Vehicle control method, display method and related device

Abstract

A vehicle control method, a display method and a related device are applied to the technical field of vehicle control. The vehicle control method comprises the following steps: when a first vehicle is stopped at a first position in a first driving route, reporting related information that the first vehicle is stopped at the first position in the first driving route to a cloud; the information of the target vehicle control behavior and / or the information of the target reason corresponding to the stuck parking of the first vehicle at the first position can be determined, so that a subsequent reasonable vehicle control decision can be made to help the first vehicle get rid of the dilemma of stuck parking at the first position. According to the method, when the vehicle is stopped in a complex scene in the intelligent driving process, the problem that the intelligent driving experience of a user is poor due to the fact that the vehicle is stopped in the intelligent driving process can be solved, and the intelligent driving experience of the user is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and in particular to a vehicle control method, a display method and related devices. BACKGROUND

[0002] With the rapid growth of the number of cars, traffic congestion and accidents occur frequently, and people increasingly yearn for convenience and safety in travel. In the traditional driving mode, the driver is prone to accidents due to fatigue, distraction and other errors. At the same time, congestion during rush hour greatly increases travel time. In this context, intelligent auxiliary driving technology has emerged. Intelligent auxiliary driving technology can help people improve driving safety, relieve driving fatigue, and improve travel efficiency by optimizing routes, and improve the overall travel experience.

[0003] However, in actual application, if the vehicle encounters a complex scene during intelligent driving, it may appear to be stuck, which on the one hand will cause problems such as road congestion affecting traffic, and on the other hand, if the user is not in the vehicle, the user needs to walk a long way to return to the vehicle to take over the processing, resulting in poor user experience of intelligent driving. SUMMARY

[0004] The embodiments of the present application provide a vehicle control method, a display method and related devices, which can solve the problem that the user's intelligent driving experience is poor due to the vehicle being stuck during intelligent driving.

[0005] In a first aspect, the embodiments of the present application provide a vehicle control method, which comprises: receiving first information from a first vehicle, and determining information of a target vehicle control behavior and / or information of a target reason corresponding to the first vehicle being stuck at a first position based on the first information. The first information includes information related to the first vehicle being stuck at the first position in a first driving route, and the target vehicle control behavior is used to control the first vehicle to get out of the predicament of being stuck at the first position.

[0006] In the embodiments of the present application, when the first vehicle is stuck at the first position in the first driving route, the first vehicle reports information related to the first vehicle being stuck at the first position in the first driving route to the cloud. Based on the reported information, the cloud can determine the information of the target vehicle control behavior and / or the information of the target reason corresponding to the first vehicle being stuck at the first position, so as to make subsequent reasonable vehicle control decisions to help the first vehicle get out of the predicament of being stuck at the first position. Therefore, when the vehicle encounters a complex scene and is stuck during intelligent driving, the vehicle control method in the embodiments of the present application can solve the problem that the user's intelligent driving experience is poor due to the vehicle being stuck during intelligent driving, and improve the user's intelligent driving experience.

[0007] In a possible implementation, the first information includes any one or more of the following: a breakdown event of the first vehicle, information of the first position, information of the first driving route, state information of the first vehicle, and surrounding environment information of the first vehicle.

[0008] In this embodiment, the breakdown event of the first vehicle refers to an event that the first vehicle is stuck at the first position. The information of the first position includes, but is not limited to, two-dimensional plane coordinate information or three-dimensional space coordinate information of the first position. The information of the first driving route includes, but is not limited to, start and end points, passing points, and corresponding road condition information, navigation guide information, and the like of the first driving route. The state information of the first vehicle includes, but is not limited to, that the first vehicle is in a parking state, the first vehicle is in an intelligent driving state, the first vehicle is in a stuck state, the first vehicle is in a driving state, the first vehicle is in a turning state, and the like. The surrounding environment information of the first vehicle includes, but is not limited to, images and / or videos such as fisheye images, inverse perspective mapping (IPM) images, and local map images collected by a perception module of the first vehicle. Through the first information in this embodiment, the information of the target vehicle control behavior and / or the information of the target reason corresponding to the first vehicle being stuck at the first position can be more accurately determined, so that a subsequent reasonable vehicle control decision can be made to help the first vehicle get out of the predicament of being stuck at the first position.

[0009] In a possible implementation, the target vehicle control behavior includes a first vehicle control behavior. The determination of the information of the target vehicle control behavior and / or the information of the target reason corresponding to the first vehicle being stuck at the first position based on the first information can be implemented in the following manner, but is not limited thereto: determining, based on the first information, whether the first position affects the first vehicle passing. In a case where it is determined that the first position does not affect the first vehicle passing, the first vehicle control behavior is determined, and the first vehicle control behavior is used to control the first vehicle to continue driving according to the first driving route.

[0010] In this embodiment, if it is determined that there is no real obstacle at the first position, it can be considered that the first vehicle is stuck at the first position due to a false detection, and in this case, it can be determined that the first position does not affect the first vehicle passing, and accordingly, the corresponding first vehicle control behavior can be determined to control the first vehicle to continue driving according to the original first driving route, so as to help the first vehicle get out of the predicament of being stuck at the first position.

[0011] In a possible implementation, the target control behavior includes a second control behavior. The information about the target control behavior and / or the target cause of the first vehicle stopping at the first position can be determined based on the first information, specifically, but not limited to, the following manner: determining whether the first position affects the first vehicle passing based on the first information. If it is determined that the first position affects the first vehicle passing, the second control behavior is determined, which is used to control the first vehicle to continue driving according to the first driving route after stopping at the first position for a first duration.

[0012] In this embodiment, if it is determined that there is a real dynamic obstacle (such as a passing pedestrian, pet, or the like) at the first position, it can be considered that the dynamic obstacle at the first position causes the first vehicle to stop at the first position. At this time, it can be determined that the first position affects the first vehicle passing. Alternatively, since the dynamic obstacle is movable, if the dynamic obstacle leaves within the first duration, it can be determined that the first position only affects the first vehicle passing within the first duration, and the corresponding second control behavior is determined, which controls the first vehicle to continue driving according to the original first driving route after stopping at the first position for the first duration, so as to help the first vehicle get rid of the predicament of stopping at the first position.

[0013] Alternatively, the first duration is not a fixed value, which can be adjusted according to different driving scenes, and the embodiments of the present application do not limit this.

[0014] In a possible implementation, the target control behavior includes a third control behavior. The information about the target control behavior and / or the target cause of the first vehicle stopping at the first position can be determined based on the first information, specifically, but not limited to, the following manner: determining whether the first position affects the first vehicle passing based on the first information. If it is determined that the first position affects the first vehicle passing, the third control behavior is determined, which is used to control the first vehicle to continue driving according to target pose information, and the target pose information is used to at least indicate a second driving route that does not pass through the first position.

[0015] In this embodiment, if it is determined that there is a real static obstacle (such as a roadblock, traffic facility, or the like) at the first position, it can be considered that the static obstacle at the first position will cause the first vehicle to stop at the first position all the time. At this time, it can be determined that the first position will always affect the first vehicle passing, and the corresponding third control behavior is determined, which controls the first vehicle to continue driving according to the target pose information. Since the driving route indicated by the target pose information does not pass through the first position, the first vehicle can get rid of the predicament of stopping at the first position.

[0016] In one possible implementation, the target pose information includes at least information about the first target point and information about the first vehicle body posture, and the third vehicle control behavior is used to control the first vehicle to drive to the first target point in the first vehicle body posture.

[0017] In this embodiment, since the target pose information specifically includes the target point information and the vehicle body posture information, the corresponding third vehicle control behavior can specifically control the first vehicle to drive to the corresponding target point with the corresponding vehicle body posture, thereby bypassing the first position and helping the first vehicle get out of the predicament of being stuck at the first position.

[0018] In one possible implementation, the vehicle control method described above may also include, but is not limited to, the following steps: receiving a second driving route from a first vehicle, the second driving route being determined by target pose information.

[0019] In this embodiment, the cloud can send the determined target pose information to the first vehicle. Since the target pose information can indicate one or more driving routes that do not pass through the first position (at least for indicating the second driving route), the first vehicle can determine a driving route (assuming it is the second driving route) based on the target pose information and report the determined second driving route. Correspondingly, the cloud receives the second driving route from the first vehicle and can confirm the safety of the second driving route. If the safety of the second driving route is confirmed, the cloud controls the first vehicle to continue driving according to the second driving route to help the first vehicle get out of the predicament of being stuck at the first position.

[0020] Optionally, the safety and traffic efficiency of the driving route determined by the first vehicle based on the target pose information may be related to the driving scenario or the computing power performance of the first vehicle itself. This application embodiment does not limit this.

[0021] In one possible implementation, the aforementioned third vehicle control behavior is used to control the first vehicle to continue driving according to the target pose information. Specifically, this can be achieved in ways including but not limited to the following: the third vehicle control behavior is used to control the first vehicle to continue driving according to the second driving route indicated by the target pose information.

[0022] In this embodiment, the cloud can determine a driving route (assuming it is the second driving route) based on the determined target pose information, without the first vehicle needing to determine a driving route based on the target pose information. The corresponding third vehicle control behavior is used to control the first vehicle to continue driving according to the second driving route indicated by the target pose information, so as to help the first vehicle get out of the predicament of being stuck at the first position.

[0023] In one possible implementation, the determination of the third vehicle control behavior can be achieved through methods including but not limited to the following: confirming the surrounding environment information of the first vehicle based on first information; receiving a first instruction from the user, the first instruction indicating the addition of target pose information; and determining the third vehicle control behavior based on the first instruction.

[0024] In this embodiment, the user can instruct the addition of target pose information via a first command. Correspondingly, the cloud can determine the third vehicle control behavior by receiving the user's first command. Through this embodiment, it is possible to support manual intervention in instructing the addition of target pose information to determine the third vehicle control behavior. Furthermore, the method of manually adding target pose information is more flexible and adaptable to complex and ever-changing driving scenarios.

[0025] Optionally, users may include users in the cloud or users in the vehicle; this application embodiment does not limit this.

[0026] Optionally, confirming the surrounding environment information of the first vehicle can be achieved by displaying the surrounding environment information of the first vehicle. Specifically, the surrounding environment information of the first vehicle can be displayed through a workbench interface on the cloud, an application interface on the mobile terminal, or a vehicle-mounted infotainment system interface. This application embodiment does not limit this.

[0027] Optionally, while displaying the surrounding environment information of the first vehicle, corresponding voice broadcasts can also be used to inform the user of the current intelligent driving scenario of the first vehicle, such as the first vehicle being in a parking scenario, the first vehicle being in a vehicle encounter scenario, the first vehicle being in a vehicle extrication scenario, etc. This application embodiment does not limit this.

[0028] In one possible implementation, the determination of the third vehicle control behavior can be achieved through methods including but not limited to: determining the surrounding environment information of the first vehicle based on the first information; determining the target pose information based on the surrounding environment information of the first vehicle; and determining the third vehicle control behavior based on the target pose information.

[0029] In this embodiment, target pose information can be determined based on the surrounding environment information of the first vehicle, and a third vehicle control behavior can be determined through the target pose information. This application embodiment supports automated determination of vehicle control behavior, and the automated determination method is more convenient and efficient, allowing for quick and accurate acquisition of accurate vehicle control behavior, and has high scalability applicable to various driving scenarios.

[0030] In one possible implementation, the above-mentioned determination of target pose information based on the surrounding environment information of the first vehicle can be achieved in ways including but not limited to the following: inputting the surrounding environment information of the first vehicle into the network model, and determining the target pose information based on the output of the network model.

[0031] In this embodiment, the target pose information can be determined automatically through network model inference. This application provides a convenient and rapid way to determine the target pose information, offering high scalability for various driving scenarios. This allows for subsequent reasonable vehicle control decisions to help the first vehicle escape the predicament of being stuck at the first position, thus improving the user's intelligent driving experience.

[0032] In one possible implementation, the aforementioned target vehicle control behavior includes a fourth vehicle control behavior. The information and / or the target cause information for determining the target vehicle control behavior corresponding to the first vehicle being stuck at the first location, based on the first information, can be implemented in ways including but not limited to: determining, based on the first information, whether the first location affects the passage of the first vehicle. If it is determined that the first location affects the passage of the first vehicle, a fourth vehicle control behavior is determined. This fourth vehicle control behavior authorizes personnel near the first vehicle to enter the first vehicle to provide assisted driving, thereby enabling the first vehicle to escape the predicament of being stuck at the first location.

[0033] In this embodiment, if it is determined that a real obstacle exists at the first location, it can be considered that the obstacle at the first location will cause the first vehicle to stop at the first location, and it can be determined that the first location will affect the passage of the first vehicle. Optionally, if the obstacle does not leave the first location within a preset time, and it is difficult to get the first vehicle out of the predicament of being stuck at the first location by setting target pose information, a corresponding fourth vehicle control behavior can be determined, authorizing personnel near the first vehicle to enter the first vehicle to assist in driving, so that the first vehicle can get out of the predicament of being stuck at the first location.

[0034] In one possible implementation, the determination of whether a first location affects the passage of a first vehicle based on the first information can be achieved, including but not limited to, the following methods: determining the region of interest corresponding to the first location based on the first information; and determining whether the first location affects the passage of the first vehicle based on the region of interest corresponding to the first location.

[0035] In this embodiment, the interaction process between the first vehicle and the cloud is driven by the first vehicle's stuck-stop event, guiding the cloud to determine the region of interest corresponding to the first location. Based on the region of interest corresponding to the first location, it can be determined whether the first location affects the passage of the first vehicle, so as to make a reasonable subsequent vehicle control decision, help the first vehicle get out of the predicament of being stuck at the first location, and improve the user's intelligent driving experience.

[0036] Optionally, the region of interest corresponding to the first location is determined based on the first information. This determination can be done manually or automatically via the cloud. This application embodiment does not limit this.

[0037] Optionally, determining whether the first location affects the passage of the first vehicle based on the region of interest corresponding to the first location can be done manually or automatically via the cloud. This application embodiment does not limit this.

[0038] In one possible implementation, the aforementioned target vehicle control behavior includes a fifth vehicle control behavior. The information and / or the target cause information for determining the target vehicle control behavior corresponding to the first vehicle being stuck at the first position, based on the first information, can be implemented in ways including but not limited to: determining, based on the first information, that the state of the first vehicle does not meet the intelligent driving conditions; determining the fifth vehicle control behavior, which is used to control the first vehicle to meet the intelligent driving conditions, so that the first vehicle can escape the predicament of being stuck at the first position.

[0039] In this embodiment, if it is determined that the state of the first vehicle does not meet the intelligent driving conditions, it can be assumed that the first vehicle is not in the intelligent driving state, which will cause the first vehicle to be stuck at the first position. Accordingly, the corresponding fifth vehicle control behavior can be determined to control the first vehicle to meet the intelligent driving conditions so that the first vehicle can get out of the predicament of being stuck at the first position.

[0040] Optionally, the state of the first vehicle does not meet the intelligent driving conditions, which may include, but is not limited to, the first vehicle abnormally losing power, the first vehicle abnormally exiting intelligent driving, or the first vehicle's engine hood being loose. This application embodiment does not limit this.

[0041] Optionally, controlling the first vehicle to meet the intelligent driving conditions may include, but is not limited to, the first vehicle being powered on again, the intelligent driving function being restarted, or the engine hood being tightened. This application embodiment does not limit this.

[0042] In one possible implementation, the vehicle control method described above may also include, but is not limited to, the following steps: sending second information to a first vehicle, the second information including information on the target vehicle control behavior and / or information on the target cause.

[0043] In this embodiment, after determining the target vehicle control behavior information and the target cause information, the cloud sends second information to the first vehicle, outputting the next vehicle control behavior instructions corresponding to different reasons for the vehicle getting stuck. This allows for subsequent reasonable vehicle control actions to help the first vehicle escape the predicament of being stuck at the first position. Therefore, when a vehicle encounters a complex scenario and gets stuck during intelligent driving, the vehicle control method in this embodiment can solve the problem of poor user experience caused by vehicle getting stuck during intelligent driving, thus improving the user's intelligent driving experience.

[0044] Secondly, embodiments of this application provide a vehicle control method, which includes: during the process of a first vehicle traveling along a first driving route, determining that the first vehicle is stuck at a first position on the first driving route based on the surrounding environment information of the first vehicle; reporting first information, which includes relevant information about the first vehicle being stuck at the first position, and is used to determine information on the target vehicle control behavior corresponding to the first vehicle being stuck at the first position and / or information on the target cause, the target vehicle control behavior being used to control the first vehicle to get out of the predicament of being stuck at the first position.

[0045] This application provides a vehicle control method. When a first vehicle gets stuck at a first position on a first driving route, the method reports the relevant information about the vehicle getting stuck at that position to the cloud. Based on the reported information, the cloud can determine the target vehicle control behavior and / or the target cause information corresponding to the vehicle getting stuck at the first position, thereby making subsequent reasonable vehicle control decisions to help the first vehicle get out of the predicament of being stuck at the first position. Therefore, when a vehicle encounters a complex scenario and gets stuck during intelligent driving, the vehicle control method in this application can solve the problem of poor user intelligent driving experience caused by the vehicle getting stuck during intelligent driving, and improve the user intelligent driving experience.

[0046] In one possible implementation, the first information includes any one or more of the following: a stop event of the first vehicle, information about the first location, information about the first driving route, status information of the first vehicle, and information about the surrounding environment of the first vehicle.

[0047] In one possible implementation, the aforementioned target cause includes the first position not affecting the passage of the first vehicle; the target vehicle control behavior includes a first vehicle control behavior, which is used to control the first vehicle to continue traveling along the first driving route.

[0048] In one possible implementation, the aforementioned target cause includes a first location affecting the passage of the first vehicle; the target vehicle control behavior includes a second vehicle control behavior, which is used to control the first vehicle to stop and wait at the first location for a first duration before continuing to travel along the first driving route.

[0049] In one possible implementation, the target cause includes the first position affecting the passage of the first vehicle; the target vehicle control behavior includes a third vehicle control behavior, which is used to control the first vehicle to continue driving according to the target pose information, and the target pose information is used to at least indicate a second driving route, which does not pass through the first position.

[0050] In one possible implementation, the target pose information includes at least information about the first target point and information about the first vehicle body posture, and the third vehicle control behavior is used to control the first vehicle to drive to the first target point in the first vehicle body posture.

[0051] In one possible implementation, the vehicle control method described above may also include, but is not limited to, the following steps: determining a second driving route based on target pose information; and reporting the second driving route.

[0052] In one possible implementation, the aforementioned third vehicle control behavior is used to control the first vehicle to continue driving according to the target pose information. Specifically, this can be achieved in ways including but not limited to the following: the third vehicle control behavior is used to control the first vehicle to continue driving according to the second driving route indicated by the target pose information.

[0053] In one possible implementation, the vehicle control method described above may also include, but is not limited to, the following steps: displaying one or more of the following: first vehicle surrounding environment information, target pose information, and a second driving route indicated by the target pose information.

[0054] In this embodiment, by displaying any one or more of the above information, the user can perceive the real-time movement of the first vehicle, thereby improving the user's intelligent driving experience.

[0055] In one possible implementation, the aforementioned target cause includes the first location affecting the passage of the first vehicle; the target vehicle control behavior includes a fourth vehicle control behavior, which authorizes personnel near the first vehicle to enter the first vehicle to assist in driving, so as to free the first vehicle from the predicament of being stuck at the first location.

[0056] In one possible implementation, the aforementioned target cause includes the first vehicle's state not meeting the intelligent driving conditions; the target vehicle control behavior includes a fifth vehicle control behavior, which is used to control the first vehicle to meet the intelligent driving conditions so that the first vehicle can get out of the predicament of being stuck in the first position.

[0057] In one possible implementation, the vehicle control method described above may also include, but is not limited to, the following steps: receiving second information, the second information including information on the target vehicle control behavior and / or information on the target cause.

[0058] In one possible implementation, the vehicle control method described above may also include, but is not limited to, the following steps: based on second information, controlling the first vehicle to escape the predicament of being stuck at the first position with a target vehicle control behavior.

[0059] For the technical effects of the second aspect and any possible implementation, please refer to the description of the technical effects corresponding to the first aspect and the corresponding implementation.

[0060] Thirdly, embodiments of this application provide a vehicle control method, which includes: when a first vehicle is stuck at a first position in a first driving route, displaying information on the target vehicle control behavior corresponding to the first vehicle being stuck at the first position and / or information on the target cause, wherein the target vehicle control behavior is used to control the first vehicle to get out of the predicament of being stuck at the first position.

[0061] In this embodiment of the application, a display method is provided. When a first vehicle stops at a first position in a first driving route, information on the target vehicle control behavior and / or the target cause of the vehicle stopping at the first position can be displayed, so that the user can perceive the real-time movement of the first vehicle. The event of the first vehicle stopping at the first position, the cause of the stopping, and the vehicle control behavior used to resolve the stopping are presented to the user in a visual way, which can improve the user's intelligent driving experience.

[0062] In one possible implementation, the aforementioned target vehicle control behavior includes a first vehicle control behavior. The information displaying the target vehicle control behavior corresponding to the first vehicle stopping at the first location can be implemented in ways including but not limited to the following: when the target cause, including the first location, does not affect the passage of the first vehicle, the information of the first vehicle control behavior is displayed, and the first vehicle control behavior is used to control the first vehicle to continue traveling along the first driving route.

[0063] In one possible implementation, the aforementioned target vehicle control behavior includes a second vehicle control behavior. The information displaying the target vehicle control behavior corresponding to the first vehicle stopping at the first location can be implemented in ways including but not limited to: if the target cause includes the first location affecting the passage of the first vehicle, displaying information about a second vehicle control behavior, the second vehicle control behavior being used to control the first vehicle to continue driving along the first driving route after stopping and waiting at the first location for a first duration.

[0064] In one possible implementation, the aforementioned target vehicle control behavior includes a third vehicle control behavior. The information displaying the target vehicle control behavior corresponding to the first vehicle being stopped at the first position can be implemented in ways including but not limited to: when the target cause includes the first position affecting the passage of the first vehicle, information on the third vehicle control behavior is displayed. The third vehicle control behavior is used to control the first vehicle to continue driving according to the target pose information, which at least indicates a second driving route that does not pass through the first position.

[0065] In one possible implementation, the target pose information includes at least information about the first target point and information about the first vehicle body posture, and the third vehicle control behavior is used to control the first vehicle to drive to the first target point in the first vehicle body posture.

[0066] In one possible implementation, the aforementioned third vehicle control behavior is used to control the first vehicle to continue driving according to the target pose information. Specifically, this can be achieved in ways including but not limited to the following: the third vehicle control behavior is used to control the first vehicle to continue driving according to the second driving route indicated by the target pose information.

[0067] In one possible implementation, the information displayed regarding the third vehicle control behavior can be implemented in ways including but not limited to: displaying one or more of the following: information about the surrounding environment of the first vehicle, target pose information, and a second driving route indicated by the target pose information.

[0068] In one possible implementation, the aforementioned target vehicle control behavior includes a fourth vehicle control behavior. The information displaying the target vehicle control behavior corresponding to the first vehicle being stuck at the first position can be implemented in ways including but not limited to the following: if the target cause includes the first position affecting the passage of the first vehicle, information on the fourth vehicle control behavior is displayed. This fourth vehicle control behavior authorizes personnel near the first vehicle to enter the first vehicle for assisted driving, thereby enabling the first vehicle to escape the predicament of being stuck at the first position.

[0069] In one possible implementation, the aforementioned target vehicle control behavior includes a fifth vehicle control behavior. The information displaying the target vehicle control behavior corresponding to the first vehicle being stuck at the first position can be implemented in ways including but not limited to the following: when the target reason includes the first vehicle's state not meeting the intelligent driving conditions, information of the fifth vehicle control behavior is displayed. The fifth vehicle control behavior is used to control the first vehicle to meet the intelligent driving conditions, so that the first vehicle can escape the predicament of being stuck at the first position.

[0070] For the technical effects of the third aspect and any possible implementation, please refer to the description of the technical effects corresponding to the first aspect and the corresponding implementation.

[0071] Fourthly, embodiments of this application provide a vehicle control device, which includes a unit for performing the method as described in any of the first aspects.

[0072] In one possible design, the device includes:

[0073] The communication unit is used to receive first information from the first vehicle, the first information including information about the first vehicle stopping at a first position in the first driving route.

[0074] The processing unit is used to determine, based on the first information, the target vehicle control behavior and / or the target cause information corresponding to the first vehicle being stuck at the first position, the target vehicle control behavior being used to control the first vehicle to get out of the predicament of being stuck at the first position.

[0075] Regarding the processing unit and communication unit described in the fourth aspect and any possible implementation, the steps performed thereon can be referred to the corresponding implementations in the first aspect.

[0076] Regarding the technical effects of the fourth aspect and any possible implementation, refer to the description of the technical effects corresponding to the first aspect and the corresponding implementation.

[0077] Optionally, in the vehicle control device described in the fourth aspect above and any possible embodiment:

[0078] In one implementation, the vehicle control device is a vehicle control equipment. When the vehicle control device is a vehicle control equipment, the communication unit can be a transceiver or an input / output interface; the processing unit can be at least one processor. Optionally, the transceiver can be a transceiver circuit. Optionally, the input / output interface can be an input / output circuit.

[0079] In another implementation, the vehicle control device is a chip (system) or circuit used in vehicle control equipment. When the vehicle control device is a chip (system) or circuit used in vehicle control equipment, the communication unit can be a communication interface (input / output interface), interface circuit, output circuit, input circuit, pin, or related circuit on the chip (system) or circuit; the processing unit can be at least one processor, processing circuit, or logic circuit.

[0080] Fifthly, embodiments of this application provide a vehicle control device, which includes a unit for performing the method as described in any of the second aspects.

[0081] In one possible design, the device includes:

[0082] The processing unit is used to determine the first position where the first vehicle stops in the first driving route based on the surrounding environment information of the first vehicle while the first vehicle is traveling along the first driving route.

[0083] The communication unit is used to report first information, which includes information related to the first vehicle being stuck at the first position. The first information is used to determine the target vehicle control behavior and / or the target cause information corresponding to the first vehicle being stuck at the first position. The target vehicle control behavior is used to control the first vehicle to get out of the predicament of being stuck at the first position.

[0084] Regarding the processing unit and communication unit described in the fifth aspect and any possible implementation, the steps performed thereon can be referred to the corresponding implementation in the second aspect.

[0085] For the technical effects of the fifth aspect and any possible implementation, please refer to the description of the technical effects corresponding to the second aspect and the corresponding implementation.

[0086] Optionally, in the vehicle control device described in the fifth aspect above and any possible embodiment:

[0087] In one implementation, the vehicle control device is a vehicle control equipment. When the vehicle control device is a vehicle control equipment, the communication unit can be a transceiver or an input / output interface; the processing unit can be at least one processor. Optionally, the transceiver can be a transceiver circuit. Optionally, the input / output interface can be an input / output circuit.

[0088] In another implementation, the vehicle control device is a chip (system) or circuit used in vehicle control equipment. When the vehicle control device is a chip (system) or circuit used in vehicle control equipment, the communication unit can be a communication interface (input / output interface), interface circuit, output circuit, input circuit, pin, or related circuit on the chip (system) or circuit; the processing unit can be at least one processor, processing circuit, or logic circuit.

[0089] In a sixth aspect, embodiments of this application provide a display device including a unit for performing the method as described in any of the third aspects.

[0090] In one possible design, the device includes:

[0091] The display unit is used to display information on the target vehicle control behavior and / or the target reason for the first vehicle being stuck at the first position in the first driving route, when the first vehicle is stuck at the first position. The target vehicle control behavior is used to control the first vehicle to get out of the predicament of being stuck at the first position.

[0092] In one possible implementation, the device further includes a communication unit.

[0093] The display unit is specifically used to obtain information about the target vehicle control behavior and / or the cause of the target through the communication unit.

[0094] The steps performed by the display unit and communication unit described in the sixth aspect and any possible implementation can be referred to the corresponding third aspect and corresponding implementation.

[0095] For the technical effects of the sixth aspect and any possible implementation, please refer to the description of the technical effects corresponding to the third aspect and the corresponding implementation.

[0096] Optionally, in the display device described in the sixth aspect above and any possible embodiment:

[0097] In one implementation, the display device is a display apparatus. When the display device is a display apparatus, the communication unit can be a transceiver or an input / output interface; the display unit can be at least one display. Optionally, the transceiver can be a transceiver circuit. Optionally, the input / output interface can be an input / output circuit.

[0098] In another implementation, the display device is a chip (system) or circuit in a display device. When the display device is a chip (system) or circuit in a display device, the communication unit can be a communication interface (input / output interface), interface circuit, output circuit, input circuit, pin, or related circuit on the chip (system) or circuit; the display unit can be at least one processor, processing circuit, or logic circuit for controlling the display information.

[0099] In a seventh aspect, embodiments of this application provide a vehicle control device including a processor. The processor is coupled to a memory and can be used to execute instructions in the memory to implement the methods described in the first aspect and any of the possible implementations. Optionally, the vehicle control device further includes a memory. Optionally, the vehicle control device further includes a communication interface, and the processor is coupled to the communication interface.

[0100] Eighthly, embodiments of this application provide a vehicle control device including a processor. The processor is coupled to a memory and can be used to execute instructions in the memory to implement the methods described in the second aspect and any of the possible implementations. Optionally, the vehicle control device further includes a memory. Optionally, the vehicle control device further includes a communication interface, and the processor is coupled to the communication interface.

[0101] Ninthly, embodiments of this application provide a display device including a display. The display is coupled to a memory and can be used to execute instructions in the memory to implement the methods described in the third aspect and any of the possible implementations. Optionally, the display device further includes a memory. Optionally, the display device further includes a communication interface, and the display is coupled to the communication interface.

[0102] In a tenth aspect, embodiments of this application provide a chip, including: logic circuitry and a communication interface. The communication interface is used to receive or transmit information; the logic circuitry is used to receive or transmit information through the communication interface, causing the chip to execute the methods of any one of the first to third aspects and any possible implementation thereof.

[0103] Eleventhly, embodiments of this application provide a computer-readable storage medium for storing a computer program (also referred to as code or instructions); when the computer program is run on a computer, the methods described in any of the first to third aspects and any possible implementations are implemented.

[0104] In a twelfth aspect, embodiments of this application provide a computer program product comprising: a computer program (also referred to as code or instructions); and, when the computer program is run, causing a computer to perform any of the first to third aspects and any possible implementation methods described above.

[0105] In a thirteenth aspect, embodiments of this application provide a vehicle that includes at least one vehicle control device as described in the fifth aspect, the eighth aspect, or the sixth aspect, or the ninth aspect.

[0106] Optionally, the vehicle can be a means of transportation in a broad sense, such as a car, truck, aircraft, drone, slow transport vehicle, spacecraft, or ship, etc., for any possible scenario. This application embodiment does not limit this.

[0107] Optionally, the vehicle is used to implement the method described in any of the second to third aspects and any possible implementation.

[0108] In a fourteenth aspect, embodiments of this application provide a cloud platform that includes at least one vehicle control device as described in the fourth aspect, or the vehicle control device as described in the seventh aspect, or the display device as described in the sixth aspect, or the display device as described in the ninth aspect.

[0109] In a fifteenth aspect, embodiments of this application provide a terminal that includes at least one display device as described in the sixth aspect, or a display device as described in the ninth aspect.

[0110] In a sixteenth aspect, embodiments of this application provide a vehicle control system, which includes a first vehicle and a vehicle control device. The vehicle control device is used to execute the methods described in the first aspect and / or the third aspect, as well as any possible implementation thereof, and the first vehicle is used to execute the methods described in the second aspect and / or the third aspect, as well as any possible implementation thereof.

[0111] Optionally, the vehicle control system may also include, but is not limited to, a display device for performing the methods described in the third aspect and any of the possible implementations.

[0112] Furthermore, in the process of performing the methods described in any of the first to third aspects and any possible embodiments above, the processes related to sending and / or receiving information in the above methods can be understood as the process of the processor outputting information, and / or the process of the processor receiving input information. When outputting information, the processor can output the information to a transceiver (or communication interface, or transmitting module) so that the transceiver can transmit it. After the information is output by the processor, it may need to undergo other processing before reaching the transceiver. Similarly, when the processor receives input information, the transceiver (or communication interface, or transmitting module) receives the information and inputs it to the processor. Furthermore, after the transceiver receives the information, the information may need to undergo other processing before being input to the processor.

[0113] Based on the above principles, for example, the information sent mentioned in the aforementioned method can be understood as information output by the processor. Similarly, the information received can be understood as information received by the processor from input.

[0114] Optionally, unless otherwise specified, or unless they contradict their actual function or internal logic in the relevant description, the operations of the processor, such as transmitting, sending, and receiving, can be more generally understood as processor output and receiving, input, and other operations.

[0115] Optionally, in the process of performing the methods described in any of the first to third aspects and any possible embodiments, the processor may be a processor specifically designed to perform these methods, or it may be a processor that performs these methods by executing computer instructions stored in memory, such as a general-purpose processor. The memory may be a non-transitory memory, such as read-only memory (ROM), which may be integrated with the processor on the same chip or disposed on different chips. This application does not limit the type of memory or the arrangement of the memory and processor.

[0116] In one possible implementation, at least one of the aforementioned memories is located outside the device.

[0117] In yet another possible implementation, at least one of the aforementioned memories is located within the device.

[0118] In another possible implementation, a portion of the memory of the at least one memory is located inside the device, while another portion is located outside the device.

[0119] In this application, the processor and memory may also be integrated into a single device, that is, the processor and memory can be integrated together. Attached Figure Description

[0120] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0121] Figure 1 A schematic diagram of a vehicle system architecture provided in this application embodiment;

[0122] Figure 2 A schematic diagram of a vehicle control scenario provided in an embodiment of this application;

[0123] Figure 3 This application provides a schematic diagram of the architecture of a vehicle-cloud interaction system.

[0124] Figure 4 A schematic flowchart of a vehicle control method provided in an embodiment of this application;

[0125] Figure 5 A schematic diagram illustrating the setting of a target pose, provided as an embodiment of this application;

[0126] Figure 6 A schematic flowchart illustrating another vehicle control method provided in an embodiment of this application;

[0127] Figure 7 A schematic diagram illustrating the determination of a region of interest, provided as an embodiment of this application;

[0128] Figure 8 A schematic flowchart illustrating a display method provided in an embodiment of this application;

[0129] Figure 9 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application;

[0130] Figure 10 This is a schematic diagram of the structure of a display device provided in an embodiment of this application;

[0131] Figure 11 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application;

[0132] Figure 12 This is a schematic diagram of the structure of a chip provided in an embodiment of this application. Detailed Implementation

[0133] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described below with reference to the accompanying drawings.

[0134] The terms "first" and "second," etc., used in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0135] The term "embodiment" as used herein means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that, unless otherwise specified or logically conflicting, the terminology and / or descriptions between the various embodiments of this application are consistent and can be mutually referenced, and technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0136] It should be understood that in this application, "at least one (item)" means one or more, "more than one" means two or more, "at least two (items)" means two or three or more, and "and / or" is used to describe the relationship between related objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0137] It should be noted that, in this application, "instruction" can include direct instruction, indirect instruction, explicit instruction, and implicit instruction. When describing a certain instruction information for the purpose of instructing A, it can be understood that the instruction information carries A, directly instructs A, or indirectly instructs A.

[0138] In this application, the information indicated by the instruction information is called the information to be instructed. In specific implementations, there are many ways to indicate the information to be instructed, such as, but not limited to, directly indicating the information to be instructed, such as the information to be instructed itself or its index. It can also indirectly indicate the information to be instructed by indicating other information, where there is a correlation between the other information and the information to be instructed. It can also indicate only a part of the information to be instructed, while the other parts are known or pre-agreed upon. For example, the instruction of specific information can be achieved by using a pre-agreed (e.g., protocol-defined) arrangement of various information, thereby reducing instruction overhead to some extent. The information to be instructed can be sent as a whole or divided into multiple sub-information units, and the sending period and / or timing of these sub-information units can be the same or different. This application does not limit the specific sending method. The sending period and / or timing of these sub-information units can be predefined, for example, according to a protocol, or configured by the transmitting device by sending configuration information to the receiving device.

[0139] It should be noted that in this application, "send" can be understood as "output" and "receive" can be understood as "input". "Send information to A", where "to A" simply indicates the direction of information transmission, and A is the destination, does not limit "send information to A" to a direct transmission over the air interface. "Send information to A" includes sending information directly to A, as well as sending information indirectly to A through a transmitter. Therefore, "send information to A" can also be understood as "outputting information destined for A". Similarly, "receive information from A" indicates that the source of the information is A, including receiving information directly from A, as well as receiving information indirectly from A through a receiver. Therefore, "receive information from A" can also be understood as "inputting information from A".

[0140] This application provides a vehicle control method and related apparatus, relating to the field of vehicle control technology, such as a vehicle control method for situations where the vehicle is stuck. To more clearly describe the solution of this application, some terms used in the embodiments of this application will be explained below.

[0141] Intelligent driving function: also known as intelligent driving function, refers to a series of functions that utilize advanced sensors, controllers, actuators and other devices, combined with modern communication and network technologies, to enable vehicles to automatically perceive, make decisions and control, thereby realizing autonomous driving or assisted driving.

[0142] Intelligent driving functions are provided by intelligent driving systems, which may include advanced driving assistance systems (ADAS) and / or autonomous driving systems (ADS). Intelligent driving systems utilize various sensors on the vehicle (including but not limited to: lidar, millimeter-wave radar, cameras, ultrasonic sensors, GPS, and inertial measurement units) to acquire information from the vehicle's surroundings, and analyze and process this information to achieve functions such as obstacle perception, target recognition, vehicle localization, path planning, and driver monitoring / alerts, thereby improving the safety, automation, and comfort of driving.

[0143] At different levels of autonomous driving (or intelligent driving levels, ranging from L0 to L5, totaling six levels), intelligent driving systems can achieve different levels of automated driving assistance based on artificial intelligence algorithms and information acquired by multiple sensors. These levels of autonomous driving are based on the classification standards of the Society of Automotive Engineers (SAE). Specifically, L0 is no automation; L1 is driver assistance; L2 is partial automation; L3 is conditional automation; L4 is high automation; and L5 is full automation. At levels L1 to L3, the task of monitoring road conditions and reacting is jointly completed by the driver and the system, requiring the driver to take over dynamic driving tasks. Levels L4 and L5 allow the driver to completely transform into a passenger. Currently, the functions that intelligent driving systems can achieve mainly include, but are not limited to: adaptive cruise control, automatic emergency braking, automatic parking, blind spot monitoring, forward cross-traffic alert / braking, rear cross-traffic alert / braking, forward collision warning, lane departure warning, lane keeping assist, rear collision warning, traffic sign recognition, traffic jam assist, and highway assist. It should be understood that the above-mentioned functions can have specific modes at different levels of autonomous driving (L0-L5). The higher the level of autonomous driving, the more intelligent the corresponding mode.

[0144] In some implementations, a vehicle being in intelligent driving mode can be understood as the state in which the vehicle is driving under the control of an intelligent driving system. For example, when a vehicle is operating with functions such as automatic parking, adaptive cruise assist, navigation cruise assist (NCA), and navigation on autopilot (NOA) enabled, it can be determined that the vehicle is in intelligent driving mode.

[0145] In some implementations, a vehicle can be put into intelligent driving mode either actively or passively. For example, the driver can actively activate the intelligent driving function on the vehicle, at which point the vehicle is in intelligent driving mode. Another example is when, during driving, the vehicle's sensor system detects that the driver has suddenly fallen ill or experienced another accident, causing the driver to temporarily lose control of the vehicle and the vehicle to be out of control; in this case, the vehicle can passively trigger the activation of the intelligent driving function, and the vehicle is in intelligent driving mode.

[0146] Valet parking is an intelligent function that allows a vehicle to automatically park itself in a designated or temporary parking space or drive out of a parking space without direct driver intervention. Valet parking primarily relies on various sensors equipped on the vehicle, such as cameras, millimeter-wave radar, and ultrasonic radar, to perceive information about the vehicle's surroundings. These sensors monitor in real time the distance and position of the vehicle relative to surrounding obstacles, parking space boundaries, and other vehicles. Simultaneously, the vehicle's intelligent driving system uses the information obtained from the sensors, combined with high-precision maps or parking lot layout information, to plan a safe and efficient parking path. Then, through precise control of the vehicle's power, steering, and braking systems, the vehicle automatically drives along the planned path to complete the parking operation.

[0147] The following, in conjunction with the accompanying drawings, describes a vehicle that may be applied to this application and its usage scenario.

[0148] Please see Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of a vehicle system architecture provided in an embodiment of this application. Figure 2 This is a schematic diagram of a vehicle control scenario provided in an embodiment of this application.

[0149] like Figure 1 and Figure 2 As shown, vehicle 100 may include, but is not limited to, a power system 11, a braking system 12, a sensor system 13, a vehicle control device 14, and peripheral equipment 15. Among them:

[0150] The powertrain 11 provides power to the vehicle 100, and may include one or more of the following: an engine, a power battery, etc. For example, the powertrain 11 includes an accelerator, which includes an accelerator pedal, typically configured to be movable under force. Figure 2 The driver can press or release the accelerator pedal, causing the accelerator pedal to open or retract at a certain angle, thereby controlling the vehicle's speed to 100.

[0151] Braking system 12 can represent a system for slowing down the vehicle 100, and may also be referred to as a braking system. It may include, but is not limited to, a brake controller, a reducer, or any other structural device used for vehicle deceleration. In some embodiments, braking system 12 may utilize friction to slow the movement of the vehicle tires, thereby reducing the vehicle's speed. Some vehicle braking systems 12 include a brake pedal, which is typically configured to be movable under force. For example, the driver can depress or release the brake pedal to control the speed of vehicle 100.

[0152] The sensor system 13 may include several detection devices (or probes) that can measure information and convert the measured information into electrical signals or other desired forms of information output according to a certain rule. For example... Figure 1 As shown, the sensor system 13 of vehicle 100 includes one or more of the following detection devices: image sensor 131, tire pressure sensor 132, lidar 133, radar 134, wheel speed sensor 135, steering sensor 136, or positioning system 137, etc. Some of these detection devices are described below by way of example:

[0153] Image sensor 131 is used to capture images, such as pictures and videos. In some specific implementations, the camera device includes, but is not limited to, a dashcam, a camera, a video camera, or other elements used for taking pictures / videos. Optionally, image sensor 131 can be configured to capture images of the exterior of the vehicle to obtain information about the vehicle's surrounding environment. Alternatively, image sensor 131 can be configured to capture images of the interior of the vehicle, such as images of the driver and the cabin. For example, a driver monitoring system (DMS) is deployed inside the vehicle, and the DMS system includes image sensor 131, such as... Figure 2 As shown, the image sensor 131 can be positioned facing the driver, and when activated, it can continuously acquire images in the driver's direction in real time. As another example, a cockpit monitoring system (CMS) is deployed inside the vehicle, which can acquire images of the cabin. Of course, in specific implementations, the vehicle also includes multiple image sensors 131 to simultaneously capture images of both the vehicle's interior and exterior.

[0154] A tire pressure sensor 132 is a device used to monitor parameters such as tire pressure and temperature in vehicles, and is an important component of a tire pressure monitoring system (TPMS). A tire pressure sensor 132 typically consists of a pressure sensor, a temperature sensor, a microprocessor, and a wireless transmitter. Figure 2As shown, the tire pressure sensor 132 is installed inside or outside the tire to sense changes in tire pressure and temperature in real time, converts these data into electrical signals, processes them through a microprocessor, and then sends the data to the vehicle's central control system or the driver's display screen via a wireless transmitter so that the driver can be aware of the tire's status in a timely manner.

[0155] LiDAR 133 and radar 134 are devices that detect objects using electromagnetic waves (including light). They can obtain relevant information about targets in the object space by emitting signals and receiving echoes, including one or more of the target's distance (or depth), angle, velocity, reflectivity, and color. For example, in combination with... Figure 2 The lidar 133 can be configured to face outwards from the vehicle to detect targets around the vehicle. In some solutions, lidar 133 and radar 134 can be used to detect environmental information around the vehicle, such as static environmental information and dynamic environmental information.

[0156] Wheel speed sensor 135 is a sensor used to detect the rotational speed of vehicle wheels, thereby obtaining the vehicle's wheel speed. Commonly used wheel speed sensors 135 may include, but are not limited to, magnetoelectric wheel speed sensors and / or Hall effect wheel speed sensors.

[0157] Steering sensor 136, also known as a steering angle sensor, represents a system used to detect the steering angle of a vehicle. In practical applications, steering sensor 136 can be used to measure the steering angle of the vehicle's steering wheel, or to measure an electrical signal representing the steering angle of the vehicle's steering wheel. Optionally, steering sensor 136 can also be used to measure the steering angle of the vehicle's tires, or to measure an electrical signal representing the steering angle of the vehicle's tires, etc.

[0158] Positioning system 137 is a device for acquiring location information, which can be used to achieve real-time vehicle positioning and provide the vehicle's geographical location information. Examples of positioning systems include the Global Positioning System (GPS) or the BeiDou Navigation Satellite System.

[0159] Peripheral device 15 may include several components, such as Figure 1The diagram shows a human-machine interface (HMI) 151, a speaker 152, a microphone 153, etc. An HMI is a device connected to input and / or output devices to enable human-machine information interaction, including but not limited to displays (such as vehicle central control screens, streaming rearview mirrors, instrument panels, head-up displays (HUDs), light field screens, or projectors, etc.) and touchscreens. In some solutions, speakers and microphones can also be considered HMIs. The speaker 152, also called a loudspeaker, is used to convert audio electrical signals into sound signals. The vehicle uses the speaker 152 to listen to music or make hands-free calls. The microphone 153, also called a microphone or transducer, is used to convert sound signals into electrical signals. When making a phone call or sending a voice message, the user speaks near the microphone 153, and the microphone 153 inputs the sound signal into the microphone.

[0160] The vehicle control device 14 is a device with computing and / or control capabilities, and may include one or more processors. The processors can be used to execute programs or instructions corresponding to programs to achieve corresponding functions. Exemplarily, the vehicle control device 14 is a mobile data center (MDC) (or autonomous driving domain controller), a domain controller (DC), an electronic control unit (ECU), etc., where the DC includes a motion domain controller (MDC), a vehicle domain controller (VDC), etc. In some solutions, the vehicle control device 14 may not be located inside the vehicle, for example, it may be located in the cloud, on roadside equipment, or in a data center.

[0161] As one possible implementation, the vehicle control device 14 can be combined with one or more other components in the vehicle, such as the power system 11, braking system 12, and sensor system 13 in the vehicle 100, to achieve driving assistance functions. For example, the vehicle control device 14 can control the driving speed of the vehicle 100 in intelligent driving mode based on data collected by the sensor system 13.

[0162] In some designs, the vehicle also includes a memory to provide storage space. For example, the memory may include volatile memory, such as RAM. Alternatively, the memory may include non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD). Combinations of these types of memory are also possible. Optionally, the memory may also store information such as road maps, driving routes, and sensor data.

[0163] It should be noted that the above Figure 1 This is merely a schematic diagram of one possible functional framework for vehicle 100. In practical applications, vehicle 100 may include more or fewer systems or components, and this application does not impose any limitations. For example, vehicle 100 may also include a power supply or a communication system, etc.

[0164] Currently, in practical applications, vehicles with intelligent driving functions enabled may get stuck in complex scenarios during intelligent driving. This can cause traffic congestion and other problems. Furthermore, if the user is not in the car, they need to walk a long distance back to the vehicle to take over the situation, resulting in a poor intelligent driving experience for the user.

[0165] In view of this, embodiments of this application provide a vehicle-cloud interaction system, and based on the vehicle-cloud interaction system, propose a vehicle control method, a display method, and related devices, relating to the field of vehicle control technology, such as vehicle control and display methods in the case of vehicle stuck, which can solve the problem of poor user experience caused by vehicle stuck during intelligent driving.

[0166] The vehicle-to-cloud interaction system, vehicle control method, and display method provided in this application will be described in detail below with reference to the accompanying drawings.

[0167] Please see Figure 3 , Figure 3 This is a schematic diagram of the architecture of a vehicle-cloud interaction system provided in an embodiment of this application.

[0168] like Figure 3 As shown, the vehicle-to-cloud interaction system mainly includes, but is not limited to, the vehicle and the cloud, with wireless communication between them. Optionally, the vehicle-to-cloud interaction system may also include, but is not limited to, user-side terminals such as mobile phones and computers, with wireless communication between these terminals and the vehicle and the cloud.

[0169] First, when a vehicle encounters a complex scenario and stops during intelligent driving, it is triggered to report the stop information to the cloud.

[0170] The stopping information may include information about the vehicle stopping at a certain location along the driving route. Optionally, the stopping information may specifically include, but is not limited to, the stopping event, stopping location information, driving route information, vehicle status information, and surrounding environment information. The stopping event refers to the event of the vehicle stopping at a stopping location. The stopping location information includes, but is not limited to, the two-dimensional plane coordinates or three-dimensional spatial coordinates of the stopping location. The driving route information includes, but is not limited to, the start and end points, waypoints, and corresponding road condition information, navigation guidance information, etc. The vehicle status information includes, but is not limited to, the vehicle being parked, the vehicle being in intelligent driving mode, the vehicle being stopped, the vehicle being in motion, the vehicle being turning, etc. The surrounding environment information includes, but is not limited to, images and / or videos of the surrounding environment collected by the vehicle's perception module, such as fisheye images, inverse perspective mapping (IPM) images, raster images (local maps), etc.

[0171] Optionally, the aforementioned complex scenarios may include, but are not limited to, electric parking assist (EPA) scenarios, valet parking driver (VPD) scenarios, oncoming vehicle game scenarios, and getting out of trouble scenarios, etc., and the embodiments of this application do not limit them.

[0172] Optionally, the aforementioned complex scenarios may include, but are not limited to, scenarios with barriers, drains, suspended obstacles, snow-covered steps, downward-facing steps, and irregular edge areas of ponds. This application embodiment does not limit these scenarios.

[0173] Secondly, after receiving the stuck information reported by the vehicle, the cloud will determine the target vehicle control behavior and / or the target cause information based on the stuck information. The target vehicle control behavior is used to control the vehicle to get out of the stuck position.

[0174] Optionally, the following will exemplify several possible causes of vehicle stalling and their corresponding vehicle control behaviors, categorized by situation:

[0175] Scenario 1:

[0176] Reason 1 for stopping: The stopping location does not affect vehicle passage.

[0177] First vehicle control action: Used to control the vehicle to continue traveling along the original route.

[0178] Understandably, in scenario one, if it is determined that there is no real obstacle at the stopping location, it can be considered that the vehicle is stuck at the stopping location due to a false detection. In this case, it can be determined that the stopping location does not affect the passage of the vehicle, and the corresponding first vehicle control action can be determined to control the vehicle to continue driving along the original driving route in order to help the vehicle get out of the predicament of being stuck at the stopping location.

[0179] Scenario 2:

[0180] Reason 2 for being stuck: The location of the roadblock obstructs vehicle traffic.

[0181] The second vehicle control action is used to control the vehicle to stop at the designated stopping position and wait for a certain period of time before continuing to drive along the original route.

[0182] Understandably, in scenario two, if a real dynamic obstacle (such as a passing pedestrian or pet) is identified at the stopping location, it can be assumed that the dynamic obstacle at the stopping location is causing the vehicle to stop. In this case, it can be determined that the stopping location affects vehicle passage. Optionally, since dynamic obstacles are movable, if the dynamic obstacle moves away within a preset time period, it can be determined that the stopping location only affects vehicle passage within that preset time period. Accordingly, the corresponding second vehicle control behavior can be determined, controlling the vehicle to stop at the stopping location and wait for a preset time before continuing along the original driving route, thus helping the vehicle escape the predicament of being stuck at the stopping location.

[0183] Scenario 3:

[0184] Reason 3 for being stuck: The location of the roadblock obstructs vehicle traffic.

[0185] The third vehicle control behavior is used to control the vehicle to continue driving according to the target position information. The target position information can at least be used to indicate a new driving route, and the new driving route does not pass through the stop position.

[0186] Understandably, in scenario three, if it is determined that there is a real static obstacle (such as a roadblock or traffic facility) at the stuck location, it can be assumed that the static obstacle at the stuck location will cause the vehicle to remain stuck there. In this case, it can be determined that the stuck location will continue to affect the passage of the vehicle. Accordingly, the corresponding third vehicle control behavior can be determined to control the vehicle to continue driving according to the target pose information. Since the new driving route indicated by the target pose information does not pass through the stuck location, it can help the vehicle get out of the predicament of being stuck at the stuck location.

[0187] Scenario 4:

[0188] Reason 4 for being stuck: The location of the roadblock obstructs vehicle traffic.

[0189] The fourth vehicle control action: is used to authorize staff near the vehicle to enter the vehicle and assist with driving, so that the vehicle can get out of the predicament of being stuck in a stop position.

[0190] Understandably, in scenario four, if a real obstacle is confirmed at the stopping position, it can be assumed that the obstacle at the stopping position causes the vehicle to stop there, thus determining that the stopping position affects vehicle passage. Optionally, if the obstacle does not leave the stopping position within a preset time, and it is difficult to extricate the vehicle from the predicament by setting target pose information, a corresponding fourth vehicle control action can be determined, authorizing nearby personnel to enter the vehicle for assisted driving to extricate the vehicle from the predicament of being stuck at the stopping position.

[0191] Scenario 5:

[0192] Fifth reason for vehicle stalling: The vehicle's condition does not meet the requirements for intelligent driving.

[0193] The fifth vehicle control behavior: used to control the vehicle to meet the conditions for intelligent driving, so that the vehicle can get out of the predicament of being stuck in a stop position.

[0194] Understandably, in scenario five, if it is determined that the vehicle's state does not meet the intelligent driving conditions, it can be assumed that the vehicle being out of intelligent driving mode will cause it to be stuck at the stop position. Accordingly, the corresponding fifth vehicle control action can be determined to control the vehicle to meet the intelligent driving conditions so that the vehicle can get out of the predicament of being stuck at the stop position.

[0195] It should be understood that the above situations one to five are merely five possible scenarios to illustrate the causes of vehicle jamming and the corresponding vehicle control behaviors, and should not be construed as limiting the embodiments of this application.

[0196] It should be understood that any new solutions obtained by reasonable modifications, combinations or additions to the above-described situations one through five are all within the protection scope of the embodiments of this application.

[0197] Finally, the cloud, after determining the target vehicle control behavior and / or the cause of the target, issues a vehicle control command to the vehicle.

[0198] This vehicle control command can output instructions for the next vehicle control action under different reasons for the vehicle getting stuck, thereby enabling reasonable subsequent vehicle control actions to help the vehicle get out of the predicament of being stuck at the stuck position.

[0199] Optionally, the information on the target cause of the vehicle's stop and / or the corresponding target vehicle control behavior can be displayed to the user through interfaces including but not limited to the terminal interface, the vehicle's in-vehicle interface, and the cloud-based workbench interface. This allows the user to perceive the vehicle's real-time movement and presents the event of the vehicle stopping at the stop location, the cause of the stop, and the vehicle control behavior used to resolve the stop in a visual manner, thereby improving the user's intelligent driving experience.

[0200] Therefore, when a vehicle encounters a complex scenario and stops during intelligent driving, the vehicle-cloud interaction system architecture in this application embodiment can solve the problem of poor user intelligent driving experience caused by the vehicle stopping during intelligent driving, thereby improving the user's intelligent driving experience.

[0201] Please see Figure 4 , Figure 4 This is a flowchart illustrating a vehicle control method provided in an embodiment of this application. This vehicle control method is applied in the field of vehicle control technology, such as a vehicle control method for situations where the vehicle is stuck. Specifically, the vehicle control method includes, but is not limited to, the following steps:

[0202] S401: During the process of the first vehicle traveling along the first driving route, based on the surrounding environmental information of the first vehicle, the first position of the first vehicle in the first driving route is determined to be stopped.

[0203] It is understood that the vehicle control device in this application embodiment may be a device equipped with a processor / chip capable of executing computer-executed instructions, or it may be a processor / chip capable of executing computer-executed instructions. Optionally, the vehicle control device may be an electronic device, or it may be a processor / chip within an electronic device. Optionally, the vehicle control device may specifically be as described above. Figure 3 The cloud platform or cloud workbench is used to execute the vehicle control method in the embodiments of this application, so as to solve the problem of poor user intelligent driving experience caused by vehicle getting stuck during intelligent driving and improve the user intelligent driving experience.

[0204] It is understood that the first vehicle in this application embodiment can be a processor / chip mounted in the first vehicle that can execute computer execution instructions, or it can be the processor / chip mounted in the first vehicle that can execute computer execution instructions, or it can be the entire first vehicle. Optionally, the first vehicle can also be an electronic device mounted in the first vehicle, or it can be a processor / chip within an electronic device. Optionally, the first vehicle can specifically be the one described above. Figure 3 The vehicle, or the vehicle's intelligent driving system, is used to execute the vehicle control method in the embodiments of this application to solve the problem of poor user intelligent driving experience caused by the vehicle getting stuck during intelligent driving, and to improve the user's intelligent driving experience.

[0205] Optionally, the first vehicle, vehicle control device, and vehicle control method in the embodiments of this application can be applied to, but are not limited to, the above-mentioned... Figure 3 The vehicle-to-cloud interactive system shown.

[0206] Optionally, the first vehicle and vehicle control method in the embodiments of this application can be applied to, but are not limited to, vehicle systems. The vehicle equipped with the vehicle system is an intelligent driving vehicle and can be replaced by a terminal device. The terminal device can be, but is not limited to, vehicles such as commercial vehicles, passenger cars, trains, industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), robots, etc. The embodiments of this application do not specifically limit this.

[0207] S402: The first vehicle reports first information to the vehicle control device, and the vehicle control device receives the first information accordingly.

[0208] The first information includes information about the first vehicle stopping at the first position on the first driving route.

[0209] Optionally, the first information may include any one or more of the following: a stop event of the first vehicle, information about the first location, information about the first driving route, status information of the first vehicle, and information about the surrounding environment of the first vehicle.

[0210] Among them, the first vehicle's stop event refers to the event where the first vehicle stops at the first position.

[0211] The information for the first position includes, but is not limited to, the two-dimensional planar coordinates or three-dimensional spatial coordinates of the first position.

[0212] Information for the first driving route includes, but is not limited to, the start and end points, the points along the route, and the corresponding road conditions and navigation guidance information.

[0213] The status information of the first vehicle includes, but is not limited to, the first vehicle being in a parked state, the first vehicle being in an intelligent driving state, the first vehicle being in a stopped state, the first vehicle being in a moving state, the first vehicle being in a turning state, etc.

[0214] The surrounding environment information of the first vehicle includes, but is not limited to, images and / or videos of the surrounding environment collected by the perception module of the first vehicle, such as fisheye images, inverse perspective mapping (IPM) images, raster images (local map images), etc.

[0215] It is understandable that the aforementioned first information can provide a relatively comprehensive description of the situation where the first vehicle is stuck at the first position on the first driving route. Correspondingly, it can also more accurately determine the target vehicle control behavior and / or the target cause information corresponding to the first vehicle being stuck at the first position, thereby enabling the making of subsequent reasonable vehicle control decisions to help the first vehicle get out of the predicament of being stuck at the first position.

[0216] S403: The vehicle control device determines, based on the first information, the target vehicle control behavior and / or the target reason information corresponding to the first vehicle stopping at the first position.

[0217] Among them, the target vehicle control behavior is used to control the first vehicle to get out of the predicament of being stuck in the first position.

[0218] Understandably, when the first vehicle gets stuck at the first position on the first driving route, the relevant information about the first vehicle getting stuck at the first position on the first driving route will be reported to the cloud. Based on the reported information, the cloud can determine the target vehicle control behavior and / or the target cause information corresponding to the first vehicle getting stuck at the first position, so as to make subsequent reasonable vehicle control decisions to help the first vehicle get out of the predicament of getting stuck at the first position.

[0219] Therefore, when a vehicle encounters a complex scenario and stops during intelligent driving, the vehicle control method in this application embodiment can solve the problem of poor user intelligent driving experience caused by the vehicle stopping during intelligent driving, and improve the user intelligent driving experience.

[0220] In one possible embodiment, step S403 described above can be implemented through methods including but not limited to the following:

[0221] Option 1:

[0222] Based on the first information, the vehicle control device determines whether the first location affects the passage of the first vehicle.

[0223] If the vehicle control device determines that the first position does not affect the passage of the first vehicle, it will determine the first vehicle control behavior as the aforementioned target vehicle control behavior. The first vehicle control behavior is used to control the first vehicle to continue traveling along the first driving route.

[0224] Optionally, for details of this Solution 1, please refer to the relevant description of Scenario 1 above.

[0225] It is understandable that if it is determined that there is no real obstacle at the first position, it can be considered that the first vehicle is stuck at the first position due to a false detection. In this case, it can be determined that the first position does not affect the passage of the first vehicle. Accordingly, the corresponding first vehicle control behavior can be determined to control the first vehicle to continue to travel along the original first driving route, so as to help the first vehicle get out of the predicament of being stuck at the first position.

[0226] Option 2:

[0227] Based on the first information, the vehicle control device determines whether the first location affects the passage of the first vehicle.

[0228] When the vehicle control device determines that the first position affects the passage of the first vehicle, it determines the second vehicle control behavior as the aforementioned target vehicle control behavior. The second vehicle control behavior is used to control the first vehicle to stop and wait at the first position for a first time and then continue to travel along the first driving route.

[0229] Optionally, for details of this second scheme, please refer to the relevant description of situation two above.

[0230] Optionally, the first duration is not a fixed value and can be adjusted according to different driving scenarios. This application embodiment does not impose any restrictions on this.

[0231] Understandably, if a real dynamic obstacle (such as a passing pedestrian or pet) is identified at the first location, it can be assumed that the dynamic obstacle at the first location caused the first vehicle to stop there, thus determining that the first location affects the passage of the first vehicle. Optionally, since the dynamic obstacle is movable, if the dynamic obstacle moves away within the first time period, it can be determined that the first location only affected the passage of the first vehicle within the first time period. Accordingly, a second vehicle control action can be determined, controlling the first vehicle to stop at the first location and wait for the first time period before continuing along the original first driving route, thereby helping the first vehicle escape the predicament of being stuck at the first location.

[0232] Option 3:

[0233] Based on the first information, the vehicle control device determines whether the first location affects the passage of the first vehicle.

[0234] When the vehicle control device determines that the first position affects the passage of the first vehicle, it determines the third vehicle control behavior as the aforementioned target vehicle control behavior. The third vehicle control behavior is used to control the first vehicle to continue driving according to the target position information. The target position information is used to indicate at least the second driving route, and the second driving route does not pass through the first position.

[0235] Optionally, for details of this third option, please refer to the relevant description of situation three above.

[0236] It is understandable that if it is determined that there is a real static obstacle (such as a roadblock or traffic facility) at the first location, it can be considered that the static obstacle at the first location will cause the first vehicle to be stuck at the first location. At this time, it can be determined that the first location will continue to affect the passage of the first vehicle. Accordingly, the corresponding third vehicle control behavior can be determined to control the first vehicle to continue driving according to the target pose information. Since the driving route indicated by the target pose information does not pass through the first location, it can help the first vehicle get out of the predicament of being stuck at the first location.

[0237] Optionally, the aforementioned target pose information includes at least the information of the first target point and the information of the first vehicle body posture, and the third vehicle control behavior is used to control the first vehicle to drive to the first target point in the first vehicle body posture.

[0238] It is understandable that, since the target pose information specifically includes the target point information and the vehicle body posture information, the corresponding third vehicle control behavior can specifically control the first vehicle to drive to the corresponding target point with the corresponding vehicle body posture, thereby bypassing the first position and helping the first vehicle get out of the predicament of being stuck at the first position.

[0239] Optionally, the vehicle control device may also receive a second driving route from the first vehicle, the second driving route being determined by the target pose information.

[0240] Understandably, the cloud can send the determined target pose information to the first vehicle. Since the target pose information can indicate one or more driving routes that do not pass through the first position (at least to indicate the second driving route), the first vehicle can determine a driving route (let's say the second driving route) based on the target pose information and report the determined second driving route. Correspondingly, the cloud receives the second driving route from the first vehicle and can confirm the safety of the second driving route. If the safety of the second driving route is confirmed, the cloud controls the first vehicle to continue driving according to the second driving route to help the first vehicle get out of the predicament of being stuck at the first position.

[0241] Optionally, the safety and traffic efficiency of the driving route determined by the first vehicle based on the target pose information may be related to the driving scenario or the computing power performance of the first vehicle itself. This application embodiment does not limit this.

[0242] Optionally, the aforementioned third vehicle control action is used to control the first vehicle to continue driving according to the target position information, specifically, it can be used to control the first vehicle to continue driving according to the second driving route indicated by the target position information.

[0243] Understandably, the cloud can determine a driving route (let's say a second driving route) based on the predetermined target pose information, without the first vehicle needing to determine its own driving route based on the target pose information. The corresponding third vehicle control behavior is used to control the first vehicle to continue driving along the second driving route indicated by the target pose information, in order to help the first vehicle get out of the predicament of being stuck at the first position.

[0244] Optionally, in Scheme 3, the determination of the third-party vehicle control behavior can be implemented through examples including but not limited to the following:

[0245] Example 1: Determining third-party vehicle control behavior through manual intervention.

[0246] The vehicle control device confirms the surrounding environment information of the first vehicle based on the first information.

[0247] The vehicle control unit receives a first instruction from the user, which is used to instruct the addition of target pose information.

[0248] The vehicle control device determines the third vehicle control action based on the first command.

[0249] Optionally, users may include users in the cloud or users in the vehicle; this application embodiment does not limit this.

[0250] Optionally, confirming the surrounding environment information of the first vehicle can be achieved by displaying the surrounding environment information of the first vehicle. Specifically, the surrounding environment information of the first vehicle can be displayed through a workbench interface on the cloud, an application interface on the mobile terminal, or a vehicle-mounted infotainment system interface. This application embodiment does not limit this.

[0251] Optionally, while displaying the surrounding environment information of the first vehicle, corresponding voice broadcasts can also be used to inform the user of the current intelligent driving scenario of the first vehicle, such as the first vehicle being in a parking scenario, the first vehicle being in a vehicle encounter scenario, the first vehicle being in a vehicle extrication scenario, etc. This application embodiment does not limit this.

[0252] Understandably, users can add target pose information by giving a first instruction, and the cloud can determine the third vehicle control behavior by receiving the user's first instruction.

[0253] The embodiments of this application can support manual intervention to instruct the addition of target pose information, thereby determining the third vehicle control behavior. Furthermore, the method of manually adding target pose information is more flexible and applicable to complex and ever-changing driving scenarios.

[0254] Optional, see details Figure 5 , Figure 5 This is a schematic diagram illustrating the setting of a target pose, as provided in an embodiment of this application.

[0255] like Figure 5 As shown, the surrounding environment information of the first vehicle can be displayed through a workbench interface on the cloud, the vehicle-mounted infotainment system interface, and the user-side terminal application interface. It can also display information including but not limited to the first location and the first driving route.

[0256] Users can add a target point 'a', along with the corresponding vehicle posture 'a' for traveling to target point 'a', a target point 'b', and the corresponding vehicle posture 'b' for traveling to target point 'b'. Accordingly, the added target posture information can at least indicate a new second driving route, which does not pass through the first position. This second driving route includes: traveling from the current position to target point 'a' in vehicle posture 'a', and then traveling from target point 'a' to target point 'b' in vehicle posture 'b', thereby freeing the first vehicle from the predicament of being stuck at the first position. Furthermore, users can instruct the cloud to send the user-added target posture information and / or the second driving route indicated by the target posture information.

[0257] Optionally, the target pose information added by the user and / or the second driving route indicated by the target pose information can also be displayed through a workbench interface on the cloud, the vehicle's in-vehicle infotainment system interface, or the user's terminal application interface.

[0258] Optionally, when adding target points and adjusting the vehicle's posture, the user can display the vehicle and its surrounding environment in one or more of the following forms: highlighting, magnified view, cursor (such as arrow marker), outline, etc. This application embodiment does not limit this.

[0259] Example 2: Determining third-party vehicle control behavior through automation.

[0260] The vehicle control device determines the surrounding environment information of the first vehicle based on the first information.

[0261] The vehicle control device determines the target pose information based on the surrounding environment information of the first vehicle.

[0262] The vehicle control unit determines the third vehicle control behavior based on the target pose information.

[0263] It is understandable that the target pose information can be determined based on the surrounding environment information of the first vehicle, and the third vehicle control behavior can be determined through the target pose information.

[0264] The embodiments of this application can support the determination of vehicle control behavior in an automated manner. The automated determination method is more convenient and efficient, and can quickly obtain accurate vehicle control behavior. It has high scalability for applicable driving scenarios.

[0265] Optionally, the above-mentioned determination of target pose information based on the surrounding environment information of the first vehicle can specifically involve inputting the surrounding environment information of the first vehicle into the network model and determining the target pose information based on the output of the network model.

[0266] It is understandable that target pose information can be determined automatically through network model reasoning.

[0267] The embodiments of this application can conveniently and quickly determine the target pose information, and have high scalability for applicable driving scenarios, thereby enabling subsequent reasonable vehicle control decisions to help the first vehicle get out of the predicament of being stuck in the first position and improve the user's intelligent driving experience.

[0268] Optionally, the information of the third vehicle control behavior determined in Example 2 above can also be displayed to the user, guiding the user to make a second determination of the information of the third vehicle control behavior in Example 1 above.

[0269] It should be understood that the above Examples 1 and 2 are merely two possible examples illustrating how to determine the third vehicle control behavior, and should not be construed as limiting the embodiments of this application.

[0270] It should be understood that any new solutions obtained by reasonable modifications, combinations or additions to the above Examples 1 to 2 are all within the protection scope of the embodiments of this application.

[0271] Option 4:

[0272] Based on the first information, the vehicle control device determines whether the first location affects the passage of the first vehicle.

[0273] If the vehicle control device determines that the first position affects the passage of the first vehicle, it will determine the fourth vehicle control behavior as the aforementioned target vehicle control behavior. The fourth vehicle control behavior is used to authorize staff near the first vehicle to enter the first vehicle to assist in driving, so that the first vehicle can get out of the predicament of being stuck in the first position.

[0274] Optionally, for details of this scheme four, please refer to the relevant description of situation four above.

[0275] Understandably, if a real obstacle is confirmed at the first location, it can be assumed that the obstacle at the first location will cause the first vehicle to stop at that location, and thus it can be determined that the first location will affect the passage of the first vehicle. Optionally, if the obstacle does not leave the first location within a preset time, and it is difficult to get the first vehicle out of the predicament of being stuck at the first location by setting target pose information (such as in Scheme 3 above), a corresponding fourth vehicle control action can be determined, authorizing personnel near the first vehicle to enter the first vehicle to assist in driving, so that the first vehicle can get out of the predicament of being stuck at the first location.

[0276] Option 5:

[0277] Based on the first information, the vehicle control device determines that the state of the first vehicle does not meet the conditions for intelligent driving.

[0278] The vehicle control device determines the fifth vehicle control behavior as the aforementioned target vehicle control behavior. The fifth vehicle control behavior is used to control the first vehicle to meet the intelligent driving conditions so that the first vehicle can get out of the predicament of being stuck in the first position.

[0279] Optionally, for details of this scheme five, please refer to the relevant description of situation five above.

[0280] Optionally, the state of the first vehicle does not meet the intelligent driving conditions, which may include, but is not limited to, the first vehicle abnormally losing power, the first vehicle abnormally exiting intelligent driving, or the first vehicle's engine hood being loose. This application embodiment does not limit this.

[0281] Optionally, controlling the first vehicle to meet the intelligent driving conditions may include, but is not limited to, the first vehicle being powered on again, the intelligent driving function being restarted, or the engine hood being tightened. This application embodiment does not limit this.

[0282] It is understandable that if it is determined that the state of the first vehicle does not meet the intelligent driving conditions, it can be assumed that the first vehicle is not in an intelligent driving state, which will cause the first vehicle to be stuck in the first position. Accordingly, the corresponding fifth vehicle control behavior can be determined to control the first vehicle to meet the intelligent driving conditions so that the first vehicle can get out of the predicament of being stuck in the first position.

[0283] It should be understood that the above schemes one to five are merely five possible schemes to illustrate the target causes of the vehicle jamming and the corresponding target vehicle control behavior, and should not be construed as limiting the embodiments of this application.

[0284] It should be understood that any new solutions obtained by reasonable modification, combination or supplementation of the above-mentioned solutions one to five are all within the protection scope of the embodiments of this application.

[0285] In one possible embodiment, the step "determining whether the first location affects the passage of the first vehicle based on the first information" involved in Schemes 1 to 4 above can be specifically combined with... Figure 6 The implementation process will be explained. Figure 6 This is a schematic flowchart of another vehicle control method provided in an embodiment of this application.

[0286] like Figure 6 As shown, the above-mentioned "determining whether the first location affects the passage of the first vehicle based on the first information" can be achieved in ways including but not limited to the following:

[0287] Based on the first information, the vehicle control device determines the region of interest corresponding to the first position.

[0288] The vehicle control device determines whether the first position affects the passage of the first vehicle based on the region of interest corresponding to the first position.

[0289] Understandably, the interaction process between the first vehicle and the cloud is driven by the first vehicle's stuck-stop event, guiding the cloud to determine the region of interest corresponding to the first location. Based on the region of interest corresponding to the first location, it can determine whether the first location affects the passage of the first vehicle, so as to make subsequent reasonable vehicle control decisions, help the first vehicle get out of the predicament of being stuck at the first location, and improve the user's intelligent driving experience.

[0290] Optionally, the determination of the region of interest corresponding to the first location based on the first information can be done manually or automatically in the cloud. This application embodiment does not limit this.

[0291] The different methods used to determine the region of interest corresponding to the first position are explained in detail below.

[0292] Method 1: Determine the region of interest corresponding to the first position through manual intervention.

[0293] Optionally, in this method one, the specific steps may include, but are not limited to:

[0294] The vehicle control device confirms the surrounding environment information of the first vehicle based on the first information.

[0295] The vehicle control unit receives a first instruction from the user, which is used to indicate the region of interest corresponding to the first position in the surrounding environment information of the first vehicle.

[0296] Based on the first instruction, the vehicle control device determines the region of interest corresponding to the first position.

[0297] Understandably, in this method one, the region of interest corresponding to the first location in the surrounding environment information of the first vehicle can be determined by receiving the user's first instruction.

[0298] Optionally, the above-mentioned confirmation of the surrounding environment information of the first vehicle can be achieved by displaying the surrounding environment information of the first vehicle. Specifically, the surrounding environment information of the first vehicle can be displayed through a workbench interface on the cloud, the vehicle-mounted infotainment system interface, or the user-side terminal application interface. This application embodiment does not limit this.

[0299] Optionally, while displaying the surrounding environment information of the first vehicle, corresponding voice broadcasts can also be used to inform the user of the current intelligent driving scenario of the first vehicle, such as the first vehicle being in a parking scenario, the first vehicle being in a vehicle encounter scenario, the first vehicle being in a vehicle extrication scenario, etc. This application embodiment does not limit this.

[0300] Optionally, the information of the first location can also be displayed through a workbench interface in the cloud, the vehicle's infotainment system interface, or the user's terminal application interface.

[0301] Optionally, the user can select the area of ​​interest corresponding to the first position by clicking or selecting multiple times, and send it to the cloud (vehicle control device) through the first command.

[0302] Optionally, users may include users in the cloud or users in the vehicle; this application embodiment does not limit this.

[0303] Optional, see details Figure 7 , Figure 7 This is a schematic diagram illustrating the determination of a region of interest, as provided in an embodiment of this application.

[0304] like Figure 7 As shown, the surrounding environment information of the first vehicle can be displayed through a workbench interface on the cloud, the vehicle-mounted infotainment system interface, and the user-side terminal application interface. It can also display information including but not limited to the first location and the first driving route.

[0305] Users can select the region of interest corresponding to the first location in the surrounding environment information of the first vehicle by clicking or selecting, and then send the selected region of interest to the cloud via command.

[0306] Optionally, when a user clicks or selects a region, the selected region may be displayed in one or more of the following ways: highlighting, magnified view, cursor (e.g., arrow), outline, etc. This application embodiment does not limit this.

[0307] Understandably, this method allows for manual intervention to determine the region of interest corresponding to the first location. The manual determination method is more flexible and free, especially for irregular targets such as children, fire hydrants, and suspended obstacles. It can obtain the accurate region of interest more flexibly and clearly. Users can also determine the region of interest corresponding to obstacles that affect driving on the first driving route now or in the future, thereby improving driving safety.

[0308] Method 2: Automated method to determine the region of interest corresponding to the first position.

[0309] Optionally, in this second method, the specific steps may include, but are not limited to:

[0310] Based on the first information, the vehicle control device determines a candidate region. The points of interest constituting the candidate region include points of interest where obstacles may exist near the first location.

[0311] The vehicle control device determines the region of interest corresponding to the first position based on the mapping relationship between the candidate region and the surrounding environment information of the first vehicle.

[0312] Understandably, in this second method, the region of interest corresponding to the first position can be determined by constructing a candidate region corresponding to the first position and mapping the candidate region to the surrounding environment of the first vehicle.

[0313] Optionally, the above-mentioned determination of candidate regions based on the first information can be achieved through steps including but not limited to the following:

[0314] Based on the initial information, perform one or more of the following processes on the vicinity of the initial location: search, clustering, dilation, and adaptive adjustment, to obtain multiple points of interest. Based on these multiple points of interest, determine the candidate region.

[0315] Understandably, when automatically and adaptively determining the region of interest corresponding to the first position, if there are real static obstacles (such as roadblocks, traffic facilities, etc.) at the first position, one or more of the following processes can be performed on the vicinity of the first position: search, clustering, expansion, and adaptive adjustment, to obtain multiple points of interest. Candidate regions are then adaptively determined based on these multiple points of interest, so that the mapping of the candidate regions to the region of interest corresponding to the first position in the surrounding environment of the first vehicle is more accurate.

[0316] Optionally, the above-mentioned determination of candidate regions based on the first information can also be achieved through steps including but not limited to the following:

[0317] Based on the first information, multiple projection points corresponding to the first position and the interpolation between these projection points are calculated to obtain multiple points of interest. Based on these multiple points of interest, candidate regions are determined.

[0318] Understandably, when automatically and adaptively determining the region of interest corresponding to the first position, if there are real dynamic obstacles at the first position (such as pedestrians or pets passing by), multiple projection points corresponding to the first position and the interpolation between the multiple projection points can be calculated to obtain multiple points of interest. Candidate regions can then be adaptively determined based on these multiple points of interest, so that the mapping of the candidate regions to the region of interest corresponding to the first position in the surrounding environment of the first vehicle is more accurate.

[0319] Understandably, this second method can automatically and adaptively determine the region of interest corresponding to the first position. Moreover, the automated determination method is more convenient and efficient, and can quickly and easily obtain an accurate region of interest, making it highly scalable for driving scenarios.

[0320] Optionally, the region of interest corresponding to the first position determined by the above method two can also be displayed to the user, guiding the user to re-determine the region of interest corresponding to the first position using the above method one.

[0321] It should be understood that the above methods one and two are merely illustrative examples of two possible ways to determine the region of interest corresponding to the first position, and should not be construed as limiting the embodiments of this application.

[0322] It should be understood that any new embodiments obtained by reasonable modification, combination or supplementation of the above-mentioned methods one to two are all within the protection scope of the embodiments of this application.

[0323] Optionally, the determination of whether the first location affects the passage of the first vehicle based on the region of interest corresponding to the first location can be determined manually or automatically in the cloud. This application embodiment does not limit this.

[0324] The different methods used to determine whether the first position affects the passage of the first vehicle are explained in detail below.

[0325] Method A: Determine whether the first location affects the passage of the first vehicle by manual intervention.

[0326] Optionally, in this method A, the specific steps may include, but are not limited to:

[0327] The vehicle control unit confirms the environmental information of the region of interest corresponding to the first position.

[0328] The vehicle control unit receives a second command from the user, which indicates whether there is an obstacle in the first location.

[0329] Based on the second instruction, the vehicle control device determines whether the first position affects the passage of the first vehicle.

[0330] It is understandable that in this method A, in addition to determining the region of interest corresponding to the first location, it is also possible to determine whether the first location affects the passage of the first vehicle by receiving the user's second instruction.

[0331] Optionally, the above-mentioned confirmation of the region of interest corresponding to the first location can be achieved by displaying the environmental information of the region of interest corresponding to the first location. Specifically, the environmental information of the region of interest corresponding to the first location can be displayed through, but is not limited to, a cloud-based workbench interface, a vehicle-mounted infotainment system interface, or a user-side terminal application interface. This application embodiment does not limit this.

[0332] Optionally, while displaying the environmental information of the area of ​​interest corresponding to the first position, corresponding voice broadcasts can also be used to inform the user of the current intelligent driving scenario of the first vehicle, such as the first vehicle being in a parking scenario, the first vehicle being in a vehicle encounter scenario, the first vehicle being in a vehicle extrication scenario, etc. This application embodiment does not limit this.

[0333] Optionally, the area of ​​interest corresponding to the first location can be displayed through a workbench interface on the cloud, the vehicle's infotainment system interface, or the user's terminal application interface, among other things.

[0334] Optionally, information on whether the first location affects the passage of the first vehicle can be displayed through a workbench interface on the cloud, a vehicle-mounted infotainment system interface on the vehicle, or a terminal application interface on the user side, and / or information on the driving route of the first vehicle can be displayed.

[0335] Optionally, the user can send the secondary perception results of the region of interest corresponding to the first location to the cloud via a second instruction.

[0336] Optionally, users may include users in the cloud or users in the vehicle; this application embodiment does not limit this.

[0337] Understandably, this method A allows for manual intervention to further perceive the region of interest corresponding to the first location, determine whether there are obstacles in the first location, and whether they affect the passage of the first vehicle. Furthermore, the manual determination method is more flexible and allows for a more flexible and clear secondary perception of whether there are obstacles in the first location. Users can also perceive whether there are obstacles in the current or future locations along the first driving route that may affect driving, and whether they affect the passage of the first vehicle. This allows for the making of subsequent reasonable vehicle control decisions to help the first vehicle escape the predicament of being stuck in the first location, thereby improving the user's intelligent driving experience.

[0338] Method B: An automated method is used to determine whether the first location affects the passage of the first vehicle.

[0339] Optionally, in this method B, the specific steps may include, but are not limited to:

[0340] The vehicle control device determines whether the first location affects the passage of the first vehicle based on the region of interest corresponding to the first location and the surrounding environment information of the first vehicle.

[0341] It is understandable that in this method B, in addition to determining the region of interest corresponding to the first location, it is also possible to determine whether the first location affects the passage of the first vehicle by using the region of interest corresponding to the first location and the surrounding environment information of the first vehicle.

[0342] Optionally, the determination of whether the first location affects the passage of the first vehicle based on the region of interest corresponding to the first location and the surrounding environment information of the first vehicle can be achieved through steps including but not limited to the following:

[0343] The region of interest corresponding to the first location and the surrounding environment information of the first vehicle are input into the network model. Based on the output of the network model, it is determined whether the first location affects the passage of the first vehicle.

[0344] Understandably, it is possible to determine whether the first location affects the passage of the first vehicle through automated methods of reasoning and judgment using network models.

[0345] Understandably, this method B allows for automated perception of the region of interest corresponding to the first location, determining whether there are obstacles in the first location and whether they affect the passage of the first vehicle. Furthermore, the automated determination method is more convenient and efficient, enabling quick and easy secondary perception of whether there are obstacles in the first location and whether they affect the passage of the first vehicle. It also has high scalability for applicable driving scenarios, thereby enabling subsequent reasonable vehicle control decisions to help the first vehicle escape the predicament of being stuck in the first location and improve the user's intelligent driving experience.

[0346] Optionally, the result of whether the first position determined by the above method B affects the passage of the first vehicle can also be displayed to the user, guiding the user to make a secondary determination of whether the first position affects the passage of the first vehicle by using the above method A.

[0347] It should be understood that the above methods A to B are merely two possible ways to illustrate whether the first position affects the passage of the first vehicle, and should not be used to limit the embodiments of this application.

[0348] It should be understood that any new embodiments obtained by reasonable modification, combination or supplementation of the above-described methods A to B are all within the protection scope of the embodiments of this application.

[0349] In one possible embodiment, the vehicle control method described above may also include, but is not limited to, the following steps:

[0350] Displays information about the target vehicle control behavior and / or the reason for the target vehicle stopping at the first position.

[0351] Optionally, the display can be made through a cloud-based workbench interface, a vehicle-mounted infotainment system interface, or a mobile application interface, and this application embodiment does not limit this.

[0352] Understandably, when the first vehicle stops at the first position on the first driving route, information on the target vehicle control behavior and / or the target reason for the vehicle stopping at the first position can be displayed, allowing users to perceive the real-time movement of the first vehicle. The event of the first vehicle stopping at the first position, the reason for the stopping, and the vehicle control behavior used to resolve the stopping can be presented to the user in a visual way, which can improve the user's intelligent driving experience.

[0353] Optionally, one or more of the following mentioned above may be displayed: information on the first vehicle control behavior, information on the second vehicle control behavior, information on the third vehicle control behavior, information on the fourth vehicle control behavior, information on the fifth vehicle control behavior, information on the surrounding environment of the first vehicle, information on the first location, information on the first driving route, information on the status of the first vehicle, target pose information, information on the second driving route indicated by the target pose information, etc. This application embodiment does not limit this.

[0354] Understandably, displaying one or more of the above information can enable users to perceive the real-time movement of the first vehicle, thereby improving the user's intelligent driving experience.

[0355] In one possible embodiment, the vehicle control method described above may also include, but is not limited to, the following steps:

[0356] The vehicle control device sends a second message to the first vehicle, and the first vehicle receives the second message accordingly.

[0357] The second information includes information about the target vehicle control behavior and / or the reasons for the target behavior.

[0358] Understandably, after determining the target vehicle control behavior and the cause of the target, the cloud sends the second information to the first vehicle, outputting the next vehicle control behavior instructions for the first vehicle under different reasons for being stuck, so as to make subsequent reasonable vehicle control behaviors to help the first vehicle get out of the predicament of being stuck at the first position.

[0359] Therefore, when a vehicle encounters a complex scenario and stops during intelligent driving, the vehicle control method in this application embodiment can solve the problem of poor user intelligent driving experience caused by the vehicle stopping during intelligent driving, and improve the user intelligent driving experience.

[0360] Please see Figure 8 , Figure 8 This is a flowchart illustrating a display method provided in an embodiment of this application. This display method is applied in the field of vehicle control technology, such as a display method for situations where a vehicle is stuck.

[0361] It is understood that the steps in the embodiments of this application can be regarded as described above. Figure 4, Figure 6 Reasonable variations or additions to the embodiments in this application; or, it is understood that the display methods in the embodiments of this application can also be regarded as embodiments that can be executed independently, and this application does not limit them.

[0362] It is understood that the first vehicle involved in the display method provided in this application embodiment can refer to the above. Figure 4 The relevant description of the first vehicle involved in the vehicle control method shown will not be repeated here.

[0363] like Figure 8 As shown, the display device includes, but is not limited to, the following steps:

[0364] S801: When the first vehicle stops at a first position in the first driving route, the display device displays information about the target vehicle control behavior and / or the target reason for the first vehicle stopping at the first position.

[0365] It is understood that the display device in the embodiments of this application can be a device equipped with a display for executing computer execution instructions, or it can be a display equipped with a display for executing computer execution instructions. Optionally, the display device can also be an electronic device, or it can be a display unit within an electronic device. Optionally, the display device can specifically be the one described above. Figure 3 The vehicle, or the vehicle's infotainment system, or the cloud, or the cloud-based workbench, or the user-side terminal, are used to execute the display method in the embodiments of this application to improve the user's intelligent driving experience.

[0366] Among them, the target vehicle control behavior is used to control the first vehicle to get out of the predicament of being stuck in the first position.

[0367] Optionally, for details regarding the target vehicle control behavior and the reasons for the target, please refer to the relevant explanations above, which will not be repeated here.

[0368] Understandably, when the first vehicle stops at the first position on the first driving route, information on the target vehicle control behavior and / or the target reason for the vehicle stopping at the first position can be displayed, allowing users to perceive the real-time movement of the first vehicle. The event of the first vehicle stopping at the first position, the reason for the stopping, and the vehicle control behavior used to resolve the stopping can be presented to the user in a visual way, which can improve the user's intelligent driving experience.

[0369] In one possible embodiment, the aforementioned target vehicle control behavior includes a first vehicle control behavior. The information displaying the target vehicle control behavior corresponding to the first vehicle stopping at a first position can be implemented in ways including, but not limited to, the following:

[0370] If the target reason is that the first position does not affect the passage of the first vehicle, the information of the first vehicle control behavior is displayed. The first vehicle control behavior is used to control the first vehicle to continue to travel along the first driving route.

[0371] Optionally, the specific details of the first vehicle control action can be found in the relevant explanation above, and will not be repeated here.

[0372] In one possible embodiment, the aforementioned target vehicle control behavior includes a second vehicle control behavior. The information displaying the target vehicle control behavior corresponding to the first vehicle stopping at the first position can be implemented in ways including, but not limited to, the following:

[0373] If the target cause includes the first location affecting the passage of the first vehicle, information on the second vehicle control behavior is displayed. The second vehicle control behavior is used to control the first vehicle to stop and wait at the first location for a first time before continuing to travel along the first driving route.

[0374] Optionally, the specific details of the second vehicle control behavior can be found in the relevant explanation above, and will not be repeated here.

[0375] In one possible embodiment, the aforementioned target vehicle control behavior includes a third vehicle control behavior. The information displaying the target vehicle control behavior corresponding to the first vehicle stopping at the first position can be implemented in ways including, but not limited to, the following:

[0376] If the target cause includes the first position affecting the passage of the first vehicle, information on the third vehicle control behavior is displayed. The third vehicle control behavior is used to control the first vehicle to continue driving according to the target position information. The target position information is used to indicate at least the second driving route, which does not pass through the first position.

[0377] Optionally, for details on third-party vehicle control behaviors, please refer to the relevant explanations above, which will not be repeated here.

[0378] In one possible embodiment, the target pose information includes at least information about a first target point and information about a first vehicle body posture, and the third vehicle control behavior is used to control the first vehicle to drive to the first target point in the first vehicle body posture.

[0379] In one possible embodiment, the aforementioned third vehicle control behavior is used to control the first vehicle to continue driving according to the target pose information. Specifically, it can be implemented in ways including but not limited to the following: the third vehicle control behavior is used to control the first vehicle to continue driving according to the second driving route indicated by the target pose information.

[0380] In one possible embodiment, the information displaying the third vehicle control behavior can be implemented in ways including but not limited to: displaying one or more of the following: information about the surrounding environment of the first vehicle, target pose information, and a second driving route indicated by the target pose information.

[0381] In one possible embodiment, the aforementioned target vehicle control behavior includes a fourth vehicle control behavior. The information displaying the target vehicle control behavior corresponding to the first vehicle stopping at the first position can be implemented in ways including but not limited to the following:

[0382] If the target cause includes the first position affecting the passage of the first vehicle, information about the fourth vehicle control action is displayed. The fourth vehicle control action is used to authorize staff near the first vehicle to enter the first vehicle to assist in driving, so that the first vehicle can get out of the predicament of being stuck in the first position.

[0383] Optionally, the specific details of the fourth vehicle control behavior can be found in the relevant explanations above, and will not be repeated here.

[0384] In one possible embodiment, the aforementioned target vehicle control behavior includes a fifth vehicle control behavior. The information displaying the target vehicle control behavior corresponding to the first vehicle stopping at the first position can be implemented in ways including, but not limited to, the following:

[0385] If the target reason is that the state of the first vehicle does not meet the intelligent driving conditions, the information of the fifth vehicle control behavior is displayed. The fifth vehicle control behavior is used to control the first vehicle to meet the intelligent driving conditions so that the first vehicle can get out of the predicament of being stuck in the first position.

[0386] Optionally, for details on the fifth vehicle control behavior, please refer to the relevant explanation above, which will not be repeated here.

[0387] The methods of the embodiments of this application have been described in detail above. The following provides an apparatus for implementing any one of the methods in the embodiments of this application. For example, an apparatus is provided that includes a unit (or means) for implementing the steps performed by the device in any of the above methods.

[0388] Please see Figure 9 , Figure 9 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application.

[0389] like Figure 9 As shown, the vehicle control device 90 may include a communication unit 901 and a processing unit 902. The communication unit 901 and the processing unit 902 may be software, hardware, or a combination of both.

[0390] The communication unit 901 can implement sending and / or receiving functions, and can also be described as a transceiver unit. The communication unit 901 can also be a unit integrating an acquisition unit and a sending unit, wherein the acquisition unit is used to implement the receiving function, and the sending unit is used to implement the sending function. Optionally, the communication unit 901 can be used to receive information sent by other devices, and can also be used to send information to other devices.

[0391] In one possible design, the vehicle control device 90 may correspond to the above. Figure 4 The vehicle control device in the illustrated method embodiment, such as vehicle control device 90, can be an electronic device or a chip within an electronic device. Vehicle control device 90 may include components for performing the above-described... Figure 4 The method embodiment shown is a unit that performs the operation by the vehicle control device, and each unit in the vehicle control device 90 is respectively for implementing the above-mentioned... Figure 4 The operations performed by the vehicle control device in the illustrated method embodiment are as follows: The descriptions of each unit are as follows:

[0392] The communication unit 901 is used to receive first information from the first vehicle, the first information including information related to the first vehicle stopping at a first position in the first driving route.

[0393] The processing unit 902 is used to determine, based on the first information, the target vehicle control behavior and / or the target cause information corresponding to the first vehicle being stuck at the first position, the target vehicle control behavior being used to control the first vehicle to get out of the predicament of being stuck at the first position.

[0394] Regarding the communication unit 901 and processing unit 902 described in this design, the steps they perform can be referred to the corresponding steps described above. Figure 4 The implementation method of the vehicle control device shown in the method embodiment corresponds to the implementation method of the vehicle control device shown in the figure.

[0395] Regarding the technical effects brought about by the implementation methods performed by the communication unit 901 and processing unit 902 described in this design, please refer to the corresponding methods described above. Figure 4 The technical effects of the illustrated method embodiments are described below.

[0396] In another possible design, the vehicle control device 90 may correspond to the above. Figure 4 In the illustrated method embodiment, the first vehicle, such as the vehicle control device 90, can be an electronic device or a chip within the electronic device. The vehicle control device 90 may include components for performing the above-described... Figure 4 The method embodiment shown includes units that perform operations by the first vehicle, and each unit in the vehicle control device 90 is respectively designed to implement the above-described operations. Figure 4 The operation performed by the first vehicle in the illustrated method embodiment is described below:

[0397] The processing unit 902 is used to determine the first position where the first vehicle stops in the first driving route based on the surrounding environment information of the first vehicle during the first driving route.

[0398] The communication unit 901 is used to report first information, which includes information related to the first vehicle being stuck at the first position. The first information is used to determine the target vehicle control behavior and / or the target cause information corresponding to the first vehicle being stuck at the first position. The target vehicle control behavior is used to control the first vehicle to get out of the predicament of being stuck at the first position.

[0399] Regarding the communication unit 901 and processing unit 902 described in this design, the steps they perform can be referred to the corresponding steps described above. Figure 4 The implementation method shown is the one corresponding to the first vehicle in the method embodiment.

[0400] Regarding the technical effects brought about by the implementation methods performed by the communication unit 901 and processing unit 902 described in this design, please refer to the corresponding methods described above. Figure 9 The technical effects of the illustrated method embodiments are described below.

[0401] According to the embodiments of this application, Figure 4 The various units in the illustrated device can be individually or entirely combined into one or more other units, or some of the units can be further divided into multiple functionally smaller units. This achieves the same operation without affecting the technical effects of the embodiments of this application. The above-mentioned units are based on logical function division. In practical applications, the function of one unit can also be implemented by multiple units, or the function of multiple units can be implemented by one unit. In other embodiments of this application, the electronic device may also include other units. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented collaboratively by multiple units.

[0402] It should be noted that the implementation of each unit can also refer to the above. Figure 9 The corresponding description of the method embodiments shown.

[0403] exist Figure 10 The vehicle control device 90 described herein can solve the problem of vehicles getting stuck during intelligent driving, resulting in a poor user experience.

[0404] Please see Figure 10 , Figure 10 This is a schematic diagram of the structure of a display device provided in an embodiment of this application.

[0405] like Figure 8 As shown, the display device 100 may include a communication unit 1001 and a display unit 1002. The communication unit 1001 and the display unit 1002 may be software, hardware, or a combination of software and hardware.

[0406] The communication unit 1001 can implement sending and / or receiving functions, and can also be described as a transceiver unit. The communication unit 1001 can also be a unit integrating an acquisition unit and a sending unit, wherein the acquisition unit is used to implement the receiving function, and the sending unit is used to implement the sending function. Optionally, the communication unit 1001 can be used to receive information sent by other devices, and can also be used to send information to other devices.

[0407] In one possible design, the display device 100 may correspond to the above. Figure 8 The display device in the illustrated method embodiment, such as display device 100, can be an electronic device or a chip within an electronic device. Display device 100 may include components for performing the above-described... Figure 8 The unit in the method embodiment shown is the one that performs the operation by the display device, and each unit in the display device 100 is respectively for implementing the above-described operation. Figure 8 The operation performed by the display device in the illustrated method embodiment is described below:

[0408] The display unit 1002 is used to display information on the target vehicle control behavior and / or the target cause information when the first vehicle is stuck at a first position in the first driving route. The target vehicle control behavior is used to control the first vehicle to get out of the predicament of being stuck at the first position.

[0409] In one possible implementation, the device further includes a communication unit 1001.

[0410] The display unit 1002 is specifically used to obtain information about the target vehicle control behavior and / or the cause of the target through the communication unit 1001.

[0411] In one possible implementation, the device further includes a processing unit. Optionally, the processing unit may be integrated with the display unit in one module, or it may be deployed in a different module from the display unit.

[0412] The processing unit is specifically used to generate information about the target vehicle control behavior and / or the cause of the target.

[0413] The steps performed by the communication unit 1001 and the display unit 1002 described in this design can be referred to the steps corresponding to the above. Figure 8 The implementation method shown corresponds to the display device in the method embodiment.

[0414] Regarding the technical effects of the implementation methods performed by the communication unit 1001 and display unit 1002 described in this design, please refer to the corresponding methods described above. Figure 10 The technical effects of the illustrated method embodiments are described below.

[0415] According to the embodiments of this application, Figure 8 The various units in the illustrated device can be individually or entirely combined into one or more other units, or some of the units can be further divided into multiple functionally smaller units. This achieves the same operation without affecting the technical effects of the embodiments of this application. The above-mentioned units are based on logical function division. In practical applications, the function of one unit can also be implemented by multiple units, or the function of multiple units can be implemented by one unit. In other embodiments of this application, the electronic device may also include other units. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented collaboratively by multiple units.

[0416] It should be noted that the implementation of each unit can also refer to the above. Figure 10 The corresponding description of the method embodiments shown.

[0417] exist Figure 11 The described display device 100 can visually present the event of the first vehicle stopping at a first position, the reason for the stopping, and the vehicle control behavior used to resolve the stopping to the user, thereby improving the user's intelligent driving experience.

[0418] For cases where the aforementioned vehicle control device 90 can be an electronic device, please refer to [reference needed]. Figure 11 The diagram shows the structure of the electronic device.

[0419] It should be understood that Figure 11 The illustrated electronic device 110 is merely an example; the electronic device in this application embodiment may also include other components, or include components related to... Figure 11 Components with similar functions, or not necessarily including Figure 4 All components.

[0420] Electronic device 110 includes a transceiver interface 1101 and at least one processor 1102.

[0421] The electronic device 110 can correspond to a vehicle control device. The transceiver interface 1101 is used to transmit and receive signals, and at least one processor 1102 executes program instructions, causing the electronic device 110 to implement the corresponding flow of the method executed by the corresponding device in the above method embodiment.

[0422] In one possible design, the electronic device 110 may correspond to the above. Figure 4The vehicle control device in the illustrated method embodiment, such as the electronic device 110, can be a vehicle control device itself or a chip within the vehicle control device. The electronic device 110 may include components for performing the operations executed by the vehicle control device in the above method embodiment, and each component in the electronic device 110 is specifically designed to implement the operations executed by the vehicle control device in the above method embodiment. Specifically, it can be as follows:

[0423] The transceiver interface 1101 is used to receive first information from the first vehicle, the first information including information about the first vehicle stopping at a first position in the first driving route.

[0424] The processor 1102 is used to determine, based on the first information, information on the target vehicle control behavior corresponding to the first vehicle being stuck at the first position and / or information on the target cause, the target vehicle control behavior being used to control the first vehicle to get out of the predicament of being stuck at the first position.

[0425] Regarding the transceiver interface 1101 and at least one processor 1102 described in this design, the steps performed can be referred to the corresponding steps described above. Figure 4 The implementation method of the vehicle control device shown in the method embodiment corresponds to the implementation method of the vehicle control device shown in the figure.

[0426] Regarding the technical effects of the transceiver interface 1101 and the implementation methods performed by at least one processor 1102 described in this design, please refer to the corresponding descriptions above. Figure 4 The technical effects of the illustrated method embodiments are described below.

[0427] In another possible design, the electronic device 110 may correspond to the above. Figure 4 The first vehicle in the illustrated method embodiment, such as the electronic device 110, can be the first vehicle itself or a chip within the first vehicle. The electronic device 110 may include components for performing the operations performed by the first vehicle in the above method embodiment, and each component in the electronic device 110 is specifically designed to implement the operations performed by the first vehicle in the above method embodiment. Specifically, it can be as follows:

[0428] The processor 1102 is used to determine the first position where the first vehicle stops in the first driving route based on the surrounding environment information of the first vehicle during the first driving route.

[0429] The transceiver interface 1101 is used to report first information, which includes information about the first vehicle being stuck at the first position. The first information is used to determine the target vehicle control behavior and / or the target cause information corresponding to the first vehicle being stuck at the first position. The target vehicle control behavior is used to control the first vehicle to get out of the predicament of being stuck at the first position.

[0430] Regarding the transceiver interface 1101 and at least one processor 1102 described in this design, the steps performed can be referred to the corresponding steps described above. Figure 4 The implementation method shown is the one corresponding to the first vehicle in the method embodiment.

[0431] Regarding the technical effects of the transceiver interface 1101 and the implementation methods performed by at least one processor 1102 described in this design, please refer to the corresponding descriptions above. Figure 11 The technical effects of the illustrated method embodiments are described below.

[0432] exist Figure 12 The described electronic device 110 can solve the problem of vehicles getting stuck during intelligent driving, resulting in a poor user experience.

[0433] For cases where the vehicle control device 90 and display device 100 can be chips or chip systems, please refer to [reference needed]. Figure 12 The diagram shows the structure of the chip.

[0434] like Figure 4 As shown, chip 120 includes processor 1201 and interface 1202. The number of processors 1201 can be one or more, and the number of interfaces 1202 can be multiple. It should be noted that the functions of processor 1201 and interface 1202 can be implemented through hardware design, software design, or a combination of both; no restrictions are placed here.

[0435] Optionally, the chip 120 may also include a memory 1203 for storing necessary program instructions and data.

[0436] In this application, processor 1201 can be used to call the implementation program of the vehicle control method provided in one or more embodiments of this application in a vehicle control device from memory 1203, and execute the instructions included in the program. Processor 1201 can also be used to call the implementation program of the display method provided in one or more embodiments of this application in a vehicle control device, a first vehicle, and a user-side terminal from memory 1203, and execute the instructions included in the program. Interface 1202 can be used to output the execution results of processor 1201. In this application, interface 1202 can specifically be used to output various messages or information from processor 1201.

[0437] For vehicle control methods provided in one or more embodiments of this application, please refer to the foregoing. Figure 4 The various embodiments shown are not described in detail here.

[0438] The processor in this embodiment can be a central processing unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0439] The memory in this application embodiment is used to provide storage space, in which data such as operating system and computer programs can be stored. The memory includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0440] According to the method provided in the embodiments of this application, the embodiments of this application also provide a computer-readable storage medium storing a computer program. When the computer program is run on one or more processors, it can implement the above-mentioned... Figure 4 The method shown.

[0441] According to the method provided in the embodiments of this application, the embodiments of this application also provide a computer program product, which includes a computer program. When the computer program runs on a processor, it can achieve the above-mentioned... Figure 4 The method shown.

[0442] This application provides an electronic device, which may include, but is not limited to, at least one of a cloud-based workbench, a vehicle-mounted infotainment system, and a user-side terminal. This application does not impose any limitations on this.

[0443] This application also provides a vehicle, which includes at least one vehicle control device 90 or a display device 100.

[0444] Optionally, the vehicle can be a means of transportation, such as a car, truck, aircraft, drone, slow transport vehicle, spacecraft, or ship, or any other possible means of transportation used in any possible scenario. This application embodiment does not limit this.

[0445] Optionally, the vehicle is used to achieve the above. Figure 4 The implementation method shown is the one corresponding to the first vehicle in the method embodiment.

[0446] This application embodiment also provides a cloud platform, which includes at least one vehicle control device 90 or a display device 100.

[0447] Optionally, the cloud is used to achieve the above. Figure 8 The implementation method of the vehicle control device shown in the method embodiment corresponds to the implementation method of the vehicle control device shown in the figure.

[0448] This application provides a terminal, which includes at least one display device 100.

[0449] Optionally, the terminal is used to implement the above. Figure 4 The implementation method shown corresponds to the display device in the method embodiment.

[0450] This application also provides a vehicle control system, which includes a first vehicle and a vehicle control device, wherein the vehicle control device is used to perform the above-described... Figure 4 The embodiment of the method shown corresponds to the vehicle control device, wherein the first vehicle is used to perform the above-described implementation. Figure 8 The implementation method shown is the one corresponding to the first vehicle in the method embodiment.

[0451] Optionally, the vehicle control system may further include, but is not limited to, a display device for performing the above-mentioned functions. ​ The implementation method shown corresponds to the display device in the method embodiment.

[0452] This application also provides a processing apparatus, including a processor and an interface; the processor is used to execute the method in any of the above method embodiments.

[0453] It should be understood that the above-described processing device can be a chip. The units in the various device embodiments and the electronic devices in the method embodiments correspond completely, with corresponding modules or units executing corresponding steps. For example, the communication unit (transceiver) executes the receiving or sending steps in the method embodiments, while other steps besides sending and receiving can be executed by the processing unit (processor). The specific functions of each unit can be found in the corresponding method embodiments. There can be one or more processors.

[0454] It is understood that in the embodiments of this application, the electronic device may perform some or all of the steps in the embodiments of this application. These steps or operations are merely examples, and the embodiments of this application may also perform other operations or variations thereof. Furthermore, the steps may be performed in different orders as presented in the embodiments of this application, and it is not necessarily necessary to perform all the operations in the embodiments of this application.

[0455] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0456] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0457] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0458] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the contributing part, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0459] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A vehicle control method, characterized in that, The vehicle control method includes: Receive first information from the first vehicle, the first information including information about the first vehicle stopping at a first position in the first driving route; Based on the first information, information on the target vehicle control behavior and / or the target reason for the first vehicle being stuck at the first location is determined. The target vehicle control behavior is used to control the first vehicle to get out of the predicament of being stuck at the first location.

2. The vehicle control method according to claim 1, characterized in that, The first information includes one or more of the following: The information includes the first vehicle's stop event, the first location information, the first driving route information, the first vehicle's status information, and the first vehicle's surrounding environment information.

3. The vehicle control method according to claim 1 or 2, characterized in that, The target vehicle control behavior includes a first vehicle control behavior; the information on determining the target vehicle control behavior and / or the target reason for the first vehicle stopping at the first location based on the first information includes: Based on the first information, determine whether the first location affects the passage of the first vehicle; If it is determined that the first position does not affect the passage of the first vehicle, the first vehicle control behavior is determined, and the first vehicle control behavior is used to control the first vehicle to continue to travel along the first driving route.

4. The vehicle control method according to claim 1 or 2, characterized in that, The target vehicle control behavior includes a second vehicle control behavior; the information on determining the target vehicle control behavior and / or the target reason for the first vehicle stopping at the first location based on the first information includes: Based on the first information, determine whether the first location affects the passage of the first vehicle; If it is determined that the first location affects the passage of the first vehicle, a second vehicle control behavior is determined. The second vehicle control behavior is used to control the first vehicle to stop and wait at the first location for a first time before continuing to travel along the first driving route.

5. The vehicle control method according to claim 1 or 2, characterized in that, The target vehicle control behavior includes a third vehicle control behavior; the information on determining the target vehicle control behavior and / or the target reason for the first vehicle stopping at the first location based on the first information includes: Based on the first information, determine whether the first location affects the passage of the first vehicle; If it is determined that the first location affects the passage of the first vehicle, the third vehicle control behavior is determined. The third vehicle control behavior is used to control the first vehicle to continue driving according to the target pose information. The target pose information is used to indicate at least a second driving route, which does not pass through the first location.

6. The vehicle control method according to claim 5, characterized in that, The target pose information includes at least the information of the first target point and the information of the first vehicle body posture. The third vehicle control behavior is used to control the first vehicle to drive to the first target point in the first vehicle body posture.

7. The vehicle control method according to claim 5 or 6, characterized in that, The vehicle control method further includes: The second driving route is received from the first vehicle, and the second driving route is determined by the target pose information.

8. The vehicle control method according to claim 5 or 6, characterized in that, The third vehicle control behavior is used to control the first vehicle to continue driving according to the target pose information, including: the third vehicle control behavior is used to control the first vehicle to continue driving according to the second driving route indicated by the target pose information.

9. The vehicle control method according to any one of claims 5 to 8, characterized in that, The determination of the third vehicle control behavior includes: Based on the first information, the surrounding environment information of the first vehicle is confirmed; Receive a first instruction from the user, the first instruction being used to instruct the addition of the target pose information; Based on the first instruction, the third vehicle control behavior is determined.

10. The vehicle control method according to any one of claims 5 to 8, characterized in that, The determination of the third vehicle control behavior includes: Based on the first information, the surrounding environment information of the first vehicle is determined; Based on the surrounding environment information of the first vehicle, the target pose information is determined; Based on the target pose information, the third vehicle control behavior is determined.

11. The vehicle control method according to claim 10, characterized in that, Determining the target pose information based on the surrounding environment information of the first vehicle includes: The surrounding environment information of the first vehicle is input into the network model, and the target pose information is determined based on the output of the network model.

12. The vehicle control method according to claim 1 or 2, characterized in that, The target vehicle control behavior includes a fourth vehicle control behavior; the information on determining the target vehicle control behavior and / or the target reason for the first vehicle stopping at the first location based on the first information includes: Based on the first information, determine whether the first location affects the passage of the first vehicle; If it is determined that the first location affects the passage of the first vehicle, the fourth vehicle control action is determined. The fourth vehicle control action is used to authorize staff near the first vehicle to enter the first vehicle to assist in driving, so that the first vehicle can get out of the predicament of being stuck at the first location.

13. The vehicle control method according to any one of claims 3 to 12, characterized in that, Determining whether the first location affects the passage of the first vehicle based on the first information includes: Based on the first information, determine the region of interest corresponding to the first location; Based on the region of interest corresponding to the first location, determine whether the first location affects the passage of the first vehicle.

14. The vehicle control method according to claim 1 or 2, characterized in that, The target vehicle control behavior includes a fifth vehicle control behavior; the information on determining the target vehicle control behavior and / or the target reason for the first vehicle stopping at the first location based on the first information includes: Based on the first information, it is determined that the state of the first vehicle does not meet the conditions for intelligent driving. The fifth vehicle control behavior is determined, which is used to control the first vehicle to meet the intelligent driving conditions so that the first vehicle can get out of the predicament of being stuck at the first position.

15. The vehicle control method according to any one of claims 1 to 14, characterized in that, The vehicle control method further includes: Send a second message to the first vehicle, the second message including information about the target vehicle control behavior and / or information about the target cause.

16. A vehicle control method, characterized in that, The vehicle control method includes: During the process of the first vehicle traveling along the first driving route, based on the surrounding environmental information of the first vehicle, the first position of the first vehicle in the first driving route is determined to be stopped. The first information is reported, which includes information about the first vehicle being stuck at the first location. The first information is used to determine the target vehicle control behavior and / or the target cause information corresponding to the first vehicle being stuck at the first location. The target vehicle control behavior is used to control the first vehicle to get out of the predicament of being stuck at the first location.

17. The vehicle control method according to claim 16, characterized in that, The first information includes one or more of the following: The information includes the first vehicle's stop event, the first location information, the first driving route information, the first vehicle's status information, and the first vehicle's surrounding environment information.

18. The vehicle control method according to claim 16 or 17, characterized in that, The target reasons include that the first location does not affect the passage of the first vehicle; the target vehicle control behavior includes a first vehicle control behavior, which is used to control the first vehicle to continue driving along the first driving route.

19. The vehicle control method according to claim 16 or 17, characterized in that, The target cause includes the first location affecting the passage of the first vehicle; the target vehicle control behavior includes a second vehicle control behavior, which is used to control the first vehicle to stop and wait at the first location for a first duration before continuing to travel along the first driving route.

20. The vehicle control method according to claim 16 or 17, characterized in that, The target cause includes the first location affecting the passage of the first vehicle; the target vehicle control behavior includes a third vehicle control behavior, which is used to control the first vehicle to continue driving according to the target pose information, and the target pose information is used to indicate at least a second driving route, which does not pass through the first location.

21. The vehicle control method according to claim 20, characterized in that, The target pose information includes at least the information of the first target point and the information of the first vehicle body posture. The third vehicle control behavior is used to control the first vehicle to drive to the first target point in the first vehicle body posture.

22. The vehicle control method according to claim 20 or 21, characterized in that, The vehicle control method further includes: Based on the target pose information, the second driving route is determined; Report the second driving route.

23. The vehicle control method according to claim 20 or 21, characterized in that, The third vehicle control behavior is used to control the first vehicle to continue driving according to the target pose information, including: the third vehicle control behavior is used to control the first vehicle to continue driving according to the second driving route indicated by the target pose information.

24. The vehicle control method according to any one of claims 20 to 23, characterized in that, The vehicle control method further includes: Display one or more of the following: the surrounding environment information of the first vehicle, the target pose information, and the second driving route indicated by the target pose information.

25. The vehicle control method according to claim 16 or 17, characterized in that, The target cause includes the first location affecting the passage of the first vehicle; the target vehicle control behavior includes a fourth vehicle control behavior, which is used to authorize staff near the first vehicle to enter the first vehicle to assist in driving, so that the first vehicle can get out of the predicament of being stuck at the first location.

26. The vehicle control method according to claim 16 or 17, characterized in that, The target cause includes the first vehicle's state not meeting the intelligent driving conditions; the target vehicle control behavior includes a fifth vehicle control behavior, which is used to control the first vehicle to meet the intelligent driving conditions so that the first vehicle can get out of the predicament of being stuck at the first position.

27. The vehicle control method according to any one of claims 16 to 26, characterized in that, The vehicle control method further includes: Receive second information, the second information including information on the target vehicle control behavior and / or information on the cause of the target.

28. The vehicle control method according to claim 27, characterized in that, The vehicle control method further includes: Based on the second information, the first vehicle is controlled to escape the predicament of being stuck at the first position by the target vehicle control behavior.

29. A display method, characterized in that, The display method includes: If the first vehicle stops at a first position on the first driving route, information on the target vehicle control behavior corresponding to the first vehicle stopping at the first position and / or information on the target reason is displayed. The target vehicle control behavior is used to control the first vehicle to get out of the predicament of being stopped at the first position.

30. The display method according to claim 29, characterized in that, The target vehicle control behavior includes a first vehicle control behavior; the information displaying the target vehicle control behavior corresponding to the first vehicle stopping at the first location includes: If the target reason includes the first location not affecting the passage of the first vehicle, information about the first vehicle control behavior is displayed, and the first vehicle control behavior is used to control the first vehicle to continue driving along the first driving route.

31. The display method according to claim 29, characterized in that, The target vehicle control behavior includes a second vehicle control behavior; the information displaying the target vehicle control behavior corresponding to the first vehicle stopping at the first location includes: If the target cause includes the first location affecting the passage of the first vehicle, information on the second vehicle control behavior is displayed. The second vehicle control behavior is used to control the first vehicle to continue driving along the first driving route after stopping and waiting at the first location for a first time.

32. The display method according to claim 29, characterized in that, The target vehicle control behavior includes a third vehicle control behavior; the information displaying the target vehicle control behavior corresponding to the first vehicle stopping at the first location includes: If the target cause includes the first location affecting the passage of the first vehicle, information on the third vehicle control behavior is displayed. The third vehicle control behavior is used to control the first vehicle to continue driving according to the target pose information. The target pose information is used to indicate at least a second driving route, which does not pass through the first location.

33. The vehicle control method according to claim 32, characterized in that, The target pose information includes at least the information of the first target point and the information of the first vehicle body posture. The third vehicle control behavior is used to control the first vehicle to drive to the first target point in the first vehicle body posture.

34. The vehicle control method according to claim 32 or 33, characterized in that, The third vehicle control behavior is used to control the first vehicle to continue driving according to the target pose information, including: the third vehicle control behavior is used to control the first vehicle to continue driving according to the second driving route indicated by the target pose information.

35. The vehicle control method according to any one of claims 32 to 34, characterized in that, The information displaying the third vehicle control behavior includes: Display one or more of the following: the surrounding environment information of the first vehicle, the target pose information, and the second driving route indicated by the target pose information.

36. The display method according to claim 29, characterized in that, The target vehicle control behavior includes a fourth vehicle control behavior; the information displaying the target vehicle control behavior corresponding to the first vehicle stopping at the first location includes: If the target cause includes the first location affecting the passage of the first vehicle, information about the fourth vehicle control behavior is displayed. The fourth vehicle control behavior is used to authorize staff near the first vehicle to enter the first vehicle to assist in driving, so that the first vehicle can get out of the predicament of being stuck at the first location.

37. The display method according to claim 29, characterized in that, The target vehicle control behavior includes a fifth vehicle control behavior; the information displaying the target vehicle control behavior corresponding to the first vehicle stopping at the first position includes: If the target reason includes the first vehicle's state not meeting the intelligent driving conditions, the information of the fifth vehicle control behavior is displayed. The fifth vehicle control behavior is used to control the first vehicle to meet the intelligent driving conditions so that the first vehicle can get out of the predicament of being stuck at the first position.

38. A vehicle control device, characterized in that, Includes units for performing the method as described in any one of claims 1 to 15.

39. A vehicle control device, characterized in that, Includes a processor for performing the method as described in any one of claims 1 to 15.

40. A vehicle control device, characterized in that, Includes units for performing the method as described in any one of claims 16 to 28.

41. A vehicle control device, characterized in that, Includes a processor for performing the method as described in any one of claims 16 to 28.

42. A display device, characterized in that, Includes units for performing the method as described in any one of claims 29 to 37.

43. A display device, characterized in that, Includes a processor for performing the method as described in any one of claims 29 to 37.

44. A chip, characterized in that, It includes logic circuits and interfaces, wherein the logic circuits and the interfaces are coupled; The interface is used for inputting and / or outputting information, and the logic circuit is used for performing the method as described in any one of claims 1 to 37.

45. A vehicle, characterized in that, This includes the vehicle control device as claimed in claim 40, or the vehicle control device as claimed in claim 41, or the display device as claimed in claim 42, or the display device as claimed in claim 43.

46. ​​A vehicle control system, characterized in that, Includes the first vehicle and vehicle control unit; The vehicle control device is used to perform the method as described in any one of claims 1 to 15, 29 to 37, and the first vehicle is used to perform the method as described in any one of claims 16 to 28, 29 to 37.

47. The vehicle control system according to claim 46, characterized in that, The vehicle control system further includes a display device for performing the method as described in any one of claims 29 to 37.

48. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, which, when executed, performs the method as described in any one of claims 1 to 37.

49. A computer program product, characterized in that, The computer program product includes a computer program, which, when executed, performs the method as described in any one of claims 1 to 37.

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