Vehicle control method, vehicle control system, vehicle, and storage medium

Abstract

The invention discloses a vehicle control method, a vehicle control system, a vehicle and a storage medium, a terminal is arranged corresponding to the vehicle, the terminal is used for providing a touch interface, the touch interface displays a touch interaction area, and the touch interaction area comprises a plurality of touch positions; the method comprises the steps that a target steering instruction is generated based on a touch operation for a target touch position, and the target steering instruction comprises a target steering direction and a target steering angle; and controlling the vehicle to execute a steering action according to the target steering direction and the target steering angle according to the target steering instruction.

Description

Technical Field

[0001] This application belongs to the field of vehicle control technology, specifically relating to a vehicle control method, a vehicle control system, a vehicle, and a computer-readable storage medium. Background Technology

[0002] To achieve advanced intelligent driving functions, autonomous vehicles are gradually adopting integrated and electrified chassis motion angle modules. Among these, four-wheel independent steering is a key component, requiring the steering system to have full steer-by-wire capabilities. Against this backdrop, when the upper-level steering control system fails, how to reliably transmit the driver's steering intentions to the lower-level actuators and achieve effective vehicle steering has become a core technical problem that urgently needs to be solved.

[0003] Currently, related technologies attempt to address these challenges, such as using an external steering angle sensor (SAS) for steering backup. This solution, upon detecting a failure in the upper-level steering, uses the domain controller to read the SAS signal to determine the driver's steering intention and then controls the vehicle's steering. However, this solution has significant limitations. First, the entire vehicle needs to be equipped with an additional independent steering angle sensor, increasing system costs. Second, if a physical jamming of the steering wheel causes a failure in the upper-level steering, the detection signal from the external SAS will also fail, rendering the backup mechanism ineffective and posing a safety hazard. Summary of the Invention

[0004] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a vehicle control method, a vehicle control system, a vehicle, and a storage medium. Based on user-terminal interaction, the driver's steering intention is transmitted to the lower-level actuators, achieving effective vehicle steering. No additional sensors are required for the entire vehicle, reducing costs. Furthermore, the decoupling of the terminal from the central domain controller allows for functional backup of the steering control.

[0005] In a first aspect, embodiments of this application provide a vehicle control method, wherein the vehicle is equipped with a terminal, the terminal is used to provide a touch interface, the touch interface displays a touch interaction area, and the touch interaction area includes multiple touch positions; The methods include: A target steering command is generated based on the touch operation targeting the target touch position, wherein the target steering command includes the target steering direction and the target steering angle; The vehicle is controlled to perform steering actions according to the target steering direction and target steering angle based on the target steering command.

[0006] In some embodiments, the method further includes: Continuously monitor the working status of the vehicle's steering wheel system; In response to a steering wheel system failure, a selection interface is provided via the terminal; the selection interface displays a first touch icon and a second touch icon, the first touch icon indicating activation of the touch steering function and the second touch icon indicating disabling of the touch steering function. In response to a touch operation on the first touch identifier, a touch interface is provided through the terminal.

[0007] In some embodiments, the touch interaction area is presented as a circular touch icon. Along the circumference of the circular touch icon, the circular touch icon is divided into multiple sector control areas, each sector control area corresponding to a touch position.

[0008] In some embodiments, different target steering commands are used to control the vehicle to rotate a specific angle clockwise or counterclockwise.

[0009] In some embodiments, the terminal is further configured to provide an input interface; wherein the input interface displays an input area; The method also includes: In response to input operations in the input area, the angle information entered in the input area is extracted, and the target turning angle is determined based on the angle information.

[0010] In some embodiments, after controlling the vehicle to perform a steering action according to the target steering command in the target steering direction and the target steering angle, the method further includes: The vehicle's real-time steering angle is obtained through the angular modules at the wheel ends; Determine whether the vehicle's real-time steering angle has reached the target steering angle; In response to the real-time steering angle reaching the target steering angle, a first prompt interface is provided through the terminal; wherein, the first prompt interface displays a first indicator to indicate that the steering was successful.

[0011] In some embodiments, the method further includes: In response to the real-time steering angle failing to reach the target steering angle, a second prompt interface is provided via the terminal; wherein, the second prompt interface displays a second indicator to indicate steering failure.

[0012] According to the vehicle control method provided in this application, the corresponding vehicle is equipped with a terminal. The terminal provides a touch interface displaying a touch interaction area, which includes multiple touch positions. A target steering command is generated based on the touch operation targeting the target touch position. This target steering command includes a target steering direction and a target steering angle. The vehicle is then controlled to perform steering actions according to the target steering direction and target steering angle. This application transmits the driver's steering intention to the lower-level actuators based on the interaction between the user and the terminal, achieving effective vehicle steering. No additional sensors are required for the entire vehicle, reducing costs. Furthermore, the decoupling of the terminal from the central domain control allows for backup of steering control functions.

[0013] Secondly, embodiments of this application provide a vehicle control system, wherein the vehicle is equipped with a terminal, the terminal is used to provide a touch interface, the touch interface displays a touch interaction area, the touch interaction area includes multiple touch positions, and the system includes: The response module is configured to generate a target turning instruction based on a touch operation targeting the target touch location, wherein the target turning instruction includes a target turning direction and a target turning angle; The control module is configured to control the vehicle to perform steering actions according to the target steering direction and target steering angle based on the target steering command.

[0014] According to the vehicle control system provided in this application, the corresponding vehicle is equipped with a terminal that provides a touch interface. The touch interface displays a touch interaction area, which includes multiple touch positions. A target steering command is generated based on the touch operation targeting the target touch position. This target steering command includes a target steering direction and a target steering angle. The vehicle is then controlled to perform steering actions according to the target steering direction and target steering angle. This application transmits the driver's steering intention to the lower-level actuators based on the interaction between the user and the terminal, achieving effective vehicle steering. No additional sensors are required for the entire vehicle, reducing costs. Furthermore, the decoupling of the terminal from the central domain control allows for backup of steering control functions.

[0015] Thirdly, embodiments of this application provide a vehicle including a processor and a memory, wherein the memory stores a program or instructions that can run on the processor, and when the program or instructions are executed by the processor, they implement the steps of the vehicle control method as described in the first aspect.

[0016] According to the vehicle provided in this application, a terminal is provided to offer a touch interface displaying a touch interaction area, which includes multiple touch positions. A target steering command is generated based on the touch operation targeting the target touch position, wherein the target steering command includes a target steering direction and a target steering angle. The vehicle is then controlled to perform steering actions according to the target steering direction and target steering angle based on the target steering command. This application transmits the driver's steering intention to the lower-level actuators based on the interaction between the user and the terminal, achieving effective vehicle steering without requiring additional sensors, thus reducing costs. Furthermore, the decoupling of the terminal from the central domain control allows for backup of steering control functions.

[0017] Fourthly, embodiments of this application provide a computer-readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the vehicle control method of the first aspect.

[0018] According to the computer-readable storage medium provided in this application, the corresponding vehicle is equipped with a terminal. The terminal provides a touch interface displaying a touch interaction area, which includes multiple touch positions. A target steering command is generated based on the touch operation targeting the target touch position. The target steering command includes a target steering direction and a target steering angle. The vehicle is then controlled to perform steering actions according to the target steering direction and target steering angle. This application transmits the driver's steering intention to the lower-level actuator based on the interaction between the user and the terminal, achieving effective vehicle steering without requiring additional sensors, thus reducing costs. Furthermore, the decoupling of the terminal from the central domain control allows for backup of steering control functions.

[0019] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0020] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 A schematic flowchart illustrating the vehicle control method provided in an embodiment of this application; Figure 2 This is a schematic diagram of the touch interface provided in this application; Figure 3 This is a schematic diagram of a circular touch icon provided in an embodiment of this application; Figure 4 This is a schematic diagram of another circular touch mark provided in an embodiment of this application; Figure 5 This is a schematic diagram of the selection interface provided in an embodiment of this application; Figure 6 This is a schematic diagram of the input interface provided in an embodiment of this application; Figure 7 This is a schematic diagram of the first prompt interface provided in an embodiment of this application; Figure 8 This is a schematic diagram of the second prompt interface provided in an embodiment of this application; Figure 9 A schematic diagram of a vehicle control system provided in an embodiment of this application; Figure 10 This is a block diagram of a vehicle according to some embodiments of the present invention. Detailed Implementation

[0021] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While some embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this application. It should be understood that the drawings and embodiments of this application are for illustrative purposes only and are not intended to limit the scope of protection of this application.

[0022] It should be understood that the steps described in the method embodiments of this application may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this application is not limited in this respect.

[0023] As described in the background section, autonomous vehicles require more flexible "hands" and "feet." In recent years, the intelligentization of automobiles has accelerated. As the main execution platform for realizing intelligent driving, especially advanced autonomous driving, the chassis is constantly evolving towards mechatronics, control integration, and intelligent electrification, with motion angle modules becoming an inevitable trend. Among these, four-wheel independent steering is a crucial component of the angle module's implementation. Unlike traditional steering systems, the angle module requires a four-wheel independent steering system, necessitating complete steer-by-wire control. When upward steering fails, how to transmit the driver's steering request to downward steering and achieve vehicle steering becomes a critical issue.

[0024] Based on this, this application provides a vehicle control method. The vehicle is equipped with a terminal that provides a touch interface displaying a touch interaction area, which includes multiple touch positions. A target steering command is generated based on the touch operation targeting the target touch position. This target steering command includes a target steering direction and a target steering angle. The vehicle is then controlled to perform steering actions according to the target steering direction and angle. This application transmits the driver's steering intention to the lower-level actuators based on the interaction between the user and the terminal, achieving effective vehicle steering without requiring additional sensors, thus reducing costs. Furthermore, the decoupling of the terminal from the central domain control allows for backup of steering control functions.

[0025] Understandably, the core idea of ​​this application is to "move" vehicle steering control from the steering wheel to the touchscreen on the terminal as a backup solution in emergencies. When the traditional mechanical or steer-by-wire system completely fails (e.g., electronic malfunction or physical jamming), the vehicle will not completely lose its steering ability. Compared to installing a separate external steering angle sensor for the backup solution, utilizing the vehicle's existing terminal (such as the central control screen, instrument panel, or connected mobile phone) saves costs and avoids the problem of backup synchronization failure caused by a stuck steering wheel.

[0026] In this application, the terminal can be divided into two categories: in-vehicle terminal and out-of-vehicle terminal / mobile terminal.

[0027] In-vehicle terminals may include, but are not limited to: Central touchscreen: This is the most crucial and likely preferred terminal. Modern car central touchscreens are becoming increasingly larger and more powerful, making them an ideal platform for complex touch interactions. When the steering wheel fails, the driver can naturally turn to the central touchscreen for operation.

[0028] Full LCD instrument panel: Some models also have a touch screen instrument panel. In an emergency, the system can display the touch interface directly in the center of the instrument panel, making it convenient for the driver to operate in front of their line of sight without having to shift their gaze significantly.

[0029] Passenger or rear entertainment screens: In some high-end models, screens are also equipped in front of the passenger seat or in the rear seats. These screens can be called up when necessary as backup control terminals, increasing the redundancy and flexibility of the system.

[0030] Touch area on the steering wheel: Although the steering wheel itself may fail, if only the power steering or transmission mechanism malfunctions, the touch panel or small screen on the steering wheel may still be powered and functional. It can be reprogrammed to temporarily serve as a small touch input area.

[0031] Dedicated backup control panel: The vehicle may be designed with a hidden or physical backup touch panel specifically for emergency functions. It is not used under normal circumstances and only pops up when the main system fails.

[0032] External terminals / mobile terminals may include, but are not limited to: Smartphones: By connecting to the vehicle via a dedicated mobile app (e.g., through Bluetooth, Wi-Fi, or cellular networks), the phone screen becomes a powerful remote control. This is extremely useful in low-speed, short-distance scenarios. For example, parking in tight spaces: the driver can get out of the car and precisely control the vehicle's forward and backward movement and steering through the mobile app, parking like a large remote-controlled car.

[0033] Tablet computers: Similar to mobile phones, but with larger screens that offer a clearer, richer control interface and more precise touch areas.

[0034] Smartwatches / wearable devices: Although the screen is small, they can perform very basic command control, such as "adjust 15 degrees to the left" or "return to center." They are more suitable as a supplement in extreme situations, or for scenarios involving very short distances and simple adjustments outside the vehicle.

[0035] Touchscreen on the key / smart key: Some high-end cars have a small screen built into their smart keys. This screen can also implement the control scheme described in this application.

[0036] A touch interface can be understood as a virtual "operating table" or "canvas" with a specific shape and layout.

[0037] The touch interaction area is a predefined area on the touch interface.

[0038] Touch locations are predefined "hot zones" or "buttons" with specific functions within a touch interface; they are small units subdivided within the interactive area. During user interaction with the terminal screen, users need to tap these specific "touch locations" to generate valid commands.

[0039] refer to Figure 1 This is a flowchart illustrating the vehicle control method provided in the embodiments of this application.

[0040] Step S101: Generate a target turning instruction based on the touch operation targeting the target touch position, wherein the target turning instruction includes the target turning direction and the target turning angle.

[0041] The purpose of this step is to digitize the user's touch intent (which direction to go, how big a turn to make) into a precise, machine-readable instruction (direction + angle).

[0042] Step S102: Control the vehicle to perform steering actions according to the target steering direction and target steering angle based on the target steering command.

[0043] This step is the command execution and control layer, completed by the vehicle's cornering module's electronic control unit and steer-by-wire system. The electronic control unit receives the "target steering command" from S101, verifies the command's validity (e.g., whether the angle is within the safe range allowed by the vehicle's mechanical structure), and then converts the digital command into precise control signals for the steer-by-wire system. The steer-by-wire system drives the vehicle's front wheels according to the signals, turning them in the specified direction to the specified angle. This entire process is a typical application of steer-by-wire technology, controlling steering through electrical signals rather than traditional mechanical connections. After the vehicle completes the steering action, it may use sensor feedback to confirm the actual turning angle of the current wheels, ensuring consistency with the "target steering angle." The system may then send a "steering complete" confirmation signal to the user interface.

[0044] As an optional embodiment, the touch interaction area is presented as a circular touch icon. Along the circumference of the circular touch icon, the circular touch icon is divided into multiple sector control areas, each sector control area corresponding to a touch position.

[0045] refer to Figure 2 This is a schematic diagram of the touch interface provided in this application.

[0046] like Figure 2 As shown, the touch interface is presented as a circular touch icon. Along the circumference, this circle is evenly divided into multiple sector-shaped control areas. Each sector corresponds to a unique touch position. The sector on the left side of the circle represents "turn left," and the sector on the right side represents "turn right."

[0047] As an optional embodiment, different target steering commands are used to control the vehicle to rotate a specific angle clockwise or counterclockwise.

[0048] refer to Figure 3 This is a schematic diagram of a circular touch mark provided in an embodiment of this application.

[0049] Optionally, each sector corresponds to a fixed turning angle. For example, the leftmost sector corresponds to "turn left 15°", the adjacent sector corresponds to "turn left 30°", and so on.

[0050] refer to Figure 4 This is a schematic diagram of another circular touch mark provided in an embodiment of this application.

[0051] Optionally, each sector corresponds to an angle range. For example, clicking on a sector on the left will cause the vehicle to continuously turn to the left until the wheels reach the angle range corresponding to that sector.

[0052] Therefore, the circular shape naturally associates with the concepts of "turning" and "direction," resulting in a low learning curve for users. In emergencies, users don't need complex swiping or dragging; a single click simultaneously determines both direction and angle, offering a fast response. All options (different angles) are laid out flat within a single view, providing users with a clear overview of available turning options and avoiding the cumbersome multi-layered menus. Separate fan-shaped areas effectively prevent issues like "overswiping" or inaccurate positioning during swiping operations, ensuring highly precise command input.

[0053] As an optional embodiment, the method further includes: continuously detecting the working status of the vehicle's steering wheel system; in response to a steering wheel system failure, providing a selection interface via a terminal; wherein the selection interface displays a first touch icon and a second touch icon, the first touch icon indicating activation of the touch steering function and the second touch icon indicating disabling activation of the touch steering function; and in response to a touch operation on the first touch icon, providing a touch interface via the terminal.

[0054] This application presents a solution for backup steering control in the event of a failure of the steering system (steering wheel system). Therefore, it first requires continuous monitoring of the steering system's (such as sensors, controllers, and communication bus) operational status in the background. If the operational status is normal, monitoring continues cyclically without any intervention. If a steering system failure is detected, subsequent emergency procedures are immediately triggered, specifically: An emergency selection interface pops up on the terminal (central control screen), displaying "First Touch Icon" (Activate) and "Second Touch Icon" (Deactivate). The purpose of this design is to provide "secondary confirmation," giving the user the final decision on whether to activate the backup function, preventing the system from switching control modes without the user's knowledge or preparation, and avoiding panic and secondary accidents.

[0055] refer to Figure 5 This is a schematic diagram of the selection interface provided in an embodiment of this application.

[0056] Furthermore, the system only activates the touch steering function and displays the specific operation interface (circular touch icon) after the user explicitly selects "start". At this time, the touch interface becomes the vehicle's new, temporary "steering wheel".

[0057] As an optional embodiment, the terminal is also used to provide an input interface; wherein the input interface displays an input area; the method further includes: in response to an input operation on the input area, extracting angle information entered in the input area, and determining the target turning angle based on the angle information.

[0058] Specifically, the input interface is an interface that allows users to customize the input of specific steering angle values. The interface includes an input area that can display a text box with a virtual keyboard for users to enter numbers. Typically, the unit symbol "°" (degrees) is displayed next to the text box. It also includes an "OK" or "Execute" button to submit the entered numbers.

[0059] refer to Figure 6 This is a schematic diagram of the input interface provided in an embodiment of this application.

[0060] In detail, the user clicks on the input area to bring up the virtual keyboard, and then enters a number (e.g., 30). The system background extracts the angle information entered in the input area; that is, the system obtains the numeric string in the text box and converts it into a numerical value (e.g., 30). Furthermore, this numerical value is directly set as the target steering angle.

[0061] It should be noted that this embodiment mainly defines the angle input method. The target turning direction may be determined in other ways, such as having clearly defined "turn left" and "turn right" buttons next to the input interface. Users need to select the direction first, and then input the angle.

[0062] As an optional embodiment, after controlling the vehicle to perform a steering action according to the target steering direction and target steering angle based on the target steering command, the method further includes: obtaining the real-time steering angle of the vehicle through the angle module at the wheel end of the vehicle; determining whether the real-time steering angle of the vehicle has reached the target steering angle; and providing a first prompt interface through the terminal in response to the real-time steering angle reaching the target steering angle; wherein the first prompt interface displays a first indicator for indicating successful steering.

[0063] As an optional embodiment, the method further includes: in response to the real-time steering angle not reaching the target steering angle, providing a second prompt interface through the terminal; wherein the second prompt interface displays a second indicator for indicating steering failure.

[0064] Specifically, after the driver sets the target steering angle, the angle module will execute the target steering angle and provide feedback on the real-time steering angle. The terminal will determine whether the steering has been executed correctly based on the real-time steering angle provided by the angle module. If the steering has been executed correctly, the terminal will display that the steering was successful. If the steering has not been executed correctly within a certain period of time, the terminal will provide feedback that the steering failed.

[0065] refer to Figure 7 This is a schematic diagram of the first prompt interface provided in the embodiments of this application.

[0066] Specifically, the real-time steering angle of the vehicle is obtained through angle modules at the wheel ends. This is achieved by steering angle sensors installed on the steering knuckles or wheel hubs, which can measure the actual steering angle of each wheel with high precision. Further, it is determined whether the real-time steering angle of the vehicle has reached the target steering angle. Specifically, the system compares the actual value read by the sensor with the target steering angle in the target steering command generated in S101. In this embodiment, a fault-tolerance mechanism for the executed angle is also set. "Reaching" generally means that the actual value falls within an allowable error range of the command value (e.g., a target of 30°, with an actual value of 29.5° to 30.5° considered successful). In response to the real-time steering angle reaching the target steering angle, a first prompt interface is provided through the terminal. The first prompt interface displays a first indicator, such as a green checkmark icon and the text "Steering Successful".

[0067] Based on this, a clear "task completed" signal is given to the user, letting them know that the vehicle has accurately responded to the command and that they can confidently proceed to the next step.

[0068] refer to Figure 8 This is a schematic diagram of the second prompt interface provided in the embodiments of this application.

[0069] Furthermore, if the real-time steering angle does not reach the target steering angle, this could be due to various reasons, such as steering mechanism jamming, sensor malfunction, or large obstacles on the road. In this case, an alarm should be issued to the user by providing a second prompt interface on the terminal. This second prompt interface displays a second indicator, such as a red exclamation mark icon, and the text "Steering failed, please try again or check."

[0070] Based on this, the system can immediately inform the user that it failed to complete the instruction, preventing the user from continuing to operate without their knowledge, thereby avoiding potential dangers. This is another manifestation of system security.

[0071] As described above, in this application, users no longer blindly issue commands but receive immediate confirmation of the execution results. This transparent interaction greatly enhances users' trust in the system. The terminal is responsible not only for "execution" but also for "verification." Upon detecting an execution anomaly (steering failure), it immediately issues an alert, prompting the user to intervene, thus transforming a potential hazard into a manageable anomaly. Furthermore, the system can self-check to ensure that the actuator's intent matches the final result (actual wheel angle). This is crucial for the touch steering function as a safety redundancy system.

[0072] It is understood that before using the technical solutions disclosed in the various embodiments of this disclosure, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in this disclosure in an appropriate manner in accordance with relevant laws and regulations, and user authorization should be obtained.

[0073] For example, upon receiving a user's active request, a prompt message is sent to the user to explicitly inform them that the requested operation will require the acquisition and use of the user's personal information. This allows the user to independently choose whether to provide personal information to the software or hardware, such as the electronic device, application, server, or storage medium performing the operations of this disclosed technical solution, based on the prompt message.

[0074] As an optional but non-limiting implementation, in response to a user's active request, sending a prompt message to the user can be done via a pop-up window, where the prompt message can be presented in text format. Furthermore, the pop-up window can also include a selection control allowing the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0075] It is understood that the above notification and user authorization process are merely illustrative and do not constitute a limitation on the implementation of this disclosure. Other methods that comply with relevant laws and regulations may also be applied to the implementation of this disclosure.

[0076] In summary, this application provides a vehicle control method. The vehicle is equipped with a terminal that provides a touch interface displaying a touch interaction area with multiple touch positions. A target steering command is generated based on touch operations at a target touch position, including a target steering direction and a target steering angle. The vehicle is then controlled to perform steering actions according to the target steering direction and angle. This application transmits the driver's steering intention to the lower-level actuators based on user-terminal interaction, achieving effective vehicle steering without requiring additional sensors, thus reducing costs. Furthermore, the decoupling of the terminal from the central domain control allows for backup of steering control functions.

[0077] It should be noted that the method of this embodiment can be executed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the method of this embodiment, and the multiple devices will interact with each other to complete the above method.

[0078] It should be noted that the above description describes some embodiments of the present invention. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims may be performed in a different order than that shown in the above embodiments and still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0079] Corresponding to the above embodiments, the present invention also proposes a vehicle control system.

[0080] like Figure 9 The diagram shown is a schematic of a vehicle control system provided in an embodiment of this application. The system includes a response module 901 and a control module 902. A terminal is provided for the corresponding vehicle. The terminal provides a touch interface, which displays a touch interaction area including multiple touch positions. The system includes: The response module 901 is configured to generate a target turning instruction based on a touch operation targeting a target touch location, wherein the target turning instruction includes a target turning direction and a target turning angle; The control module 902 is configured to control the vehicle to perform steering actions in accordance with the target steering direction and the target steering angle based on the target steering command.

[0081] Optionally, response module 901 is also configured as follows: Continuously monitor the working status of the vehicle's steering wheel system; In response to a steering wheel system failure, a selection interface is provided via the terminal; the selection interface displays a first touch icon and a second touch icon, the first touch icon indicating activation of the touch steering function and the second touch icon indicating disabling of the touch steering function. In response to a touch operation on the first touch identifier, a touch interface is provided through the terminal.

[0082] Optionally, the touch interaction area is presented as a circular touch icon. Along the circumference of the circular touch icon, the circular touch icon is divided into multiple sector-shaped control areas, each sector-shaped control area corresponding to a touch position.

[0083] Optionally, different target steering commands are used to control the vehicle to rotate a specific angle clockwise or counterclockwise.

[0084] Optionally, the terminal may also provide an input interface; wherein the input interface displays an input area; Response module 901 is also configured as follows: In response to input operations in the input area, the angle information entered in the input area is extracted, and the target turning angle is determined based on the angle information.

[0085] Optionally, the control module 902 is also configured as follows: The vehicle's real-time steering angle is obtained through the angular modules at the wheel ends; Determine whether the vehicle's real-time steering angle has reached the target steering angle; In response to the real-time steering angle reaching the target steering angle, a first prompt interface is provided through the terminal; wherein, the first prompt interface displays a first indicator to indicate that the steering was successful.

[0086] Optionally, the control module 902 is also configured as follows: In response to the real-time steering angle failing to reach the target steering angle, a second prompt interface is provided via the terminal; wherein, the second prompt interface displays a second indicator to indicate steering failure.

[0087] For ease of description, the above system is described by dividing it into various modules based on their functions. Of course, in implementing this invention, the functions of each module can be implemented in one or more software and / or hardware components.

[0088] The system described in the above embodiments is used to implement the corresponding method in any of the foregoing embodiments and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0089] Corresponding to the above embodiments, the present invention also proposes a vehicle.

[0090] refer to Figure 10 The diagram below is a block diagram of a vehicle according to some embodiments of the present invention. It also illustrates a more specific vehicle hardware structure provided in this embodiment. The device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, memory 1020, input / output interface 1030, and communication interface 1040 are internally connected to each other via the bus 1050.

[0091] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0092] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0093] The input / output interface 1030 is used to connect input / output modules to realize information input and output. The input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touch screens, microphones, various sensors, etc., and output devices may include displays, speakers, vibrators, indicator lights, etc.

[0094] The communication interface 1040 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0095] Bus 1050 includes a pathway for transmitting information between various components of the device, such as processor 1010, memory 1020, input / output interface 1030, and communication interface 1040.

[0096] It should be noted that although the above-described device only shows the processor 1010, memory 1020, input / output interface 1030, communication interface 1040, and bus 1050, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0097] The vehicles described in the above embodiments are used to implement the corresponding methods in any of the foregoing embodiments and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0098] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, the present invention also provides a computer-readable storage medium storing computer instructions for causing a computer to perform the methods of any of the above embodiments.

[0099] The aforementioned computer-readable storage medium can be any available medium or data storage device that a computer can access, including but not limited to magnetic storage (e.g., floppy disks, hard disks, magnetic tapes, magneto-optical disks (MOs), etc.), optical storage (e.g., CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (e.g., ROMs, EPROMs, EEPROMs, non-volatile memory (NAND flash), solid-state drives (SSDs)).

[0100] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to perform the methods of any of the above exemplary method sections, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0101] Furthermore, although the operations of the method of the present invention are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all of the operations shown must be performed to achieve the desired result. Rather, the steps depicted in the flowchart may be performed in a different order. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0102] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0103] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this invention should have the ordinary meaning understood by those skilled in the art. The terms "first," "second," and similar terms used in the embodiments of this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word covers the element or object listed after the word and its equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0104] While the spirit and principles of the invention have been described with reference to several specific embodiments, it should be understood that the invention is not limited to the disclosed specific embodiments, and the division of aspects does not imply that features in these aspects cannot be combined for benefit; such division is merely for ease of description. The invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. The scope of the appended claims is to be interpreted in the broadest sense, thereby encompassing all such modifications and equivalent structures and functions.

Claims

1. A vehicle control method, characterized in that, The corresponding vehicle is equipped with a terminal, which is used to provide a touch interface. The touch interface displays a touch interaction area, which includes multiple touch positions. The method includes: A target turning command is generated based on a touch operation targeting a target touch location, wherein the target turning command includes a target turning direction and a target turning angle; The vehicle is controlled to perform a steering action according to the target steering direction and the target steering angle, based on the target steering command.

2. The vehicle control method according to claim 1, characterized in that, The method further includes: Continuously monitor the working status of the vehicle's steering wheel system; In response to the failure of the steering wheel system, a selection interface is provided through the terminal; wherein, the selection interface displays a first touch icon and a second touch icon, the first touch icon being used to indicate activation of the touch steering function, and the second touch icon being used to indicate disabling activation of the touch steering function; In response to a touch operation on the first touch identifier, the touch interface is provided through the terminal.

3. The vehicle control method according to claim 1, characterized in that, The touch interaction area is presented as a circular touch icon. Along the circumference of the circular touch icon, the circular touch icon is divided into multiple sector-shaped control areas, and each sector-shaped control area corresponds to a touch position.

4. The vehicle control method according to claim 1, characterized in that, The different target steering commands are used to control the vehicle to rotate clockwise by a specific angle or counterclockwise by the same specific angle.

5. The vehicle control method according to claim 1, characterized in that, The terminal is also used to provide an input interface; wherein the input interface displays an input area; The method further includes: In response to an input operation on the input area, the angle information entered in the input area is extracted, and the target turning angle is determined based on the angle information.

6. The vehicle control method according to claim 1, characterized in that, After controlling the vehicle to perform a steering action according to the target steering command in the target steering direction and the target steering angle, the method further includes: The real-time steering angle of the vehicle is obtained through the angle module at the wheel end of the vehicle; Determine whether the real-time steering angle of the vehicle has reached the target steering angle; In response to the real-time steering angle reaching the target steering angle, a first prompt interface is provided through the terminal; wherein, the first prompt interface displays a first indicator for indicating successful steering.

7. The vehicle control method according to claim 6, characterized in that, The method further includes: In response to the real-time steering angle failing to reach the target steering angle, a second prompt interface is provided through the terminal; wherein, the second prompt interface displays a second indicator for indicating steering failure.

8. A vehicle control system, characterized in that, The corresponding vehicle is equipped with a terminal, which provides a touch interface. The touch interface displays a touch interaction area, which includes multiple touch positions. The system includes: The response module is configured to generate a target turning instruction based on a touch operation targeting a target touch location, wherein the target turning instruction includes a target turning direction and a target turning angle; The control module is configured to control the vehicle to perform a steering action according to the target steering direction and the target steering angle based on the target steering command.

9. A vehicle, characterized in that, include: A processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the vehicle control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the vehicle control method as described in any one of claims 1 to 7.

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