Vehicle control method and device, vehicle, storage medium and chip

Abstract

The invention provides a vehicle control method and device, a vehicle, a storage medium and a chip, and relates to the technical field of vehicle control. According to the method, when it is detected that a vehicle body opening and closing piece of the vehicle is in an opening state, the vehicle control device can determine the running state of the vehicle and control the vehicle to run according to the running state. Wherein the running state is used for indicating the control right of the vehicle. According to the method, under the condition that the vehicle body opening and closing piece of the vehicle is opened, the vehicle control device can control the vehicle to run according to different running states, and driving safety can be guaranteed.

Description

Technical Field

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

[0002] To facilitate the opening and closing of vehicle body opening and closing parts, the body opening and closing parts are usually equipped with electronic locks, which have unlocking and closing functions. Taking the hood as an example, the unlocking function is used to open the hood, and the closing function is used to close the hood.

[0003] However, when the vehicle is in motion, if the electronic lock is abnormally unlocked, the vehicle body opening and closing parts may be abnormally opened, affecting driving safety. Summary of the Invention

[0004] Embodiments of the present application provide a vehicle control method, device, vehicle, storage medium, and chip, which can control the vehicle to stop when it is detected that the vehicle body opening and closing parts are in the open state, thereby improving driving safety.

[0005] First, embodiments of the present application provide a vehicle control method. The method may be performed by a vehicle or a vehicle control device. The following description uses a vehicle control device as an example. In this method, upon detecting that the vehicle's body opening and closing features are in the open state, the vehicle control device may determine the vehicle's operating status. The vehicle control device may control the vehicle's operation based on the vehicle's operating status.

[0006] The operating status of the vehicle is at least used to indicate the control right of the vehicle.

[0007] Exemplarily, the operating status of the vehicle may be used to indicate that the control right of the vehicle belongs to the vehicle, or the operating status of the vehicle may be used to indicate that the control right of the vehicle does not belong to the vehicle, that is, belongs to the driver.

[0008] In the embodiment of the present application, when it is detected that the vehicle's body opening and closing parts are in the open state, the vehicle control device can control the vehicle to stop according to different operating states. For example, when the operating state indicates that the control of the vehicle belongs to the vehicle, the vehicle control device can control the vehicle to stop. If the operating state indicates that the control of the vehicle belongs to the driver, the driver is prompted to pay attention to the switch state of the vehicle body opening and closing parts, and then the vehicle body opening and closing parts can be closed in time, which can prevent the vehicle from continuing to drive in an unsafe situation, thereby improving driving safety.

[0009] In one possible implementation, if the operating status indicates that the vehicle has control rights, the vehicle control device may determine a driving strategy based on status information of traffic participants around the vehicle and control the vehicle to stop based on the driving strategy.

[0010] The status information is used to indicate whether there are traffic participants in the area around the vehicle's motion trajectory.

[0011] For example, traffic participants may be other vehicles or people.

[0012] For example, the vehicle control device may determine status information of traffic participants around the vehicle based on environmental data, wherein the environmental data may include image data or point cloud data, etc.

[0013] In this implementation, the vehicle can determine its driving strategy based on the status of surrounding traffic participants and park accordingly, thus avoiding collisions and reducing the occurrence of safety accidents. Furthermore, since the vehicle currently has control of the vehicle, panic attacks caused by the active state of the system can be avoided, thereby preventing the driver from operating in a panic, thereby improving the driver's driving experience and safety.

[0014] In one possible implementation, if the status information indicates that there are traffic participants in the area to the right or left of the vehicle's motion trajectory, the vehicle control device may determine the driving strategy to be the first driving strategy. If the status information indicates that there are no traffic participants in the area to the right or left of the vehicle's motion trajectory, the vehicle control device may determine the driving strategy to be the second driving strategy.

[0015] Among them, the first driving strategy is to slow down and stop in the lane where the vehicle is located, and the second driving strategy is to switch lanes and slow down and stop.

[0016] In this implementation, the vehicle control device can determine whether there are traffic participants in the right or left area of ​​the vehicle's motion trajectory based on status information, and flexibly select an appropriate driving strategy (such as the first driving strategy or the second driving strategy). For example, when there are traffic participants in the right or left area, the vehicle control device can slow down to a stop in the lane; when there are no traffic participants in the right or left area, the vehicle control device can switch lanes and slow down to a stop. This can effectively utilize road resources and improve overall traffic efficiency.

[0017] In one possible implementation, if the status information indicates that there are traffic participants in the area to the right or left of the vehicle's motion trajectory, and if there are traffic participants in the area behind the vehicle's motion trajectory, the vehicle control device may determine the driving strategy to be the third driving strategy. If the status information indicates that there are traffic participants in the area to the right or left of the vehicle's motion trajectory, and if there are no traffic participants in the area behind the vehicle's motion trajectory, the vehicle control device may determine the driving strategy to be the fourth driving strategy.

[0018] Among them, the first driving strategy may include a third driving strategy or a fourth driving strategy, the third driving strategy is to decelerate to a stop at a first deceleration in the lane where the vehicle is located, and the fourth driving strategy is to decelerate to a stop at a second deceleration in the lane where the vehicle is located, and the absolute value of the second deceleration is greater than the absolute value of the first deceleration.

[0019] For example, the range of the first deceleration may be (-3m / s 2 , -2m / s 2 ], the second deceleration range can be [-5m / s 2 , -3m / s 2 ].

[0020] In this implementation, if there are traffic participants in the right or left area of ​​the vehicle's trajectory, the vehicle control device can comprehensively determine the corresponding driving strategy (the third driving strategy or the fourth driving strategy) based on whether there are traffic participants in the rear area of ​​the vehicle's trajectory. This ensures that the vehicle control device can safely stop the vehicle in complex environments. In addition, since a slower deceleration rate (such as the first deceleration rate) is used when there are traffic participants in the rear area, the risk of vehicle collision is reduced. However, a higher deceleration rate (such as the second deceleration rate) is used when there are traffic participants in the rear area, which can improve the driver's comfort compared to immediate braking.

[0021] In a possible implementation, if the driving strategy is determined to be the first driving strategy, the vehicle control device may send a first instruction to the vehicle's motion execution device and a second instruction to the vehicle's light execution device.

[0022] The first instruction is used to instruct the motion execution device to slow down and stop the vehicle in the lane in which the vehicle is located, and the second instruction is used to instruct the indicator light execution device to turn on a first headlight. The first headlight includes at least one of a brake light, a hazard warning flasher (or double flash light), a projection light, and a taillight.

[0023] For example, if the first driving strategy includes the third driving strategy, the first instruction may include a first deceleration rate. Upon receiving the first instruction, the vehicle's motion actuator may decelerate the vehicle to a stop in its lane at the first deceleration rate. Correspondingly, upon receiving the second instruction, the vehicle's lighting actuator may activate the first headlight.

[0024] For example, if the first driving strategy includes the fourth driving strategy, the first instruction may include a second deceleration rate. After the vehicle's motion actuator receives the first instruction, the motion actuator may decelerate the vehicle to a stop in the vehicle's lane at the second deceleration rate. Correspondingly, after the vehicle's lighting actuator receives the second instruction, the lighting actuator may turn on the first headlight.

[0025] In this implementation, the vehicle control device can cause the vehicle to decelerate and stop in the lane the vehicle is in by sending a first instruction to the motion execution device. In addition, turning on the first headlight can effectively warn surrounding traffic participants, thereby improving driving safety.

[0026] In a possible implementation, if the driving strategy is determined to be the second driving strategy, the vehicle control device may send a third instruction to the vehicle's motion execution device and a fourth instruction to the vehicle's light execution device.

[0027] The third instruction is used to instruct the motion actuator to switch lanes and decelerate to a stop, and the fourth instruction is used to instruct the light actuator to turn on a second vehicle light. The second vehicle light includes at least one of a brake light, a hazard warning flasher, a turn signal, a projection light, and a tail light.

[0028] In this implementation, since the second driving strategy is to switch lanes and slow down to a stop, the light actuator turns on the turn signal and brake light to convey the vehicle's lane change and deceleration intentions to surrounding traffic participants, thereby reducing the risk of traffic accidents caused by information asymmetry.

[0029] In one possible implementation, if the operating status indicates that the control right of the vehicle belongs to the driver, the vehicle control device may send environmental information or prompt information to the human-machine interaction device of the vehicle.

[0030] The prompt information is used to remind the user that there are traffic participants in the area around the movement trajectory of the vehicle.

[0031] In this implementation, the vehicle control device sends environmental information or prompt information to the vehicle's human-computer interaction device in a timely manner, so that the driver can promptly understand whether there are traffic participants in the area around the vehicle's movement trajectory, thereby helping the driver to adopt corresponding driving strategies in a timely manner and improve the driver's driving experience.

[0032] In one possible implementation, the vehicle control device may send first information to the human-machine interaction device, and in response to second information returned by the human-machine interaction device, the vehicle control device may control the vehicle to switch to the intelligent driving mode.

[0033] Among them, the first information is used to prompt the user whether to switch to the intelligent driving mode, and the second information is used to instruct the user to confirm switching to the intelligent driving mode.

[0034] In this implementation, switching to the intelligent driving mode through user confirmation can ensure that the user switches the vehicle mode with knowledge and consent, which can reduce the risk of misoperation and improve driving safety.

[0035] In one possible implementation, the vehicle control device may send third information to the human-computer interaction device, wherein the third information is used to notify the user that the vehicle will decelerate to a stop in the intelligent driving mode.

[0036] In this implementation, by notifying the user of the vehicle's deceleration and parking plans, the user can better anticipate the vehicle's behavior, thereby reducing safety hazards caused by sudden deceleration or parking.

[0037] In a possible implementation, the vehicle control device may detect the switch status of the vehicle body opening and closing member based on at least one of the first data collected by the first sensor or the second data collected by the second sensor.

[0038] The switch state includes an open state or a closed state. The first sensor may be a sensor for acquiring an electrical signal corresponding to an opening and closing part of the vehicle body, and the second sensor may be a sensor for sensing environmental information.

[0039] Exemplarily, the first sensor may be a lock sensor, and the second sensor may include at least one of a camera or a radar.

[0040] In this implementation, by combining data from the lock sensor and the first sensor, the accuracy and reliability of vehicle body opening and closing member detection can be ensured. Furthermore, because the vehicle control device can promptly identify an unclosed or abnormally opened state, accidents can be avoided during driving, improving overall vehicle safety.

[0041] In one possible implementation, the vehicle body opening and closing parts include at least one of a vehicle door, a hood, a front trunk lid, a rear trunk lid, a charging port lid, and a fuel tank cap.

[0042] In a second aspect, embodiments of the present application provide a vehicle control device comprising: a processing module configured to determine the vehicle's operating state upon detecting that the vehicle's body opening and closing components are in the open state. The operating state is configured to at least indicate control authority over the vehicle; and a control module configured to control vehicle operation based on the vehicle's operating state.

[0043] In a third aspect, an embodiment of the present application provides another vehicle control device, which includes: one or more processors and a memory.

[0044] The memory is coupled to one or more processors, and the memory is used to store computer program code, which includes computer instructions. One or more processors call the computer instructions to execute the method described in the first aspect or any possible implementation of the first aspect.

[0045] In a fourth aspect, an embodiment of the present application provides a vehicle, which includes a vehicle control device to execute the method described in the first aspect or any possible implementation of the first aspect.

[0046] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program or instruction is stored. When the computer program or instruction is run on a computer, the computer executes the method described in the first aspect or any possible implementation of the first aspect.

[0047] In a sixth aspect, an embodiment of the present application provides a computer program product comprising a computer program, which, when the computer program runs on a computer, enables the computer to execute the method described in the first aspect or any possible implementation of the first aspect.

[0048] In a seventh aspect, an embodiment of the present application provides a chip or a chip system, which includes a circuit for executing the method described in the first aspect or any possible implementation of the first aspect.

[0049] It should be understood that the second to seventh aspects of the present application correspond to the technical solutions of the first aspect of the present application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A schematic structural diagram of a vehicle provided in an embodiment of the present application;

[0051] Figure 2 A flow chart of a vehicle control method provided in an embodiment of the present application;

[0052] Figure 3 A schematic structural diagram of another vehicle provided in an embodiment of the present application;

[0053] Figure 4 A flow chart of another vehicle control method provided in an embodiment of the present application;

[0054] Figure 5 A flow chart of another vehicle control method provided in an embodiment of the present application;

[0055] Figure 6 A flow chart of another vehicle control method provided in an embodiment of the present application;

[0056] Figure 7 A schematic structural diagram of a vehicle control device provided in an embodiment of the present application;

[0057] Figure 8A schematic structural diagram of a vehicle control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] For ease of understanding, the following first introduces the relevant terms and concepts involved in the embodiments of the present application:

[0059] 1. Body Control Module (BCM): A vehicle's electronic control unit (ECU) responsible for managing the vehicle's electrical functions. These functions refer to the vehicle's non-power-related electrical systems managed by the BCM.

[0060] Exemplarily, the non-power-related electrical systems of a vehicle may include: a lighting system, a door and window control system, and a wiper and washing system, etc.

[0061] Among them, the lighting system is used to manage the turn signals, reversing lights, brake lights, hazard warning flashers (or double flash lights), and the opening and closing of the interior ceiling lights; the door and window control system is used to manage the opening and closing of the doors, windows, hood, front trunk lid, and trunk lid; the wiper and cleaning system is used to control the wiper mode and the spraying of glass water, etc.

[0062] In some embodiments, the body control module may be described as a vehicle interface unit (VIU), which may also be described as a vehicle controller.

[0063] 2. H-bridge: An electronic drive circuit that can be used to control the direction and speed of a load. For example, the load can be a motor or an electromagnetic coil.

[0064] Taking a motor as an example, an H-bridge uses four sets of switching elements to allow current to flow in both directions, thereby achieving forward and reverse rotation of the motor. Each of the four switching elements can include, but is not limited to, any of the following: metal-oxide-semiconductor field-effect transistors (MOSFETs) or relays. Forward and reverse refer to the direction of the motor's rotation.

[0065] 3. Deceleration: This is another way of expressing acceleration, and can be used to measure how quickly speed decreases over time. In some embodiments, for example, when the direction of acceleration is opposite to the direction of velocity, the vehicle decelerates; this acceleration can be referred to as deceleration. A greater deceleration indicates a faster decrease in speed, while a smaller deceleration indicates a slower decrease in speed.

[0066] In some embodiments, the deceleration may be represented by a negative value or an absolute value.

[0067] For example, taking the deceleration as a negative value, the deceleration can be -2 meters per second squared (m / s 2 ). The negative sign indicates that the direction is opposite to the speed, and the value indicates how fast the speed decreases.

[0068] For example, taking the deceleration as an absolute value, the deceleration can be 2m / s 2 , at this time the deceleration is the absolute value of the acceleration.

[0069] In one possible scenario, if a vehicle's door, hood, front trunk lid, rear trunk lid, charging port lid, or fuel tank cap is abnormally opened while the vehicle is driving, driving safety may be affected.

[0070] For example, taking the hood or trunk lid as an example, when the hood or trunk lid is opened, it will block the driver's field of vision, thereby affecting driving safety.

[0071] For example, taking the trunk lid as an example, opening the trunk lid may cause items to fall, thereby distracting the driver and affecting driving safety.

[0072] For example, taking a car door as an example, abnormal opening of the car door may cause passengers to fall.

[0073] For example, taking the charging port cover as an example, opening the charging port cover will cause rainwater, dust or debris to enter the charging port, which may cause the charging port to short-circuit or have poor contact, affecting subsequent charging of the vehicle.

[0074] For example, taking the fuel tank cap as an example, opening the fuel tank cap will cause fuel leakage, creating a fire hazard. In addition, it may also cause dust, rainwater, etc. to contaminate the fuel.

[0075] In some embodiments, in order to improve the convenience of operating the vehicle doors, hood, front trunk lid, trunk lid, charging port lid, or fuel tank lid, the vehicle doors, hood, front trunk lid, trunk lid, charging port lid, and fuel tank lid can generally be equipped with electronic locks, which can easily realize the opening and closing of the vehicle doors, hood, front trunk lid, trunk lid, charging port lid, and fuel tank lid through the electronic locks.

[0076] For example, taking a car door as an example, the electronic lock configured on the car door supports multiple unlocking modes, such as remote unlocking via a smart key, unlocking via a central control screen, or unlocking by knocking, etc. Among them, knocking, for example, can unlock the electronic lock of the car door by knocking on the door handle three times.

[0077] It is understood that in some embodiments, the vehicle doors, hood, trunk lid, charging port cover, and fuel tank cap may be configured with mechanical locks to enable opening and closing of the vehicle doors, hood, trunk lid, charging port cover, and fuel tank cap. It should be understood that the electronic locks shown in the embodiments of this application do not constitute a limitation of the embodiments of this application, and the configuration of electronic locks is used as an example for description.

[0078] The following uses a vehicle door as an example to introduce the process of unlocking the electronic lock and detecting the door's switch status.

[0079] Taking the vehicle door as an example, in response to the user clicking the unlock button on the vehicle's central control screen, the central control screen can send an unlock request to the body control module, which is used to instruct the vehicle door to be unlocked. When the body control module receives the unlock request, it can first determine whether the vehicle is in parking (P) gear. If the vehicle is in P gear, the body control module can use the H-bridge to drive the motor to unlock the electronic lock.

[0080] In this example, a digital signal input (DI) or analog signal input (AI) switch is usually integrated into the electronic lock of the vehicle door. The DI switch or the AI ​​switch can be used to collect the status of the electronic lock of the vehicle door.

[0081] In some embodiments, the state of the electronic lock of the vehicle door collected by the DI switch can be represented by 0 or 1. 0 indicates that the state of the electronic lock of the vehicle door is in the engaged state, and 1 indicates that the state of the electronic lock of the vehicle door is in the unlocked state.

[0082] In some embodiments, the state of the electronic door lock detected by the AI ​​switch may be a voltage value. For example, if the voltage value is 12 volts (V), it may indicate that the electronic door lock is in the engaged state, and if the voltage value is 0V, it may indicate that the electronic door lock is in the unlocked state.

[0083] In some embodiments, the electronic lock of the vehicle door may go through at least three states, namely, an unlocked state, a semi-locked state, and an engaged state. The semi-locked state may be understood as an intermediate state between the unlocked state and the engaged state.

[0084] It is understood that when the electronic door lock is in the unlocked state, the lock tongue of the electronic door lock is fully retracted and the door is open. When the electronic door lock is in the half-locked state, the lock tongue of the electronic door lock is not fully engaged with the lock catch and the door is closed. When the electronic door lock is in the engaged state, the lock tongue is fully engaged with the lock catch and the door is closed.

[0085] In this example, when the electronic lock of the vehicle door is in the unlocked state, if the vehicle door is pressed, the electronic lock of the vehicle door can be in the semi-locked state. If the body control module recognizes that the electronic lock of the vehicle door is in the semi-locked state, the body control module can drive the motor through the H-bridge to complete the electronic lock of the vehicle door. When the electronic lock of the vehicle door is engaged, the electronic lock of the vehicle door can be in the engaged state.

[0086] In some embodiments, the unlocked or partially locked state of the vehicle door electronic lock can also be described as the vehicle door switch state being the open state. Similarly, the closed state of the vehicle door electronic lock can also be described as the vehicle door switch state being the closed state.

[0087] In summary, the vehicle can unlock or close the electronic lock of the door through the H-bridge driving motor, and detect the status of the electronic lock of the door (or the switch status of the door) through the DI switch or AI switch.

[0088] However, since the H-bridge is an electronic drive circuit, when the electronic drive circuit becomes stuck, the electronic lock of the vehicle door may be abnormally unlocked; or when a hardware failure occurs in the DI switch or AI switch, such as a short circuit or open circuit, the DI switch or AI switch may fail, causing the DI switch or AI switch to mistakenly detect the unlocked electronic lock as being in the engaged state. At this time, if the vehicle is in motion and the door is opened, it will distract the driver's attention, thereby affecting driving safety.

[0089] Accordingly, an embodiment of the present application provides a vehicle control method in which, when a vehicle control device detects that at least one of the vehicle doors, hood, trunk lid, charging port cover, and fuel tank cap is open, the vehicle control device can control the vehicle's operation based on the vehicle's operating state. In this method, since the vehicle control device can control the vehicle's operation based on the vehicle's operating state when at least one of the vehicle doors, hood, trunk lid, charging port cover, or fuel tank cap is open, driving safety can be improved.

[0090] Before introducing the vehicle control method provided in the embodiment of the present application, the structure of the vehicle provided in the embodiment of the present application is first introduced.

[0091] Figure 1 This is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. Figure 1 As shown, the vehicle 100 may include a sensing device 110, an audio device 120, a display device 130, a motion execution device 140, a light control device 150, and a vehicle control device 160. The vehicle control device 160 may be connected to the sensing device 110, the audio device 120, the display device 130, the motion execution device 140, and the light execution device 150, respectively.

[0092] Perception device 110 may include several sensors for sensing information about the environment surrounding vehicle 100. For example, perception device 110 may include a positioning system, which may be a global navigation satellite system (GNSS), such as the Global Positioning System (GPS) or the BeiDou system. For another example, perception device 110 may also include at least one of a radar or a camera, as well as a DI switch or an AI switch.

[0093] The radar may include but is not limited to at least one of the following: a laser radar, a millimeter-wave radar, or an ultrasonic radar, etc. The camera may include but is not limited to at least one of the following: a fisheye camera, an ultra-wide-angle camera, or a binocular camera, etc.

[0094] In some embodiments, the sensing device 110 may include several sensors for sensing the driving status of the vehicle 100. For example, the sensing device 110 may include a wheel speed sensor or a transmission gear position sensor.

[0095] In some embodiments, reference Figure 1 , the perception device 110 may send the collected data to the vehicle control device 160. It should be understood that the data collected by the perception device 110 may include: data collected by at least one of a camera or a radar, data collected by a DI switch or an AI switch, and data collected by a wheel speed sensor or a transmission gear position sensor.

[0096] The audio device 120 may include a sound emitting device (such as a speaker, a sound system, etc.) and a sound receiving device (such as a microphone).

[0097] In some embodiments, the audio device 120 may include a speech recognition module, which is used to recognize operation instructions in speech.

[0098] For example, the audio device 120 can receive voice input from the user through the receiving device. The user's voice input is, for example, "Switch to smart driving mode". The voice recognition module can recognize the user's voice input and obtain the operation instruction: "Switch to smart driving mode", so that the vehicle can automatically switch to automatic driving mode.

[0099] The display devices 130 within the vehicle 100's cabin are primarily categorized into two types: in-vehicle display screens; and projected display screens, such as heads-up displays (HUDs). An in-vehicle display screen is a physical display and a crucial component of the in-vehicle infotainment system. Multiple displays can be installed within the cabin, such as a digital instrument panel and a central control panel. In some possible implementations, one or more of these in-vehicle displays can be a human-machine interface (HMI); for example, the central control panel can be an HMI. A head-up display, also known as a head-up display system, primarily displays driving information such as speed and navigation information on a display device in front of the driver (e.g., the windshield). This reduces the driver's gaze shift time, avoids pupil changes caused by this shift, and improves driving safety and comfort. Examples of HUDs include combiner-HUD (C-HUD), windshield-HUD (W-HUD), and augmented reality HUD (AR-HUD).

[0100] In some embodiments, the audio device 120 and one or more of the display devices 130, such as an HMI, may together constitute a human-computer interaction device. Upon receiving a command (including a voice command or a command generated by a touch screen), the human-computer interaction device may control the display device 130 to display a corresponding interface based on the command.

[0101] The motion execution device 140 can be used to control the lane change of the vehicle and the increase or decrease of the vehicle speed.

[0102] In some embodiments, the motion implementation device 140 may include a brake control module.

[0103] The light actuator 150 can be used to control the vehicle's lights. For example, the vehicle's lights may include turn signals, brake lights, hazard warning lights, tail lights, and projection lights.

[0104] Some or all functions of the vehicle 100 can be controlled by the vehicle control device 160. The vehicle control device 160 may include processors 161 to 16n. A processor is a circuit with signal processing capabilities. In one implementation, the processor may be a circuit with instruction reading and execution capabilities, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationship of a hardware circuit. The logical relationship of the hardware circuit is fixed or reconfigurable. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration file to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, the processor may also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. In addition, the vehicle control device 160 may also include a memory for storing instructions, and some or all of the processors 161 to 16n may call the instructions in the memory to implement corresponding functions.

[0105] The vehicle control device 160 can control the operation of the intelligent driving system, which can include an advanced driving assistant system (ADAS) and an autonomous driving system (ADS). The intelligent driving system uses various sensors on the vehicle 100 (including but not limited to: lidar, millimeter-wave radar, camera, ultrasonic sensor, global positioning system, inertial measurement unit) to obtain information from the surroundings of the vehicle 100, analyze and process the obtained information, and implement functions such as obstacle perception, target recognition, vehicle positioning, path planning, and driver monitoring / reminders, thereby improving the safety, automation, and comfort of driving the vehicle 100.

[0106] At present, the functions that can be achieved by intelligent driving systems mainly include but are not limited to: adaptive cruise assistance, automatic emergency braking, automatic parking, blind spot monitoring, front intersection traffic warning / braking, rear intersection traffic warning / braking, front vehicle collision warning, lane departure warning, lane keeping assist, rear vehicle collision avoidance warning, traffic sign recognition, traffic congestion assistance, highway assistance, etc.

[0107] In some embodiments, the driving mode of the vehicle 100 can be divided into an intelligent driving mode and a manual driving mode. In the intelligent driving mode, parking of the vehicle 100 can be controlled by the intelligent driving system. Correspondingly, in the manual driving mode, parking of the vehicle 100 can be controlled by the driver.

[0108] The above examples describe the structure of the vehicle provided by the embodiments of the present application. The vehicle control method provided by the embodiments of the present application is described below in conjunction with specific embodiments. The following embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0109] Figure 2 A flow chart of a vehicle control method provided in an embodiment of the present application, referring to Figure 2 The vehicle control method provided in the embodiments of the present application is executed by a vehicle or a vehicle control device. Below, taking the vehicle control device as an example, the method may include:

[0110] S201, when the vehicle is powered on, the vehicle control device detects the driving state of the vehicle and the switch state of the vehicle body opening and closing parts.

[0111] The vehicle's driving state may include: a driving state or a non-driving state. The vehicle body opening and closing parts may include, but are not limited to, at least one of the following: a vehicle door, a hood, a front trunk lid, a rear trunk lid, a charging port lid, and a fuel tank cap.

[0112] In some embodiments, the vehicle control device can determine the vehicle's driving state based on driving state data collected by a wheel speed sensor or a transmission gear position sensor. For example, the driving state data can be a pulse or a frequency. For example, if the driving state data is a frequency collected from a wheel speed sensor, when the frequency is 0 Hz, the vehicle's driving state can be determined to be non-driving. Conversely, when the frequency is not 0 Hz, the vehicle's driving state can be determined to be driving.

[0113] In some embodiments, when the vehicle is in the P gear, it can be described as the vehicle being in a non-driving state. Similarly, when the vehicle is in a non-P gear, it can be described as the vehicle being in a driving state.

[0114] In some embodiments, the vehicle control device can determine the switch status of the vehicle body opening and closing component based on at least one of the first data collected by the lock sensor or the second data collected by the first sensor. The lock sensor can be the aforementioned DI switch or AI switch, and the first sensor can include at least one of a camera or a radar.

[0115] For example, refer to Figure 3 The sensing device 110 may include sensing device 1, sensing device 2, sensing device 3, and sensing device 4. Sensing device 1 may be a lock sensor, sensing device 2 may be described as the first sensor mentioned above, sensing device 3 may include at least one of a camera or a radar, and may be used to collect environmental data. Sensing device 4 may include a wheel speed sensor or a gearbox sensor, and may be used to collect vehicle driving status data.

[0116] In this example, perception device 1, perception device 2, perception device 3, and perception device 4 can periodically send collected data to the vehicle control device. Correspondingly, the vehicle control device can receive data from each perception device (such as perception device 1, perception device 2, perception device 3, and perception device 4).

[0117] In some embodiments, reference Figure 2 If the vehicle's driving state is a driving state and the switch state of the vehicle body opening and closing member is an open state, execute S202; if the vehicle's driving state is a non-driving state and the switch state of the vehicle body opening and closing member is an open state, execute S204.

[0118] In a possible implementation, after S201 , S202 and S203 are executed.

[0119] S202: If the vehicle is in a driving state, and if the switch state of the vehicle body opening and closing member is an open state, the vehicle control device determines the operating state of the vehicle.

[0120] The operating status is at least used to indicate the control right of the vehicle.

[0121] S203: The vehicle control device controls the operation of the vehicle according to the operation state of the vehicle.

[0122] In some embodiments, if the vehicle's operating status indicates that control of the vehicle belongs to the vehicle, the vehicle control device may determine status information of traffic participants surrounding the vehicle based on the vehicle's environmental data. The vehicle control device may determine a driving strategy based on the status information of traffic participants surrounding the vehicle. The vehicle may control the vehicle to stop based on the driving strategy.

[0123] The status information is used to indicate whether there are any traffic participants in the area around the vehicle's motion trajectory. For example, the traffic participants may be vehicles or people.

[0124] In some embodiments, control of the vehicle belongs to the vehicle and can be described as the vehicle being in smart driving mode.

[0125] In some embodiments, a target detection model may be provided in the vehicle control device, and the vehicle control device may input environmental data into the target detection model, and obtain a detection result after being processed by the target detection model. For example, taking the environmental data as image data, the detection result may include image data that has been identified using a specific identification method. For example, identification frames of different shapes, such as rectangular frames or differently colored areas, may be used for identification. Taking the use of rectangular frames as an example, the rectangular frames can be used to identify traffic participants in the area surrounding the vehicle's motion trajectory, and the position information of the rectangular frames relative to the vehicle can be used to determine the distance between the traffic participants and the vehicle.

[0126] In this example, different traffic participants may be represented by rectangular boxes of different colors in the detection results.

[0127] It will be understood that the target detection model shown in the embodiments of the present application does not constitute a limitation to the embodiments of the present application.

[0128] In some embodiments, if the status information indicates that there is a traffic participant on the right or left side of the vehicle's trajectory, the vehicle control device may determine that the driving strategy is a first driving strategy, wherein the first driving strategy is to decelerate to a stop in the lane where the vehicle is located.

[0129] In this example, refer to Figure 3The vehicle control device may send a first instruction to the vehicle's motion actuator and a second instruction to the vehicle's light actuator. The first instruction instructs the motion actuator to decelerate to a stop in the vehicle's lane, and the second instruction instructs the light actuator to turn on a first headlight, which may include at least one of a brake light, a hazard warning flasher, a projector light, and a taillight. The projector light may project a warning sign on the ground.

[0130] In some embodiments, if the status information is used to indicate that there are no traffic participants on the right or left side of the vehicle's motion trajectory, the vehicle control device may control the execution of the second driving strategy.

[0131] In this example, refer to Figure 3 The vehicle control device may send a third instruction to the vehicle's motion actuator and a fourth instruction to the vehicle's light actuator. The third instruction instructs the motion actuator to switch lanes and decelerate to a stop, and the fourth instruction instructs the light actuator to turn on a second headlight, which includes at least one of a brake light, a hazard warning flasher, a turn signal, a projection light, and a taillight.

[0132] In some embodiments, the first driving strategy may include a third driving strategy or a fourth driving strategy.

[0133] Among them, the third driving strategy is to decelerate to a stop at a first deceleration in the lane where the vehicle is located, and the fourth driving strategy is to decelerate to a stop at a second deceleration in the lane where the vehicle is located, and the absolute value of the first deceleration is smaller than the absolute value of the second deceleration.

[0134] For example, the range of the first deceleration may be (-3m / s 2 , -2m / s 2 ], the second deceleration range can be [-5m / s 2 , -3m / s 2 ].

[0135] In some embodiments, if the status information indicates that there are traffic participants on the right or left side of the vehicle's motion trajectory, and if there are traffic participants in the rear area of ​​the vehicle's motion trajectory, the vehicle control device may control the execution of a third driving strategy.

[0136] In this example, refer to Figure 3 The vehicle control device may send a first instruction to the motion actuator device, wherein the first instruction may include a first deceleration rate. Upon receiving the first instruction, the motion actuator device may decelerate the vehicle in the lane at the first deceleration rate until the vehicle stops. Furthermore, the vehicle control device may send a second instruction to the light actuator device, wherein the second instruction is used to instruct the light actuator device to turn on the first light.

[0137] For example, when the vehicle decelerates, the vehicle control device may control the brake lights to turn on; when the vehicle is close to stopping, the vehicle control device may control the projection lights to turn on; after the vehicle is completely stopped, the vehicle control device may control the tail lights to turn on.

[0138] In this example, the brake lights and projection lights can be activated to promptly alert other road users and avoid collisions. Turning on the taillights clearly indicates that the vehicle has stopped, preventing other road users from mistaking it for a slow-moving vehicle. Interactive taillights can also display specific patterns, text, and logos to alert road users.

[0139] In some embodiments, if the status information indicates that there are traffic participants on the right or left side of the vehicle's motion trajectory, and if there are no traffic participants in the rear area of ​​the vehicle's motion trajectory, the vehicle control device may control the execution of a fourth driving strategy.

[0140] In this example, refer to Figure 3 The vehicle control device may send a first instruction to the motion actuator device, wherein the first instruction may include the second deceleration rate. Upon receiving the first instruction, the motion actuator device may decelerate the vehicle in the lane at the second deceleration rate until the vehicle stops. Furthermore, the vehicle control device may send a second instruction to the light actuator device, wherein the second instruction is used to instruct the light actuator device to turn on the first light.

[0141] For example, when the vehicle decelerates, the vehicle control device can control the brake lights and hazard warning flashers to turn on; when the vehicle is close to stopping, the vehicle control device can control the projection lights to turn on; after the vehicle is completely stopped, the vehicle control device can control the tail lights to turn on.

[0142] In this example, the hazard warning flashers, following the brake lights, reinforce the intention to stop immediately. Projector lights can further alert other road users and help avoid a collision.

[0143] In some embodiments, if the operating status indicates that control of the vehicle belongs to the driver, not the vehicle, the vehicle may transmit environmental information or prompt information to the vehicle's human-machine interface device. The prompt information is used to alert the user of the presence of traffic participants in the area surrounding the vehicle's trajectory. Accordingly, upon receiving the environmental information or prompt information, the audio device within the human-machine interface device may play the prompt information, or the display device within the human-machine interface device may display the environmental information or prompt information.

[0144] It is understandable that the environmental information may include at least one of image data collected by a camera or point cloud data collected by a radar.

[0145] In this example, the vehicle control device may also send a first message to the human-machine interface device, prompting the user to switch to the intelligent driving mode. Accordingly, in response to a second message returned by the human-machine interface device, the vehicle control device may control the vehicle to switch to the intelligent driving mode. The second message indicates that the user has confirmed the switch to the intelligent driving mode.

[0146] In this example, the vehicle control device may further send a third message to the human-computer interaction device, wherein the third message is used to notify the user that the vehicle will decelerate to a stop in the intelligent driving mode.

[0147] In some embodiments, control of the vehicle not belonging to the vehicle can be described as the vehicle being in manual driving mode.

[0148] In another possible implementation, after S201, the following steps may be performed:

[0149] S204: If the vehicle is in a non-driving state and the vehicle body opening and closing member is in an open state, the vehicle control device prompts the user through the human-computer interaction device that the vehicle body opening and closing member is in an open state.

[0150] In an embodiment of the present application, upon detecting that the vehicle body opening and closing member is in the open state, the vehicle control device can determine the vehicle's operating state and, based on this operating state, control vehicle operation. This can reduce safety risks caused by the abnormal opening of the vehicle body opening and closing member in different driving modes. Furthermore, because the vehicle can control and display environmental information or prompts about traffic participants around the vehicle, user distraction can be reduced, thereby improving driving safety. Furthermore, when the vehicle is not in motion, the vehicle control device can notify the user through the human-computer interaction device that the vehicle body opening and closing member is in the open state, thereby helping the user to close the vehicle body opening and closing member in a timely manner.

[0151] As described in the above example, a vehicle control method provided in an embodiment of the present application is introduced. The vehicle control method provided in an embodiment of the present application is introduced below in combination with a scenario.

[0152] In one possible scenario, when it is detected that the vehicle is in a driving state and the vehicle body opening and closing parts are abnormally opened, the vehicle control device determines the vehicle's operating state to indicate that the control right of the vehicle belongs to the vehicle. Figure 4 The vehicle control method provided in the embodiment of the present application may include:

[0153] S401, when it is detected that the vehicle is in a driving state and the vehicle body opening and closing parts are abnormally opened, the vehicle control device determines the operating state of the vehicle to indicate that the control right of the vehicle belongs to the vehicle.

[0154] S402: The vehicle control device determines status information of traffic participants around the vehicle based on environmental data.

[0155] In some embodiments, S402 may refer to the relevant description in S203.

[0156] S403: The vehicle control device determines whether there is a traffic participant in the right or left area of ​​the vehicle's motion trajectory based on the state information.

[0157] If there is a target object in the right or left area of ​​the vehicle's motion track, execute S404; if there is no target object in the right or left area of ​​the vehicle's motion track, execute S407.

[0158] S404: The vehicle control device determines whether there are traffic participants in the rear area of ​​the vehicle's motion trajectory based on the status information.

[0159] If there is a target object in the rear area of ​​the vehicle's motion trajectory, execute S405; if there is no target object in the rear area of ​​the vehicle's motion trajectory, execute S406.

[0160] S405 , the vehicle control device controls the execution of the third driving strategy.

[0161] The third driving strategy may refer to the description in the above embodiment.

[0162] In some embodiments, referring to the description in S203, the vehicle control device may send a first instruction to the motion execution device, wherein the first instruction may include a first deceleration rate. Upon receipt of the first instruction, the motion execution device may decelerate the vehicle in the lane at the first deceleration rate until the vehicle stops. Simultaneously, the vehicle control device may send a second instruction to the lighting execution device. Upon receipt of the second instruction, the lighting execution device may activate a first headlight, which may include at least one of a brake light, a hazard warning flasher, a projector light, and a taillight.

[0163] S406: The vehicle control device controls the execution of the fourth driving strategy.

[0164] Among them, the fourth driving strategy can refer to the above Figure 2 Description in the Examples.

[0165] In some embodiments, referring to the description in S203, the vehicle control device may send a first instruction to the motion execution device, wherein the first instruction may include a second deceleration rate. Upon receipt of the first instruction, the motion execution device may decelerate the vehicle in the lane at the second deceleration rate until the vehicle stops. Simultaneously, the vehicle control device may send a second instruction to the lighting execution device. Upon receipt of the second instruction, the lighting execution device may activate a first headlight, which may include at least one of a brake light, a hazard warning flasher, a projector light, and a taillight.

[0166] S407: The vehicle control device controls the execution of the second driving strategy.

[0167] Among them, the second driving strategy can refer to the above Figure 2 Description in the Examples.

[0168] In some embodiments, referring to the description in S203, the vehicle control device may send a third instruction to the motion execution device. Accordingly, upon receipt of the third instruction, the motion execution device may switch lanes and decelerate to a stop. Simultaneously, the vehicle control device may send a fourth instruction to the light execution device. Accordingly, upon receipt of the fourth instruction, the light execution device may activate a second headlight, which may include at least one of a brake light, a hazard warning flasher, a turn signal, a projector light, and a taillight.

[0169] In an embodiment of the present application, the vehicle control device can determine whether there are traffic participants in the right or left area of ​​the vehicle's motion trajectory based on the status information. In the case that there are traffic participants in the right or left area of ​​the vehicle's motion trajectory, the vehicle control device can further determine whether there are traffic participants in the rear area of ​​the vehicle's motion trajectory. If there are traffic participants in the rear area of ​​the vehicle's motion trajectory, the vehicle control device can control the execution of the third driving strategy, that is, decelerating to a stop at a first deceleration in the lane where the vehicle is located and controlling the turning on of the first headlight. If there are no traffic participants in the rear area of ​​the vehicle's motion trajectory, the vehicle control device can control the execution of the fourth driving strategy, that is, decelerating to a stop at a second deceleration in the lane where the vehicle is located and controlling the turning on of the first headlight. In the case that there are no traffic participants in the right or left area of ​​the vehicle's motion trajectory, the vehicle control device can control the execution of the second driving strategy, that is, switching lanes and decelerating to a stop, and turning on the second headlight.

[0170] For example, the vehicle control device can control the turn signal to turn on, and use the turn signal to prompt other traffic participants that the vehicle is about to turn or change lanes.

[0171] For example, the vehicle control device can control the hazard warning flashers to turn on, and use the hazard warning flashers to remind traffic participants that the vehicle has broken down or has made an emergency stop.

[0172] For example, the vehicle control device can control the projection light to turn on, and the projection light can project a pattern or symbol onto the road surface. Taking the projection light projecting a symbol as an example, the symbol can be a left arrow, which can be used to remind traffic participants that the vehicle is about to turn left.

[0173] For example, the vehicle control device can control the taillights to turn on and display prompt information through the taillights, such as the prompt information "stop", to remind traffic participants that the vehicle is about to stop.

[0174] If there are traffic participants in the area behind the vehicle's trajectory, the vehicle control device can control the vehicle to slow down to a stop at a first deceleration rate in the vehicle's lane, thereby avoiding rear-end collisions with objects caused by sudden braking. If there are no traffic participants in the area behind the vehicle's trajectory, the vehicle control device can control the vehicle to slow down to a stop at a second deceleration rate in the vehicle's lane. Compared to immediate braking, this can reduce the risk of vehicle loss of control due to a sudden drop in speed and improve the comfort of occupants.

[0175] In one possible scenario, when it is detected that the vehicle is in a driving state and the vehicle body opening and closing parts are abnormally opened, the vehicle control device determines the vehicle's operating state to indicate that the control right of the vehicle belongs to the driver, that is, not to the vehicle. In this scenario, refer to Figure 5 The vehicle control method provided in the embodiment of the present application may include:

[0176] S501, when it is detected that the vehicle is in a driving state and the vehicle body opening and closing parts are abnormally opened, the vehicle control device determines that the vehicle's operating state is used to indicate that the control right of the vehicle does not belong to the vehicle.

[0177] S502: The vehicle control device determines status information of traffic participants around the vehicle based on environmental data.

[0178] The status information may refer to the description in the above embodiment 203.

[0179] In some embodiments, S503 and S504 may be executed simultaneously with S502.

[0180] S503: The vehicle control device sends environmental information or prompt information to the human-computer interaction device.

[0181] Accordingly, the human-machine interaction device can receive environmental information or prompt information from the vehicle control device. The prompt information can refer to the description in the above embodiment.

[0182] In some embodiments, the environmental information may be the environmental data described above, including at least one of point cloud data or image data.

[0183] In some embodiments, the vehicle control device may utilize a fusion method to fuse image data from a camera and point cloud data from a radar to obtain environmental information, and send the environmental information to a human-computer interaction device.

[0184] Exemplarily, the fusion method may include a data-level fusion method, a feature-level fusion method, a decision-level fusion method, and the like.

[0185] It is understandable that the process of fusing image data and point cloud data is not described in detail in the embodiments of the present application, and reference may be made to the process in the current technology.

[0186] S504, the vehicle control device sends first information to the human-computer interaction device, where the first information is used to prompt the user whether to switch to the intelligent driving mode.

[0187] Accordingly, the human-computer interaction device may receive a first message from the vehicle control device. In response to the first message, the user may send a second message through the human-computer interaction device, the second message being used to instruct the user to confirm switching to the smart driving mode.

[0188] For example, taking the human-computer interaction device including an audio device as an example, the first information may be, for example: "The car door is not closed, it is recommended to switch to the intelligent driving mode", and the second information may be, for example: "Switch to the intelligent driving mode".

[0189] S505 , in response to the second information from the human-computer interaction device, the vehicle control device controls the vehicle to switch to the intelligent driving mode.

[0190] It is understandable that the embodiment of the present application does not elaborate on the process of the vehicle control device controlling the vehicle to switch from manual driving mode to intelligent driving mode, and reference can be made to the description in the current related technology.

[0191] S506: The vehicle control device determines whether there is a traffic participant in the right or left area of ​​the vehicle's motion trajectory based on the state information.

[0192] If there are traffic participants in the right or left area of ​​the vehicle's motion trajectory, execute S507 ; if there are no traffic participants in the right or left area of ​​the vehicle's motion trajectory, execute S510 .

[0193] S507: The vehicle control device determines whether there are traffic participants in the rear area of ​​the vehicle's motion trajectory based on the status information.

[0194] If there are traffic participants in the rear area of ​​the vehicle's motion trajectory, execute S508 ; if there are no traffic participants in the rear area of ​​the vehicle's motion trajectory, execute S509 .

[0195] S508: The vehicle control device controls the execution of the third driving strategy.

[0196] In some embodiments, S506 may refer to the description in S405.

[0197] S509 , the vehicle control device controls the execution of the fourth driving strategy.

[0198] In some embodiments, S507 may refer to the description in S406.

[0199] S510: The vehicle control device controls the execution of a second driving strategy.

[0200] In some embodiments, S508 may refer to the description in S407.

[0201] In an embodiment of the present application, upon detecting that the vehicle body opening and closing member is in the open state, if the vehicle control device determines that the vehicle's operating state indicates that the vehicle's control authority does not belong to the vehicle, the vehicle control device may send a first message to the human-machine interface device to prompt the user to switch to the intelligent driving mode. In response to the user's confirmation operation on the human-machine interface device, the vehicle control device may receive a second message from the human-machine interface device and control the vehicle to switch to the intelligent driving mode. When the vehicle is in the intelligent driving mode, the vehicle control device may determine a corresponding driving strategy based on the status data.

[0202] Since the vehicle control device can send a first message to the human-machine interface device to prompt the driver when the vehicle is in manual driving mode, the driver's reaction time can be reduced. In addition, if the user confirms the switch to intelligent driving mode, the vehicle control device can automatically determine and execute the corresponding driving strategy based on the status data. Compared with manual operation, the driving strategy is more accurate and can improve driving safety.

[0203] In some embodiments, Figure 6 The difference is that when it is detected that the vehicle is in driving state and the body opening and closing parts are abnormally opened, if the vehicle control device determines that the vehicle's operating state is used to indicate that the control of the vehicle does not belong to the vehicle, without user confirmation, the vehicle control device can directly control the vehicle to switch to intelligent driving mode.

[0204] For example, Figure 6 A flow chart of another vehicle control method provided in an embodiment of the present application, referring to Figure 6The vehicle control method provided in the embodiment of the present application may further include:

[0205] S601, when it is detected that the vehicle is in a driving state and the vehicle body opening and closing parts are abnormally opened, if the vehicle control device determines that the vehicle's operating state is used to indicate that the control of the vehicle does not belong to the vehicle, the vehicle control device determines the status information of traffic participants around the vehicle based on environmental data.

[0206] S602: The vehicle control device sends environmental information or prompt information to the human-computer interaction device.

[0207] Correspondingly, the human-computer interaction device can receive environmental information or prompt information from the vehicle control device.

[0208] In some embodiments, S602 may refer to the description in S503.

[0209] S603: The vehicle control device sends third information to the human-computer interaction device. The third information is used to notify the user that the vehicle will decelerate to a stop in the intelligent driving mode.

[0210] Correspondingly, the human-machine interaction device can receive third information from the vehicle control device.

[0211] For example, taking the human-computer interaction device including an audio device as an example, the third information may be: "The trunk lid is not closed and the vehicle will be decelerated to a stop in the intelligent driving mode."

[0212] S604: The vehicle control device controls the vehicle to switch to the intelligent driving mode.

[0213] S605: The vehicle control device determines whether there is a traffic participant in the right or left area of ​​the vehicle's motion trajectory based on the status information.

[0214] If there are traffic participants in the right or left area of ​​the vehicle's motion trajectory, execute S606 ; if there are no traffic participants in the right or left area of ​​the vehicle's motion trajectory, execute S609 .

[0215] S606: The vehicle control device determines whether there are traffic participants in the rear area of ​​the vehicle's motion trajectory based on the status information.

[0216] If there are traffic participants in the rear area of ​​the vehicle's motion trajectory, execute S607 ; if there are no traffic participants in the rear area of ​​the vehicle's motion trajectory, execute S608 .

[0217] S607: The vehicle control device controls the execution of the third driving strategy.

[0218] In some embodiments, S607 may refer to the description in S405.

[0219] S608: The vehicle control device controls the execution of the fourth driving strategy.

[0220] In some embodiments, S608 may refer to the description in S406.

[0221] S609: The vehicle control device controls the execution of the second driving strategy.

[0222] In some embodiments, S609 may refer to the description in S407.

[0223] In an embodiment of the present application, if the vehicle body opening and closing member is detected to be in the open state, and if the vehicle control device determines that the vehicle's operating state indicates that the vehicle's control right does not belong to the vehicle, the vehicle control device can directly control the switch to the intelligent driving mode and simultaneously display (or play) a third message through the human-computer interaction device, thereby prompting the user that the vehicle will slow down to a stop in the intelligent driving mode. Since no user confirmation is required, the risk of human response delay can be eliminated. In addition, displaying (or playing) the third message through the human-computer interaction device can improve the user experience.

[0224] An embodiment of the present application provides a vehicle control device. Figure 7 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application, referring to Figure 7 The vehicle control device 700 includes: a processing module 701 and a control module 702.

[0225] The processing module 701 is used to determine the operating state of the vehicle when detecting that the vehicle body opening and closing member is in the open state; the operating state is at least used to indicate the control right of the vehicle;

[0226] The control module 702 is used to control the operation of the vehicle according to the operating status of the vehicle.

[0227] In an optional embodiment, if the operating status indicates that the vehicle is under control, processing module 701 is configured to determine a driving strategy based on status information of traffic participants surrounding the vehicle; the status information indicates whether there are traffic participants within the area surrounding the vehicle's trajectory. Control module 702 is configured to control the vehicle to stop based on the driving strategy.

[0228] In an optional embodiment, the processing module 701 is configured to:

[0229] If the state information indicates that there are traffic participants in the right or left area of ​​the vehicle's trajectory, the driving strategy is determined to be the first driving strategy; the first driving strategy is to decelerate to a stop in the lane where the vehicle is located;

[0230] If the status information indicates that there are no traffic participants in the right or left area of ​​the vehicle's motion trajectory, the driving strategy is determined to be the second driving strategy; the second driving strategy is to switch lanes and decelerate to a stop.

[0231] In an optional embodiment, the processing module 701 is configured to:

[0232] If the status information indicates that there is a traffic participant in the right or left area of ​​the vehicle's movement trajectory, and if there is a traffic participant in the rear area of ​​the vehicle's movement trajectory, determining the driving strategy to be a third driving strategy, the third driving strategy being to decelerate to a stop at the first deceleration rate in the lane where the vehicle is located;

[0233] If the status information indicates that there are traffic participants in the right or left area of ​​the vehicle's motion trajectory, and if there are no traffic participants in the rear area of ​​the vehicle's motion trajectory, determining the driving strategy to be a fourth driving strategy, the fourth driving strategy being to decelerate to a stop at a second deceleration in the vehicle's lane; the absolute value of the second deceleration being greater than the absolute value of the first deceleration;

[0234] The first driving strategy includes the third driving strategy or the fourth driving strategy.

[0235] In an optional embodiment, the control module 702 is configured to send a first instruction to a motion execution device of the vehicle and a second instruction to a light execution device of the vehicle if the driving strategy is determined to be the first driving strategy.

[0236] Among them, the first instruction is used to instruct the motion execution device to slow down and stop in the lane where the vehicle is located, and the second instruction is used to instruct the light execution device to turn on the first headlight; the first headlight includes at least a brake light, a projection light, and a tail light.

[0237] In an optional embodiment, the control module 702 is configured to send a third instruction to the motion execution device of the vehicle and a fourth instruction to the light execution device of the vehicle if the driving strategy is determined to be the second driving strategy.

[0238] Among them, the third instruction is used to instruct the motion execution device to switch lanes and slow down to a stop, and the fourth instruction is used to instruct the light execution device to turn on the second headlight; the second headlight includes a brake light, a turn signal, a projection light, and a tail light.

[0239] In an optional embodiment, the control module 702 is configured to send status information or a prompt message to the human-computer interaction device of the vehicle if the operating status indicates that the vehicle does not have control of the vehicle. The prompt message is used to inform the user that there are traffic participants in the area around the vehicle's motion trajectory.

[0240] In an optional embodiment, the control module 702 is configured to:

[0241] Sending a first message to the human-computer interaction device; wherein the first message is used to prompt the user whether to switch to the intelligent driving mode;

[0242] In response to the second information returned from the human-computer interaction device, the vehicle is controlled to switch to the intelligent driving mode; the second information is used to instruct the user to confirm

[0243] In an optional embodiment, the control module 702 is configured to send a third message to the human-computer interaction device, wherein the third message is used to notify the user that the vehicle will decelerate to a stop in the intelligent driving mode.

[0244] In an optional embodiment, the processing module 701 is used to detect the switching state of the vehicle's body opening and closing parts based on at least one of the first data collected by the lock sensor or the second data collected by the first sensor, the switching state including the open state or the closed state; the first sensor includes at least one of a camera or a radar.

[0245] In an optional embodiment, the vehicle body opening and closing parts include at least one of a vehicle door, a hood, a front trunk lid, a rear trunk lid, a charging port lid, and a fuel tank cap.

[0246] The vehicle control device provided in the embodiments of the present application can be used to execute the vehicle control method in any of the above embodiments. Its implementation principles and technical effects are similar and will not be repeated here.

[0247] It should be noted that the division of the various modules of the above devices is merely a division of logical functions. In actual implementation, they may be fully or partially integrated into a single physical entity, or they may be physically separated. Furthermore, these modules may all be implemented in the form of software called by processing elements. Alternatively, they may all be implemented in the form of hardware. Alternatively, some modules may be implemented in the form of software called by processing elements, while others may be implemented in the form of hardware. Furthermore, these modules may all or partly be integrated together, or they may be implemented independently.

[0248] It should be noted that the module names involved in the embodiments of the present application can be defined as other names as long as the functions of each module can be achieved, and there is no specific restriction on the names of the modules.

[0249] The present application provides a vehicle control device. The vehicle control device includes one or more processors and a memory. The one or more processors are coupled to the memory, and the memory can be used to store computer program code, which includes computer instructions. The one or more processors can invoke these computer instructions to execute the technical solutions described in the above embodiments. The implementation principles and technical effects are similar to those of the above-mentioned related embodiments and will not be further elaborated here.

[0250] Figure 8 This is a structural diagram of another vehicle control device provided in an embodiment of the present application, referring to Figure 8 The vehicle control device 800 includes: a processor 801, a memory 802 and a bus 803.

[0251] The memory 802 is used to store the computer program code of the processor 801 ; the processor 801 is configured to execute the method shown in the above embodiment by executing the computer program code.

[0252] Optionally, the memory 802 may be independent or integrated with the processor 801 .

[0253] Optionally, the memory 802 may include a random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0254] Memory 802 is connected to processor 801 via bus 803, enabling communication between them. Bus 803 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. Buses can be categorized as address buses, data buses, and control buses. For ease of illustration, the figure uses only a single bold line, but this does not imply a single bus or type of bus.

[0255] The method described in the above embodiment of the present application can be applied to the processor 801, or implemented by the processor 801. The processor 801 may be an integrated circuit chip with signal processing capabilities. During the implementation process, the steps of the above method can be completed by the hardware integrated logic circuit in the processor 801 or the instructions in the form of software. The above-mentioned processor 801 can be a general-purpose processor (for example, a microprocessor or a conventional processor), a digital signal processor (digital signal processing, DSP), an application specific integrated circuit (application specific integrated circuit, ASIC), a field-programmable gate array (field-programmable gate array, FPGA) or other programmable logic devices, discrete gates, transistor logic devices or discrete hardware components. The processor 801 can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application.

[0256] The present application also provides a vehicle including a vehicle control device that can implement the technical solutions in the above embodiments.

[0257] The embodiments of the present application also provide a computer-readable storage medium. A computer program (or simply referred to as a program) is stored on the computer-readable storage medium. The above method is implemented when the computer program is executed by the processor. The method described in the above embodiment can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. If implemented in software, the function can be stored as one or more instructions or codes on a computer-readable medium or transmitted on a computer-readable medium. Computer-readable media may include computer storage media and communication media, and may also include any medium that can transfer a computer program from one place to another. The storage medium can be any target medium that can be accessed by a computer.

[0258] In one possible implementation, a computer-readable storage medium may include random access memory (RAM), read-only memory (ROM), compact disc read-only memory (CD-ROM) or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium designed to carry or store the desired program code in the form of instructions or data structures and accessible by a computer. Moreover, any connection is appropriately referred to as a computer-readable medium. For example, if software is transmitted from a website, server or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL) or wireless technologies such as infrared, radio and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL or wireless technologies such as infrared, radio and microwave are included in the definition of medium. Disk and disc as used herein include optical disc, laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc, where disks typically reproduce data magnetically, while optical discs reproduce data optically using lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0259] An embodiment of the present application provides a computer program product, which includes a computer program. When the computer program is executed, the computer executes the above method.

[0260] The present application provides a chip including a circuit, wherein the circuit is used to implement the technical solution in the above embodiment.

[0261] It should be noted that the modules or components described in the above embodiments may be one or more integrated circuits configured to implement the above methods, such as one or more application-specific integrated circuits (ASICs), one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs). For another example, when a module is implemented by scheduling program code through a processing element, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code, such as a controller. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0262] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can 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. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state disk (SSD)).

[0263] The term "plurality" in this article refers to two or more. The term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent three situations: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the previous and next associated objects are in an "or" relationship; in the formula, the character " / " indicates that the previous and next associated objects are in a "division" relationship. In addition, it should be understood that in the description of this application, words such as "first" and "second" are only used for the purpose of distinguishing the description, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order.

[0264] It will be understood that the various numerical numbers involved in the embodiments of the present application are merely distinctions for the convenience of description and are not intended to limit the scope of the embodiments of the present application.

[0265] It can be understood that in the embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: When detecting that the vehicle body opening and closing member is in an open state, determining the operating state of the vehicle; the operating state is at least used to indicate the control right of the vehicle; The operation of the vehicle is controlled according to the operating state of the vehicle.

2. The method according to claim 1, characterized in that If the operating state indicates that the control right of the vehicle belongs to the vehicle, controlling the operation of the vehicle according to the operating state of the vehicle includes: Determining a driving strategy based on status information of traffic participants around the vehicle; the status information is used to indicate whether there are traffic participants in an area around the vehicle's motion trajectory; The vehicle is controlled to park according to the driving strategy.

3. The method according to claim 2, characterized in that The determining of the driving strategy according to the status information of traffic participants around the vehicle includes: If the state information indicates that there is a traffic participant in the right or left area of ​​the vehicle's motion trajectory, determining that the driving strategy is a first driving strategy; the first driving strategy is to decelerate to a stop in the lane where the vehicle is located; If the status information is used to indicate that there are no traffic participants in the right or left area of ​​the vehicle's motion trajectory, the driving strategy is determined to be the second driving strategy; the second driving strategy is to switch lanes and slow down to a stop.

4. The method according to claim 3, characterized in that If the state information indicates that there is a traffic participant in the right or left area of ​​the motion trajectory of the vehicle, determining the driving strategy as the first driving strategy includes: If the state information indicates that there is a traffic participant in the right or left area of ​​the vehicle's motion trajectory, and if there is a traffic participant in the rear area of ​​the vehicle's motion trajectory, determining that the driving strategy is a third driving strategy, the third driving strategy being to decelerate to a stop at a first deceleration rate in the lane in which the vehicle is located; If the state information indicates that there is a traffic participant in the right or left area of ​​the vehicle's motion trajectory, and if there is no traffic participant in the rear area of ​​the vehicle's motion trajectory, determining that the driving strategy is a fourth driving strategy, the fourth driving strategy being decelerating to a stop at a second deceleration in the lane where the vehicle is located; the absolute value of the second deceleration being greater than the absolute value of the first deceleration; The first driving strategy includes the third driving strategy or the fourth driving strategy.

5. The method according to any one of claims 2 to 4, characterized in that The controlling the vehicle to stop according to the driving strategy includes: If it is determined that the driving strategy is the first driving strategy, sending a first instruction to the motion execution device of the vehicle and sending a second instruction to the light execution device of the vehicle; The first instruction is used to instruct the motion execution device to slow down and stop in the lane where the vehicle is located, and the second instruction is used to instruct the light execution device to turn on the first headlight; the first headlight includes at least one of a brake light, a hazard warning flasher, a projection light and a tail light.

6. The method according to any one of claims 2 to 5, characterized in that The controlling the vehicle to stop according to the driving strategy includes: If it is determined that the driving strategy is the second driving strategy, sending a third instruction to the motion execution device of the vehicle and sending a fourth instruction to the lighting execution device of the vehicle; The third instruction is used to instruct the motion execution device to switch lanes and slow down to a stop, and the fourth instruction is used to instruct the light execution device to turn on the second headlight; the second headlight includes at least one of a brake light, a hazard warning flasher, a turn signal, a projection light, and a tail light.

7. The method according to any one of claims 1 to 6, characterized in that If the operating state indicates that the control right of the vehicle belongs to the driver, controlling the operation of the vehicle according to the operating state of the vehicle includes: Environmental information or prompt information is sent to the human-computer interaction device of the vehicle; the prompt information is used to remind the user that there are traffic participants in the area around the movement trajectory of the vehicle.

8. The method according to claim 7, characterized in that The method further comprises: Sending first information to the human-computer interaction device, where the first information is used to prompt a user whether to switch to the intelligent driving mode; In response to second information returned from the human-computer interaction device, the vehicle is controlled to switch to the intelligent driving mode; the second information is used to instruct the user to confirm switching to the intelligent driving mode.

9. The method according to claim 8, characterized in that The method further comprises: Sending third information to the human-computer interaction device, where the third information is used to notify the user that the vehicle will decelerate to a stop in the intelligent driving mode.

10. The method according to any one of claims 1 to 9, characterized in that The method further comprises: detecting a switch state of a vehicle body opening and closing member of the vehicle according to at least one of the first data collected by the first sensor or the second data collected by the first sensor, wherein the switch state includes an open state or a closed state; The first sensor may be a sensor for acquiring an electrical signal corresponding to the vehicle body opening and closing component; the second sensor may be a sensor for sensing environmental information.

11. The method according to any one of claims 1 to 10, characterized in that The vehicle body opening and closing parts include at least one of a vehicle door, an engine hood, a front trunk lid, a rear trunk lid, a charging port lid, and a fuel tank cap.

12. A vehicle control device, characterized in that: include: a processing module, configured to determine an operating state of the vehicle when detecting that a body opening and closing member of the vehicle is in an open state; The operating status is at least used to indicate the control right of the vehicle; A control module is used to control the operation of the vehicle according to the operating state of the vehicle.

13. A vehicle control device, characterized in that: The vehicle control device includes: one or more processors and memory; The memory is coupled to the one or more processors, and is used to store computer program code, where the computer program code includes computer instructions. The one or more processors call the computer instructions to enable the vehicle control device to execute the method according to any one of claims 1 to 11.

14. A vehicle, characterized in that: The vehicle comprises a vehicle control device which executes the method according to any one of claims 1 to 11.

15. A computer-readable storage medium having a program stored thereon, characterized in that: When the program is executed, the method according to any one of claims 11 is performed.

16. A program product, characterized in that A computer program is included which, when executed, causes the method according to any one of claims 1 to 11 to be performed.

17. A chip, characterized in that: The chip comprises a circuit for executing the method according to any one of claims 1 to 11.

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