Vehicle control method, device, equipment, medium, program product and vehicle

Abstract

The invention provides a vehicle control method and device, equipment, a medium, a program product and a vehicle, and the method comprises the steps: determining a camping area under the condition that the vehicle is in a camping mode; acquiring azimuth angle information and elevation angle information of the sun; determining a target position based on the azimuth angle information, the elevation angle information and the size information of the vehicle; wherein the shadow coverage degree between the shadow area and the camping area of the vehicle at the target position meets a preset sunshade condition; and controlling the vehicle to move to the target position. Thus, automatic sunshade control is achieved, a user does not need to manually adjust the vehicle parking position, operation is convenient and fast, and the sunshade efficiency and comfort degree during camping are remarkably improved.

Description

Technical Field

[0001] This application belongs to the field of intelligent vehicle technology, and in particular relates to a vehicle control method, device, equipment, medium, program product and vehicle. Background Technology

[0002] With the increasing popularity of outdoor camping, self-driving camping has become a widely popular leisure activity. However, in camping, vehicles are typically used primarily for transportation and assisting with tasks such as setting up tents. This limited usage of vehicles in camping scenarios significantly restricts their functionality and fails to fully utilize their potential. Summary of the Invention

[0003] This application provides a vehicle control method, device, equipment, medium, program product, and vehicle that can achieve sunshade function through the shadow of the vehicle in a camping scenario, without requiring the user to manually adjust the vehicle's parking position. This is convenient to operate and significantly improves the sunshade efficiency and comfort during camping.

[0004] In a first aspect, embodiments of this application provide a vehicle control method, the method comprising: With the vehicle in camping mode, determine the camping area; Obtain the azimuth and elevation angle information of the sun; Based on azimuth angle information, elevation angle information, and vehicle size information, the target location is determined; wherein the shadow coverage between the vehicle's shadow area at the target location and the camping area meets the preset shading conditions. Control the vehicle to move to the target location.

[0005] Secondly, embodiments of this application provide a vehicle control device, the device comprising: The first determining module is used to determine the camping area when the vehicle is in camping mode; The acquisition module is used to acquire the azimuth and elevation angle information of the sun; The second determining module is used to determine the target location based on azimuth information, elevation information, and vehicle size information; wherein the shadow coverage between the vehicle's shadow area at the target location and the camping area meets the preset shading conditions. The control module is used to control the vehicle to move to the target location.

[0006] Thirdly, embodiments of this application provide a vehicle control device, the device comprising: Processor and memory storing programs or instructions; The processor implements the above method when executing programs or instructions.

[0007] Fourthly, embodiments of this application provide a machine-readable storage medium storing a program or instructions that, when executed by a processor, implement the method described above.

[0008] Fifthly, embodiments of this application provide a computer program product in which instructions, when executed by a processor of an electronic device, cause the electronic device to perform the above-described method.

[0009] Sixthly, embodiments of this application provide a vehicle, which includes a vehicle control device; The vehicle control unit is used to perform the above method.

[0010] The vehicle control method, apparatus, device, medium, program product, and vehicle of this application embodiment can determine the camping area in camping mode, and based on information such as solar azimuth and altitude angles and vehicle size, determine a target position where the vehicle's shadow and the shadow coverage of the camping area can meet preset shading conditions, and control the vehicle to move to that target position. In camping scenarios, shading is achieved through the vehicle's shadow, without requiring the user to manually adjust the vehicle's parking position, making operation convenient and significantly improving shading efficiency and comfort during camping. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic flowchart of the vehicle control method provided in the embodiments of this application; Figure 2a This is one of the vehicle sunshade diagrams in the vehicle control method provided in this application embodiment; Figure 2b This is a schematic diagram of the sun's position change in the vehicle control method provided in this application embodiment; Figure 2c This is the second schematic diagram of the vehicle sunshade in the vehicle control method provided in this application embodiment; Figure 3 This is a flowchart illustrating a specific scenario embodiment of the vehicle control method provided in this application. Figure 4 This is a schematic diagram of the vehicle control device provided in the embodiments of this application; Figure 5 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0013] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0014] 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. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0015] Furthermore, it should be noted that the acquisition, storage, use, and processing of data in the embodiments of this application all comply with the relevant provisions of national laws and regulations. It should also be noted that certain software, components, models, and other existing industry solutions may be mentioned in the embodiments of this application. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0016] To address the problems of the prior art, embodiments of this application provide a vehicle control method, apparatus, device, medium, program product, and vehicle. The vehicle control method provided in this application embodiment will be described first below.

[0017] Figure 1 A schematic flowchart of a vehicle control method according to an embodiment of this application is shown. Figure 1 As shown, the vehicle control method may include: Step 101: With the vehicle in camping mode, determine the camping area.

[0018] In step 101, the vehicle activates camping mode. At this time, it can receive the camping area specified by the user through a mobile application (APP), the in-vehicle screen, or voice. This camping area is the area that needs shade. The camping area can be represented as coordinate points, an image area, or location information located by an UltraWideband (UWB) device.

[0019] Step 102: Obtain the azimuth and elevation information of the sun.

[0020] In step 102, the vehicle can directly obtain the azimuth and elevation information of the sun corresponding to its current location and time from the cloud. Alternatively, the vehicle's central processing unit can use astronomical algorithms to calculate the azimuth and elevation information of the sun in real time based on the vehicle's Global Positioning System (GPS) positioning information and system time.

[0021] Step 103: Determine the target location based on azimuth information, elevation information, and vehicle size information; wherein the shadow coverage between the vehicle's shadow area at the target location and the camping area meets the preset shading conditions.

[0022] In step 103, the ray direction vector can be calculated based on the azimuth and elevation angle information. The formula for calculating the ray direction vector is shown in formula (1): in, Let Az be the ray direction vector, E1 be the azimuth information, and E1 be the elevation information.

[0023] Based on the light direction vector and the vehicle's size information, the shadow area on the ground when the vehicle is parked in different locations can be calculated.

[0024] The target locations for parking vehicles were determined with the goal of covering the camping area as much as possible with shaded areas.

[0025] In other words, the shadow coverage between the vehicle's shadow area at the target location and the camping area meets the preset shading conditions. These preset shading conditions can be either a shadow coverage greater than or equal to a preset threshold, or a shadow coverage at the target location that is at its maximum value. The specific settings can be configured according to actual needs and are not limited here.

[0026] Step 104: Control the vehicle to move to the target location.

[0027] In step 104, after determining the target location, the vehicle can be controlled to move to the target location. For example, the user can manually drive the vehicle to the target location and park it, or use the vehicle's autonomous driving and automatic parking functions to automatically drive to the target location and park it.

[0028] The vehicle control method, apparatus, device, medium, program product, and vehicle of this application embodiment can determine the camping area in camping mode, and based on information such as solar azimuth and altitude angles and vehicle size, determine a target position where the vehicle's shadow and the shadow coverage of the camping area can meet preset shading conditions, and control the vehicle to move to that target position. In camping scenarios, shading is achieved through the vehicle's shadow, without requiring the user to manually adjust the vehicle's parking position, making operation convenient and significantly improving shading efficiency and comfort during camping.

[0029] In some embodiments, determining the azimuth and elevation information of the sun may include: Obtain the vehicle's location information and system time; Based on the positioning information and system time, the azimuth and elevation angles of the sun are determined.

[0030] In this embodiment, the vehicle's location information and system time can be obtained. The location information includes the vehicle's current GPS coordinates (latitude φ and longitude λ). The system time includes information such as date, current time, and time zone.

[0031] Astronomical approximation algorithms can be used to calculate the sun's azimuth (Az) and elevation (El).

[0032] For example, the formula for calculating azimuth information can be shown in formula (2): Where Az is the azimuth information, δ is the solar declination angle, φ is the latitude, and El is the altitude angle information.

[0033] The formula for calculating the elevation angle information is shown in formula (3): Where El represents the altitude angle, δ represents the solar declination angle, φ represents the latitude, and H represents the hour angle.

[0034] The formula for calculating the solar declination angle is shown in formula (4): Where δ is the solar declination angle and γ is the annual angle.

[0035] The formula for calculating the hour angle is shown in formula (5): Where H is the hour angle, and the local true solar time can be determined based on the system time.

[0036] Understandably, this astronomical approximation algorithm can run locally on the vehicle-mounted microcontroller unit (MCU) without needing a network connection, and the computation latency is less than 50ms.

[0037] In this way, the azimuth and elevation angle information of the sun can be obtained using the existing GPS and clock in the vehicle system, eliminating the need for additional hardware sensors, reducing costs and improving system integration. Simultaneously, calculating the sun's position based on positioning and time ensures the accuracy and real-time nature of the information, providing a reliable data foundation for subsequent target position calculations.

[0038] In some embodiments, determining the target location based on azimuth information, elevation information, and vehicle size information may include: Based on azimuth information and the camping area, determine the initial sunshade area for the vehicle; Traverse the initial shaded area to determine multiple candidate locations; Based on azimuth angle information, elevation angle information, vehicle size information, and multiple candidate positions, the shadow area of ​​the vehicle at multiple candidate positions is determined; Based on the shadow area of ​​the vehicle at multiple candidate locations and the camping area, determine the shadow coverage corresponding to multiple candidate locations; The target location is determined from multiple candidate locations; where the shadow coverage of the target location is the maximum value among the shadow coverage of the multiple candidate locations.

[0039] In this embodiment, the initial sunshade area for the vehicle can be determined based on azimuth information and the camping area. For example, a polar coordinate system is first constructed with the center point of the camping area as the origin. Based on the azimuth information, it can be determined that the vehicle should be located on the "backlight side" of the central area. Furthermore, the vehicle should be parked close to the camping area, but not inside it, so as to provide sunshade without affecting the use of the camping area.

[0040] Based on this, the area on the backlight side of the camping area, and within a preset distance range from the center point of the camping area, can be used as the initial sunshade area for vehicles. The preset distance range can be set according to actual needs, for example, the preset distance range d∈[3m,8m].

[0041] The initial shaded area can be traversed to determine multiple candidate locations. For example, one can proceed along... = In the +180° direction, search for the distance d∈[3m,8m] from the midpoint of the front bumper of the search vehicle to the center point of the camping area to determine multiple candidate locations.

[0042] For each candidate location, the shadow area of ​​the vehicle at that candidate location can be determined based on azimuth information, elevation information, and vehicle size information.

[0043] For example, based on the candidate locations and the vehicle's dimensions, the coordinates of the vehicle's four corners can be obtained: ( ).

[0044] Based on the light direction vectors mentioned above, the coordinates of the shadow points corresponding to the four corners of the vehicle can be determined: This allows us to obtain the shadow area of ​​the vehicle at the candidate location. The expression for the coordinates of the shadow point is shown in formula (6): The area of ​​the intersection between the shaded area and the camping area can be calculated to obtain the shadow coverage corresponding to the candidate location. The expression for shadow coverage can be shown in formula (7): in, The area of ​​intersection. The area of ​​the camping area, This represents the shadow coverage.

[0045] After calculating the shadow coverage corresponding to multiple candidate locations, the candidate location corresponding to the maximum shadow coverage can be determined as the target location.

[0046] In this way, through systematic traversal and calculation, the optimal parking point can be accurately found, maximizing the shadow coverage of the camping area, improving the accuracy and reliability of shading control, avoiding the arbitrariness of judgment based on experience, and ensuring the optimization of the shading effect.

[0047] In some embodiments, the method may further include: If the change in azimuth information is greater than the first threshold, or the decrease in shadow coverage at the target location is greater than the second threshold, update the azimuth and elevation information of the sun. Based on the updated azimuth and elevation information, as well as the vehicle's dimensions, the updated target location is determined. Control the vehicle to move to the updated target location.

[0048] In this embodiment, a periodic detection can be performed once according to a preset periodic frequency. The preset periodic frequency can be set according to actual needs, for example, it can be 5 to 10 minutes. The following description will use 5 minutes as an example.

[0049] The system can detect the sun's real-time azimuth every 5 minutes and calculate the real-time shadow coverage at the target location based on this information. If the change in azimuth exceeds a first threshold, or the decrease in shadow coverage at the target location exceeds a second threshold, then the target location is no longer the optimal shading position. Both the first and second thresholds can be set according to actual needs; for example, the first threshold can be 10-15°, and the second threshold can be 15-25%.

[0050] At this point, the process of re-planning the target location can be triggered. This involves updating the sun's azimuth and elevation angles, and based on the updated azimuth and elevation angles, as well as the vehicle's dimensions, determining the updated target location, and controlling the vehicle to move to the updated target location.

[0051] The specific implementation method is as described above and will not be repeated here.

[0052] like Figures 2a to 2c As shown, a vehicle can be parked at the target location, where its shadow area 202 maximizes coverage of the camping area 201. Over time, changes in the sun's azimuth cause a shift in the shadow area 202 at the target location, resulting in decreased shadow coverage. In this case, the target location can be replanned, and the vehicle parked at the updated location, ensuring that the shadow area 202 at the updated location again maximizes coverage of the camping area 201.

[0053] In this way, the target position is recalculated and the vehicle movement is controlled when the sun's position changes or the shadow coverage decreases. This adapts to the changes in shadow caused by the sun's movement, ensuring that the camping area is continuously covered and improving the sustainability and adaptability of the shading.

[0054] In some embodiments, the method may further include: During the process of controlling the vehicle to move to the target location, the vehicle will stop moving if any of the following conditions are met: The distance between the vehicle and the obstacle is less than or equal to the third threshold; The ground slope is greater than or equal to the fourth threshold. The vehicle disconnects from the user terminal via Bluetooth.

[0055] In this embodiment, during the process of controlling the vehicle to move to the target location, it is also necessary to determine whether the vehicle meets the safety conditions. For example, sensors such as cameras, ultrasonic radar, and inertial measurement units can be used to detect the vehicle's status and surrounding environmental information.

[0056] If the distance between the vehicle and an obstacle is detected to be less than or equal to a third threshold, it can be considered that the vehicle is too close to the obstacle. To avoid a collision, the vehicle can be stopped. The third threshold can be set based on actual needs and is not specifically limited here.

[0057] If the detected ground slope is greater than or equal to the fourth threshold, it can be considered that the ground on which the vehicle is driving is not flat, which may pose a risk of loss of vehicle control. At this time, the vehicle can be stopped.

[0058] If the vehicle loses its Bluetooth connection with the user's terminal, it can be assumed that the user is not present. If the vehicle starts moving automatically in this situation, there is a risk that an emergency may not be able to be stopped in time. In this case, the vehicle can be stopped.

[0059] In some examples, after the vehicle stops moving, a message can be displayed to indicate that the automatic sunshade operation has failed. For example, the message "Unable to start automatic sunshade" could be displayed.

[0060] This design incorporates stopping conditions during vehicle movement, including situations such as insufficient distance to obstacles, excessive ground slope, or disconnection from the user terminal. This enhances vehicle movement safety, preventing collisions, terrain hazards, or loss of control, ensuring the safe and reliable operation of the sunshade control process, and protecting both the vehicle and the user.

[0061] In some embodiments, controlling a vehicle to move to a target location may include: Control the vehicle to move to the target position at a first speed, wherein the first speed is less than or equal to a preset speed threshold.

[0062] In this embodiment, the vehicle can be controlled to move to the target location at a relatively low first speed. The preset speed threshold can be set according to actual needs and is not specifically limited here.

[0063] For example, the preset speed threshold can be 2 km / h, meaning that the vehicle will move to the target location at a speed not exceeding 2 km / h.

[0064] This low-speed movement improves the precision of vehicle control, avoiding positioning errors or over-adjustments caused by excessive speed. At the same time, low-speed movement reduces the risk of accidental collisions, enhancing operational safety, and is particularly suitable for precise control in complex environments such as camping.

[0065] To facilitate understanding of the vehicle control method provided in the above embodiments, the following description uses a specific scenario example to illustrate the vehicle control method. Figure 3 As shown, this scenario embodiment may include: Step 301: Activate camping mode; Step 302, set the camping area; Step 303: Obtain the vehicle's location information and system time; Step 304: Calculate the azimuth and altitude information of the sun; Step 305: Determine the target location based on the azimuth angle information, elevation angle information, and vehicle size information; Step 306: Does the safety condition meet? That is, is the distance between the vehicle and the obstacle greater than the third threshold, the ground slope less than the fourth threshold, and is the vehicle connected to the user terminal via Bluetooth? If yes, proceed to step 307; otherwise, proceed to step 310. Step 307: The vehicle moves at low speed to the target location; Step 308: Start periodic monitoring; Step 309: Does the replanning condition meet, i.e., whether the change in azimuth information is greater than the first threshold, or whether the decrease in shadow coverage corresponding to the target position is greater than the second threshold; if yes, return to step 304, otherwise end. Step 310 prompts "Unable to start automatic shading".

[0066] Based on the vehicle control method provided in the above embodiments, this application also provides an embodiment of a vehicle control device.

[0067] Figure 4 A schematic diagram of a vehicle control device according to another embodiment of this application is shown. For ease of explanation, only the parts related to the embodiments of this application are shown.

[0068] Reference Figure 4 The vehicle control device 400 may include: The first determining module 401 is used to determine the camping area when the vehicle is in camping mode; The acquisition module 402 is used to acquire the azimuth and elevation information of the sun; The second determining module 403 is used to determine the target location based on azimuth information, elevation information and vehicle size information; wherein the shadow coverage between the shadow area of ​​the vehicle at the target location and the camping area meets the preset shading conditions. Control module 404 is used to control the vehicle to move to the target location.

[0069] In some embodiments, the acquisition module 402 may be specifically used for: Obtain the vehicle's location information and system time; Based on the positioning information and system time, the azimuth and elevation angles of the sun are determined.

[0070] In some embodiments, the second determining module 403 may specifically be used for: Based on azimuth information and the camping area, determine the initial sunshade area for the vehicle; Traverse the initial shaded area to determine multiple candidate locations; Based on azimuth angle information, elevation angle information, vehicle size information, and multiple candidate positions, the shadow area of ​​the vehicle at multiple candidate positions is determined; Based on the shadow area of ​​the vehicle at multiple candidate locations and the camping area, determine the shadow coverage corresponding to multiple candidate locations; The target location is determined from multiple candidate locations; where the shadow coverage of the target location is the maximum value among the shadow coverage of the multiple candidate locations.

[0071] In some embodiments, the vehicle control device 400 may further include an update module for: If the change in azimuth information is greater than the first threshold, or the decrease in shadow coverage at the target location is greater than the second threshold, update the azimuth and elevation information of the sun. Based on the updated azimuth and elevation information, as well as the vehicle's dimensions, the updated target location is determined. Control module 404 can also be used for: Control the vehicle to move to the updated target location.

[0072] In some embodiments, the control module 404 can also be used for: During the process of controlling the vehicle to move to the target location, the vehicle will stop moving if any of the following conditions are met: The distance between the vehicle and the obstacle is less than or equal to the third threshold; The ground slope is greater than or equal to the fourth threshold. The vehicle disconnects from the user terminal via Bluetooth.

[0073] In some embodiments, the control module 404 may specifically be used for: Control the vehicle to move to the target position at a first speed, wherein the first speed is less than or equal to a preset speed threshold.

[0074] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. They are devices corresponding to the above-mentioned vehicle control method. All implementation methods in the above-mentioned method embodiments are applicable to the embodiments of this device. For details on its specific functions and the resulting technical effects, please refer to the method embodiment section. It will not be repeated here.

[0075] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0076] Figure 5 A schematic diagram of the hardware structure of an electronic device provided in yet another embodiment of this application is shown.

[0077] The device may include a processor 501 and a memory 502 storing programs or instructions.

[0078] When processor 501 executes the program, it implements the steps in any of the above method embodiments.

[0079] For example, the program can be divided into one or more modules / units, one or more of which are stored in memory 502 and executed by processor 501 to complete this application. One or more modules / units can be a series of program instruction segments capable of performing a specific function, which describe the program's execution process in the device.

[0080] Specifically, the processor 501 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0081] Memory 502 may include mass storage for data or instructions. For example, and not limitingly, memory 502 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 502 may include removable or non-removable (or fixed) media. Where appropriate, memory 502 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 502 is non-volatile solid-state memory.

[0082] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) machine-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the methods according to one aspect of this disclosure.

[0083] The processor 501 implements any of the methods described above by reading and executing programs or instructions stored in the memory 502.

[0084] In one example, the electronic device may also include a communication interface 503 and a bus 504. The processor 501, memory 502, and communication interface 503 are connected via the bus 504 and communicate with each other.

[0085] The communication interface 503 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0086] Bus 504 includes hardware, software, or both, that couples components of an online data traffic metering device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 504 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0087] Furthermore, in conjunction with the methods in the above embodiments, this application embodiment can provide a machine-readable storage medium for implementation. This machine-readable storage medium stores a program or instructions; when executed by a processor, the program or instructions implement any of the methods in the above embodiments. This machine-readable storage medium can be read by a machine such as a computer.

[0088] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above method embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0089] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0090] This application provides a computer program product stored in a machine-readable storage medium. The program product is executed by at least one processor to implement the various processes of the above method embodiments and achieve the same technical effects. To avoid repetition, it will not be described again here.

[0091] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0092] The functional modules shown in the above-described block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer grids such as the Internet, intranets, etc.

[0093] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0094] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by a computer program or instructions. These programs or instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0095] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A vehicle control method, characterized in that, include: With the vehicle in camping mode, determine the camping area; Obtain the azimuth and elevation angle information of the sun; The target location is determined based on the azimuth information, the elevation information, and the vehicle size information. The shadow coverage between the vehicle's shadow area at the target location and the camping area meets the preset sunshade conditions; Control the vehicle to move to the target location.

2. The method according to claim 1, characterized in that, The determination of the sun's azimuth and altitude information includes: Obtain the vehicle's location information and system time; Based on the positioning information and the system time, the azimuth and elevation angle information of the sun are determined.

3. The method according to claim 1, characterized in that, Determining the target location based on the azimuth information, the elevation information, and the vehicle size information includes: Based on the azimuth information and the camping area, the initial sunshade area of ​​the vehicle is determined; Traverse the initial shading area to determine multiple candidate locations; Based on the azimuth information, the elevation information, the vehicle size information, and the multiple candidate positions, the shadow area of ​​the vehicle at the multiple candidate positions is determined; Based on the shadow area of ​​the vehicle at the multiple candidate locations and the camping area, the shadow coverage corresponding to the multiple candidate locations is determined; The target location is determined from the plurality of candidate locations; wherein the shadow coverage of the target location is the maximum value among the shadow coverage of the plurality of candidate locations.

4. The method according to claim 1, characterized in that, The method further includes: If the change in the azimuth information is greater than a first threshold, or if the decrease in shadow coverage corresponding to the target location is greater than a second threshold, update the azimuth and elevation information of the sun. Based on the updated azimuth and elevation information, as well as the vehicle's dimensions, the updated target position is determined. Control the vehicle to move to the updated target location.

5. The method according to claim 1, characterized in that, The method further includes: During the process of controlling the vehicle to move to the target location, the vehicle shall be stopped if any of the following conditions are met: The distance between the vehicle and the obstacle is less than or equal to the third threshold; The ground slope is greater than or equal to the fourth threshold. The vehicle disconnects from the user terminal via Bluetooth.

6. The method according to claim 1, characterized in that, Controlling the vehicle to move to the target location includes: The vehicle is controlled to move to the target position at a first speed, wherein the first speed is less than or equal to a preset speed threshold.

7. A vehicle control device, characterized in that, include: The first determining module is used to determine the camping area when the vehicle is in camping mode; The acquisition module is used to acquire the azimuth and elevation angle information of the sun; The second determining module is used to determine the target position based on the azimuth information, the elevation information, and the vehicle size information; The shadow coverage between the vehicle's shadow area at the target location and the camping area meets the preset sunshade conditions; The control module is used to control the vehicle to move to the target location.

8. An electronic device, characterized in that, The device includes: a processor and a memory storing programs or instructions; When the processor executes the program or instructions, it implements the method as described in any one of claims 1-6.

9. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores a program or instructions that, when executed by a processor, implement the method as described in any one of claims 1-6.

10. A computer program product, characterized in that, When the instructions in the computer program product are executed by the processor of the electronic device, the electronic device causes the electronic device to perform the method as described in any one of claims 1-6.

11. A vehicle, characterized in that, The vehicle includes a vehicle control device; The vehicle control device is used to perform the method as described in any one of claims 1-6.

Images