spots. Even worse, inexperienced drivers may panic and fail to follow the correct evasive maneuvering, exacerbating secondary damage and ultimately causing serious damage. Therefore, existing vehicle control methods suffer from technical issues such as low obstacle recognition accuracy. Summary of the Invention

[0003] The embodiments of the present application provide a vehicle control method, device, and readable storage medium for solving technical problems such as low obstacle recognition accuracy in the prior art.

[0004] In a first aspect of an embodiment of the present application, a method for controlling a vehicle is provided. The vehicle includes a distance sensor and a warning device. The method includes:

[0005] Obtain a first error of the distance sensor in a first direction and a second error in a second direction, where the first direction and the second direction are perpendicular to each other;

[0006] determining a first response distance range of the vehicle in a first direction based on the first error;

[0007] determining a second response distance range of the vehicle in a second direction based on the second error;

[0008] When the distance sensor detects an obstacle, obtaining a first distance and a second distance between the distance sensor and the obstacle, where the first distance is a distance in a first direction and the second distance is a distance in a second direction;

[0009] Under the condition that the first distance belongs to the first response distance range and the second distance belongs to the second response distance range, the warning device is controlled to output a warning signal.

[0010] In some embodiments, determining a first response distance range of the vehicle in a first direction based on the first error includes:

[0011] Determining, based on the size information of the vehicle, a first distance threshold and a second distance threshold of the vehicle in a first direction, wherein the first distance threshold is smaller than the second distance threshold;

[0012] Determine a sum of a first distance threshold and a first error to obtain a first minimum distance value;

[0013] Determine a sum of a second distance threshold and the first error to obtain a first distance maximum value;

[0014] A first response distance range is determined according to the first minimum distance value and the first maximum distance value.

[0015] In some embodiments, determining a second response distance range of the vehicle in the second direction based on the second error includes:

[0016] determining, based on the size information of the vehicle, a third distance threshold and a fourth distance threshold of the vehicle in the second direction, wherein the third distance threshold is less than the fourth distance threshold;

[0017] determining a sum of a third distance threshold and the second error to obtain a second minimum distance value;

[0018] determining a sum of a fourth distance threshold and the second error to obtain a second distance maximum value;

[0019] A second response distance range is determined according to the second minimum distance value and the second maximum distance value.

[0020] In some embodiments, after obtaining a first error of the distance sensor in the first direction and a second error in the second direction, the method further includes:

[0021] determining a third response distance range of the vehicle in the first direction according to the first error and the second distance threshold;

[0022] determining a fourth response distance range of the vehicle in the second direction according to the second error and a fourth distance threshold;

[0023] Under the condition that the first distance belongs to the third response distance range and the second distance belongs to the fourth response distance range, the vehicle is controlled to stop traveling.

[0024] In some embodiments, the vehicle further includes an elastic wave sensor, and the method further includes:

[0025] When a vehicle collides with an obstacle, the elastic wave sensor is controlled to collect the collision position of the vehicle;

[0026] Determine the vehicle's escape path based on the collision location;

[0027] Control the vehicle to follow the escape path to keep it away from obstacles.

[0028] In some embodiments, the vehicle further includes a camera sensor that determines an escape path for the vehicle based on the collision location, including:

[0029] Determine the vehicle's escape direction based on the collision location;

[0030] Control the camera sensor to collect image data of the area where the vehicle is located;

[0031] Performing position recognition processing on the image data to obtain the target parking position of the vehicle;

[0032] Path planning is performed based on the escape direction and target parking position to obtain an escape path.

[0033] In some embodiments, after controlling the vehicle to travel along the escape path, the method further includes:

[0034] Control the elastic wave sensor to collect the damage degree of the vehicle;

[0035] Determine the vehicle's accident response strategy based on the extent of damage.

[0036] The vehicle control method in this embodiment obtains a first distance and a second distance between the distance sensor and the obstacle when the distance sensor detects an obstacle, and determines the position of the obstacle based on the first distance and the second distance, thereby improving the vehicle's accuracy in identifying the obstacle's position. In addition, under the condition that the first distance falls within a first response distance range and the second distance falls within a second response distance range, the warning device is controlled to output a warning signal, thereby ensuring the safety of the moving vehicle through the warning signal.

[0037] According to a second aspect of an embodiment of the present application, a control device for a vehicle is provided. The vehicle includes a distance sensor and a warning device. The device includes:

[0038] An acquiring unit, configured to acquire a first error of the distance sensor in a first direction and a second error in a second direction, where the first direction and the second direction are perpendicular to each other;

[0039] a processing unit, configured to determine a first response distance range of the vehicle in a first direction based on the first error;

[0040] The processing unit is further configured to determine a second response distance range of the vehicle in a second direction based on the second error;

[0041] The acquiring unit is further configured to acquire, when the distance sensor detects an obstacle, a first distance and a second distance between the distance sensor and the obstacle, wherein the first distance is a distance in a first direction and the second distance is a distance in a second direction;

[0042] The control unit is used to control the warning device to output a warning signal under the condition that the first distance belongs to the first response distance range and the second distance belongs to the second response distance range.

[0043] The control device of the vehicle in this embodiment obtains a first distance and a second distance between the distance sensor and the obstacle when the distance sensor detects an obstacle, and determines the position of the obstacle based on the first distance and the second distance, thereby improving the vehicle's accuracy in identifying the obstacle's position. In addition, when the first distance falls within a first response distance range and the second distance falls within a second response distance range, the warning device is controlled to output a warning signal, thereby ensuring the safety of the moving vehicle through the warning signal.

[0044] A third aspect of the present application provides another vehicle control device, comprising a processor and a memory, wherein the memory stores a computer program that, when executed by the processor, implements the steps of the vehicle control method described in any of the aforementioned embodiments. Therefore, this vehicle control device possesses all the beneficial effects of the vehicle control method described in any of the aforementioned embodiments, and further description thereof is omitted.

[0045] A fourth aspect of the present application provides a readable storage medium having a program or instructions stored thereon. When executed by a processor, the program or instructions implement the steps of the vehicle control method described in any of the aforementioned embodiments. Therefore, the readable storage medium possesses all the beneficial effects of the vehicle control method described in any of the aforementioned embodiments, and further description thereof is omitted. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0047] Figure 1 A flow chart of a vehicle control method provided in an embodiment of the present application;

[0048] Figure 2 A functional schematic diagram of a vehicle control method provided in an embodiment of the present application;

[0049] Figure 3 A functional module block diagram of a vehicle control device provided in an embodiment of the present application;

[0050] Figure 4 This is a structural block diagram of the vehicle control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to better understand the technical solutions provided by the embodiments of this specification, the technical solutions of the embodiments of this specification are described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0052] In this article, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also include elements inherent to such process, method, article or equipment. In the absence of further restrictions, the elements defined by the statement "comprising a ..." do not exclude the presence of other identical elements in the process, method, article or equipment comprising the elements. The term "two or more" includes two or more than two cases.

[0053] In some embodiments, as Figure 1 As shown, an embodiment of the present application provides a vehicle control method, including:

[0054] Step S101, obtaining a first error of the distance sensor in a first direction and a second error in a second direction;

[0055] Step S102, determining a first response distance range of the vehicle in a first direction according to the first error;

[0056] Step S103, determining a second response distance range of the vehicle in a second direction according to the second error;

[0057] Step S104: when the distance sensor detects an obstacle, obtaining a first distance and a second distance between the distance sensor and the obstacle;

[0058] Step S105 : Under the condition that the first distance belongs to the first response distance range and the second distance belongs to the second response distance range, controlling the warning device to output a warning signal.

[0059] This embodiment provides a vehicle control method capable of identifying obstacles around the vehicle and issuing warnings to the driver or passengers in the vehicle. The vehicle includes a distance sensor and a warning device. The distance sensor is used to sense obstacles and measure the distance to the obstacle, and the warning device is used to warn the driver or passengers in the vehicle.

[0060] For example, the vehicle may be a driverless vehicle.

[0061] Exemplarily, the distance sensor may be a lidar sensor.

[0062] Exemplarily, the distance sensor may be an ultrasonic sensor.

[0063] Exemplarily, the distance sensor may be a camera sensor.

[0064] Exemplarily, the distance sensor may be a combination of a lidar sensor, an ultrasonic sensor, and a camera sensor.

[0065] For example, the warning device may include a light warning module that can flash at a specified frequency (which can be reasonably calibrated according to actual conditions) to visually warn surrounding traffic participants.

[0066] Exemplarily, the warning device may include an in-vehicle voice interaction module, which may broadcast a voice prompt such as "There is a risk of scratches from side obstacles, please drive carefully."

[0067] The distance sensor is calibrated to obtain a first error of the distance sensor in a first direction and a second error in a second direction, wherein the first direction and the second direction are perpendicular to each other, the first error is a measurement error of the distance sensor in the first direction, and the second error is a measurement error of the distance sensor in the second direction.

[0068] For example, the first direction may be a longitudinal direction of the vehicle, and the second direction may be a lateral direction of the vehicle.

[0069] For example, the first error may be specifically a perception error bandwidth of the distance sensor in a first direction, and the second error may be specifically a perception error bandwidth of the distance sensor in a second direction.

[0070] For example, in an actual scenario, parameter calibration is performed on the distance sensor in a first direction and a second direction, respectively, to obtain a first error and a second error.

[0071] Based on the first error, a first response distance range of the vehicle in the first direction is determined, wherein the first response distance range is a first direction distance range that responds to the anti-collision warning function.

[0072] Exemplarily, the first response distance range is a longitudinal distance range that responds to the anti-collision warning function.

[0073] Exemplarily, the influence of the first error on the distance sensor is eliminated to determine the first response distance range.

[0074] Exemplarily, the first response distance range may be 2 m to 4 m.

[0075] Based on the second error, a second response distance range of the vehicle in the second direction is determined, wherein the second response distance range is a second direction distance range that responds to the anti-collision warning function.

[0076] Exemplarily, the second response distance range is a lateral distance range that responds to the anti-collision warning function.

[0077] Exemplarily, the influence of the second error on the distance sensor is eliminated to determine the second response distance range.

[0078] Exemplarily, the second response distance range may be 3 m to 5 m.

[0079] The distance sensor is activated and controlled to detect the surrounding area of ​​the vehicle.

[0080] For example, it can receive a start command from the user, respond to the start command, start the vehicle's low-speed driving and parking scene side obstacle collision avoidance warning function, and then start the distance sensor to detect the surrounding area of ​​the vehicle.

[0081] For example, the vehicle may include an in-vehicle HMI (Human Machine Interface) interaction module, and the vehicle's side obstacle collision avoidance warning function may be activated through the in-vehicle HMI interaction module.

[0082] When the distance sensor detects an obstacle, a first distance and a second distance between the distance sensor and the obstacle are respectively acquired, wherein the first distance is a distance in a first direction, and the second distance is a distance in a second direction.

[0083] Exemplarily, the first distance is a longitudinal distance between the distance sensor and the obstacle.

[0084] Exemplarily, the second distance is a lateral distance between the distance sensor and the obstacle.

[0085] The first distance is compared with the first response distance range, and the second distance is compared with the second response distance range.

[0086] Under the condition that the first distance belongs to the first response distance range and the second distance belongs to the second response distance range, the warning device is started and controlled to output a warning signal, wherein the warning signal is a signal to warn of the existence of an obstacle.

[0087] For example, the warning signal may be a light signal that flashes at a specified frequency.

[0088] For example, the warning signal may be a voice signal of “Risk of scratching by side obstacles, please drive carefully”.

[0089] It should be noted that this embodiment calibrates the first error of the distance sensor in the first direction and the second error in the second direction, and eliminates the influence of the first error and the second error on the detection of the distance sensor, so as to determine the first response distance range and the second response distance range of the vehicle, thereby ensuring the numerical accuracy of the first response distance range and the second response distance range. At the same time, this embodiment eliminates the influence of the error on the distance sensor, and can improve the accuracy of the distance sensor in identifying obstacles.

[0090] It should also be noted that this embodiment divides the distance between the distance sensor and the obstacle into a first distance and a second distance in two directions, and then simultaneously compares the first distance with the first response distance range and the second distance with the second response distance range. This can ensure that the distance sensor can accurately identify and detect obstacles on the side of the vehicle, thereby improving the vehicle's recognition accuracy of obstacles on the side of the vehicle, and thus ensuring the safety of the moving vehicle.

[0091] The vehicle control method in this embodiment obtains a first distance and a second distance between the distance sensor and the obstacle when the distance sensor detects an obstacle, and determines the position of the obstacle based on the first distance and the second distance, thereby improving the vehicle's accuracy in identifying the obstacle's position. In addition, under the condition that the first distance falls within a first response distance range and the second distance falls within a second response distance range, the warning device is controlled to output a warning signal, thereby ensuring the safety of the moving vehicle through the warning signal.

[0092] In some embodiments, an embodiment of the present application provides a vehicle control method, which determines a first response distance range of the vehicle in a first direction based on a first error, including:

[0093] Step S201, determining a first distance threshold and a second distance threshold of the vehicle in a first direction based on the size information of the vehicle, wherein the first distance threshold is smaller than the second distance threshold;

[0094] Step S202, determining a sum of a first distance threshold and a first error to obtain a first minimum distance value;

[0095] Step S203, determining the sum of the second distance threshold and the first error to obtain the first distance maximum value;

[0096] Step S204: determining a first response distance range according to the first minimum distance value and the first maximum distance value.

[0097] In this embodiment, the size information of the vehicle is acquired, wherein the size information includes the longitudinal size and the lateral size of the vehicle.

[0098] For example, the size information may be specifically 4m×1.8m, where 4m is the longitudinal size of the vehicle and 1.8m is the lateral size of the vehicle.

[0099] According to the size information of the vehicle, a first distance threshold and a second distance threshold of the vehicle in the first direction are respectively determined, wherein the first distance threshold is smaller than the second distance threshold, and the first distance threshold and the second distance threshold are set distance thresholds.

[0100] Exemplarily, the first distance threshold and the second distance threshold may be determined according to the longitudinal size of the size information.

[0101] For example, the first distance threshold may be a minimum turning distance of the vehicle in the first direction.

[0102] For example, the second distance threshold may be a maximum turning distance of the vehicle in the first direction.

[0103] A sum of a first distance threshold and a first error is determined to obtain a first minimum distance value, wherein the first minimum distance value is a minimum value in the first response distance range.

[0104] A sum of the second distance threshold and the first error is determined to obtain a first maximum distance value, wherein the first maximum distance value is a maximum value in the first response distance range.

[0105] The first distance minimum value and the first distance maximum value are set as range boundaries to determine a first response distance range.

[0106] In some embodiments, an embodiment of the present application provides a vehicle control method, which determines a second response distance range of the vehicle in a second direction based on a second error, including:

[0107] Step S301, determining a third distance threshold and a fourth distance threshold of the vehicle in a second direction based on the size information of the vehicle, wherein the third distance threshold is smaller than the fourth distance threshold;

[0108] Step S302: determining a sum of a third distance threshold and a second error to obtain a second minimum distance value;

[0109] Step S303, determining the sum of the fourth distance threshold and the second error to obtain the second maximum distance;

[0110] Step S304: determining a second response distance range according to the second minimum distance value and the second maximum distance value.

[0111] In this embodiment, a third distance threshold and a fourth distance threshold of the vehicle in the second direction are determined respectively based on the size information of the vehicle, wherein the third distance threshold is smaller than the fourth distance threshold, and the third distance threshold and the fourth distance threshold are set distance thresholds.

[0112] Exemplarily, the third distance threshold and the fourth distance threshold may be determined according to the horizontal size of the size information.

[0113] For example, the third distance threshold may be a minimum turning distance of the vehicle in the second direction.

[0114] Exemplarily, the fourth distance threshold may be a maximum turning distance of the vehicle in the second direction.

[0115] A sum of the third distance threshold and the second error is determined to obtain a second minimum distance value, wherein the second minimum distance value is a minimum value in the second response distance range.

[0116] A sum of the fourth distance threshold and the second error is determined to obtain a second maximum distance value, wherein the second maximum distance value is a maximum value in the second response distance range.

[0117] The second distance minimum value and the second distance maximum value are set as range boundaries to determine a second response distance range.

[0118] For example, in daily driving and parking scenarios, when facing a close side obstacle, the driver selectively activates the low-speed driving and parking side obstacle collision warning function through voice or central control soft button. When the longitudinal distance L1, L2, and the lateral distance W1, W2 between the driver and the front side obstacle meet the following relationship:

[0119] L2+△L <L≤L1+△L;

[0120] W2+△W <W≤W1+△W;

[0121] Wherein, L2 is the first distance threshold, L1 is the second distance threshold, ΔL is the first error, L is the first distance, W2 is the third distance threshold, W1 is the fourth distance threshold, ΔW is the second error, and W is the second distance.

[0122] Exemplarily, this embodiment can actively perceive the surrounding environment information through the fusion of multiple sensors such as vision and lidar, and promptly control the display of a warning pop-up window "Risk of scratches from side obstacles, please drive carefully" on the HMI interaction module in the car through the output of the intelligent driving domain control module, and display the corresponding red alarm flashing at a preset frequency (the parameters can be reasonably calibrated according to actual development) at the corresponding side position of the 3D car model to warn and automatically adjust to the corresponding 3D perspective, and control the voice interaction module in the car to broadcast the warning voice, providing the driver with a risk warning before a double collision from the auditory and aural perspectives, and promptly prompting the driver to adjust the driving strategy.

[0123] In some embodiments, an embodiment of the present application provides a vehicle control method. After obtaining a first error of a distance sensor in a first direction and a second error in a second direction, the method further includes:

[0124] Step S401, determining a third response distance range of the vehicle in the first direction according to the first error and the second distance threshold;

[0125] Step S402, determining a fourth response distance range of the vehicle in the second direction according to the second error and a fourth distance threshold;

[0126] Step S403 : Under the condition that the first distance belongs to the third response distance range and the second distance belongs to the fourth response distance range, the vehicle is controlled to stop traveling.

[0127] In this embodiment, a third response distance range of the vehicle in the first direction is determined based on the first error and the second distance threshold, wherein the third response distance range is a distance range in the first direction that responds to the obstacle avoidance function.

[0128] Exemplarily, the first error is determined as the minimum value of the distance range, the sum of the first error and the second distance threshold is determined as the maximum value of the distance range, and the third response distance range is determined based on the minimum value of the distance range and the maximum value of the distance range.

[0129] A fourth response distance range of the vehicle in the second direction is determined according to the second error and the fourth distance threshold, wherein the fourth response distance range is a distance range in the second direction that responds to the obstacle avoidance function.

[0130] Exemplarily, the second error is determined as the minimum value of the distance range, the sum of the second error and the fourth distance threshold is determined as the maximum value of the distance range, and the fourth response distance range is determined based on the minimum value of the distance range and the maximum value of the distance range.

[0131] Under the condition that the first distance belongs to the third response distance range and the second distance belongs to the fourth response distance range, a braking strategy is adopted to control the vehicle to stop.

[0132] For example, in daily driving and parking scenarios, when facing a close side obstacle, the driver selectively activates the low-speed driving and parking side obstacle avoidance function through voice or central control soft button. When the longitudinal distance L2 and the lateral distance W2 between the driver and the front side obstacle meet the following relationship:

[0133] △L <L≤L2+△L;

[0134] △W <W≤W2+△W;

[0135] Wherein, L2 is the first distance threshold, ΔL is the first error, L is the first distance, W2 is the third distance threshold, ΔW is the second error, and W is the second distance.

[0136] For example, when the vehicle is driving close to a side obstacle in front and there is a high risk of collision if the driving strategy is not adjusted in time, the vehicle is controlled to brake in time by requesting the control of the horizontal and vertical associated parts execution module; and the light warning module is controlled to control the front and rear double flashes of the vehicle, and the warning light installed at the bottom of the rearview mirror flashes at a preset frequency (the parameters can be reasonably calibrated according to actual development) to warn surrounding traffic participants; at the same time, the intelligent driving domain control module outputs and controls the display of a warning pop-up window on the in-vehicle HMI interaction module, saying "Risk of scratching with side obstacles, the side obstacle collision avoidance function is turned on in low-speed driving and parking scenarios, please keep an eye on the surrounding environment..." and other voice and display correspondingly renders a red alarm flashing at a preset frequency (the parameters can be reasonably calibrated according to actual development) at the corresponding side position of the 3D car model to warn and automatically adjust to the corresponding 3D perspective.

[0137] In some embodiments, an embodiment of the present application provides a vehicle control method, further comprising:

[0138] Step S501: When a vehicle collides with an obstacle, controlling an elastic wave sensor to collect the collision position of the vehicle;

[0139] Step S502, determining an escape path for the vehicle based on the collision location;

[0140] Step S503: Control the vehicle to travel along an escape path to keep the vehicle away from obstacles.

[0141] In this embodiment, the vehicle also includes an elastic wave sensor, which senses the location (positioning), strength (force) and mode (contact method, contact duration) of a touch event for various applications. That is, through different touch methods, different signals are generated to provide a reference for the vehicle to make decisions and plans.

[0142] For example, eight elastic wave sensors may be provided on both sides of the vehicle.

[0143] In the event that a vehicle collides with an obstacle, the elastic wave sensor is controlled to collect a collision position of the vehicle, wherein the collision position is a specific position where the vehicle collides with the obstacle.

[0144] For example, the collision position may be specifically a left front door position of the vehicle.

[0145] Based on the collision location, an escape path for the vehicle is planned, wherein the escape path is the path for the vehicle to escape from the obstacle.

[0146] For example, a path planning model may be established, and the collision position may be used as input data. The collision position may be input into the path planning model to obtain an escape path output by the path planning model.

[0147] Control the vehicle to follow the escape path to keep it away from obstacles.

[0148] Exemplarily, the vehicle also includes an intelligent driving domain control module. When facing daily driving and parking scenarios, when facing a close side obstacle, the driver selectively activates the low-speed driving and parking side obstacle collision escape function through voice or the central control soft button. When the side of the vehicle collides with the side obstacle, the elastic wave sensor senses the collision position and collision degree, and converts the corresponding position and collision intensity into a signal transmitted to the intelligent driving domain control module. The intelligent driving domain control module executes the following strategies according to the signal:

[0149] 1. Request the in-car voice interaction module to broadcast a message such as "Side obstacle scratched, system enters escape mode"

[0150] 2. Request the in-car HMI interactive module to display a pop-up window on the HMI screen that reads "Side obstacle scratched, system enters escape mode" and render the scratched area on the 3D car model based on the severity of the scratch.

[0151] 3. Request the vehicle's front and rear double flashes controlled by the light warning module, and the warning light installed at the bottom of the rearview mirror to flash at a preset frequency (the parameters can be reasonably calibrated according to actual development) to alert surrounding traffic participants

[0152] 4. Output the planning control request to move away from the corresponding side obstacle to the associated component execution module, and control the vehicle to move away from the side obstacle that has been scratched (the specific planning strategy can be reasonably determined by actual debugging at any time). At the same time, after the vehicle is out of trouble, control the vehicle to brake and stop in time.

[0153] 5. Request the in-vehicle voice interaction module and the in-vehicle HMI interaction module to prompt the user to go to the repair center for repair as soon as possible through voice or text pop-up window.

[0154] 6. If you want to clear the relevant prompt data after the last collision, you can reset the function by resetting the switch and then turning it on again.

[0155] In some embodiments, an embodiment of the present application provides a vehicle control method for determining a vehicle escape path based on a collision location, including:

[0156] Step S601, determining the vehicle's escape direction based on the collision position;

[0157] Step S602, controlling the camera sensor to collect image data of the area where the vehicle is located;

[0158] Step S603: performing position recognition processing on the image data to obtain the target parking position of the vehicle;

[0159] Step S604: Path planning is performed based on the escape direction and the target parking position to obtain an escape path.

[0160] In this embodiment, the vehicle also includes a camera sensor.

[0161] Exemplarily, the camera sensor may be a two-dimensional camera sensor for collecting two-dimensional image data.

[0162] Exemplarily, the camera sensor may be a three-dimensional camera sensor for collecting three-dimensional image data.

[0163] The escape direction of the vehicle is determined according to the collision position, wherein the escape direction is the direction in which the vehicle escapes from the obstacle.

[0164] For example, when the collision position is the left front door position, the escape direction is the right direction of the vehicle

[0165] The camera sensor is controlled to collect image data of the area where the vehicle is located, wherein the image data is an image of the area where the vehicle is located.

[0166] Exemplarily, when the camera sensor is a two-dimensional camera sensor, the image data is two-dimensional image data.

[0167] Exemplarily, when the camera sensor is a three-dimensional camera sensor, the image data is three-dimensional point cloud data.

[0168] Position recognition processing is performed on the image data to obtain a target parking position of the vehicle, wherein the target parking position is a parking position away from obstacles.

[0169] Illustratively, the target parking position is a destination position of the vehicle away from obstacles.

[0170] Path planning is performed based on the escape direction and target parking position to obtain an escape path.

[0171] In some embodiments, an embodiment of the present application provides a method for controlling a vehicle. After controlling the vehicle to travel along an escape path, the method further includes:

[0172] Step S701, controlling the elastic wave sensor to collect the damage degree of the vehicle;

[0173] Step S702: Determine the vehicle's accident response strategy based on the degree of damage.

[0174] In this embodiment, the elastic wave sensor is controlled to collect the damage degree of the vehicle, wherein the damage degree indicates the damage condition of the vehicle.

[0175] For example, the degree of damage may be slight damage or severe damage.

[0176] For example, light damage means that the damage is minor and will not affect the long-distance driving of the vehicle.

[0177] For example, severe damage means that the damage is so severe that the vehicle cannot travel long distances.

[0178] According to the degree of damage, the vehicle's accident response strategy is determined, and the vehicle is controlled to execute the response strategy.

[0179] For example, when the damage is minor, the accident response strategy may specifically be to control the vehicle to travel to a maintenance center.

[0180] For example, when the degree of damage is severe, the accident response strategy may be to control the vehicle to stop and wait for rescue.

[0181] For example, in daily driving and parking scenarios, when facing a close side obstacle, this embodiment can actively perceive the surrounding environment information through the fusion of multiple sensors such as vision and lidar. In scenarios before a collision is about to occur at a long distance, timely warning suggestions are given to the driver through visual (ambient lighting, external double flashes, pop-up window tost, 3D car model rendering corresponding to the possible scratch area) and auditory (voice broadcast);

[0182] Before a collision is imminent, if the driving strategy is not adjusted in time, a minor collision may occur. The system will immediately control the vehicle to stop and inform the driver of the possible minor collision risk through visual (ambient lighting, external double flash, pop-up window tost, 3D car model corresponding to the possible scratch area rendering warning) and auditory (voice broadcast);

[0183] In addition, for scenarios where the vehicle has already collided with a side obstacle during use, in order to prevent secondary damage, the system will promptly control the vehicle to brake based on the elastic wave sensor data, and automatically enter the escape mode based on the collision position, controlling the vehicle to move away from the side obstacle, and pull over after moving away from the obstacle, requesting the owner to take over the vehicle, and carry out timely repairs. The system will also warn the driver through visual (ambient lights, external double flashes, pop-up tost, 3D car model rendering warning corresponding to the scratched area) and auditory (voice broadcast) warnings, informing the driver in advance of the possible scratches or even collision risks, and preventing secondary damage to the vehicle or passengers after the collision. This greatly improves vehicle safety, reduces driver fatigue, and increases the interactive experience of intelligent technology in the vehicle.

[0184] For example, Figure 2 As shown, the vehicle includes an intelligent driving domain control module, a body domain control module, an associated parts execution module, an elastic wave sensor module, a lidar sensor module, a camera sensor module, an ultrasonic sensor module, an in-vehicle HMI interaction module, a light warning module, and an in-vehicle voice interaction module.

[0185] Intelligent driving domain control module: The domain control SOC is responsible for receiving environmental information perceived by multiple sensors such as cameras, lidars, and ultrasonic radars, and accurately analyzing information such as parking spaces and obstacles in the environment through multi-sensor fusion algorithms. The analysis results are output as prompts to users during the use of assisted driving and parking functions or during human driving, as well as the basis for planning and decision-making on whether to take over the request to the associated component execution module to control the vehicle to brake or request to control the vehicle to escape from obstacles; the domain control MCU is responsible for receiving the prompts output by the domain control SOC, and the request on whether to take over the request to the associated component execution module to control the vehicle to brake or request to control the vehicle to escape from obstacles, and converting them into analog electrical signals and transmitting them to the body domain control module or the associated component execution module.

[0186] Body domain control module: responsible for receiving and executing the output of the intelligent driving domain control module to turn on the external double flash warning.

[0187] Related Components Execution Module: This module includes components closely related to the vehicle's driving and parking functions, such as the PDCM (Powertrain Control Module), EPS (Electric Power Steering), IPB (Intelligent Integrated Braking System), and BCM (Body Control Module). These components control the vehicle's lateral and longitudinal dynamics, left and right steering, and body status, and are closely related to the vehicle's ability to complete driving and parking. It receives corresponding control signals from the Intelligent Driving Domain Control Module to control the vehicle's lateral and longitudinal dynamics, left and right steering, and body status.

[0188] Elastic Wave Sensor Module: The elastic wave sensor senses the location (positioning), strength (force), and pattern (contact method and duration) of touch events, enabling various applications. Based on different touch methods, it generates different signals that inform the intelligent driving domain control module's decision-making and planning. The sensor is installed inside the exterior sheet metal of the vehicle, preferably in the center of the sheet metal surface. Eight sensors are installed, ideally to cover the entire perimeter of the vehicle. The number and placement of these sensors can be adjusted based on actual installation results.

[0189] LiDAR sensor module: A blind spot-filling LiDAR installed on the top and around the left and right fenders of the vehicle (with the goal of achieving coverage perception or presenting the vehicle's surroundings; the specific installation location and quantity can be reasonably arranged according to the actual vehicle model). When the driving and parking assistance functions are turned on or when people are driving the vehicle, it is responsible for real-time perception of the surrounding environment information and inputting it to the intelligent driving domain control module as a reference for whether to prompt the corresponding direction of the risk of scratches during the use of the assisted driving and parking functions, and for planning to stay away from side obstacles in the escape mode after the system takes over the vehicle.

[0190] Camera sensor module: Camera sensors installed on the front, rear, left and right sides of the vehicle (with the goal of covering the perception or presenting the vehicle's surroundings, and reasonably arranged according to the actual vehicle model) record the visual environment information around the vehicle in real time and input it to the intelligent driving domain control module. This serves as a reference for determining whether there is a risk of scratches in the corresponding direction during the use of assisted driving and parking functions, or when people are driving the vehicle, and for planning to stay away from side obstacles in the escape mode after the system takes over the vehicle.

[0191] Ultrasonic sensor module: installed around the front and rear bumpers and front and rear fenders of the vehicle (the specific number of installations can be reasonably selected based on the actual installation effect, so as to achieve the minimum number requirement for covering the perception of the vehicle's surrounding environment). During the parking process, the vehicle uses the emitted ultrasonic waves to perceive the obstacle information around the vehicle in real time, and inputs it to the intelligent driving domain control module as a decision reference for whether to prompt the corresponding direction of the risk of scratches during the use of assisted driving and parking functions, and for planning to stay away from side obstacles in the escape mode after the system takes over the vehicle.

[0192] In-vehicle HMI interaction module: The vehicle's built-in central control display provides the driver and parking assistance functions with visual information on the driving and parking function status, as well as real-time progress and rendering element information during the driving and parking process, as well as tactile interaction with the low-speed driving and parking scene side obstacle avoidance function button interaction, and visual pop-up warning information display.

[0193] Light warning module: The intelligent driving domain control module sends a request command, and the body domain control module controls the vehicle's front and rear double flashes, as well as the warning lights installed on the lower part of the rearview mirror. In scenarios where there are obstacles on the side during driving and parking functions, and in daily driving scenarios, after the side obstacle collision avoidance function is turned on in low-speed driving and parking scenarios, when facing scenarios where there are easily scratched side obstacles, the body domain control module controls the double flashes and the lights on the lower part of the rearview mirror to flash at a specified frequency (which can be reasonably calibrated according to actual conditions) to visually warn surrounding traffic participants.

[0194] In-vehicle voice interaction module: mainly responsible for auditory voice broadcast or execution of voice interaction functions. When the driving and parking functions are used in the scene where the side obstacles are easily scratched and in the daily driving scene, after the side obstacle collision avoidance function is turned on in the low-speed driving and parking scene, facing the scene where the side obstacles are easily scratched, real-time voice broadcast such as "Risk of scratching by side obstacles, please drive carefully..."; and in the scene where the vehicle is about to scratch the side obstacle and the system controls the brakes to stop the vehicle, the intelligent driving domain control module requests real-time voice broadcast such as "Risk of scratching by side obstacles, please voice or manually select whether to enter the escape mode"; and, when the vehicle has scratched the side obstacle, the intelligent driving domain control module requests voice broadcast such as "Side obstacle scratch, system enters escape mode".

[0195] In some embodiments, as Figure 3 As shown, an embodiment of the present application provides a vehicle control device 800, including:

[0196] An acquiring unit 802 is configured to acquire a first error of the distance sensor in a first direction and a second error in a second direction, where the first direction and the second direction are perpendicular to each other;

[0197] The processing unit 804 is configured to determine a first response distance range of the vehicle in a first direction according to the first error;

[0198] The processing unit 804 is further configured to determine a second response distance range of the vehicle in the second direction based on the second error;

[0199] The acquiring unit 802 is further configured to acquire, when the distance sensor detects an obstacle, a first distance and a second distance between the distance sensor and the obstacle, where the first distance is a distance in a first direction and the second distance is a distance in a second direction;

[0200] The control unit 806 is configured to control the warning device to output a warning signal under the condition that the first distance falls within a first response distance range and the second distance falls within a second response distance range.

[0201] The vehicle control device 800 in this embodiment obtains the first distance and the second distance between the distance sensor and the obstacle when the distance sensor detects an obstacle, and determines the position of the obstacle based on the first distance and the second distance, thereby improving the vehicle's accuracy in identifying the obstacle position. In addition, under the condition that the first distance falls within the first response distance range and the second distance falls within the second response distance range, the warning device is controlled to output a warning signal, thereby ensuring the safety of the moving vehicle through the warning signal.

[0202] In some embodiments, an embodiment of the present application provides a vehicle control device 800, including:

[0203] The processing unit 804 is further configured to determine a first distance threshold and a second distance threshold of the vehicle in the first direction based on the size information of the vehicle, wherein the first distance threshold is smaller than the second distance threshold;

[0204] The processing unit 804 is further configured to determine a sum of a first distance threshold and a first error to obtain a first minimum distance value;

[0205] The processing unit 804 is further configured to determine a sum of a second distance threshold and the first error to obtain a first distance maximum value;

[0206] The processing unit 804 is further configured to determine a first response distance range according to the first minimum distance value and the first maximum distance value.

[0207] In some embodiments, an embodiment of the present application provides a vehicle control device 800, including:

[0208] The processing unit 804 is further configured to determine a third distance threshold and a fourth distance threshold of the vehicle in the second direction based on the size information of the vehicle, wherein the third distance threshold is smaller than the fourth distance threshold;

[0209] The processing unit 804 is further configured to determine a sum of a third distance threshold and the second error to obtain a second minimum distance value;

[0210] The processing unit 804 is further configured to determine a sum of a fourth distance threshold and the second error to obtain a second maximum distance value;

[0211] The processing unit 804 is further configured to determine a second response distance range according to the second minimum distance value and the second maximum distance value.

[0212] In some embodiments, an embodiment of the present application provides a vehicle control device 800, including:

[0213] The processing unit 804 is further configured to determine a third response distance range of the vehicle in the first direction according to the first error and the second distance threshold;

[0214] The processing unit 804 is further configured to determine a fourth response distance range of the vehicle in the second direction based on the second error and a fourth distance threshold;

[0215] The processing unit 804 is further configured to control the vehicle to stop traveling under the condition that the first distance falls within a third response distance range and the second distance falls within a fourth response distance range.

[0216] In some embodiments, an embodiment of the present application provides a vehicle control device 800, including:

[0217] The processing unit 804 is further configured to control the elastic wave sensor to collect the collision position of the vehicle when the vehicle collides with an obstacle;

[0218] The processing unit 804 is further configured to determine an escape path for the vehicle based on the collision location;

[0219] The processing unit 804 is further configured to control the vehicle to travel along an escape path so as to keep the vehicle away from obstacles.

[0220] In some embodiments, an embodiment of the present application provides a vehicle control device 800, including:

[0221] The processing unit 804 is further configured to determine a direction for the vehicle to escape based on the collision position;

[0222] The processing unit 804 is further used to control the camera sensor to collect image data of the area where the vehicle is located;

[0223] The processing unit 804 is further configured to perform position recognition processing on the image data to obtain a target parking position of the vehicle;

[0224] The processing unit 804 is further configured to perform path planning based on the escape direction and the target parking position to obtain an escape path.

[0225] In some embodiments, an embodiment of the present application provides a vehicle control device 800, including:

[0226] The processing unit 804 is further used to control the elastic wave sensor to collect the damage degree of the vehicle;

[0227] The processing unit 804 is further configured to determine an accident response strategy for the vehicle based on the degree of damage.

[0228] In some embodiments, as Figure 4As shown, a vehicle control device 900 is provided. The vehicle control device 900 includes a processor 902 and a memory 904. The memory 904 stores a computer program. When executed by the processor 902, the computer program implements the steps of the vehicle control method described in any of the above-mentioned embodiments. Therefore, the vehicle control device 900 has all the advantages of the vehicle control method described in any of the above-mentioned embodiments, and will not be further described here.

[0229] In some embodiments, a readable storage medium is provided on which a program is stored. When the program is executed by a processor, the steps of the vehicle control method in any of the above embodiments are implemented, thereby having all the beneficial technical effects of the vehicle control method in any of the above embodiments.

[0230] It should be noted that, in the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0231] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-readable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-readable program code.

[0232] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0233] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0234] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0235] An embodiment of the present application further provides a computer program product, which includes computer software instructions. When the computer software instructions are executed on a processing device, the processing device executes the process of the vehicle control method.

[0236] A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, a process or function according to an embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. Computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. A computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or data center that includes one or more available media integrated therein. Available media may be magnetic media (e.g., floppy disk, hard disk, tape), optical media (e.g., DVD), or semiconductor media (e.g., solid-state disks (SSD)).

[0237] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0238] In the several embodiments provided in this application, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0239] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0240] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0241] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0242] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

[0243] Although the preferred embodiments of this specification have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of this specification.

[0244] Obviously, those skilled in the art may make various changes and modifications to this specification without departing from the spirit and scope of this specification. Thus, if such changes and modifications fall within the scope of the claims of this specification and their equivalents, this specification is intended to include such changes and modifications.

Claims

1. A vehicle control method, characterized in that: The vehicle includes a distance sensor and a warning device, and the method includes: Obtaining a first error of the distance sensor in a first direction and a second error in a second direction, wherein the first direction and the second direction are perpendicular to each other; determining a first response distance range of the vehicle in the first direction according to the first error; determining a second response distance range of the vehicle in the second direction according to the second error; When the distance sensor detects an obstacle, acquiring a first distance and a second distance between the distance sensor and the obstacle, where the first distance is a distance in the first direction and the second distance is a distance in the second direction; Under the condition that the first distance belongs to the first response distance range and the second distance belongs to the second response distance range, the warning device is controlled to output a warning signal.

2. The method according to claim 1, characterized in that Determining a first response distance range of the vehicle in the first direction based on the first error includes: determining, based on the size information of the vehicle, a first distance threshold and a second distance threshold of the vehicle in the first direction, wherein the first distance threshold is smaller than the second distance threshold; determining a sum of the first distance threshold and the first error to obtain a first minimum distance value; determining a sum of the second distance threshold and the first error to obtain a first distance maximum value; The first response distance range is determined according to the first minimum distance value and the first maximum distance value.

3. The method according to claim 2, characterized in that Determining a second response distance range of the vehicle in the second direction based on the second error includes: determining, based on the size information of the vehicle, a third distance threshold and a fourth distance threshold of the vehicle in the second direction, wherein the third distance threshold is smaller than the fourth distance threshold; determining a sum of the third distance threshold and the second error to obtain a second minimum distance value; determining a sum of the fourth distance threshold and the second error to obtain a second maximum distance value; The second response distance range is determined according to the second minimum distance value and the second maximum distance value.

4. The method according to claim 3, characterized in that After obtaining the first error of the distance sensor in the first direction and the second error in the second direction, the method further includes: determining a third response distance range of the vehicle in the first direction according to the first error and the second distance threshold; determining a fourth response distance range of the vehicle in the second direction according to the second error and the fourth distance threshold; Under the condition that the first distance belongs to the third response distance range and the second distance belongs to the fourth response distance range, the vehicle is controlled to stop traveling.

5. The method according to any one of claims 1 to 4, characterized in that The vehicle further includes an elastic wave sensor, and the method further includes: When the vehicle collides with the obstacle, controlling the elastic wave sensor to collect a collision position of the vehicle; determining an escape path for the vehicle according to the collision position; The vehicle is controlled to travel along the escape path so as to keep the vehicle away from the obstacle.

6. The method according to claim 5, characterized in that The vehicle further includes a camera sensor, and determining an escape path for the vehicle based on the collision position includes: determining an escape direction of the vehicle according to the collision position; Controlling the camera sensor to collect image data of the area where the vehicle is located; performing position recognition processing on the image data to obtain a target parking position of the vehicle; Path planning is performed based on the escape direction and the target parking position to obtain the escape path.

7. The method according to claim 5, characterized in that After controlling the vehicle to travel according to the escape path, the method further includes: controlling the elastic wave sensor to collect the degree of damage to the vehicle; An accident response strategy for the vehicle is determined based on the damage extent.

8. A vehicle control device, characterized in that: The vehicle includes a distance sensor and a warning device, and the device includes: An acquiring unit, configured to acquire a first error of the distance sensor in a first direction and a second error in a second direction, wherein the first direction and the second direction are perpendicular to each other; a processing unit, configured to determine a first response distance range of the vehicle in the first direction according to the first error; The processing unit is further configured to determine a second response distance range of the vehicle in the second direction based on the second error; The acquiring unit is further configured to acquire, when the distance sensor detects an obstacle, a first distance and a second distance between the distance sensor and the obstacle, wherein the first distance is a distance in the first direction and the second distance is a distance in the second direction; A control unit is configured to control the warning device to output a warning signal under the condition that the first distance belongs to the first response distance range and the second distance belongs to the second response distance range.

9. A vehicle control device, characterized in that: include: processor; A memory, wherein a program or instruction is stored in the memory, and when the processor executes the program or instruction in the memory, the steps of the vehicle control method according to any one of claims 1 to 7 are implemented.

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

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