Vehicle control method, device, vehicle and system

Abstract

The invention relates to a vehicle control method and device, a vehicle and a system, and relates to the technical field of vehicles. The vehicle control instruction is sent to at least one second vehicle connected with the first vehicle, so that the first vehicle and the at least one second vehicle execute control operation indicated by the vehicle control instruction; because the first vehicle establishes the WiFi aware connection or the WiFi direct connection with the at least one second vehicle, when the first vehicle sends the control instruction to the at least one second vehicle connected with the first vehicle, the control instruction can be directly transmitted through the WiFi aware connection or the WiFi direct connection, and compared with a'vehicle-cloud-vehicle 'transmission mode in the related technology, the control instruction can be directly transmitted through the WiFi aware connection or the WiFi direct connection. Transmission delay can be effectively reduced, and vehicle cooperative control of high-precision time sequence synchronization of the first vehicle and each second vehicle is realized.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle control, and more particularly to a method, apparatus, vehicle, and system for vehicle control. Background Technology

[0002] With the continuous development of vehicle-to-everything (V2X) technology, vehicle-to-vehicle connectivity has become a key technology for improving road safety, traffic efficiency, and in-vehicle entertainment experience.

[0003] In related technologies, most vehicle-to-vehicle connectivity solutions are implemented through cloud connections. However, it is difficult to achieve high-precision time-synchronization vehicle collaborative control (such as light shows, platooning, and other highly real-time and highly synchronized vehicle collaborative control) using cloud connections. Summary of the Invention

[0004] To overcome the problems existing in related technologies, this disclosure provides a method, apparatus, vehicle, and system for vehicle control.

[0005] According to a first aspect of the present disclosure, a vehicle control method is provided, applied to a first vehicle, the method comprising: Obtain vehicle control commands; The vehicle control command is sent to at least one second vehicle connected to the first vehicle, so that the first vehicle and the at least one second vehicle perform the control operation indicated by the vehicle control command. The first vehicle establishes a WiFi aware connection or a WiFi direct connection with at least one second vehicle.

[0006] In this embodiment, the first vehicle establishes a WiFi aware connection or a WiFi direct connection with at least one second vehicle. This allows the first vehicle to send control commands to at least one second vehicle connected to it, and the control commands can be transmitted directly through the WiFi Aware connection or the WiFi direct connection. This avoids the transmission delay and infrastructure dependence caused by the long path of "vehicle-cloud-vehicle" in related technologies, thereby reducing the end-to-end latency from hundreds of milliseconds or even seconds to milliseconds, enabling the first vehicle and each second vehicle to execute control commands almost simultaneously.

[0007] In some possible implementations, the first vehicle establishes a WiFi aware connection or a WiFi direct connection with the at least one second vehicle in the following manner: Based on service discovery, at least one second vehicle to be connected is identified; Establish a WiFi-aware connection or WiFi-direct connection with the at least one second vehicle.

[0008] In this embodiment, the first vehicle can automatically discover a second vehicle entering its communication range and establish a WiFi aware connection or a WiFi direct connection with it based on the required services.

[0009] In some possible implementations, the service discovery-based determination of at least one second vehicle to be connected includes: Send a first broadcast message; the first broadcast message includes service indication information, which is used to indicate the subscription services supported by the first vehicle; Receive first feedback information sent by a second vehicle based on the service instruction information, wherein the second vehicle includes a vehicle that supports the subscription service; Based on the first feedback information, at least one second vehicle to be connected is identified.

[0010] In this embodiment, the first broadcast information includes service indication information, which allows the vehicle receiving the broadcast information to send the first feedback information only when it determines that it also supports or needs the specific service identified by the service indication information. This enables the first vehicle to automatically and accurately filter out the second vehicle with the same communication intent and networking goal from the vehicles that can be discovered within the first vehicle's WiFi aware or WiFi direct communication range using the service indication information.

[0011] In some possible implementations, determining at least one second vehicle to be connected based on the first feedback information includes: The second vehicle that sent the first feedback information is displayed on the screen; In response to the selection operation, at least one second vehicle to be connected is determined from the displayed second vehicles.

[0012] In this embodiment, by displaying relevant information about the second vehicle on the screen and determining the second vehicle based on the selection operation, the user's needs for a specific scenario can be met.

[0013] In some possible implementations, where the first vehicle establishes a WiFiaware connection with the at least one second vehicle, the method further includes: The third vehicle receives a second feedback message sent by the second vehicle, which is a feedback message sent by the third vehicle based on the second broadcast message sent by the second vehicle, and the third vehicle supports the subscription service. Based on the second feedback information, a WiFi-aware connection is established between the second vehicle and the third vehicle.

[0014] In this embodiment, when the first vehicle receives the second feedback information sent by the second vehicle, it can establish a WiFi aware connection with the third vehicle through the second vehicle. This can extend the communication range of the first vehicle from within the first vehicle's "one hop" to the "second hop" that the second vehicle can cover, or even more hops. This makes each vehicle that directly or indirectly establishes a WiFi aware connection with the first vehicle become an access point and relay station, thereby enabling coordinated control of dozens or even more vehicles.

[0015] In some possible implementations, when the first vehicle establishes a WiFi direct connection with the at least one second vehicle, the step of determining the at least one second vehicle to be connected based on service discovery includes: If it is determined that there are vehicles supporting WiFi direct connection within the communication range of the first vehicle, at least one second vehicle to be connected is determined from the vehicles supporting WiFi direct connection based on service discovery.

[0016] In this embodiment, since vehicles supporting WiFi direct connection can perform a standardized and lightweight Wi-Fi scanning process, by determining the second device to be connected based on "service discovery" when it is determined that there are vehicles supporting WiFi direct connection within the communication range of the first vehicle, the amount of information sent can be effectively reduced, thereby effectively avoiding network congestion.

[0017] In some possible implementations, sending the vehicle control command to at least one second vehicle connected to the first vehicle includes: The vehicle control command is broadcast, and the vehicle control command is used to cause the second vehicle that received the vehicle control command to continue broadcasting the vehicle control command.

[0018] In this embodiment, the vehicle control command is broadcast, and the vehicle continues to broadcast when it receives the vehicle control command, thereby enabling the control command to be quickly sent to vehicles that have established a WiFi aware connection directly or indirectly with the first vehicle, or to vehicles that have established a WiFi direct connection with the first vehicle.

[0019] In some possible implementations, sending the vehicle control command to at least one second vehicle connected to the first vehicle includes: According to a preset transmission order, the vehicle control command is sent to the next second vehicle. The vehicle control command is used to cause the second vehicle that receives the vehicle control command to continue sending the vehicle control command according to the preset transmission order.

[0020] In this embodiment, the vehicle control commands are sent in a preset transmission order, and efficient and reliable point-to-point transmission is achieved using a WiFiaware connection. At the same time, when the control commands are sent in a preset transmission order, unidirectional and non-redundant transmission can be achieved, which greatly saves network resources.

[0021] In some possible implementations, the vehicle control commands include at least one of the following: lighting control commands, in-vehicle display control commands, vehicle horn control commands, in-vehicle audio control commands, and driving control commands.

[0022] In this embodiment, the vehicle control commands include at least one of the following: lighting control commands, in-vehicle display control commands, vehicle horn control commands, in-vehicle audio control commands, and driving control commands, to achieve one or more combinations of multi-vehicle collaborative light shows, display control, horn control, audio control, and platooning.

[0023] According to a second aspect of the present disclosure, a vehicle control method is provided, applied to a second vehicle, the method comprising: Receive a vehicle control command sent by the first vehicle, so that the first vehicle and the second vehicle execute the control operation indicated by the vehicle control command; The first vehicle establishes a WiFi aware connection or a WiFi direct connection with the second vehicle. In this embodiment, the first vehicle and the second vehicle established a WiFi-aware connection. Alternatively, a WiFi direct connection can be used, which allows the first vehicle to send control commands to at least one second vehicle connected to it. The control commands can be transmitted directly via a Wi-Fi Aware connection or a WiFi direct connection, avoiding the transmission delays and infrastructure dependence caused by the long "vehicle-cloud-vehicle" path in related technologies. This reduces the end-to-end latency from hundreds of milliseconds or even seconds to milliseconds, enabling the first vehicle and each second vehicle to execute control commands almost simultaneously.

[0024] In some possible implementations, the first vehicle establishes a WiFi aware connection or a WiFi direct connection with the at least one second vehicle in the following manner: Receive a first broadcast message sent by a first vehicle; the first broadcast message includes service indication information, which is used to indicate the subscription services supported by the first vehicle; It is determined that the second vehicle supports the subscription service; Send a first feedback message to the first vehicle so that the first vehicle can establish a WiFi aware connection or a WiFi direct connection with the second vehicle based on the first feedback message.

[0025] In this embodiment, since the first broadcast information includes service indication information, the second vehicle receiving the broadcast information can only send the first feedback information when it determines that it also supports or needs the specific service identified by the service indication information. This enables the first vehicle to automatically and accurately filter out the second vehicle with the same communication intent and networking goal from the vehicles that can be discovered by the first vehicle's WiFi aware or WiFi direct communication range using the service indication information, and establish a WiFi aware connection or WiFi direct connection with it.

[0026] In some possible implementations, when the first vehicle establishes a WiFiaware connection with the at least one second vehicle, the method further includes: Send a second broadcast message; the second broadcast message includes the service indication information. Receive second feedback information sent by a third vehicle based on the service instruction information, wherein the third vehicle includes vehicles that support the subscription service; The second feedback information is sent to the first vehicle, so that the first vehicle can establish a WiFi aware connection with the third vehicle through the second vehicle based on the second feedback information.

[0027] In this embodiment, the second vehicle receives second feedback information sent by the third vehicle based on service instruction information and sends the second feedback information to the first vehicle. This allows the first vehicle to establish a WiFi aware connection with the third vehicle through the second vehicle, thereby extending the communication range of the first vehicle from within the first vehicle's "one hop" to the "second hop" or even more hops that the second vehicle can cover. This transforms every vehicle that directly or indirectly establishes a WiFi aware connection with the first vehicle into an access point and relay station, thereby enabling coordinated control of dozens or even more vehicles.

[0028] According to a third aspect of the present disclosure, a vehicle control apparatus is provided, applied to a first vehicle, the apparatus comprising: The instruction acquisition module is configured to acquire vehicle control instructions; The instruction sending module is configured to send the vehicle control instruction to at least one second vehicle connected to the first vehicle, so that the first vehicle and the at least one second vehicle perform the control operation indicated by the vehicle control instruction; The first vehicle establishes a WiFi aware connection or a WiFi direct connection with at least one second vehicle.

[0029] In some possible implementations, the device further includes: The vehicle to be connected module is configured to determine at least one second vehicle to be connected based on service discovery; The connection establishment module is configured to establish a WiFi aware connection or a WiFi direct connection with the at least one second vehicle.

[0030] In some possible implementations, the vehicle to be connected determination module includes: The information sending submodule is configured to send a first broadcast message; the first broadcast message includes service indication information, which is used to indicate the subscription services supported by the first vehicle; The information receiving submodule is configured to receive first feedback information sent by a second vehicle based on the service indication information, wherein the second vehicle includes a vehicle that supports the subscription service. The vehicle determination submodule is configured to determine at least one second vehicle to be connected based on the first feedback information.

[0031] According to a fourth aspect of the present disclosure, a vehicle control apparatus is provided, applied to a second vehicle, the apparatus comprising: The instruction receiving module is configured to receive vehicle control instructions sent by the first vehicle, so that the first vehicle and the second vehicle execute the control operations indicated by the vehicle control instructions; The first vehicle establishes a WiFi aware connection or a WiFi direct connection with the second vehicle. In one possible implementation, the device further includes: The information receiving module is configured to receive first broadcast information sent by the first vehicle; the first broadcast information includes service indication information, which is used to indicate the subscription services supported by the first vehicle. The service determination module is configured to determine whether the second vehicle supports the subscription service; The information sending module is configured to send first feedback information to the first vehicle, so that the first vehicle can establish a WiFi aware connection or a WiFi direct connection with the second vehicle based on the first feedback information.

[0032] According to a fifth aspect of the present disclosure, a vehicle is provided, comprising: processor; Memory used to store processor-executable instructions; The processor is configured to execute steps of the method for vehicle control provided in the first or second aspect of this disclosure.

[0033] According to a sixth aspect of the present disclosure, a computer-readable storage medium is provided that stores computer program instructions thereon, which, when executed by a processor, implement the steps of the vehicle control method provided in the first or second aspect of the present disclosure.

[0034] According to a sixth aspect of the present disclosure, a vehicle control system is provided, comprising: Multiple vehicles; the multiple vehicles are connected via WiFi aware or WiFi direct; Any one of the plurality of vehicles is used to perform the vehicle control method provided in the first aspect of this disclosure; or, to perform the vehicle control method provided in the second aspect of this disclosure.

[0035] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects: When a vehicle control command is obtained, the vehicle control command is sent to at least one second vehicle that has established a WiFi aware connection or a WiFi direct connection with the first vehicle, so that the first vehicle and the at least one second vehicle execute the control operation indicated by the vehicle control command. Since this allows the control command to be transmitted directly through the WiFi Aware connection or WiFi direct connection when the first vehicle sends the control command to the at least one second vehicle connected to it, the transmission delay caused by the long path of "vehicle-cloud-vehicle" and the dependence on infrastructure in the related technology are avoided. This reduces the end-to-end latency from hundreds of milliseconds or even seconds to milliseconds, so that the first vehicle and each second vehicle can execute the control command almost simultaneously.

[0036] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0037] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0038] Figure 1 This is a schematic diagram of the architecture of a vehicle control system according to an exemplary embodiment.

[0039] Figure 2 This is a schematic flowchart illustrating a vehicle control method applied to a first vehicle according to an exemplary embodiment.

[0040] Figure 3 This is another schematic flowchart illustrating a method for vehicle control applied to a first vehicle according to an exemplary embodiment.

[0041] Figure 4 yes Figure 3 A flowchart of step S130.

[0042] Figure 5 This is another schematic flowchart illustrating a method for vehicle control applied to a first vehicle according to an exemplary embodiment.

[0043] Figure 6 This is a flowchart illustrating a method for vehicle control applied to a second vehicle according to an exemplary embodiment.

[0044] Figure 7 This is another schematic flowchart illustrating a method for vehicle control applied to a second vehicle according to an exemplary embodiment.

[0045] Figure 8 This is yet another schematic flowchart illustrating a method for vehicle control applied to a second vehicle according to an exemplary embodiment.

[0046] Figure 9 This is a schematic diagram of another architecture of a vehicle control system according to an exemplary embodiment.

[0047] Figure 10 This is a connection block diagram illustrating a vehicle control device applied to a first vehicle according to an exemplary embodiment.

[0048] Figure 11 This is a connection block diagram illustrating a vehicle control device applied to a second vehicle according to an exemplary embodiment.

[0049] Figure 12 This is a system architecture block diagram of a vehicle according to an exemplary embodiment. Detailed Implementation

[0050] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0051] It should be noted that all actions involving the acquisition of signals, information, or data in this disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the location is situated, and with authorization from the owner of the relevant device.

[0052] like Figure 1 The diagram shown illustrates a vehicle control system provided in this disclosure; the vehicle control system may include multiple vehicles, which are connected via WiFi aware or WiFi direct.

[0053] Wi-Fi Aware, also known as Wi-Fi Neighbor Aware (or simply Wi-Fi Aware), is a short-range wireless communication protocol developed by the Wi-Fi Alliance. It allows devices to efficiently and with low power consumption discover and connect to other nearby devices and their services without needing to connect to traditional Wi-Fi networks (such as wireless routers) or mobile networks.

[0054] WiFi Direct, or Wi-Fi Direct, is a short-range wireless communication protocol developed by the Wi-Fi Alliance. It allows devices to establish stable, high-bandwidth peer-to-peer Wi-Fi connections through an efficient service discovery and negotiation process without needing to connect to a traditional Wi-Fi network (such as a wireless router), thereby enabling direct communication and data transmission between devices.

[0055] The multiple vehicles include a first vehicle that serves as the control center, and at least one second vehicle that is directly or indirectly connected to the first vehicle via WiFiaware (or a second vehicle that is directly connected via WiFi). If there is a second vehicle that is indirectly connected to the first vehicle via WiFi aware, then there are one or more other second vehicles that act as relay nodes that establish WiFi aware connections with the first vehicle.

[0056] It is worth mentioning that the first vehicle in the vehicle control system can be a vehicle pre-set as the control center, or it can be a vehicle selected as the control center from a Wi-Fi Aware cluster or Wi-Fi Direct cluster composed of multiple vehicles in the vehicle control system. The first vehicle can be used to send control commands to other vehicles in the vehicle control system, so that the first vehicle and other vehicles in the vehicle control system can execute the control operations indicated by the vehicle control commands. The first vehicle can also determine new vehicles to be connected based on service discovery, and establish a Wi-Fi aware connection or Wi-Fi Direct connection with the new vehicles to be connected. For details, please refer to the following detailed description of the vehicle control method applied to the first vehicle.

[0057] In a vehicle control system, a second vehicle refers to a controlled node or relay node that is directly or indirectly connected to the first vehicle (which acts as the control center) via Wi-Fi Aware, or a vehicle connected to the first vehicle via WiFi Direct. The second vehicle can receive vehicle control commands from the first vehicle (or other second vehicles acting as relays) and drive its corresponding hardware (such as headlights, screens, horns, audio systems, driver assistance systems, etc.) to execute the control operations indicated by the commands. The second vehicle can also act as a relay and extension node for the first vehicle, receiving and forwarding control commands from the first vehicle, and establishing Wi-Fi Aware or WiFi Direct connections with newly added vehicles to be connected (such as a third vehicle), thereby adding the newly added vehicles to the Wi-Fi Aware or WiFi Direct cluster that includes the first and second vehicles. For details, please refer to the following description of the vehicle control method applied to the second vehicle.

[0058] like Figure 2 As shown, this disclosure provides a vehicle control method, applied to... Figure 1 The first vehicle in the vehicle control system shown below will be addressed in the following section. Figure 2 The process shown will be described in detail. The vehicle control method may include the following steps: Step S110: Obtain vehicle control commands.

[0059] Vehicle control commands can be structured data or commands used to instruct vehicle systems or components (such as one or more of the vehicle's lighting system (including headlights, taillights, interior lights, fog lights), screens, horn, audio system, or driving system) to perform specific actions. That is, the aforementioned vehicle control commands can be at least one of the following: lighting control commands, in-vehicle display control commands, vehicle horn control commands, in-vehicle audio control commands, and driving control commands.

[0060] Specifically, lighting control commands can be used to control one or more lights on a vehicle to turn on, off, flash, change color, or adjust brightness according to a control logic; vehicle display control commands can control the vehicle's display to play videos, display specific images or text information, etc.; vehicle horn control commands can be used to control the vehicle's horn to turn on or off; vehicle audio control commands can be used to control the vehicle's audio system to play audio, pause or stop specific audio, and adjust the volume; driving control commands can be used to control the vehicle's driving actuators to achieve coordinated driving.

[0061] The vehicle control commands described above can instruct multiple vehicles to execute the same sequence of actions synchronously.

[0062] The aforementioned vehicle control commands can also instruct multiple vehicles to execute different but interconnected sequences of actions according to corresponding control logic. In this implementation, the vehicle control commands include control commands corresponding to multiple roles or vehicle groups, with each vehicle in the vehicle system corresponding to multiple role identifiers or vehicle grouping information. This enables multiple vehicles in the vehicle system to collaboratively achieve complex, dynamic, and intelligent group collaborative control effects (e.g., light show performances or convoy driving). The vehicle control commands can be generated based on the geographical location information of each vehicle. For example, they can be grouped based on the geographical location information of each vehicle and a vehicle control command including control commands corresponding to each vehicle group can be generated; alternatively, a control command corresponding to each vehicle can be generated based on the geographical location of each vehicle.

[0063] There are several ways to obtain vehicle control commands. In one possible implementation, it can be by receiving vehicle control commands input by the user through the in-vehicle central control device, or by receiving vehicle control commands issued by the terminal device or server associated with the first vehicle, or by obtaining pre-stored vehicle control commands in response to a pre-set event.

[0064] The aforementioned events can be timed events or events where the number of vehicles that establish Wi-Fi Aware or WiFi Direct connections with the first vehicle exceeds a preset number (e.g., 5, 8, or 10 vehicles). The corresponding control command can be a lighting control command, which can be used to control the vehicle's lighting system to turn on, off, flash, change color, or adjust brightness according to specified logic to achieve a vehicle light show performance.

[0065] The aforementioned events can also be events that detect that the current driving environment meets specified conditions. For example, if the visibility is detected to be lower than a preset visibility threshold, such as rainy, snowy, or foggy weather (entering a tunnel), the corresponding control command can be to control the fog lights to turn on (turn on the headlights), or to control the audio system to play a prompt audio, etc., in order to improve driving safety.

[0066] Step S120: Send the vehicle control command to at least one second vehicle connected to the first vehicle, so that the first vehicle and the at least one second vehicle perform the control operation indicated by the vehicle control command; The first vehicle establishes a WiFi aware connection or a WiFi direct connection with at least one second vehicle.

[0067] When a vehicle control command is used to instruct multiple vehicles to synchronously execute the same sequence of actions, the multiple vehicles can execute the vehicle control command separately to achieve a highly synchronized group consistency effect, such as synchronized light shows, synchronized screen displays, and synchronized horn warning effects.

[0068] When the vehicle control command includes multiple roles or vehicle groups corresponding to control commands, and each vehicle in the vehicle system corresponds to multiple role identifiers or vehicle grouping information, the first vehicle and each second vehicle parse the control command corresponding to their own role or group from the vehicle control command and execute the corresponding control operation, so that multiple vehicles in the vehicle system can work together to achieve complex, dynamic and intelligent group collaborative control effects (such as hierarchical light show performances, complex formation driving, etc.).

[0069] In one possible implementation, step S120 may involve sending the vehicle control command to at least one second vehicle that has established a WiFi aware connection (or WiFi direct connection) with the first vehicle via a point-to-point transmission method using a WiFi aware connection (or WiFi direct connection), and instructing a target vehicle that has established a WiFi aware connection (or WiFi direct connection) with the second vehicle via a point-to-point transmission method to send the vehicle control command. The target vehicle is any vehicle other than the first vehicle that has established a WiFi aware connection (or WiFi direct connection) with the second vehicle. This process is repeated to send the vehicle control command to all vehicles in the vehicle control system.

[0070] In this implementation, each vehicle uses a WiFi aware connection (or WiFi direct connection) for point-to-point transmission to efficiently propagate along a preset or predetermined path, effectively avoiding network congestion.

[0071] In one possible implementation, step S120 can also involve sending the vehicle control command via broadcast or multicast, and having each second vehicle that receives the vehicle control command rebroadcast the command. In this case, all second vehicles that have established a direct Wi-Fi Aware connection (or Wi-Fi direct connection) with the first vehicle will receive the vehicle control command. After receiving the vehicle control command, the second vehicle will use its established Wi-Fi Aware (or Wi-Fi direct) data link with other vehicles to rebroadcast the command packet.

[0072] In this embodiment, the vehicle control command can be sent in the form of a data packet, which may include a sequence number and a time-to-live field. The second vehicle is configured to: upon receiving the vehicle control command, determine whether the command has been received repeatedly based on its sequence number, and determine whether to continue forwarding it based on its time-to-live field, thereby avoiding redundant transmission of commands and waste of resources.

[0073] By sending control commands via broadcast or multicast and having each second vehicle that receives the command rebroadcast the command, the control commands can spread exponentially across the network, reaching almost all vehicles within range in a very short time. This effectively improves the synchronization efficiency of the control commands in the vehicle control system.

[0074] In one possible implementation, step S120 may further be: sending the vehicle control command to the next second vehicle according to a preset transmission order, wherein the vehicle control command is used to cause the second vehicle that receives the vehicle control command to continue sending the vehicle control command according to the preset transmission order.

[0075] In this implementation, the preset transmission order can specifically be represented as a list of vehicle identifiers. The preset transmission order can be pre-issued by the first vehicle to each vehicle in the vehicle control system, or it can be sent synchronously when sending vehicle control commands. Each vehicle identifier in the list can be a vehicle MAC address, or it can be an identifier assigned by the first vehicle after the vehicle to which the identifier belongs establishes a WiFi aware connection (or WiFi direct connection) with the first vehicle.

[0076] In the case where the preset transmission order is sent synchronously with the vehicle control command, the vehicle control command can be sent in the form of a data packet, which may include the preset transmission order. This allows subsequent vehicles receiving the control command to forward the data packet based on their own device ID and the preset transmission order.

[0077] When the first vehicle establishes a WiFi aware connection with at least one second vehicle, the preset transmission order can be generated based on at least one of the geographical locations of each vehicle and the WiFi aware connection topology between each vehicle, as long as the vehicle control command can be sent to other vehicles with which it has established a direct or indirect WiFi aware connection based on the preset transmission order. No specific limitation is made here.

[0078] By following a preset transmission sequence and using a WiFi aware connection (or WiFi direct connection), vehicle control commands can be transmitted efficiently and reliably point-to-point within the vehicle control system. Furthermore, by sending control commands according to the preset transmission sequence, unidirectional and non-redundant transmission can be achieved, thereby greatly saving network resources.

[0079] It is worth mentioning that when the above vehicle control commands are transmitted point-to-point through the establishment of WiFi aware connections (or WiFi direct connections) between vehicles, the channel used can be either the 2.4 GHz band or the 5 GHz band, depending on the actual needs.

[0080] This embodiment provides a vehicle control method. When a vehicle control command is obtained, the method sends the vehicle control command to at least one second vehicle that has established a WiFi aware connection or a WiFi direct connection with the first vehicle. This causes the first vehicle and the at least one second vehicle to execute the control operation indicated by the vehicle control command. Because this allows the control command to be transmitted directly through the WiFi Aware connection or WiFi direct connection when the first vehicle sends the control command to the at least one second vehicle connected to it, it avoids the transmission delay and infrastructure dependence caused by the long "vehicle-cloud-vehicle" path in related technologies. This reduces the end-to-end latency from hundreds of milliseconds or even seconds to milliseconds, enabling the first vehicle and each second vehicle to execute the control command almost simultaneously.

[0081] Furthermore, this vehicle control method enables one or more components of multiple vehicles in a vehicle control system, such as lights, screens, audio systems, and driving systems, to simultaneously or in a specific order perform corresponding control operations according to predetermined logic (such as rhythm, sequence, color change), forming a large-scale, stunning visual and auditory performance (such as a light show or sound show). It can also enable multiple vehicles in a vehicle control system to automatically and collaboratively perform control operations to enhance safety in specific driving environments (such as low visibility weather), such as simultaneously turning on fog lights and playing warning sounds to improve driving safety.

[0082] In one possible implementation, please refer to [reference needed]. Figure 3 The first vehicle and the at least one second vehicle establish a WiFi aware connection or a WiFi direct connection through the following steps: Step S130: Based on service discovery, identify at least one second vehicle to be connected.

[0083] The first vehicle, based on service discovery, can quickly discover surrounding vehicles through anonymous broadcast and subscription matching mechanisms without relying on any external network. When it receives feedback information from surrounding vehicles that support the same services as the first vehicle, it determines that the vehicle that sent the feedback information is the second vehicle to be connected.

[0084] Step S140: Establish a WiFi aware connection or WiFi direct connection with the at least one second vehicle.

[0085] In this system, the first vehicle can send a connection request to the second vehicle, and the second vehicle can respond to the connection request and agree to the connection upon receiving it, thereby establishing a WiFi aware connection or a WiFi direct connection between the first vehicle and the second vehicle.

[0086] By adopting the above service discovery method, the first vehicle entering the area can automatically and quickly establish a WiFi aware connection (or WiFi direct connection) with other vehicles within its WiFiaware (or WiFi direct) communication range that support the same service, thereby forming a cluster that communicates in real time and acts collaboratively.

[0087] In one possible implementation, please refer to [reference needed]. Figure 4 The above step S130 includes: Step S132: Send a first broadcast message; the first broadcast message includes service indication information, which is used to indicate the subscription services supported by the first vehicle.

[0088] The first broadcast information is transmitted in the form of a broadcast frame or a multicast frame. The first broadcast information can be broadcast within its sending window. The first broadcast signal can be received by all vehicles within the same discovery window within the communication range of the first vehicle. When the first broadcast information is sent in the form of a broadcast frame or a multicast frame, the header of the frame carries the MAC address of the first vehicle.

[0089] It is worth mentioning that devices that support Wi-Fi Aware or WiFi Direct (such as the first vehicle and the second vehicle) can first use a synchronization mechanism to simultaneously turn on their radio frequency circuits on the same channel within a periodic time period (such as turning on for 50 milliseconds every 200 milliseconds). This time period is the discovery window.

[0090] When a vehicle within the Wi-Fi Aware or WiFi Direct communication range of the first vehicle receives the first broadcast information, it can determine whether the service indication information it supports exists in the indication information of the service it supports. If it does, the vehicle can act as the second vehicle to send the first feedback information to the first vehicle.

[0091] In this process, the service indication information can be a unique identifier or name that can be used to refer to a specific service (such as a light show service, a vehicle warning and control service, and a cooperative driving service), so that the first vehicle can perform information matching based on the service indication information and find other vehicles that support the same type of service as the first vehicle.

[0092] Step S134: Receive first feedback information sent by the second vehicle based on the service instruction information, wherein the second vehicle includes vehicles that support the subscription service.

[0093] Upon receiving the first feedback information, the first vehicle can determine the identity (e.g., MAC address) of the second vehicle supporting the service indicated by the service instruction information. The first feedback information can be sent to the first vehicle based on its MAC address, where the destination address of the first feedback information is the MAC address of the first vehicle, and correspondingly, the source address of the first feedback information is the MAC address of the second vehicle.

[0094] The first feedback information may include a prompt that the second vehicle supports the service corresponding to the service indication information, an indicator of the signal strength of the second feedback information, and relevant information about the second vehicle (such as geographical location information, vehicle attribute information, and the vehicle's remaining battery power).

[0095] Step S136: Based on the first feedback information, determine at least one second vehicle to be connected.

[0096] In this scenario, the first vehicle can consider all the second vehicles that sent the first feedback information as second vehicles to be connected.

[0097] If the first feedback information carries indicators for evaluating signal quality and relevant information about the second vehicle, the first vehicle may also select the second vehicle to be connected from at least one of the indicators and relevant information in each feedback information, such as selecting the N vehicles with the strongest signals as the second vehicles to be connected, or selecting the N vehicles closest to the first vehicle as the second vehicles to be connected, where N is a positive integer.

[0098] By adopting the implementation method in steps S132-S136 above, since the first broadcast information includes service indication information, the vehicle receiving the broadcast information can only send the first feedback information when it determines that it also supports or needs the specific service identified by the service indication information. This enables the first vehicle to automatically and accurately filter out the second vehicle with the same communication intent and networking goal (e.g., both have the intention to participate in the light show performance, both need to conduct warnings in specific driving environments, etc.) from the vehicles that can be discovered by the first vehicle's WiFi aware communication range using the service indication information.

[0099] In one possible implementation, step S136 includes: Step S136a: Display the second vehicle that sent the first feedback information on the display screen.

[0100] In this embodiment, at least one of the geographical location of the second vehicle that sent the first feedback information and vehicle-related information (such as remaining battery power, attribute information, etc.) can be displayed on the screen in a list or map view.

[0101] Users can browse the vehicle list on the display screen or view the vehicle distribution directly on the map. Based on one or more of the geographical location and vehicle-related information of the second vehicle, users can select the second vehicle to be connected from the real second vehicles. For example, users can select multiple vehicles that are closest to the first vehicle, or select second vehicles that have the same color or come from the same manufacturer, or select vehicles whose remaining battery power meets the specified conditions.

[0102] Step S136b: In response to the selection operation, determine at least one second vehicle to be connected from the displayed second vehicles.

[0103] Specifically, at least one second vehicle to be connected can be determined from the displayed second vehicles in response to user touch selection, gesture selection, or voice selection.

[0104] By displaying relevant information about the second vehicle on the screen and determining the second vehicle based on the selection operation, the user's needs for a specific scenario can be met.

[0105] In one possible implementation, when the first vehicle establishes a WiFi direct connection with the at least one second vehicle, step S130 further includes: if it is determined that there are vehicles supporting WiFi direct connection within the communication range of the first vehicle, then, based on service discovery, at least one second vehicle to be connected is determined from the vehicles supporting WiFi direct connection.

[0106] In this implementation, the first vehicle can listen to beacon frames periodically broadcast by other devices (vehicles), which carry information indicating whether WiFi direct connection is supported, and parse them to determine whether the device sending the beacon frame supports WiFi direct connection; the first vehicle can also broadcast probe frames to instruct the device receiving the probe frame to provide feedback on whether it supports WiFi direct connection. When the first vehicle receives the corresponding probe response frame, it can parse the probe response frame to determine whether the device (vehicle) that provided the probe response frame supports WiFi direct connection.

[0107] In one implementation, if the first vehicle establishes a WiFi-aware connection with at least one second vehicle, please refer to [reference needed]. Figure 5 The methods also include: Step S150: Receive second feedback information sent by the second vehicle, the second feedback information being feedback information sent by the third vehicle based on the second broadcast information sent by the second vehicle, the third vehicle supporting the subscription service.

[0108] The second broadcast information may be generated by the second vehicle, which establishes a WiFi aware connection with the first vehicle, based on the MAC addresses of the first broadcast information and the second vehicle when it receives the first broadcast information. The second broadcast information includes the service indication information in the first broadcast information. That is, the second broadcast information is a relay broadcast information of the first broadcast information.

[0109] The principle by which the second vehicle sends the second broadcast signal is similar to that of the first vehicle sending the first broadcast signal, and the principle by which the third vehicle sends the second feedback information based on the second broadcast is similar to that of the second vehicle sending the first feedback information based on the first broadcast. These will not be elaborated on here.

[0110] Step S160: Based on the second feedback information, establish a WiFi aware connection between the second vehicle and the third vehicle.

[0111] The second feedback information may carry the MAC address of the third vehicle. The first vehicle sends a connection establishment instruction to the second vehicle through the established Wi-Fi Aware data path to assist the first vehicle in establishing a connection with the third vehicle. The second vehicle can respond to the connection establishment instruction and send a connection request to the third vehicle as a relay agent. The third vehicle can respond to the connection request and establish a Wi-Fi aware connection with the second vehicle. After the Wi-Fi aware connection between the first vehicle and the third vehicle is established in this way, the communication between the first vehicle and the third vehicle is relayed through the second vehicle. In this case, the first vehicle and the third vehicle can establish an end-to-end application layer session.

[0112] It is worth mentioning that the first vehicle can also determine the third vehicle to be connected from among the multiple third vehicles that sent the second feedback information based on the second feedback information, and establish a WiFi aware connection with the third vehicle to be connected through the second vehicle.

[0113] In this embodiment, when the first vehicle receives the second feedback information sent by the second vehicle, it can establish a WiFi aware connection with the third vehicle through the second vehicle. This can extend the communication range of the first vehicle from within the first vehicle's "one hop" to the "second hop" that the second vehicle can cover, or even more hops. This makes each vehicle that directly or indirectly establishes a WiFi aware connection with the first vehicle become an access point and relay station, thereby enabling coordinated control of dozens or even more vehicles.

[0114] This disclosure also provides a method for vehicle control, applied to, for example... Figure 1 For the second vehicle in the vehicle control system, please refer to Figure 6 As shown, the method includes: Step S210: Receive a vehicle control command sent by the first vehicle, so that the first vehicle and the second vehicle execute the control operation indicated by the vehicle control command; The first vehicle establishes a WiFi aware connection or a WiFi direct connection with the second vehicle. For details on the specific implementation principle of step S210, please refer to the specific description of step S110 in the foregoing embodiments, which will not be repeated here.

[0115] In this embodiment, the first vehicle establishes a WiFi aware connection or a WiFi direct connection with the second vehicle. This allows the first vehicle to send control commands to at least one second vehicle connected to it. The control commands can be transmitted directly through the WiFi Aware connection or the WiFi direct connection, avoiding the transmission delay and infrastructure dependence caused by the long path of "vehicle-cloud-vehicle" in related technologies. This reduces the end-to-end latency from hundreds of milliseconds or even seconds to milliseconds, enabling the first vehicle and each second vehicle to execute control commands almost simultaneously.

[0116] In one possible implementation, please refer to [reference needed]. Figure 7 The second vehicle establishes a WiFi aware connection or a WiFi direct connection with the second vehicle in the following ways: Step S220: Receive first broadcast information sent by the first vehicle; the first broadcast information includes service indication information, which is used to indicate the subscription services supported by the first vehicle.

[0117] Step S230: Determine that the second vehicle supports the subscription service.

[0118] The second vehicle can determine that it supports the subscription service if it determines that the identification or indication information corresponding to the service it supports includes the service indication information.

[0119] Step S240: Send first feedback information to the first vehicle so that the first vehicle establishes a WiFi aware connection or a WiFi direct connection with the second vehicle based on the first feedback information.

[0120] For details on the implementation principles of steps S220-S240, please refer to the specific description of steps S130-S140 in the foregoing embodiments, which will not be repeated here.

[0121] In one possible implementation, please refer to [reference needed]. Figure 8 In the case that the first vehicle establishes a WiFi-aware connection with at least one second vehicle, the method further includes: Step S250: Send a second broadcast message; the second broadcast message includes the service indication information.

[0122] Step S260: Receive second feedback information sent by a third vehicle based on the service instruction information, wherein the third vehicle includes vehicles that support the subscription service.

[0123] Step S270: Send the second feedback information to the first vehicle so that the first vehicle establishes a WiFi aware connection with the third vehicle through the second vehicle based on the second feedback information.

[0124] For details on the implementation principles of steps S240-S270, please refer to the specific descriptions of steps S150 and S160 in the foregoing embodiments, which will not be repeated here.

[0125] For example, such as Figure 9 The present application provides an exemplary embodiment of a vehicle control system, which is described in several parts, taking the vehicle-to-vehicle network communication of multiple vehicles in the vehicle control system to realize a light show performance as an example.

[0126] 1. Each vehicle in the vehicle control system has publishers and subscribers, and they publish and subscribe to the same service.

[0127] Specifically, in this embodiment, each vehicle in the above-mentioned vehicle system can initialize its Wi-FiAware module when it starts up. In addition, each vehicle simultaneously starts the publisher and subscriber roles and subscribes to the light show performance subscription service.

[0128] Second, when two vehicles (such as vehicle A and vehicle B) are close to each other, they can establish an ad hoc network cluster including vehicle A and vehicle B through broadcast information (such as beacon frames) issued between them.

[0129] Specifically, in the vehicle system, a primary vehicle (e.g., vehicle A) can be pre-configured as the master vehicle. This master vehicle acts as the command and control center for the entire light show and broadcasts a beacon frame (sends a first broadcast signal) within its Wi-Fi Aware communication range (the range marked by the dotted line corresponding to Q1 in the diagram). This beacon frame carries the service information it has subscribed to (e.g., the light show performance service). If a vehicle B within its broadcast range receives a first feedback message from vehicle A that confirms that vehicle B has also subscribed to the same service information as vehicle A, a join request can be sent to vehicle B. This allows vehicle B to become a slave vehicle of vehicle A upon joining, forming a self-organizing network cluster including vehicle A and vehicle B. Alternatively, when two vehicles, such as vehicle A and vehicle B, enter each other's Wi-Fi Aware communication range, vehicle A's subscriber receives a beacon frame (broadcast signal) published by vehicle B. This beacon frame (broadcast signal) includes the service information subscribed to by vehicle B and may also include vehicle B's MAC address. Vehicle B also receives the beacon frame (broadcast signal) broadcast by Vehicle A. This beacon frame (broadcast signal) includes the service information that Vehicle A has subscribed to, and may also include Vehicle A's MAC address. By exchanging beacon information, Vehicle A and Vehicle B discover that they have both subscribed to the light show service and therefore belong to the same service cluster. At this time, according to the Wi-Fi Aware protocol, Vehicle A and Vehicle B will automatically synchronize to a common "discovery window" rhythm and negotiate to determine a first vehicle (such as Vehicle A) as the cluster master vehicle, so as to form a self-organizing network cluster including Vehicle A and Vehicle B.

[0130] After vehicle B joins the ad hoc network cluster as a slave vehicle of the master vehicle (i.e., the second vehicle), vehicle A can assign a vehicle identifier to vehicle B. This vehicle identifier can be generated based on its MAC address or the order in which it joins the cluster.

[0131] 3. When a third vehicle (vehicle C) is driving or parked within the range of vehicle A or vehicle B, it can receive broadcast information sent by vehicle A or vehicle B and join the self-organizing network cluster.

[0132] Specifically, when a new vehicle approaches the self-organizing network cluster, such as vehicle C entering the Wi-Fi Aware communication range of vehicle A (the range marked by the dashed line corresponding to Q1) or the Wi-Fi Aware communication range of vehicle B (the range marked by the dashed line corresponding to Q2).

[0133] If vehicle C is within the Wi-Fi Aware communication range of vehicle A, it can receive a beacon frame (first broadcast signal) broadcast by vehicle A. The first broadcast signal includes service indication information, which indicates the subscription services supported by vehicle A. When vehicle C receives the first broadcast information and determines that the service indication information is included in the indication information of the services supported by vehicle C, it sends a first feedback message to vehicle A. When vehicle A receives the first feedback message, it can send a connection request to vehicle C, so that vehicle C can agree to connect in response to the connection request, thereby establishing a Wi-Fi aware connection between vehicle A and vehicle C. The specific principle of the connection establishment process can be found in the detailed description of steps S130-S140 in the foregoing embodiments, which will not be repeated here.

[0134] If vehicle C is within the Wi-Fi Aware communication range of vehicle B but not within the Wi-Fi Aware communication range of vehicle A, then vehicle B, having established a Wi-Fi Aware connection with vehicle A, can send a second broadcast message upon receiving the first broadcast message. This second broadcast message is a relay broadcast of the first broadcast message and includes service indication information, and may also include vehicle A's MAV address and vehicle B's MAC address. If vehicle C is within the Wi-Fi Aware communication range of vehicle B, it can receive this second broadcast message within the discovery window. Vehicle C can parse the second broadcast message, compare the service indication information within it with its supported services, and if it determines that its supported services include the service indication information, send a second feedback message to vehicle B. This second feedback message may carry vehicle A's MAC address (e.g., the destination address of the second feedback message is vehicle A's MAC address) so that vehicle B, upon receiving the second feedback message, can identify that the destination address of the second feedback message is vehicle A, and then forwards the second feedback message to vehicle A through the established Wi-Fi Aware data path. Vehicle A receives the second feedback message forwarded by vehicle B from vehicle C. After parsing the second feedback information, Vehicle A determines that Vehicle C is a new node that wants to join the network. At this point, it can send a connection establishment command to Vehicle B to instruct it to assist Vehicle A in establishing a connection with Vehicle C. Vehicle B can respond to this connection establishment command and, acting as a relay agent, send a connection request to Vehicle C. Vehicle C can respond to the connection request and establish a WiFi-aware connection with Vehicle B. After the WiFi-aware connection between Vehicle A and Vehicle C is established in this way...

[0135] In this implementation, there may be vehicle D or other vehicles. The specific process of establishing a Wi-FiAware connection between vehicle D and vehicle A can be similar to the process of establishing a connection between vehicle C or vehicle B and vehicle A, thereby realizing the establishment of a neighbor self-organizing network cluster including multiple vehicles.

[0136] It is worth mentioning that after establishing a Wi-Fi Aware connection with vehicle B and vehicle C, vehicle A can assign a vehicle identifier to vehicle B and vehicle C respectively. It can also determine a preset forwarding order based on its own location, the respective locations of vehicle B and vehicle C, or the Wi-Fi Aware connection topology in the group. This preset forwarding order is represented by a list of vehicle identifiers.

[0137] IV. Once the autonomous network cluster is established, vehicle A sends a headlight control command to vehicle B, and vehicle B forwards the command to vehicle C upon receiving it.

[0138] Specifically, when vehicle A detects an event triggered by the number of vehicles directly or indirectly connected to it via WiFi reaching a preset number, it can obtain a light control command (which can be pre-generated or generated based on the geographical location information of each vehicle). Vehicle A can then send the light control command to each vehicle in the established neighbor ad hoc network cluster according to a preset forwarding order, so that each vehicle can execute the light control operation indicated by the light control command, thereby enabling multiple vehicles in the vehicle system to perform a light show performance with high precision timing synchronization.

[0139] Figure 10 This is a connection block diagram illustrating a vehicle control device 300 according to an exemplary embodiment. This device can be applied to, for example... Figure 1 The first vehicle in the system, the device includes an instruction acquisition module 310 and an instruction sending module 320.

[0140] The instruction acquisition module 310 is configured to acquire vehicle control instructions; The instruction sending module 320 is configured to send the vehicle control instruction to at least one second vehicle connected to the first vehicle, so that the first vehicle and the at least one second vehicle perform the control operation indicated by the vehicle control instruction. The first vehicle establishes a WiFi aware connection or a WiFi direct connection with at least one second vehicle.

[0141] In one possible implementation, the device further includes a vehicle to be connected determination module and a connection establishment module.

[0142] The vehicle to be connected module is configured to determine at least one second vehicle to be connected based on service discovery; The connection establishment module is configured to establish a WiFi aware connection or a WiFi direct connection with the at least one second vehicle.

[0143] In one possible implementation, the vehicle to be connected determination module includes: The information sending submodule is configured to send a first broadcast message; the first broadcast message includes service indication information, which is used to indicate the subscription services supported by the first vehicle; The information receiving submodule is configured to receive first feedback information sent by a second vehicle based on the service indication information, wherein the second vehicle includes a vehicle that supports the subscription service. The vehicle determination submodule is configured to determine at least one second vehicle to be connected based on the first feedback information.

[0144] In one possible implementation, the connection establishment module includes: The display control submodule is configured to control the display screen to show the second vehicle that sent the first feedback information; The vehicle selection submodule is configured to, in response to a selection operation, determine at least one second vehicle to be connected from the displayed second vehicles.

[0145] In one possible implementation, when the first vehicle establishes a WiFi-aware connection with the at least one second vehicle, the device further includes: The feedback information receiving module is configured to receive second feedback information sent by the second vehicle. The second feedback information is feedback information sent by the third vehicle based on the second broadcast information sent by the second vehicle. The third vehicle supports the subscription service. The connection establishment module is also configured to establish a WiFi aware connection with the third vehicle through the second vehicle based on the second feedback information.

[0146] In one possible implementation, when the first vehicle establishes a WiFi direct connection with the at least one second vehicle, the vehicle to be connected determination module is further configured to determine, based on service discovery, at least one second vehicle to be connected from the vehicles supporting WiFi direct connection if it is determined that there are vehicles supporting WiFi direct connection within the communication range of the first vehicle.

[0147] In one possible implementation, the instruction sending module 320 is further configured to broadcast the vehicle control instruction, which causes the second vehicle that received the vehicle control instruction to continue broadcasting the vehicle control instruction.

[0148] In one possible implementation, the instruction sending module 320 is further configured to send the vehicle control instruction to a next second vehicle in a preset transmission order, wherein the vehicle control instruction is used to cause the second vehicle that receives the vehicle control instruction to continue sending the vehicle control instruction in the preset transmission order.

[0149] In one possible implementation, the vehicle control commands include at least one of the following: lighting control commands, in-vehicle display control commands, vehicle horn control commands, in-vehicle audio control commands, and driving control commands.

[0150] Figure 11 This is a connection block diagram illustrating a vehicle control device 400 according to an exemplary embodiment. The vehicle control device 400 can be applied to, for example... Figure 1 The second vehicle in the system, the device includes: The instruction receiving module 410 is configured to receive vehicle control instructions sent by the first vehicle, so that the first vehicle and the second vehicle execute the control operations indicated by the vehicle control instructions. The first vehicle establishes a WiFi aware connection or a WiFi direct connection with the second vehicle. In one possible implementation, the device further includes: A broadcast information receiving module is configured to receive first broadcast information sent by a first vehicle; the first broadcast information includes service indication information, which is used to indicate the subscription services supported by the first vehicle; The service support determination module is configured to determine that the second vehicle supports the subscription service; The feedback information sending module is configured to send first feedback information to the first vehicle so that the first vehicle can establish a WiFi aware connection or a WiFi direct connection with the second vehicle based on the first feedback information.

[0151] In one possible implementation, when the first vehicle establishes a WiFi-aware connection with the at least one second vehicle, the device further includes: The broadcast information sending module is configured to send a second broadcast information; the second broadcast information includes the service indication information. The feedback information receiving module is configured to receive second feedback information sent by a third vehicle based on the service instruction information, wherein the third vehicle includes a vehicle that supports the subscription service; The feedback information sending module is configured to send the second feedback information to the first vehicle, so that the first vehicle can establish a WiFi aware connection with the third vehicle based on the second feedback information.

[0152] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0153] This disclosure also provides a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the steps of the vehicle control method for a first vehicle or the vehicle control method for a second vehicle provided in this disclosure.

[0154] Figure 12 This is a block diagram illustrating a vehicle 600 according to an exemplary embodiment. For example, vehicle 600 can be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicle. Vehicle 600 can be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0155] Reference Figure 12 The vehicle 600 may include various subsystems, such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. The vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and each component of the vehicle 600 can be interconnected via wired or wireless means.

[0156] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, and a navigation system, etc.

[0157] The perception system 620 may include several sensors for sensing information about the environment surrounding the vehicle 600. For example, the perception system 620 may include a global positioning system (which may be GPS, BeiDou, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0158] The decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0159] The drive system 640 may include components that provide powered motion to the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of internal combustion engines, electric motors, and compressed air engines. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0160] Some or all of the functions of vehicle 600 are controlled by computing platform 650. Computing platform 650 may include at least one processor 651 and memory 652, processor 651 can execute instructions 653 stored in memory 652.

[0161] Processor 651 can be any conventional processor, such as a commercially available CPU. Processors may also include graphics processing units (GPUs), field-programmable gate arrays (FPGAs), systems-on-chips (SoCs), application-specific integrated circuits (ASICs), or combinations thereof.

[0162] The memory 652 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0163] In addition to instruction 653, memory 652 can also store data, such as road maps, route information, vehicle position, direction, speed, and other data. The data stored in memory 652 can be used by computing platform 650.

[0164] In this embodiment of the disclosure, processor 651 may execute instructions 653 to complete all or part of the steps of the vehicle control method described above.

[0165] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory including instructions that can be executed by a vehicle's processor to perform the described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0166] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the above-described vehicle control method when executed by the programmable device.

[0167] Those skilled in the art will also understand that the various illustrative logical blocks and steps listed in the embodiments of this application can be implemented by electronic hardware, computer software, or a combination of both. Whether such functionality is implemented through hardware or software depends on the specific application and the overall system design requirements. Those skilled in the art can implement the described functionality using various methods for each specific application, but such implementation should not be construed as exceeding the scope of protection of the embodiments of this application.

[0168] Furthermore, the term "exemplary" is used in this document to mean serving as an example, instance, or illustration. Any aspect or design described as "exemplary" in this document should not necessarily be construed as advantageous compared to other aspects or designs.

[0169] The terms are exemplary and intended to present concepts in a concrete manner. As used herein, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or.” That is, unless otherwise specified or clear from the context, “X applies A or B” is intended to mean any of the natural inclusive arrangements. That is, “X applies A or B” satisfies any of the foregoing examples if X applies A; X applies B; or X applies both A and B. Additionally, unless otherwise specified or clear from the context to the singular form, the articles “a” and “an” as used in this application and the appended claims are generally understood to mean “one or more.”

[0170] Similarly, although this disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art upon reading and understanding this specification and the accompanying drawings. This disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components described above (e.g., elements, resources, etc.), unless otherwise indicated, the terminology used to describe such components is intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if structurally not equivalent to the disclosed structure. Furthermore, although specific features of this disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations, as may be desired and advantageous to any given or particular application. Moreover, with regard to the terms “comprising,” “owning,” “having,” “having,” or variations thereof as used in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term “including.”

[0171] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

[0172] It should be understood that, unless otherwise specifically indicated, features of various embodiments of this disclosure described herein can be combined with each other. As used herein, the term “and / or” includes any one of the relevant listed items and any combination of any two or more; similarly, “at least one of…” includes any one of the relevant listed items and any combination of any two or more.

[0173] Although terms such as “first,” “second,” and “third” may be used herein to describe various components, parts, regions, layers, or sections, these components, parts, regions, layers, or sections are not limited to these terms. Rather, these terms are used only to distinguish one component, part, region, layer, or section from another. Therefore, without departing from the teachings of the examples described herein, the first component, part, region, layer, or section mentioned in the examples may also be referred to as the second component, part, region, layer, or section. Furthermore, the terms “first” and “second” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as “first” or “second” may explicitly or implicitly include at least one of that feature. In the description herein, “a plurality” means at least two, such as two, three, etc., unless otherwise explicitly specified.

Claims

1. A method for vehicle control, characterized in that, Applied to a first vehicle, the method includes: Obtain vehicle control commands; The vehicle control command is sent to at least one second vehicle connected to the first vehicle, so that the first vehicle and the at least one second vehicle perform the control operation indicated by the vehicle control command. The first vehicle establishes a WiFi aware connection or a WiFi direct connection with at least one second vehicle.

2. The method according to claim 1, characterized in that, The first vehicle establishes a WiFi aware connection or a WiFi direct connection with the at least one second vehicle in the following manner: Based on service discovery, at least one second vehicle to be connected is identified; Establish a WiFi-aware connection or WiFi-direct connection with the at least one second vehicle.

3. The method according to claim 2, characterized in that, The process of determining at least one second vehicle to be connected based on service discovery includes: Send a first broadcast message; the first broadcast message includes service indication information, which is used to indicate the subscription services supported by the first vehicle; Receive first feedback information sent by a second vehicle based on the service instruction information, wherein the second vehicle includes a vehicle that supports the subscription service; Based on the first feedback information, at least one second vehicle to be connected is identified.

4. The method according to claim 3, characterized in that, The step of determining at least one second vehicle to be connected based on the first feedback information includes: The second vehicle that sent the first feedback information is displayed on the screen; In response to the selection operation, at least one second vehicle to be connected is determined from the displayed second vehicles.

5. The method according to claim 3, characterized in that, When the first vehicle establishes a WiFi-aware connection with at least one second vehicle, the method further includes: The third vehicle receives a second feedback message sent by the second vehicle, which is a feedback message sent by the third vehicle based on the second broadcast message sent by the second vehicle, and the third vehicle supports the subscription service. Based on the second feedback information, a WiFi-aware connection is established between the second vehicle and the third vehicle.

6. The method according to claim 2, characterized in that, In the case where the first vehicle establishes a WiFi direct connection with the at least one second vehicle, the step of determining the at least one second vehicle to be connected based on service discovery includes: If it is determined that there are vehicles supporting WiFi direct connection within the communication range of the first vehicle, at least one second vehicle to be connected is determined from the vehicles supporting WiFi direct connection based on service discovery.

7. The method according to claim 1, characterized in that, Sending the vehicle control command to at least one second vehicle connected to the first vehicle includes: The vehicle control command is broadcast, and the vehicle control command is used to cause the second vehicle that received the vehicle control command to continue broadcasting the vehicle control command.

8. The method according to claim 1, characterized in that, Sending the vehicle control command to at least one second vehicle connected to the first vehicle includes: According to a preset transmission order, the vehicle control command is sent to the next second vehicle. The vehicle control command is used to cause the second vehicle that receives the vehicle control command to continue sending the vehicle control command according to the preset transmission order.

9. The method according to any one of claims 1 to 8, characterized in that, The vehicle control commands include at least one of the following: lighting control commands, in-vehicle display screen control commands, vehicle horn control commands, in-vehicle audio control commands, and driving control commands.

10. A method for vehicle control, characterized in that, Applied to a second vehicle, the method includes: Receive a vehicle control command sent by the first vehicle, so that the first vehicle and the second vehicle execute the control operation indicated by the vehicle control command; The first vehicle establishes a WiFi aware connection or a WiFi direct connection with the second vehicle.

11. The method according to claim 10, characterized in that, The first vehicle and the second vehicle establish a WiFi aware connection or a WiFi direct connection in the following ways: Receive a first broadcast message sent by a first vehicle; the first broadcast message includes service indication information, which is used to indicate the subscription services supported by the first vehicle; It is determined that the second vehicle supports the subscription service; Send a first feedback message to the first vehicle so that the first vehicle can establish a WiFi aware connection or a WiFi direct connection with the second vehicle based on the first feedback message.

12. The method according to claim 11, characterized in that, When the first vehicle establishes a WiFi-aware connection with at least one second vehicle, the method further includes: Send a second broadcast message; the second broadcast message includes the service indication information. Receive second feedback information sent by a third vehicle based on the service instruction information, wherein the third vehicle includes vehicles that support the subscription service; The second feedback information is sent to the first vehicle, so that the first vehicle can establish a WiFi aware connection with the third vehicle through the second vehicle based on the second feedback information.

13. A vehicle control device, characterized in that, Applied to a first vehicle, the device includes: The instruction acquisition module is configured to acquire vehicle control instructions; The instruction sending module is configured to send the vehicle control instruction to at least one second vehicle connected to the first vehicle, so that the first vehicle and the at least one second vehicle perform the control operation indicated by the vehicle control instruction; The first vehicle establishes a WiFi aware connection or a WiFi direct connection with at least one second vehicle.

14. The apparatus according to claim 13, characterized in that, The device further includes: The vehicle to be connected module is configured to determine at least one second vehicle to be connected based on service discovery; The connection establishment module is configured to establish a WiFi aware connection or a WiFi direct connection with the at least one second vehicle.

15. The apparatus according to claim 14, characterized in that, The vehicle to be connected determination module includes: The information sending submodule is configured to send a first broadcast message; the first broadcast message includes service indication information, which is used to indicate the subscription services supported by the first vehicle; The information receiving submodule is configured to receive first feedback information sent by a second vehicle based on the service indication information, wherein the second vehicle includes a vehicle that supports the subscription service. The vehicle determination submodule is configured to determine at least one second vehicle to be connected based on the first feedback information.

16. A vehicle control device, characterized in that, Applied to a second vehicle, the device includes: The instruction receiving module is configured to receive vehicle control instructions sent by the first vehicle, so that the first vehicle and the second vehicle execute the control operations indicated by the vehicle control instructions; The first vehicle establishes a WiFi aware connection or a WiFi direct connection with the second vehicle.

17. The apparatus according to claim 16, characterized in that, The device further includes: The information receiving module is configured to receive first broadcast information sent by the first vehicle; the first broadcast information includes service indication information, which is used to indicate the subscription services supported by the first vehicle. The service determination module is configured to determine whether the second vehicle supports the subscription service; The information sending module is configured to send first feedback information to the first vehicle, so that the first vehicle can establish a WiFi aware connection or a WiFi direct connection with the second vehicle based on the first feedback information.

18. A vehicle, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to perform the steps of the method as described in any one of claims 1-9 or 10-12.

19. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method described in any one of claims 1-9 or 10-12.

20. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1-9 or 10-12.

21. A vehicle control system, characterized in that, include: Multiple vehicles; The multiple vehicles are connected via WiFi aware or WiFi direct; Any one of the plurality of vehicles is used to perform the vehicle control method according to any one of claims 1 to 9; or, to perform the vehicle control method according to any one of claims 10 to 12.

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