Vehicle control method and device, vehicle and storage medium

Abstract

The embodiment of the invention provides a vehicle control method and device, a vehicle and a storage medium, and relates to the technical field of automatic driving vehicle control. The method comprises the steps that position information of multiple vehicle control areas and the corresponding relation between the multiple vehicle control areas and allowed button operation are obtained, then current position information of a vehicle is obtained, and then a target vehicle control area where the vehicle is located is determined according to the current position information and the position information of the multiple vehicle control areas. Then, according to the corresponding relation, target allowed button operation corresponding to the target vehicle control area is determined, and finally whether the current button operation received by the vehicle is the target allowed button operation or not is judged. By adopting the technical scheme, the permission of the button operation is controlled according to the area, and the method can be adapted to a complex operation area, so that the operation safety is improved.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous vehicle control technology, and in particular to a vehicle control method, device, vehicle, and storage medium. Background Technology

[0002] In actual vehicle operation, the jog button is used as an emergency operation device. If it is accidentally triggered or used abnormally, it may cause the vehicle to move unexpectedly, especially in specific work areas, such as standby areas or loading and unloading areas, which may cause significant safety hazards.

[0003] Therefore, there is an urgent need for a vehicle control method that can limit the unintended movement of vehicles, thereby improving the safety of vehicle operation. Summary of the Invention

[0004] In order to solve the above-mentioned technical problems, or at least partially solve the above-mentioned technical problems, this disclosure provides a vehicle control method, device, vehicle and storage medium.

[0005] A first aspect of this disclosure provides a vehicle control method, the method comprising: The location information of multiple vehicle control areas is obtained, as well as the correspondence between the multiple vehicle control areas and the allowed button operations; wherein, the allowed button operations are different depending on the vehicle control area where the vehicle is located. Obtain the current location information of the vehicle; Based on the current location information and the location information of the multiple vehicle control areas, the target vehicle control area where the vehicle is located is determined; Based on the correspondence, determine the target allowed button operations corresponding to the target vehicle control area; Determine whether the current button operation received by the vehicle is a button operation allowed by the target. If it is, execute the current button operation; otherwise, do not execute the current button operation. The button corresponding to the button operation is an emergency operation device for controlling the vehicle.

[0006] In one example, determining the target vehicle control area where the vehicle is located based on the current location information and the location information of the multiple vehicle control areas includes: Based on the location information of the multiple vehicle control areas, the area grid occupied by the multiple vehicle control areas in the grid map is determined; Map the current location information onto the grid map to determine the target grid occupied by the current location information in the grid map; Based on the positional relationship between the target grid and the multiple region grids, determine the region grid that matches the target grid; Starting from the center point of the vehicle, a ray is drawn towards the center point of the vehicle control area corresponding to the area grid that matches the target grid, and the number of intersections between the ray and the boundary of the corresponding vehicle control area is determined. If the quantity is odd, then the corresponding vehicle control area is determined to be the target vehicle control area; If the number is even, then the vehicle is determined to be outside the corresponding vehicle control area.

[0007] In one example, the plurality of vehicle control areas include: an authorized area, a buffer area, and a prohibited area; wherein, the buffer area includes: a forward buffer area and a rearward buffer area; the permitted button operation corresponding to the forward buffer area includes: controlling the vehicle to move towards the authorized area along the rear direction of the vehicle by operating the button; the permitted button operation corresponding to the rearward buffer area includes: controlling the vehicle to move towards the authorized area along the front direction of the vehicle by operating the button; The step of determining the target vehicle control area where the vehicle is located based on the current location information and the location information of the multiple vehicle control areas includes: When the target vehicle control area is determined to be the buffer area, the shortest distance between the center point of the vehicle and the boundary of the authorized area is obtained. If the shortest distance value is not greater than a first threshold and the angle between the vehicle's front orientation and the normal of the authorized area is less than a right angle, then the vehicle is determined to be in a forward buffer area within the sub-region of the buffer area; wherein, the normal of the authorized area is a perpendicular line to the boundary of the authorized area; wherein, the foot of the perpendicular line is the intersection of the line connecting the center point of the authorized area and the center point of the vehicle with the boundary of the authorized area; the direction of the normal of the authorized area is the outward direction of the authorized area; If the shortest distance value is not greater than the first threshold and the angle between the vehicle's front orientation and the normal of the authorized area is greater than a right angle, then the vehicle is determined to be in the rearward buffer area within the sub-region of the buffer area.

[0008] In one example, after determining the target permitted button operation corresponding to the target vehicle control area based on the correspondence, the method further includes: Obtain the allowable time range of the target vehicle control area; The step of determining whether the current button operation received by the vehicle is a button operation allowed by the target includes: Determine whether the current button operation received by the vehicle is a button operation permitted by the target within the allowed time range.

[0009] In one example, the method further includes: If the target vehicle control area where the vehicle is located is an authorized area, and the current button operation is detected to meet the abnormal conditions, then emergency braking is performed and a button abnormality notification is sent to the cloud; the abnormal conditions are at least one of the following: the number of consecutive button operations exceeds a third threshold, the operation frequency of the button operation exceeds a fourth threshold, and the operation duration of the button operation exceeds a fifth threshold. If the target vehicle control area where the vehicle is located is a buffer area, and it is detected that the movement direction of the vehicle corresponding to the current button operation is opposite to the authorized direction, then emergency braking is performed and a button abnormality notification is sent to the cloud. If the target vehicle control area where the vehicle is located is a buffer area, and the current button operation is detected to meet the abnormal conditions, then emergency braking is initiated and a button abnormality notification is sent to the cloud. If the target vehicle control area where the vehicle is located is a prohibited area, and button operation is detected, emergency braking is initiated and a button abnormality notification is sent to the cloud.

[0010] In one example, the duration of the button operation is the time from the first detection of the target's allowed button operation to the current button operation received by the vehicle.

[0011] In one example, the method further includes: If multiple map information items are detected, then the field information of each map information item is obtained; wherein, the field information is used to characterize the priority of the map information item. The map information with the highest priority among the field information is determined as the target map information for controlling the vehicle; The acquisition of location information for multiple vehicle control areas includes: Based on the target map information, the location information of the multiple vehicle control areas is determined.

[0012] A second aspect of this disclosure provides a vehicle control device, the device comprising: The first acquisition module is used to acquire the location information of multiple vehicle control areas and the correspondence between the multiple vehicle control areas and the allowed button operations; wherein, the allowed button operations are different depending on the vehicle control area where the vehicle is located. The second acquisition module is used to acquire the current location information of the vehicle; The first determining module is used to determine the target vehicle control area where the vehicle is located based on the current location information and the location information of the multiple vehicle control areas; The second determining module is used to determine the target allowed button operation corresponding to the target vehicle control area based on the correspondence relationship; The execution module is used to determine whether the current button operation received by the vehicle is a button operation allowed by the target. If it is, the current button operation is executed; otherwise, the current button operation is not executed. The button corresponding to the button operation is an emergency operation device for controlling the vehicle.

[0013] A third aspect of this disclosure provides a vehicle comprising a processor and a memory, wherein the memory stores a computer program that, when executed by the processor, performs the method of the first aspect described above.

[0014] A fourth aspect of this disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the method of the first aspect described above.

[0015] This disclosure provides a vehicle control method, device, vehicle, and storage medium. The method includes: acquiring location information of multiple vehicle control areas and a correspondence between the multiple vehicle control areas and permitted button operations; acquiring the current location information of the vehicle; and determining the target vehicle control area where the vehicle is located based on the current location information and the location information of the multiple vehicle control areas. Then, based on the correspondence, determining the target permitted button operation corresponding to the target vehicle control area; and finally, determining whether the current button operation received by the vehicle is a target permitted button operation. If it is, the current button operation is executed; otherwise, the current button operation is not executed. The button corresponding to the button operation is an emergency operation device for controlling the vehicle. This technical solution controls button operation permissions according to areas, which can adapt to complex work areas and thus improve work safety. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0017] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic flowchart of a vehicle control method provided in an embodiment of this disclosure; Figure 2 This is a schematic diagram illustrating how personnel in a specific work area control a vehicle via buttons, as provided in an embodiment of this disclosure. Figure 3 This is a schematic flowchart of a vehicle control method provided in an embodiment of this disclosure; Figure 4 This is a schematic diagram of the intersection point of a ray and the boundary of the corresponding vehicle control area provided in an embodiment of this disclosure; Figure 5 This is a schematic diagram of a vehicle control area provided in an embodiment of this disclosure; Figure 6 This is a schematic diagram illustrating how to determine the target vehicle control area where a vehicle is located, provided by an embodiment of this disclosure. Figure 7 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this disclosure; Figure 8 This is a schematic diagram of the structure of a vehicle according to an embodiment of this disclosure. Detailed Implementation

[0019] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0020] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0021] Figure 1 This is a flowchart illustrating a vehicle control method provided in an embodiment of this disclosure, which can be executed by a vehicle. Figure 1 As shown, the method provided in this embodiment includes the following steps: S101. Obtain the location information of multiple vehicle control areas, and the correspondence between multiple vehicle control areas and permitted button operations; wherein, the permitted button operations are different depending on the vehicle control area where the vehicle is located.

[0022] This embodiment is implemented in a scenario where personnel control a vehicle via button operation within a specific work area. Specifically, in actual vehicle operation, button operation is an emergency operating device. Accidental triggering or abnormal use may cause the vehicle to move unexpectedly, especially in specific work areas such as standby or loading / unloading areas, posing a significant safety hazard. Accidental triggering may be due to a short circuit for some reason, while abnormal use may be due to continuous button pressing causing the vehicle to move several meters. For a clearer explanation, please refer to... Figure 2 This diagram illustrates how personnel control a vehicle via buttons within a specific work area.

[0023] In one example, a vehicle control area refers to an area where the movement of the vehicle can be controlled via button operations. Each vehicle control area has a different set of permitted button operations. In this embodiment, the location information of multiple vehicle control areas refers to real-time location information.

[0024] In this embodiment, the allowed button operations can be either forward button operations or backward button operations.

[0025] In this embodiment, the location information of the vehicle control area refers to the area information that is divided.

[0026] S102. Obtain the current location information of the vehicle.

[0027] In one example, a multi-source fusion positioning algorithm combining GNSS, IMU, and wheel speed odometer could be used to acquire location information for multiple vehicle control areas. Specifically, the sensor configuration could include a dual-frequency GNSS receiver supporting BDS-3 / GLONASS, a sampling frequency of 1Hz, a positioning accuracy of 1.5m, and RTK mode. A 6-axis IMU would be used, specifically a 3-axis accelerometer and a 3-axis gyroscope, with a sampling frequency of 100Hz and zero-bias stability ≤0.1° / h. The wheel speed encoder would be connected via CAN bus, with a pulse resolution of 1000ppr and an error ≤0.5%.

[0028] In this embodiment, the multi-source fusion localization algorithm is based on state estimation using extended Kalman filtering (EKF); ; in, for Always The state prediction vector at time t; for The state estimation vector at time t; The Kalman gain matrix determines the weighting of predicted and observed values. for The observation vector at time; The observation matrix maps the state space to the observation space, where the state vector... Including position, heading angle, velocity, and acceleration, the observation noise covariance matrix R is dynamically adjusted based on the GNSS signal-to-noise ratio. The observation noise covariance matrix R is as follows: ; In this context, the observation noise covariance matrix R is the quantitative indicator in EKF that measures the noise of sensor values; the larger R is, the less trust EKF has in the observations. The smaller the value of R, the more EKF trusts the sensor, and the closer the result is to the observed value.

[0029] In this embodiment, when the GNSS signal is lost and there are fewer than 5 visible satellites, it automatically switches to the IMU trajectory estimation mode, with a maximum endurance of 120 seconds and a position drift of ≤0.5m / s.

[0030] S103. Based on the current location information and the location information of multiple vehicle control areas, determine the target vehicle control area where the vehicle is located.

[0031] In one example, the relationship between the current location information and the location information of multiple vehicle control areas is determined to identify the target vehicle control area where the vehicle is located. For example, the location information of multiple vehicle control areas could be the location information of vehicle control area A, vehicle control area B, and vehicle control area C. For instance, if the current location information can be matched with the location information of vehicle control area A, then the target vehicle control area where the vehicle is located is determined to be vehicle control area A.

[0032] S104. Based on the correspondence, determine the target-allowed button operations corresponding to the target vehicle control area.

[0033] In one example, if the target permitted button operations for the vehicle control area A are forward pausing and backward pausing, then if the target vehicle control area is determined to be vehicle control area A, then the corresponding target permitted button operations are forward pausing and backward pausing.

[0034] S105. Determine whether the current button operation received by the vehicle is a button operation allowed by the target. If so, execute the current button operation; otherwise, do not execute the current button operation.

[0035] Among them, the button operation corresponds to the emergency operation device for controlling the vehicle.

[0036] In one example, the current button operation received by the vehicle is a human action. After detecting the current button operation, it is determined whether the button operation received by the vehicle is a target-allowed button operation. If it is, the current button operation is executed. For example, if the target-allowed button operations are forward pausing and backward pausing, and the current button operation received by the vehicle is a forward pausing operation, then the forward pausing operation is executed. If it is not a target-allowed button operation, the current button operation is not executed.

[0037] This disclosure provides a vehicle control method, which includes: acquiring location information of multiple vehicle control areas and a correspondence between the multiple vehicle control areas and permitted button operations; acquiring the current location information of the vehicle; and determining the target vehicle control area where the vehicle is located based on the current location information and the location information of the multiple vehicle control areas. Then, based on the correspondence, determining the target permitted button operation corresponding to the target vehicle control area; and finally, determining whether the current button operation received by the vehicle is a target permitted button operation. If it is, the current button operation is executed; otherwise, the current button operation is not executed. The button corresponding to the button operation is an emergency operation device for controlling the vehicle. By adopting this technical solution, button operation permissions are controlled according to areas, which can adapt to complex work areas and thus improve work safety.

[0038] Figure 3 A schematic flowchart of a vehicle control method provided by an embodiment of this disclosure is shown. This disclosure optimizes the above embodiments and can be combined with various optional solutions from one or more of the above embodiments.

[0039] like Figure 3 As shown, the vehicle control method may include the following steps: S301. Obtain the location information of multiple vehicle control areas, and the correspondence between multiple vehicle control areas and permitted button operations; wherein, the permitted button operations are different depending on the vehicle control area where the vehicle is located.

[0040] In one example, this step can be found in step S101, and will not be repeated here.

[0041] S302. Obtain the vehicle's current location information.

[0042] In one example, this step can be found in step S102, and will not be repeated here.

[0043] S303. Based on the location information of multiple vehicle control areas, determine the area grid occupied by the multiple vehicle control areas in the grid map.

[0044] In one example, the grid map is composed of multiple grids. Specifically, the grid map can be a 10m × 10m grid. After obtaining the location information of multiple vehicle control areas, the location information of each vehicle control area is mapped to determine the area grid of each vehicle control area in the 10m × 10m grid. For example, the area grid can be the grid in the third row and third column as one vehicle control area, and the grid in the third row and fourth column as another vehicle control area.

[0045] S304. Map the current location information to the grid map and determine the target grid occupied by the current location information in the grid map.

[0046] In one example, the vehicle's current location information is mapped onto a grid map to determine the position of the current location information in the grid map, which is the target grid, for example, the grid in the third row and third column.

[0047] S305. Based on the positional relationship between the target grid and multiple regional grids, determine the regional grid that matches the target grid.

[0048] In one example, the positional relationship between the target grid (the grid in the third row and third column), the grid in the third row and third column, and the grid in the third row and fourth column is determined. Since the target grid overlaps with the grid in the third row and third column, the grid in the third row and third column is determined to be the grid that matches the target grid.

[0049] S306. Starting from the center point of the vehicle, draw a ray to the center point of the vehicle control area corresponding to the area grid that matches the target grid, and determine the number of intersections between the ray and the boundary of the corresponding vehicle control area.

[0050] In one example, the shape of the vehicle control area is not restricted. For a clearer illustration, see [link to relevant documentation]. Figure 4 This diagram illustrates the intersection of a ray and the boundary of the corresponding vehicle control area.

[0051] S307. If the quantity is odd, then the corresponding vehicle control area is determined as the target vehicle control area.

[0052] In one example, if the number is odd, for example, if the number of intersections is 3, then the corresponding vehicle control area is determined to be the target vehicle control area.

[0053] In one example, multiple vehicle control areas include: authorized areas, buffer areas, and prohibited areas; wherein, the buffer areas include: forward buffer areas and rear buffer areas; the permitted button operations corresponding to the forward buffer area include: controlling the vehicle to move towards the authorized area along the rear direction of the vehicle by operating the button; the permitted button operations corresponding to the rear buffer area include: controlling the vehicle to move towards the authorized area along the front direction of the vehicle by operating the button.

[0054] In specific embodiments, please refer to Figure 5 This diagram illustrates a vehicle control area. In this embodiment, the permitted button operations corresponding to the authorized areas are forward and backward button operations. The permitted button operations corresponding to the forward buffer area are backward button operations, and the permitted button operations corresponding to the backward buffer area are forward button operations. There are no corresponding permitted button operations for the prohibited areas. Specifically, the permitted button operations corresponding to the forward buffer area include: controlling the vehicle to move towards the authorized area along the rear direction of the vehicle by operating the button; the permitted button operations corresponding to the backward buffer area include: controlling the vehicle to move towards the authorized area along the front direction of the vehicle by operating the button.

[0055] Except for the authorized region and the buffer region, all other regions are prohibited regions. Furthermore, the authorized region is a polygon, and the buffer region is also a polygon.

[0056] Based on the current location information and the location information of multiple vehicle control areas, determine the target vehicle control area where the vehicle is located, including: When the target vehicle's control area is determined to be a buffer area, the shortest distance between the vehicle's center point and the boundary of the authorized area is obtained. If the shortest distance value is not greater than the first threshold and the angle between the vehicle's front orientation and the normal of the authorized area is less than a right angle, then the sub-region of the buffer area in which the vehicle is located is determined to be the forward buffer area; where the normal of the authorized area is the perpendicular line to the boundary of the authorized area; where the foot of the perpendicular line is the intersection of the line connecting the center point of the authorized area and the center point of the vehicle with the boundary of the authorized area; the direction of the normal of the authorized area is the outward direction of the authorized area. If the shortest distance value is not greater than the first threshold and the angle between the vehicle's front orientation and the normal of the authorized area is greater than a right angle, then the vehicle is determined to be in the rearward buffer area within the sub-region of the buffer area.

[0057] In one example, since the buffer zone includes both forward and backward buffer zones, when the target vehicle control area is determined to be a buffer zone, it is necessary to further determine whether the target vehicle control area where the vehicle is located is a forward or backward buffer zone. For details, please refer to... Figure 6 This diagram illustrates a method for determining the target vehicle control area where a vehicle is located.

[0058] In this embodiment, since the authorized area is a polygon, specifically an L-shape or a trapezoid, there are multiple boundaries of the authorized area. The shortest distance between the center point of the vehicle and the boundary of the authorized area is obtained, and then further judgment is made based on the shortest distance value.

[0059] In this embodiment, the calculation process for the vehicle's heading is as follows: based on the heading angle of the Inertial Measurement Unit (IMU). Combined with the center point coordinates of the authorized area Calculate the vehicle's direction vector relative to the authorized area; the IMU provides the heading angle. Let the clockwise angle between the vehicle's longitudinal axis and true north be represented, then transform it into a unit vector in the East-North plane to characterize the vehicle's heading. The geometric center is obtained by averaging the coordinates of all vertices of the authorized region polygon. The geometric center minus the vehicle's center point The direction vector for returning to the authorized area is obtained, and the specific process can be achieved using the following formula: ; in, This is the direction vector for returning to the authorized region.

[0060] S308. If the quantity is even, then the vehicle is determined to be outside the corresponding vehicle control area.

[0061] In one example, if the vehicle control area corresponding to the area grid that matches the target grid is the authorized area, then if the number is even, the vehicle is determined to be outside the authorized area.

[0062] S309. Based on the correspondence, determine the target-permitted button operations corresponding to the target vehicle control area.

[0063] In one example, after determining the target-allowed button operations corresponding to the target vehicle control area based on the correspondence, the method further includes: Obtain the permitted time range for the target vehicle's control area; Determine whether the button operation received by the vehicle is a button operation allowed by the target, including: Determine whether the current button operation received by the vehicle is a target-allowed button operation within the allowed time range.

[0064] In one example, the allowed time range refers to the execution time range of the target vehicle control area. For example, if the allowed time range of the target vehicle control area is from 13:00 to 15:00, then it will only be determined whether the current button operation received by the vehicle is a button operation allowed by the target within the period from 13:00 to 15:00.

[0065] S310. Determine whether the current button operation received by the vehicle is a button operation allowed by the target. If so, execute the current button operation; otherwise, do not execute the current button operation.

[0066] Among them, the button operation corresponds to the emergency operation device for controlling the vehicle.

[0067] In one example, the method also includes: If the target vehicle control area where the vehicle is located is an authorized area, and the current button operation is detected to meet the abnormal conditions, then emergency braking will be performed and a button abnormality notification will be sent to the cloud. The abnormal conditions are at least one of the following: the number of consecutive button operations exceeds the third threshold, the operation frequency of the button operation exceeds the fourth threshold, and the operation duration of the button operation exceeds the fifth threshold. If the target vehicle control area where the vehicle is located is a buffer zone, and it is detected that the movement direction of the vehicle corresponding to the current button operation is opposite to the authorized direction, then emergency braking is performed and a button abnormality notification is sent to the cloud. If the target vehicle control area where the vehicle is located is a buffer zone, and the current button operation is detected to meet abnormal conditions, then emergency braking will be initiated and a button abnormality notification will be sent to the cloud. If the target vehicle control area where the vehicle is located is a prohibited area, and button operation is detected, emergency braking will be initiated and a button abnormality notification will be sent to the cloud.

[0068] In one example, the signal corresponding to the button operation is transmitted via the CAN bus, using differential signal transmission to resist interference. The signal is defined as bit0 = allow forward jogging operation, bit1 = allow backward jogging operation, and bit2 = fault flag.

[0069] In one example, the button exception notification uses a rich text message format, which includes key information such as the event type, vehicle location, and button operation.

[0070] In this embodiment, the status is determined to be valid after the signal stabilizes for 5 consecutive sampling periods.

[0071] In one example, the third threshold is a pre-configured value, the fourth threshold is also a pre-configured value, and the fifth threshold is also a pre-configured value. Specifically, the third threshold can be 5 times, the fourth threshold can be 2 times / minute, and the fifth threshold can be 10 seconds.

[0072] In this embodiment, if a button operation malfunction is detected, a button malfunction notification can also be sent.

[0073] In one example, the duration of a button operation is the time from the first detection of a button operation permitted by the target to the current button operation received by the vehicle.

[0074] In one example, the timestamp T0 of the first detected button operation allowed by the target is recorded, and then the timestamp T1 of the current button operation received by the vehicle is recorded. The operation duration of the button operation is T2 = T1 - T0.

[0075] In this embodiment, a Precision Time Protocol (PTP) network is used for time synchronization, and the time synchronization error of each sensor is ≤1ms. In this embodiment, various data can be aligned using timestamps, including current location information, current button operation, and vehicle speed.

[0076] In one example, the method also includes: If multiple map information items are detected, the field information of each map information item is obtained; the field information is used to represent the priority of the map information. The map information with the highest priority among the field information is identified as the target map information for controlling the vehicle. Obtain location information for multiple vehicle control areas, including: Based on the target map information, determine the location information of multiple vehicle control areas.

[0077] In one example, the vehicle control area is divided differently in each map information. Each map information corresponds to a field; for example, map information A corresponds to field A. Specifically, the fields are prioritized, and the map information with the highest priority is determined as the target map information currently used by the vehicle. Then, the location information of multiple vehicle control areas within that target map information is obtained. These multiple vehicle control areas in the target map information can also be changed. Specifically, configuration changes for multiple vehicle control areas can be pushed over via OTA (Over-The-Air) updates, using differential updates to reduce data transmission volume.

[0078] This disclosure provides a vehicle control method, which includes: determining the area grids occupied by multiple vehicle control areas in a grid map based on the location information of multiple vehicle control areas; mapping the current location information to the grid map; determining the target grid occupied by the current location information in the grid map; determining the area grid matching the target grid based on the positional relationship between the target grid and the multiple area grids; thereby determining the target vehicle control area; and then determining the target permitted button operation corresponding to the target vehicle control area based on the correspondence. Using this technical solution, current button operations can be monitored, authorization can be granted based on area location, abnormal triggering can be avoided, and timely alarm reminders can be given regarding usage status.

[0079] Figure 7 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this disclosure. This vehicle control device can be understood as the aforementioned vehicle or some functional modules within the aforementioned vehicle. Figure 7 As shown, the vehicle control device 70 includes: The first acquisition module 701 is used to acquire the location information of multiple vehicle control areas and the correspondence between the multiple vehicle control areas and the allowed button operations; wherein, the allowed button operations are different depending on the vehicle control area where the vehicle is located.

[0080] The second acquisition module 702 is used to acquire the current location information of the vehicle.

[0081] The first determining module 703 is used to determine the target vehicle control area where the vehicle is located based on the current location information and the location information of multiple vehicle control areas.

[0082] The second determining module 704 is used to determine the target allowed button operation corresponding to the target vehicle control area based on the correspondence relationship.

[0083] The execution module 705 is used to determine whether the current button operation received by the vehicle is a button operation allowed by the target. If it is, the current button operation is executed; otherwise, the current button operation is not executed.

[0084] Among them, the button operation corresponds to the emergency operation device for controlling the vehicle.

[0085] In one example, the first determining module 703 is used for: Based on the location information of multiple vehicle control areas, determine the area grid occupied by the multiple vehicle control areas in the grid map; Map the current location information to a grid map to determine the target grid occupied by the current location information in the grid map; Based on the positional relationship between the target grid and multiple region grids, determine the region grid that matches the target grid; Starting from the center point of the vehicle, draw a ray to the center point of the vehicle control area corresponding to the area grid that matches the target grid, and determine the number of intersections between the ray and the boundary of the corresponding vehicle control area. If the number is odd, then the corresponding vehicle control area is determined as the target vehicle control area; If the number is even, then the vehicle is determined to be outside the corresponding vehicle control area.

[0086] In one example, multiple vehicle control areas include: authorized areas, buffer areas, and prohibited areas; wherein, the buffer areas include: forward buffer areas and rear buffer areas; the permitted button operations corresponding to the forward buffer area include: controlling the vehicle to move towards the authorized area along the rear direction of the vehicle by operating the button; the permitted button operations corresponding to the rear buffer area include: controlling the vehicle to move towards the authorized area along the front direction of the vehicle by operating the button.

[0087] In one example, the first determining module 703 is used for: When the target vehicle's control area is determined to be a buffer area, the shortest distance between the vehicle's center point and the boundary of the authorized area is obtained. If the shortest distance value is not greater than the first threshold and the angle between the vehicle's front orientation and the normal of the authorized area is less than a right angle, then the sub-region of the buffer area in which the vehicle is located is determined to be the forward buffer area; where the normal of the authorized area is the perpendicular line to the boundary of the authorized area; where the foot of the perpendicular line is the intersection of the line connecting the center point of the authorized area and the center point of the vehicle with the boundary of the authorized area; the direction of the normal of the authorized area is the outward direction of the authorized area. If the shortest distance value is not greater than the first threshold and the angle between the vehicle's front orientation and the normal of the authorized area is greater than a right angle, then the vehicle is determined to be in the rearward buffer area within the sub-region of the buffer area.

[0088] In one example, after determining the target permitted button operation corresponding to the target vehicle control area based on the correspondence, the vehicle control device 70 includes: The third acquisition module 706 is used for: Obtain the permitted time range for the target vehicle's control area; Determine whether the button operation received by the vehicle is a button operation allowed by the target, including: Determine whether the current button operation received by the vehicle is a target-allowed button operation within the allowed time range.

[0089] In one example, the vehicle control unit 70 includes: The first sending module 707 is used to: if the target vehicle control area where the vehicle is located is an authorized area, and the current button operation is detected to meet the abnormal conditions, then perform emergency braking and send a button abnormality notification to the cloud; the abnormal conditions are at least one of the following: the number of consecutive button operations exceeds a third threshold, the operation frequency of the button operation exceeds a fourth threshold, and the operation duration of the button operation exceeds a fifth threshold.

[0090] The second sending module 708 is used to: if the target vehicle control area where the vehicle is located is a buffer area, and it is detected that the movement direction of the vehicle corresponding to the current button operation is opposite to the authorized direction, then perform emergency braking and send a button abnormality notification to the cloud.

[0091] The third sending module 709 is used to: if the target vehicle control area where the vehicle is located is a buffer area, and the current button operation is detected to meet abnormal conditions, then perform emergency braking and send a button abnormality notification to the cloud.

[0092] The fourth sending module 710 is used to: if the target vehicle control area where the vehicle is located is a prohibited area and button operation is detected, then perform emergency braking and send a button abnormality notification to the cloud.

[0093] In one example, the duration of a button operation is the time from the first detection of a button operation permitted by the target to the current button operation received by the vehicle.

[0094] In one example, the vehicle control unit 70 includes: The fourth acquisition module 711 is used to: if multiple map information is detected, acquire the field information of each map information; wherein, the field information is used to represent the priority of the map information.

[0095] The third determination module 712 is used to determine the map information with the highest priority among the field information as the target map information for controlling the vehicle.

[0096] The first acquisition module 701 is used to determine the location information of multiple vehicle control areas based on the target map information.

[0097] The apparatus provided in this embodiment can execute the methods of any of the above embodiments, and its execution method and beneficial effects are similar, so they will not be described again here.

[0098] This disclosure also provides a vehicle, which includes: a memory storing a computer program; and a processor for executing the computer program, wherein when the computer program is executed by the processor, it can implement the methods of any of the above embodiments.

[0099] Example, Figure 8 This is a schematic diagram of the structure of a vehicle according to an embodiment of this disclosure. See below for details. Figure 8The diagram illustrates a structural schematic suitable for implementing the vehicle 1000 in the embodiments of this disclosure. The vehicle 1000 in the embodiments of this disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 8 The vehicle shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments disclosed herein.

[0100] like Figure 8 As shown, the vehicle 1000 may include a processing unit (e.g., a central processing unit, a graphics processor, etc.) 1001, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1008 into a random access memory (RAM) 1003. The RAM 1003 also stores various programs and data required for the operation of the vehicle 1000. The processing unit 1001, ROM 1002, and RAM 1003 are interconnected via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0101] Typically, the following devices can be connected to the I / O interface 1005: input devices 1006 including, for example, a touchscreen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 1007 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1008 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the vehicle 1000 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 8 A vehicle 1000 with various devices is shown, but it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have instead.

[0102] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication device 1009, or installed from storage device 1008, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of embodiments of this disclosure.

[0103] It should be noted that the computer-readable medium described in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0104] In some implementations, clients and servers can communicate using any currently known or future-developed network protocol such as HTTP (Hypertext Transfer Protocol) and can interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet of Things), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future-developed networks.

[0105] The aforementioned computer-readable medium may be included in the aforementioned vehicle; or it may exist independently and not installed in the vehicle.

[0106] The aforementioned computer-readable medium carries one or more programs that, when executed by the vehicle, cause the vehicle to: acquire location information of multiple vehicle control areas and the correspondence between the multiple vehicle control areas and permitted button operations; wherein, different vehicle control areas correspond to different permitted button operations; acquire the vehicle's current location information; determine the target vehicle control area where the vehicle is located based on the current location information and the location information of the multiple vehicle control areas; determine the target permitted button operation corresponding to the target vehicle control area based on the correspondence; determine whether the current button operation received by the vehicle is a target permitted button operation; if so, execute the current button operation; otherwise, do not execute the current button operation; wherein, the button corresponding to the button operation is an emergency operation device for controlling the vehicle.

[0107] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0108] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0109] The units described in the embodiments of this disclosure can be implemented in software or hardware. The names of the units are not, in some cases, intended to limit the specific unit.

[0110] The functions described above in this document can be performed at least in part by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), and so on.

[0111] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0112] This disclosure also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it can implement the methods of any of the above embodiments. The execution method and beneficial effects are similar, and will not be described again here.

[0113] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0114] The above are merely specific embodiments of this disclosure, enabling those skilled in the art to understand or implement this disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to these embodiments, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle control method, characterized in that, The method includes: The location information of multiple vehicle control areas is obtained, as well as the correspondence between the multiple vehicle control areas and the allowed button operations; wherein, the allowed button operations are different depending on the vehicle control area where the vehicle is located. Obtain the current location information of the vehicle; Based on the current location information and the location information of the multiple vehicle control areas, the target vehicle control area where the vehicle is located is determined; Based on the correspondence, determine the target allowed button operations corresponding to the target vehicle control area; Determine whether the current button operation received by the vehicle is a button operation allowed by the target. If it is, execute the current button operation; otherwise, do not execute the current button operation. The button corresponding to the button operation is an emergency operation device for controlling the vehicle.

2. The method according to claim 1, characterized in that, The step of determining the target vehicle control area where the vehicle is located based on the current location information and the location information of the multiple vehicle control areas includes: Based on the location information of the multiple vehicle control areas, the area grid occupied by the multiple vehicle control areas in the grid map is determined; Map the current location information onto the grid map to determine the target grid occupied by the current location information in the grid map; Based on the positional relationship between the target grid and the multiple region grids, determine the region grid that matches the target grid; Starting from the center point of the vehicle, a ray is drawn towards the center point of the vehicle control area corresponding to the area grid that matches the target grid, and the number of intersections between the ray and the boundary of the corresponding vehicle control area is determined. If the quantity is odd, then the corresponding vehicle control area is determined to be the target vehicle control area; If the number is even, then the vehicle is determined to be outside the corresponding vehicle control area.

3. The method according to claim 1, characterized in that, The plurality of vehicle control areas include: an authorized area, a buffer area, and a prohibited area; wherein, the buffer area includes: a forward buffer area and a rearward buffer area; the permitted button operation corresponding to the forward buffer area includes: controlling the vehicle to move towards the authorized area along the rear direction of the vehicle by operating the button; the permitted button operation corresponding to the rearward buffer area includes: controlling the vehicle to move towards the authorized area along the front direction of the vehicle by operating the button. The step of determining the target vehicle control area where the vehicle is located based on the current location information and the location information of the multiple vehicle control areas includes: When the target vehicle control area is determined to be the buffer area, the shortest distance between the center point of the vehicle and the boundary of the authorized area is obtained. If the shortest distance value is not greater than a first threshold and the angle between the vehicle's front orientation and the normal of the authorized area is less than a right angle, then the vehicle is determined to be in a forward buffer area within the sub-region of the buffer area; wherein, the normal of the authorized area is a perpendicular line to the boundary of the authorized area; wherein, the foot of the perpendicular line is the intersection of the line connecting the center point of the authorized area and the center point of the vehicle with the boundary of the authorized area; the direction of the normal of the authorized area is the outward direction of the authorized area; If the shortest distance value is not greater than the first threshold and the angle between the vehicle's front orientation and the normal of the authorized area is greater than a right angle, then the vehicle is determined to be in the rearward buffer area within the sub-region of the buffer area.

4. The method according to claim 1, characterized in that, After determining the target permitted button operation corresponding to the target vehicle control area based on the correspondence, the method further includes: Obtain the allowable time range of the target vehicle control area; The step of determining whether the current button operation received by the vehicle is a button operation allowed by the target includes: Determine whether the current button operation received by the vehicle is a button operation permitted by the target within the allowed time range.

5. The method according to claim 1, characterized in that, The method further includes: If the target vehicle control area where the vehicle is located is an authorized area, and the current button operation is detected to meet the abnormal conditions, then emergency braking is performed and a button abnormality notification is sent to the cloud; the abnormal conditions are at least one of the following: the number of consecutive button operations exceeds a third threshold, the operation frequency of the button operation exceeds a fourth threshold, and the operation duration of the button operation exceeds a fifth threshold. If the target vehicle control area where the vehicle is located is a buffer area, and it is detected that the movement direction of the vehicle corresponding to the current button operation is opposite to the authorized direction, then emergency braking is performed and a button abnormality notification is sent to the cloud. If the target vehicle control area where the vehicle is located is a buffer area, and the current button operation is detected to meet the abnormal conditions, then emergency braking is initiated and a button abnormality notification is sent to the cloud. If the target vehicle control area where the vehicle is located is a prohibited area, and button operation is detected, emergency braking is initiated and a button abnormality notification is sent to the cloud.

6. The method according to claim 5, characterized in that, The operation duration of the button operation is the time from the first detection of the button operation permitted by the target to the current button operation received by the vehicle.

7. The method according to claim 1, characterized in that, The method further includes: If multiple map information items are detected, then the field information of each map information item is obtained; wherein, the field information is used to characterize the priority of the map information item. The map information with the highest priority among the field information is determined as the target map information for controlling the vehicle; The acquisition of location information for multiple vehicle control areas includes: Based on the target map information, the location information of the multiple vehicle control areas is determined.

8. A vehicle control device, characterized in that, The device includes: The first acquisition module is used to acquire the location information of multiple vehicle control areas and the correspondence between the multiple vehicle control areas and the allowed button operations; wherein, the allowed button operations are different depending on the vehicle control area where the vehicle is located. The second acquisition module is used to acquire the current location information of the vehicle; The first determining module is used to determine the target vehicle control area where the vehicle is located based on the current location information and the location information of the multiple vehicle control areas; The second determining module is used to determine the target allowed button operation corresponding to the target vehicle control area based on the correspondence relationship; The execution module is used to determine whether the current button operation received by the vehicle is a button operation allowed by the target. If it is, the current button operation is executed; otherwise, the current button operation is not executed. The button corresponding to the button operation is an emergency operation device for controlling the vehicle.

9. A vehicle, characterized in that, include: A processor and a memory, wherein the memory stores a computer program that, when executed by the processor, performs the method of any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program that, when executed by a processor, implements the method as described in any one of claims 1-7.

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