Method, apparatus, vehicle, device and storage medium for vehicle control

Abstract

Embodiments of the present disclosure provide a method, device, vehicle, equipment and storage medium for vehicle control. The method comprises: in response to a return request for a vehicle, determining at least one set of second sound signals corresponding to at least one predetermined sound source based on a first sound signal collected by a sound collection device associated with the vehicle; determining a relative positional relationship between the vehicle and the at least one predetermined sound source based on the at least one set of second sound signals; determining whether the vehicle meets a return condition based on the relative positional relationship; and performing a response to the return request for the vehicle based on the determination of whether the vehicle meets the return condition.

Description

Technical Field

[0001] The exemplary embodiments disclosed herein generally relate to the field of computers, and particularly to methods, apparatus, vehicles, devices, computer-readable storage media, and computer program products for vehicle control. Background Technology

[0002] Shared vehicles allow users to temporarily rent cars for short-distance travel, offering high flexibility, convenience, and practicality. After use, shared vehicles are typically required to be parked in designated parking areas to regulate parking, improve efficiency, and reduce the impact of vehicles on the urban landscape and traffic flow. Establishing fixed return points allows users to return vehicles more conveniently, while operators can more effectively manage their fleets and optimize resource allocation. This measure not only improves the urban environment and enhances user experience but also promotes the sustainable development of the sharing economy. Therefore, the economical and accurate implementation of designated vehicle return points is of great significance. Summary of the Invention

[0003] In a first aspect of this disclosure, a method for vehicle control is provided. The method includes: in response to a vehicle return request, determining at least one set of second sound signals corresponding to at least one predetermined sound source based on first sound signals acquired by a sound acquisition device associated with the vehicle; determining a relative positional relationship between the vehicle and the at least one predetermined sound source based on the at least one set of second sound signals; determining whether the vehicle meets return conditions based on the relative positional relationship; and executing a response to the vehicle return request based on the determination that the vehicle meets return conditions.

[0004] In a second aspect of this disclosure, an apparatus for vehicle control is provided. The apparatus includes: a first determining module configured to, in response to a vehicle return request, determine at least one set of second sound signals corresponding to at least one predetermined sound source based on first sound signals acquired by a sound acquisition device associated with the vehicle; a second determining module configured to determine a relative positional relationship between the vehicle and the at least one predetermined sound source based on the at least one set of second sound signals; a third determining module configured to determine whether the vehicle meets return conditions based on the relative positional relationship; and an execution module configured to execute a response to the vehicle return request based on the determination that the vehicle meets return conditions.

[0005] In a third aspect of this disclosure, a vehicle is provided. The vehicle includes a sound acquisition device; a storage unit configured to store a computer program; and a control unit configured to: control the sound acquisition device to acquire a first sound signal in the space where the vehicle is located, and execute the computer program to implement the method of the first aspect.

[0006] In a fourth aspect of this disclosure, an electronic device is provided. The device includes at least one processing unit; and at least one memory coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit. When executed by the at least one processing unit, the instructions cause the electronic device to perform the method of the first aspect.

[0007] In a fifth aspect of this disclosure, a computer-readable storage medium is provided. A computer program is stored on the medium, which, when executed by a processor, implements the method of the first aspect.

[0008] In a sixth aspect of this disclosure, a computer program product is provided, comprising a computer program, wherein the computer program, when executed by a processor, implements the method of the first aspect.

[0009] It should be understood that the description in this section is not intended to limit the key or essential features of the embodiments of this disclosure, nor is it intended to restrict the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0010] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. In the drawings, the same or similar reference numerals denote the same or similar elements, wherein:

[0011] Figure 1 A schematic diagram of an example environment in which embodiments of the present disclosure can be implemented is shown;

[0012] Figure 2 A flowchart illustrating a vehicle control process according to some embodiments of the present disclosure is shown;

[0013] Figures 3A to 3C A schematic diagram illustrating an example of a parking area according to some embodiments of the present disclosure is shown;

[0014] Figure 4A A schematic diagram of an example structure of a vehicle according to some embodiments of the present disclosure is shown;

[0015] Figure 4B and Figure 4C Schematic diagrams of examples of sound acquisition devices according to some embodiments of the present disclosure are shown respectively;

[0016] Figure 5 A schematic diagram of an example architecture for vehicle control according to some embodiments of the present disclosure is shown;

[0017] Figure 6 A schematic diagram illustrating an example scenario of vehicle control according to some embodiments of the present disclosure is shown;

[0018] Figure 7 A schematic structural block diagram of a device for vehicle control according to some embodiments of the present disclosure is shown; and

[0019] Figure 8 A block diagram of an electronic device that can implement one or more embodiments of the present disclosure is shown. Detailed Implementation

[0020] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure 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 disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0021] In the description of embodiments of this disclosure, the term "comprising" and similar terms should be understood as open-ended inclusion, i.e., "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The term "some embodiments" should be understood as "at least some embodiments". Other explicit and implicit definitions may also be included below.

[0022] In this document, unless explicitly stated otherwise, performing a step in response to A does not mean that the step is performed immediately after A, but may include one or more intermediate steps.

[0023] It is understood that the data involved in this technical solution (including but not limited to the data itself, the acquisition, use, storage or deletion of the data) shall comply with the requirements of relevant laws, regulations and related provisions.

[0024] It is understood that before using the technical solutions disclosed in the various embodiments of this disclosure, relevant users should be informed of the type, scope of use, and usage scenarios of the information involved in this disclosure through appropriate means in accordance with relevant laws and regulations, and authorization should be obtained from the relevant users. Among them, relevant users may include any type of rights holder, such as individuals, enterprises, and groups.

[0025] For example, in response to receiving an active request from a user, a prompt message is sent to the relevant user to clearly inform the user that the requested operation will require obtaining and using the user's information, thereby enabling the relevant user to choose whether to provide information to the software or hardware such as the electronic device, application, server, or storage medium that performs the operation of the technical solution disclosed herein based on the prompt message.

[0026] As an optional but non-restrictive implementation, in response to a user's active request, a prompt message can be sent to the user, such as 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 information to the electronic device.

[0027] 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.

[0028] As mentioned earlier, shared vehicles allow users to temporarily rent cars for short-distance travel, offering high flexibility, convenience, and practicality. After use, shared vehicles are typically required to be parked in designated parking areas to regulate parking, improve parking efficiency, and reduce the impact of vehicles on the urban landscape and traffic flow. By establishing fixed return points, users can return vehicles more conveniently, while operators can more effectively manage their fleets and optimize resource allocation. This measure not only improves the urban environment and enhances the user experience but also promotes the sustainable development of the sharing economy.

[0029] Traditionally, designated vehicle return points are typically achieved using satellite positioning, cameras, or radio frequency identification (RFID). However, using satellite positioning requires establishing an electronic fence beforehand using a handheld high-precision framing device, which is not only time-consuming and labor-intensive but also costly.

[0030] Using cameras to implement designated car return systems is costly and has high requirements for weather and lighting conditions. Cameras need to use marked lines as a reference to determine if a vehicle is parked within the designated area, requiring pre-marking of these lines. Furthermore, over time, these lines can easily disappear, become damaged, or become dirty, making it impossible to return the car.

[0031] Using RFID technology for designated vehicle return requires setting up RFID tags and readers on both the vehicle and the parking area. Once the vehicle enters the parking area, the reader communicates with the RFID tag to confirm whether the vehicle is parked there. This method requires pre-installing RFID tags in the parking area, which is destructive to urban roads and costly. Furthermore, RFID data is non-directional and cannot determine the vehicle's orientation. Therefore, a more cost-effective and accurate method for designated vehicle return would be of great significance.

[0032] In view of this, embodiments of the present disclosure provide an improved vehicle control scheme. In this scheme, if a vehicle return request is received, a first sound signal acquired by a sound acquisition device associated with the vehicle is obtained. Based on the first sound signal, at least one set of second sound signals corresponding to at least one predetermined sound source is determined. Based on the at least one set of second sound signals, the relative positional relationship between the vehicle and the at least one predetermined sound source is determined. Based on the relative positional relationship, it is determined whether the vehicle meets the return conditions. Based on the determination of whether the vehicle meets the return conditions, a response to the vehicle return request is executed.

[0033] According to embodiments of this disclosure, using sound positioning to achieve designated vehicle return improves the efficiency and accuracy of designated vehicle return, and reduces the investment costs of vehicles and parking areas, thereby lowering the cost and difficulty of implementing designated vehicle return.

[0034] Example Environment

[0035] Figure 1 A schematic diagram of an example environment 100 in which embodiments of the present disclosure can be implemented is shown. For example... Figure 1 As shown, environment 100 involves vehicle management platform 110, which can provide a management environment for vehicle 130, such as supporting vehicle 130 rental, selection and recommendation of parking areas, detection of vehicle 130 entering parking areas, detection of vehicle 130 posture, etc.

[0036] In some embodiments, the vehicle management platform 110 can be deployed on a server device 120, a vehicle 130, or a terminal device 140. For example, a vehicle client corresponding to the vehicle management platform 110 can run on the vehicle 130, and this vehicle client can interact with the vehicle management platform 110 provided by the server device 120. When the vehicle management platform 110 runs on the server device 120, the vehicle management platform 110 can provide services to the vehicle client running on the vehicle 130 based on the communication connection between the server device 120 and the vehicle 130. As another example, the terminal device 140 can run a client of the vehicle management platform 110, and this client can interact with the vehicle management platform 110 provided by the server device 120. When the vehicle management platform 110 runs on the server device 120, the vehicle management platform 110 can provide services to the client running on the terminal device 140 based on the communication connection between the server device 120 and the terminal device 140.

[0037] In some embodiments, the server device 120 may be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks, and big data and artificial intelligence platforms. The server device 120 may, for example, include computing systems / servers such as mainframes, edge computing nodes, computing devices in a cloud environment, etc.

[0038] In some embodiments, vehicle 130 may include "automobile," "vehicle," and "complete vehicle," or other similar terms, encompassing general motor vehicles such as sedans, sports utility vehicles (SUVs), multi-purpose vehicles (MPVs), buses, trucks, and other freight or passenger vehicles. This includes two-wheeled vehicles (e.g., electric two-wheelers), three-wheeled vehicles, four-wheeled vehicles, six-wheeled vehicles, etc., and includes hybrid vehicles, electric vehicles, gasoline vehicles, plug-in hybrid vehicles, fuel cell vehicles, and other alternative fuel vehicles, etc. Hybrid vehicles refer to vehicles with two or more power sources, and electric vehicles include pure electric vehicles, range-extended electric vehicles, etc., which are not specifically limited in the embodiments of this disclosure.

[0039] In some embodiments of this disclosure, vehicle 130 has an associated sound acquisition device 150, which can acquire sound signals from the environment in which vehicle 130 is located. The sound acquisition device 150 can be deployed on vehicle 130 or independently of vehicle 130. In some examples, the sound acquisition device 150 can be one or more acquisition units 151-1, 151-2, ..., 151-N, etc. As an example, acquisition units 151-1, 151-2, ..., 151-N can include microphones. The sound acquisition device 150 can include multiple microphones forming a microphone array.

[0040] In some embodiments, terminal device 140 may be any type of mobile terminal, fixed terminal, or portable terminal, including mobile phones, desktop computers, laptop computers, notebook computers, netbook computers, tablet computers, media computers, multimedia tablets, personal communication system (PCS) devices, personal navigation devices, personal digital assistants (PDAs), audio / video players, digital cameras / camcorders, positioning devices, television receivers, radio broadcast receivers, e-book devices, gaming devices, or any combination thereof, including accessories and peripherals of these devices or any combination thereof.

[0041] It should be understood that the structure and function of the various elements in environment 100 are described for illustrative purposes only and do not imply any limitation on the scope of this disclosure.

[0042] Example process

[0043] Some exemplary embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0044] Figure 2 A flowchart of a vehicle control process 200 according to some embodiments of the present disclosure is shown. For the convenience of discussion, the following will be combined with... Figure 1 Some embodiments of this disclosure are described in the context of environment 100 and from the perspective of vehicle management platform 110, but these are merely exemplary.

[0045] In process 200, at box 210, if a return request for vehicle 130 is received, vehicle management platform 110 acquires a first sound signal collected by sound acquisition device 150 associated with vehicle 130. Based on the first sound signal, vehicle management platform 110 determines at least one set of second sound signals corresponding to at least one predetermined sound source.

[0046] It is understood that the embodiments of this disclosure require the pre-deployment of predetermined sound sources within or around the parking area, as well as the deployment of sound acquisition devices 150 associated with the vehicle 130. The predetermined sound sources will be described by way of example below with reference to the accompanying drawings and examples, and the sound acquisition devices will be described by way of example below with reference to the accompanying drawings and examples.

[0047] The predetermined sound source here can include various sound-emitting devices capable of emitting sound signals. For example, the predetermined sound source can include, but is not limited to, loudspeakers, buzzers, vibrators, ultrasonic generators, sub-ultrasonic generators, and so on. Regarding the type of sound signal emitted by the predetermined sound source, in some examples, the predetermined sound source can be configured to emit sound signals that are audible to humans, such as sound signals whose frequencies fall within the audible range. In other examples, the predetermined sound source can be configured to emit sound signals that are inaudible to humans, such as ultrasonic or infrasonic waves. In still other examples, the predetermined sound source can be configured to emit sound signals within a target frequency range, which can be sound signals not present in normal traffic environments. For example, the predetermined sound source can be configured to emit sub-ultrasonic signals with frequencies falling within the range of 16kHz-23.5kHz. This avoids interference from traffic environment sounds, which helps improve the accuracy of designated vehicle return.

[0048] In some embodiments, a single predetermined sound source may be deployed in the parking area. In some examples, such as Figure 3A As shown, Figure 3A A schematic diagram of an example 300A of a parking area according to some embodiments of the present disclosure is shown. Example 300A shows a parking area 310 in which a sound source 320-1 is deployed, which may be deployed at the center of the parking area 310.

[0049] In some embodiments, multiple predetermined sound sources may also be deployed in the parking area. In some examples, such as... Figure 3B As shown, Figure 3B A schematic diagram of an example 300B of a parking area according to some embodiments of the present disclosure is shown. Example 300B shows a rectangular or approximately rectangular parking area 310 in which sound sources 320-1, 320-2, and 320-3 are deployed. The sound sources 320-1, 320-2, and 320-3 are arranged sequentially at intervals along a center line 330 of the parking area 310.

[0050] In other examples, such as Figure 3C As shown, Figure 3C A schematic diagram of an example 300C of a parking area according to some embodiments of the present disclosure is shown. Example 300C shows a rectangular or approximately rectangular parking area 310, which may include a plurality of sub-areas 311-1, 311-2, ..., 311-N arranged in a grid pattern. Sound sources 320-1, 320-2, ..., 320-N may be deployed in the plurality of sub-areas 311-1, 311-2, ..., 311-N respectively. It should be understood that the number and deployment of sound sources in the above example are merely exemplary. In practical applications, any number of sound sources and any appropriate deployment method can be selected according to actual needs, and the embodiments of the present disclosure do not limit this.

[0051] The sound acquisition device 150 can be deployed on the vehicle 130 or independently of the vehicle 130. For example, the sound acquisition device 150 can also be the sound acquisition device 150 of a terminal device 140 associated with the vehicle 130. In some embodiments, the sound acquisition device 150 may include a single acquisition unit, such as a single microphone deployed on the vehicle 130. In this case, the sound acquisition device 150 is able to acquire a set of first sound signals from the space where the vehicle 130 is located.

[0052] In some embodiments, the sound acquisition device 150 may include multiple acquisition units, which may be deployed at different locations within the vehicle 130. For example, multiple microphones may be arranged at different locations within the vehicle 130, and these microphones may collectively form a microphone array. In this case, the sound acquisition device 150 is able to acquire multiple sets of first sound signals from the space where the vehicle 130 is located.

[0053] In some embodiments, vehicle 130 may be a two-wheeled vehicle. The sound acquisition device may include at least one acquisition unit deployed at at least one location on the two-wheeled vehicle, namely: the front axle, the pedals, the rear axle, the handlebar axle, or the seat. As an example, such as... Figure 4A and Figure 4B As shown, Figure 4A A schematic diagram of an example structure 400 of a vehicle according to some embodiments of the present disclosure is shown. Figure 4B A schematic diagram of example 400B of a sound acquisition device 150 according to some embodiments of the present disclosure is shown. Example 400A shows a two-wheeled vehicle 130. Acquisition units 151-1, 151-2, and 151-3 can be deployed at the front wheel axle 401, pedal 402, and rear wheel axle 403 of the two-wheeled vehicle 130, respectively. The three acquisition units 151-1, 151-2, and 151-3 are arranged sequentially approximately along a straight line, forming the sound acquisition device 150 as shown in Example 400B. In this way, the three acquisition units 151-1, 151-2, and 151-3 are relatively close to the ground and cover the front and rear of the two-wheeled vehicle 130, which is beneficial for subsequently accurately determining the heading angle of the two-wheeled vehicle 130 based on the acquired sound signals.

[0054] In other examples, combined Figure 4A and Figure 4C As shown, Figure 4C A schematic diagram of an example 400C of a sound acquisition device according to some embodiments of the present disclosure is shown. Acquisition units 151-1, 151-2, 151-3, 151-4, and 151-5 can be pre-deployed at the front wheel axle 401, pedal 402, rear wheel axle 403, seat 404, and handlebar pivot 405 of the two-wheeled vehicle 130 shown in Example 400A. The acquisition units 151-1, 151-2, 151-3, 151-4, and 151-5 form an array as shown in Example 400C (i.e., sound acquisition device 150). This allows for accurate determination not only of the heading angle of the two-wheeled vehicle 130 but also of its roll and pitch angles.

[0055] Regarding the acquisition of the first sound signal in the space where vehicle 130 is located by the sound acquisition device 150, in some examples, while vehicle 130 is in use, vehicle management platform 110 can control sound acquisition device 150 to continuously acquire sound signals. If a return request for vehicle 130 is received, vehicle management platform 110 can acquire sound signals within a first time range prior to the current time as the first time signal. In other examples, vehicle management platform 110 can, in response to receiving a return request for vehicle 130, activate the sound acquisition device 150 associated with vehicle 130. The sound acquisition device 150 then acquires the first sound signal in the space where vehicle 150 is located.

[0056] In some embodiments, the vehicle management platform 110 can be deployed on the vehicle 130, and the vehicle management platform can acquire the first sound signal collected by the sound acquisition device 150 locally on the vehicle 130. Alternatively, the vehicle management platform 110 can be deployed on the server device 120. As an example, such as Figure 5 As shown, Figure 5 A schematic diagram of an example architecture 500 for vehicle control according to some embodiments of the present disclosure is shown. In the example architecture 500, vehicle 130 includes a control unit 510, a bus 520, a communication unit 530, and a sound acquisition device 150. The control unit is connected to the communication unit 530 and the sound acquisition device 150 via the bus 520. The bus 520 may include, but is not limited to, a Serial Peripheral Interface (SPI) bus, a Controller Area Network (CAN) bus, etc. Vehicle 130 can wirelessly communicate with server device 120, terminal device 140, or other remote devices using the communication unit 530. Vehicle management platform 110 can receive a user's request to return vehicle 130 from, for example, terminal device 140. Based on the communication connection between server device 120 and vehicle 130, vehicle management platform 110 sends a request to control unit 510 of vehicle 130. Control unit 510 may respond to the request by sending a first sound signal back to vehicle management platform 110.

[0057] In some embodiments, a predetermined sound source can be configured to emit sound signals within a target frequency range. The vehicle management platform 110 can determine sound signals within the target frequency range from the first sound signal. Then, the vehicle management platform 110 can separate at least one set of second sound signals corresponding to at least one predetermined sound source from the sound signals within the target frequency range. As an example, the predetermined sound source can be configured to emit sub-ultrasonic signals in the frequency range of 16 kHz to 23.5 kHz. The vehicle management platform 110 can perform filtering processing on the first sound signal, filtering out sound signals outside the frequency range of 16 kHz to 23.5 kHz and retaining sound signals within the frequency range of 16 kHz to 23.5 kHz. Then, the vehicle management platform 110 can perform sound source separation processing on the sound signals within the frequency range of 16 kHz to 23.5 kHz, separating the second sound signal corresponding to each predetermined sound source from the sound signals within the frequency range of 16 kHz to 23.5 kHz.

[0058] In some embodiments, the sound acquisition device 150 includes multiple acquisition units deployed at different locations on the vehicle 130. The vehicle management platform 110 can acquire multiple sets of first sound signals acquired by the multiple acquisition units respectively. Based on the multiple sets of first sound signals, the vehicle management platform 110 can determine at least one set of second sound signals corresponding to at least one predetermined sound source. As an example, such as Figure 4A As shown, it is assumed that microphones are installed at the front wheel axle 401, pedal 402, and rear wheel axle 403 of a two-wheeled vehicle 130. The vehicle management platform 110 can acquire three sets of first sound signals and separate second sound signals corresponding to at least one predetermined sound source from each of the three sets of sound signals. For each predetermined sound source, a maximum of three sets of corresponding second sound signals can be acquired. Of course, due to differences in microphone position and performance, it is possible that some microphones may only collect at least a portion of the sound signals from the at least one predetermined sound source, or even that some microphones may not detect the sound signals from the predetermined sound source at all.

[0059] In some embodiments, multiple predetermined sound sources may be pre-deployed in the parking area. In this case, the vehicle management platform 110 can determine multiple sets of second sound signals corresponding to the multiple predetermined sound sources from the first sound signal. The vehicle management platform 110 can determine at least one set of second sound signals whose intensity exceeds a sound intensity threshold from the multiple sets of second sound signals. As an example, such as Figure 3BAs shown, sound sources 320-1, 320-2, and 320-3 can be pre-deployed in parking area 310. The vehicle management platform 110 can extract second sound signals corresponding to sound sources 320-1, 320-2, and 320-3 from the first sound signal. Then, the vehicle management platform 110 can determine the intensity of the second sound signals corresponding to sound sources 320-1, 320-2, and 320-3, and compare the intensity of each second sound signal with a pre-set intensity threshold. If the intensity of a second sound signal exceeds the intensity threshold, it can be retained. If the intensity of a second sound signal does not exceed the intensity threshold, it can be discarded. This allows for the retention of second sound signals with higher intensity for subsequent sound source localization, which helps improve the accuracy of designated vehicle return.

[0060] In process 200, block 220, the vehicle management platform 110 determines the relative positional relationship between the vehicle 130 and at least one predetermined sound source based on at least one set of second sound signals. In some embodiments, the vehicle management platform 110 may extract at least one sound source feature from the at least one set of second sound signals. Sound source localization is performed on at least one predetermined sound source based on at least one sound source feature to determine the relative positional relationship between the vehicle and at least one predetermined sound source. The sound source features used to perform sound source localization may differ depending on the sound source localization method employed.

[0061] In some examples, the vehicle management platform 110 can perform sound source localization based on methods such as: a localization method based on controllable beamforming with maximum output power, a localization method based on high-resolution spectrum estimation, and a localization method based on Time Difference of Arrival (TDOA) estimation. In other examples, the vehicle management platform 110 can also provide sound source features to a trained machine learning model, which determines the relative positional relationship between the vehicle and the predetermined sound source. Assuming the vehicle management platform 110 performs sound source localization based on the TDOA estimation method, the sound source features include at least the time delay between the arrival of sound waves at multiple acquisition units, the incident angle of the sound waves, etc.

[0062] It is understood that the above-described sound source localization methods and specific details of sound source features are exemplary. In practical applications, any appropriate sound source localization method can be selected according to actual needs, and the required sound source features can be determined based on the sound source localization method. The embodiments of this disclosure do not limit this.

[0063] The relative positional relationship between vehicle 130 and the predetermined sound source at least indicates the relative distance between vehicle 130 and the predetermined sound source. Alternatively or additionally, this relative positional relationship may also indicate both the relative distance and relative attitude between vehicle 130 and the predetermined sound source. As an example, such as Figure 6 As shown, Figure 6 A schematic diagram of an example scenario 600 of vehicle control according to some embodiments of the present disclosure is shown. Example scenario 600 shows a parking area 610 and vehicles 130-1 and 130-2. The parking area 610 is equipped with sound sources 320-1, 320-2, and 320-3. For vehicle 130-1, the vehicle management platform 110 can determine the relative distance S1 between vehicle 130-1 and sound source 320-1, and can also determine the heading angle Θ1 between vehicle 130-1 and sound source 320-1. Alternatively or additionally, the vehicle management platform 110 can also determine the pitch angle and roll angle of vehicle 130-1 relative to sound source 320-1, etc.

[0064] In process 200, block 230, the vehicle management platform 110 determines whether the vehicle 130 meets the return conditions based on the relative positional relationship between the vehicle 130 and at least one predetermined sound source. The return conditions are used to determine whether the vehicle 130 meets the requirements for return. In some embodiments, the return conditions may indicate a target area for parking the vehicle 130, which may include at least a portion of the parking area corresponding to the at least one predetermined sound source. The vehicle management platform 110 may determine whether the vehicle 130 is located within the target area indicated by the return conditions based on the relative positional relationship. If the vehicle 130 is determined to be within the target area, the vehicle management platform 110 may determine that the vehicle 130 meets the return conditions. If the vehicle 130 is determined to be outside the target area, the vehicle management platform may determine that the vehicle does not meet the return conditions.

[0065] In some examples, the target area may include a portion of the parking area. For instance, a target area smaller than the parking area can be created by shrinking the parking area inward by a distance X from its boundaries. This can standardize designated parking location behavior. Alternative or additional locations may also include the parking area as a target area. For example, such as... Figure 6 As shown, the target area may include parking area 610. Alternative or additional areas may also be available; the target area may include the parking area and areas outside the parking area. For example, as... Figure 6 As shown, based on the boundary of parking area 610, it can be extended outward by a distance X to form an extended area 620 surrounding parking area 610. The target area can include parking area 610 and extended area 620.

[0066] In some embodiments, the return conditions may also indicate a target attitude for vehicle 130, such as at least one of the heading angle, pitch angle, and roll angle for vehicle 130. The vehicle management platform 110 may determine whether the attitude of vehicle 130 conforms to the target attitude indicated by the return conditions based on relative positional relationships. If it is determined that vehicle 130 is within the target area and its attitude conforms to the target attitude, the vehicle management platform 110 determines that vehicle 130 meets the return conditions. If it is determined that the attitude of vehicle 130 does not conform to the target attitude, the vehicle management platform 110 determines that vehicle 130 does not meet the return conditions.

[0067] In some embodiments, the return conditions may be for non-specific parking areas. In this case, the vehicle management platform 110 does not need to identify the predetermined sound source and the parking area, and can determine whether the vehicle 130 meets the return conditions based on the return conditions for non-specific parking areas. As an example, the return conditions may indicate that the target area includes the area within a predetermined distance around the predetermined sound source. The vehicle management platform 110 can determine whether the relative distance S between the vehicle 130 and the predetermined sound source exceeds the predetermined distance. If it is determined that the relative distance S does not exceed the predetermined distance, the vehicle management platform 110 can determine that the vehicle 130 meets the return conditions. If it is determined that the relative distance S exceeds the predetermined distance S, the vehicle management platform 110 can determine that the vehicle does not meet the return conditions.

[0068] As another example, each parking area can deploy multiple predetermined sound sources, and these sources can have specific positional relationships with a reference object within the parking area. The parking conditions can indicate the target area and target orientation relative to this reference object. For example, such as... Figure 6 As shown, the centerline 630 along the length of the parking area 610 can be used as a reference. Sound sources 330-1, 330-2, and 330-3 can be arranged sequentially at specific intervals along the centerline 630 of the parking area 610. The vehicle return conditions can indicate predetermined distances to both sides of the centerline 630 and predetermined angle ranges relative to the centerline 630.

[0069] The vehicle management platform 110 can determine the relative distances and angles between vehicles 130-1 and 130-2 and sound sources 330-1, 330-2, and 330-3, respectively. Based on these relative distances and angles, the platform determines the relative distance and angle between vehicle 130 and the centerline 630. For example, it can determine the closest distance between vehicle 130 and the centerline 630, as well as the angle between the projection of the centerline of vehicle 130 in the front-rear direction onto the horizontal plane and the centerline 630 of the parking area 610. Vehicles 130-1 and 130-2 are both located within the target area jointly formed by the parking area 610 and the extended area 620. The relative distances between vehicles 130-1 and 130-2 and the centerline 630 do not exceed the predetermined distances indicated by the return conditions, thus meeting the relative distance requirements of the return conditions.

[0070] The relative angle between vehicle 130-1 and centerline 630 does not fall within the predetermined angle range indicated by the return conditions, for example (90°-α, 90°+α). The relative angle between vehicle 130-1 and centerline 630 does not meet the requirements of the return conditions for relative angles (for example, requiring vehicle 130 to be approximately perpendicular to centerline 630), and vehicle management platform 110 can determine that vehicle 130-1 does not meet the return conditions.

[0071] The relative angle between vehicle 130-2 and centerline 630 falls within the predetermined angle range indicated by the return conditions, such as (90°-α, 90°+α). Since the relative angle between vehicle 130-2 and centerline 630 meets the requirements of the return conditions for relative angles (e.g., requiring vehicle 130 to be approximately perpendicular to centerline 630), the vehicle management platform 110 can determine that vehicle 130-2 meets the return conditions.

[0072] Vehicle return conditions can also be associated with specific parking areas. In some embodiments, the vehicle management platform 110 can predetermine a second voiceprint feature for each sound source deployed in the parking area. This second voiceprint feature can indicate the acoustic characteristics of the sound source, such as its spectral characteristics, temporal characteristics, etc. The vehicle management platform 110 can also predetermine return conditions for each parking area, generating parking area information for each area. The parking area information can be configured to at least indicate the return conditions for the corresponding parking area. The vehicle management platform 110 can also construct a mapping relationship between the second voiceprint feature and the parking area information; for example, it can associate the parking area information with at least one corresponding second voiceprint feature and save it to a database.

[0073] After acquiring at least one set of second sound signals corresponding to at least one predetermined sound source, the vehicle management platform 110 can determine at least one first voiceprint feature based on the at least one set of second sound signals. Each of the at least one first voiceprint feature indicates the acoustic characteristics of its corresponding sound source. The vehicle management platform 110 can acquire the mapping relationship between multiple second voiceprint features of multiple candidate sound sources (also referred to as candidate predetermined sound sources) and parking area information of the corresponding parking areas. The vehicle management platform 110 compares the at least one first voiceprint feature with the multiple second voiceprint features of the multiple candidate sound sources. If it is determined that the at least one first voiceprint feature matches a target second voiceprint feature among the multiple second voiceprint features, the target parking area information mapped to the target second voiceprint feature is determined based on the mapping relationship. Then, the vehicle management platform 110 can determine whether the vehicle 130 meets the return conditions indicated by the target parking area information based on the relative positional relationship.

[0074] In some embodiments, the target parking area information further indicates the location of at least one predetermined sound source deployed in the corresponding target parking area. The location of the predetermined sound source can be the relative location between the predetermined sound source and the target parking area, or it can be the geographical location of the predetermined sound source. The vehicle management platform 110 can determine the location of the vehicle 130 based on the relative location relationship and the location of at least one predetermined sound source. Then, based at least on the location of the vehicle 130, it determines whether the vehicle 130 meets the return conditions indicated by the target parking area information.

[0075] As an example, parking area information may include the parking area's ID, location, predetermined parking posture (e.g., predetermined heading angle), the locations of each predetermined sound source within the parking area, and an outward redundancy distance X. The vehicle management platform 110 can store the parking area information in a database, associating it with the second acoustic signature characteristics of each predetermined sound source within the parking area. Given a determined relative positional relationship (e.g., relative distance and relative angle) between vehicle 130 and at least one predetermined sound source in the parking area, the vehicle management platform 110 can determine the location of vehicle 130 based on the relative positional relationship and the locations of the predetermined sound sources. Subsequently, the vehicle management platform 110 can determine whether vehicle 130 is located within a target area based on its location. If vehicle 130 is within the target area, it can be determined how vehicle 130 meets the return conditions. If vehicle 130 is outside the target area, it can be determined that vehicle 130 does not meet the return conditions.

[0076] Alternatively or additionally, the vehicle management platform 110 can also determine the attitude (e.g., heading angle) of the vehicle 130, and whether the attitude of the vehicle 130 conforms to the predetermined parking attitude. For example, the vehicle management platform 110 can determine whether the difference between the heading angle of the vehicle 130 and the predetermined heading angle is greater than a predetermined angle threshold. If the vehicle 130 is located within the target area and its attitude conforms to the predetermined parking attitude, the vehicle management platform 110 can determine that the vehicle 130 meets the return conditions. If the vehicle 130's attitude does not conform to the predetermined parking attitude, the vehicle management platform 110 can determine that the vehicle 130 does not meet the return conditions.

[0077] As another example, such as Figure 3C As shown, the parking area 310 may include multiple sub-areas 311-1, 311-2, ..., 311-N. The parking area information may also indicate the location of multiple sub-areas 311-1, 311-2, ..., 311-N. The vehicle management platform 110 can determine at least one sub-area into which the vehicle 130 has landed, so as to accurately determine the positional relationship between the vehicle 130 and the parking area, and thus accurately determine whether the vehicle 130 meets the return conditions.

[0078] In process 200, box 240, the vehicle management platform 110, based on whether vehicle 130 meets the return conditions, responds to the return request for vehicle 130. Specifically, if vehicle 130 meets the return conditions, the vehicle management platform 110 can perform return processing for vehicle 130. For example, the vehicle management platform 110 can instruct vehicle 130 to switch to a locked state, change the usage status of vehicle 130 to an available state, and send a resource provision request to terminal device 140, requesting terminal device 140 to provide the resources required for the use of vehicle 130, etc. If vehicle 130 does not meet the return conditions, the vehicle management platform 110 can generate a prompt message to prompt the user to adjust the position or orientation of vehicle 130. For example, the vehicle management platform 110 can play a prompt tone through the speaker of vehicle 130, or the vehicle management platform 110 can send a prompt message to terminal device 110, prompting the user to adjust the position or orientation of vehicle 130.

[0079] In summary, according to the embodiments of this disclosure, using sound positioning to achieve fixed-point vehicle return is beneficial to improving the efficiency and accuracy of fixed-point vehicle return, and the investment cost of vehicles and parking areas is relatively low, which can reduce the cost and difficulty of implementing fixed-point vehicle return.

[0080] Example devices, vehicles, and equipment

[0081] Embodiments of this disclosure also provide corresponding apparatus for implementing the above methods or processes. Figure 7A schematic structural block diagram of a vehicle control device 700 according to some embodiments of the present disclosure is shown. The device 700 may be implemented in or included in a vehicle management platform 110. Various modules / components in the device 700 may be implemented by hardware, software, firmware, or any combination thereof.

[0082] like Figure 7 As shown, the device 700 includes a first determining module 710, a second determining module 720, a third determining module 730, and an execution module 740. The first determining module 710 is configured to, in response to a vehicle return request, determine at least one set of second sound signals corresponding to at least one predetermined sound source based on a first sound signal acquired by a sound acquisition device associated with the vehicle. The second determining module 720 is configured to determine the relative positional relationship between the vehicle and at least one predetermined sound source based on the at least one set of second sound signals. The third determining module 730 is configured to determine whether the vehicle meets the return conditions based on the relative positional relationship. The execution module 740 is configured to execute a response to the vehicle return request based on the determination that the vehicle meets the return conditions.

[0083] In some embodiments, the sound acquisition device includes multiple acquisition units deployed at different locations in the vehicle, and the first determining module 710 is further configured to: acquire multiple sets of first sound signals acquired by the multiple acquisition units respectively; and determine at least one set of second sound signals corresponding to at least one predetermined sound source based on the multiple sets of first sound signals.

[0084] In some embodiments, at least one predetermined sound source includes multiple predetermined sound sources, and the first determining module 710 is further configured to: determine from the first sound signal multiple sets of second sound signals corresponding to the multiple predetermined sound sources respectively; and determine from the multiple sets of second sound signals at least one set of second sound signals whose sound intensity exceeds a sound intensity threshold.

[0085] In some embodiments, the first determining module 710 is further configured to: determine a sound signal located within a target frequency range from the first sound signal; and separate at least one set of second sound signals corresponding to at least one predetermined sound source from the sound signal located within the target frequency range.

[0086] In some embodiments, the second determining module 720 is further configured to: extract at least one sound source feature from at least one set of second sound signals; and perform sound source localization on at least one predetermined sound source based on at least one sound source feature to determine the relative positional relationship between the vehicle and at least one predetermined sound source.

[0087] In some embodiments, the third determining module 730 is further configured to: determine at least one first voiceprint feature based on at least one set of second sound signals, wherein the at least one first voiceprint feature indicates the acoustic characteristics of its respective corresponding sound source; acquire a mapping relationship between multiple second voiceprint features of multiple candidate sound sources and parking area information of the corresponding parking area, wherein the parking area information at least indicates the return conditions of the corresponding parking area; in response to determining that at least one first voiceprint feature matches a target second voiceprint feature among the multiple second voiceprint features, determine the target parking area information mapped to the target second voiceprint feature based on the mapping relationship; and determine whether the vehicle meets the return conditions indicated by the target parking area information based on the relative positional relationship.

[0088] In some embodiments, the target parking area information also indicates the location of at least one predetermined sound source deployed in the corresponding target parking area, and the third determining module 730 is further configured to: determine the location of the vehicle based on the relative positional relationship and the location of at least one predetermined sound source; and determine whether the vehicle meets the return conditions indicated by the target parking area information based at least on the location of the vehicle.

[0089] In some embodiments, the relative positional relationship at least indicates the relative distance between the vehicle and at least one predetermined sound source, and the third determining module 730 is further configured to: determine whether the vehicle is located within the target area indicated by the return conditions based on the relative distance, the target area including at least a portion of the parking area corresponding to at least one predetermined sound source; and determine that the vehicle meets the return conditions based on the determination that the vehicle is located within the target area.

[0090] In some embodiments, the relative positional relationship also indicates the relative posture between the vehicle and at least one predetermined sound source, and the third determining module 730 is further configured to: determine whether the posture of the vehicle conforms to the target posture indicated by the return conditions based on the relative posture; and further determine that the vehicle meets the return conditions based on the determination that the posture of the vehicle conforms to the target posture.

[0091] The units and / or modules included in device 700 can be implemented in various ways, including software, hardware, firmware, or any combination thereof. In some embodiments, one or more units and / or modules can be implemented using software and / or firmware, such as machine-executable instructions stored on a storage medium. In addition to or as an alternative to machine-executable instructions, some or all of the units and / or modules in device 700 can be implemented at least partially by one or more hardware logic components. By way of example and not limitation, exemplary types of hardware logic components that can be used include field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), and so on.

[0092] like Figure 5 As shown, embodiments of this disclosure also provide a vehicle 130. Figure 5 The vehicle 130 shown may include or be implemented as Figure 1 Vehicle 130 or Figure 7 Device 700.

[0093] Vehicle 130 includes a sound acquisition device 150, a storage unit 540, and a control unit 510. The storage unit 510 is configured to store a computer program. The control unit 520 is configured to control the sound acquisition device to acquire a first sound signal in the space where the vehicle is located, and to execute the computer program to cause vehicle 130 to perform various methods or actions according to various embodiments of this disclosure.

[0094] In some embodiments, the sound acquisition device includes multiple acquisition units, which are deployed at different locations on the vehicle.

[0095] In some embodiments, the vehicle is a two-wheeled vehicle, and the sound acquisition device includes at least one acquisition unit, which is deployed at at least one of the following locations on the two-wheeled vehicle: the front wheel axle, the pedal, the rear wheel axle, the handlebar axle, or the seat.

[0096] Figure 8 A block diagram of an electronic device 800 in which one or more embodiments of the present disclosure may be implemented is shown. It should be understood that... Figure 8 The electronic device 800 shown is merely exemplary and should not be construed as limiting the functionality and scope of the embodiments described herein. Figure 8 The illustrated electronic device 800 may include or be implemented as Figure 1 The vehicle management platform 110 or Figure 7 Device 700.

[0097] like Figure 8 As shown, electronic device 800 is in the form of a general-purpose electronic device. Components of electronic device 800 may include, but are not limited to, one or more processors or processing units 810, memory 820, storage device 830, one or more communication units 840, one or more input devices 850, and one or more output devices 860. Processing unit 810 may be a physical or virtual processor and is capable of performing various processes according to programs stored in memory 820. In a multiprocessor system, multiple processing units execute computer-executable instructions in parallel to improve the parallel processing capability of electronic device 800.

[0098] Electronic device 800 typically includes multiple computer storage media. Such media can be any accessible media that is accessible to electronic device 800, including but not limited to volatile and non-volatile media, removable and non-removable media. Memory 820 can be volatile memory (e.g., registers, cache, random access memory (RAM)), non-volatile memory (e.g., read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory), or some combination thereof. Storage device 830 can be removable or non-removable media and can include machine-readable media, such as flash drives, disks, or any other media that can be used to store information and / or data and can be accessed within electronic device 800.

[0099] Electronic device 800 may further include additional removable / non-removable, volatile / non-volatile storage media. Although not explicitly stated... Figure 8 As shown, disk drives for reading from or writing to removable, non-volatile disks (e.g., "floppy disks") and optical disk drives for reading from or writing to removable, non-volatile optical disks can be provided. In these cases, each drive can be connected to a bus (not shown) via one or more data media interfaces. Memory 820 may include computer program product 825 having one or more program modules configured to perform various methods or actions of various embodiments of this disclosure.

[0100] The communication unit 840 enables communication with other electronic devices via a communication medium. Additionally, the functionality of the components of the electronic device 800 can be implemented using a single computing cluster or multiple computing machines capable of communicating via communication connections. Therefore, the electronic device 800 can operate in a networked environment using logical connections to one or more other servers, network personal computers (PCs), or another network node.

[0101] Input device 850 can be one or more input devices, such as a mouse, keyboard, trackball, etc. Output device 860 can be one or more output devices, such as a monitor, speaker, printer, etc. Electronic device 800 can also communicate with one or more external devices (not shown) via communication unit 840 as needed. These external devices include storage devices, display devices, etc., and can communicate with one or more devices that enable user interaction with electronic device 800, or with any device that enables electronic device 800 to communicate with one or more other electronic devices (e.g., network card, modem, etc.). Such communication can be performed via input / output (I / O) interface (not shown).

[0102] According to an exemplary implementation of this disclosure, a computer-readable storage medium is provided that stores computer-executable instructions thereon, wherein the computer-executable instructions are executed by a processor to implement the methods described above. According to an exemplary implementation of this disclosure, a computer program product is also provided, which is tangibly stored on a non-transitory computer-readable medium and includes computer-executable instructions, which are executed by a processor to implement the methods described above.

[0103] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatuses, devices, and computer program products implemented according to this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0104] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processing unit of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0105] Computer-readable program instructions can be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions that execute on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0106] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0107] Various implementations of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed implementations. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described implementations. The terminology used herein is chosen to best explain the principles, practical applications, or improvements to technology in the market, or to enable others skilled in the art to understand the various implementations disclosed herein.

Claims

1. A method for vehicle control, comprising: In response to a vehicle return request, based on a first sound signal acquired by a sound acquisition device associated with the vehicle, at least one set of second sound signals corresponding to at least one predetermined sound source are determined; Based on the at least one set of second sound signals, determine the relative positional relationship between the vehicle and the at least one predetermined sound source; Based on the relative positional relationship, determine whether the vehicle meets the return conditions; as well as Based on the determination of whether the vehicle meets the return conditions, a response is executed to the vehicle return request.

2. The method of claim 1, wherein the sound acquisition device comprises a plurality of acquisition units deployed at different locations in the vehicle, and wherein determining at least one set of second sound signals corresponding to the at least one predetermined sound source comprises: Acquire multiple sets of first sound signals collected by the multiple acquisition units respectively; as well as Based on the multiple sets of first sound signals, determine the at least one set of second sound signals corresponding to the at least one predetermined sound source.

3. The method of claim 1, wherein the at least one predetermined sound source comprises a plurality of predetermined sound sources, and wherein determining the at least one set of second sound signals corresponding to the at least one predetermined sound source comprises: Determine multiple sets of second sound signals from the first sound signal, each corresponding to one of the multiple predetermined sound sources; as well as From the plurality of second sound signals, determine at least one group of second sound signals whose intensity exceeds a sound intensity threshold.

4. The method of claim 1, wherein determining the at least one set of second sound signals corresponding to the at least one predetermined sound source comprises: Determine the sound signal located within the target frequency range from the first sound signal; as well as Separate the at least one set of second sound signals corresponding to the at least one predetermined sound source from the sound signals located in the target frequency range.

5. The method of claim 1, wherein determining the relative positional relationship between the vehicle and the at least one predetermined sound source comprises: Extract at least one sound source feature from the at least one set of second sound signals; as well as Sound source localization is performed on the at least one predetermined sound source based on the at least one sound source feature to determine the relative positional relationship between the vehicle and the at least one predetermined sound source.

6. The method according to claim 1, wherein determining whether the vehicle meets the return conditions based on the relative positional relationship includes: Based on the at least one set of second sound signals, at least one first voiceprint feature is determined, wherein the at least one first voiceprint feature indicates the acoustic characteristics of its respective sound source. The mapping relationship between multiple second voiceprint features of multiple candidate sound sources and parking area information of the corresponding parking areas is obtained, wherein the parking area information at least indicates the return conditions of the corresponding parking area; In response to determining that the at least one first voiceprint feature matches a target second voiceprint feature among the plurality of second voiceprint features, the target parking area information mapped to the target second voiceprint feature is determined based on the mapping relationship; as well as Based on the relative positional relationship, it is determined whether the vehicle meets the return conditions indicated by the target parking area information.

7. The method of claim 6, wherein the target parking area information further indicates the location of at least one predetermined sound source deployed in the corresponding target parking area, and Determining whether the vehicle meets the return conditions indicated by the target parking area information based on the relative position relationship includes: The position of the vehicle is determined based on the relative positional relationship and the position of the at least one predetermined sound source; as well as Based at least on the vehicle's location, determine whether the vehicle meets the return conditions indicated by the target parking area information.

8. The method of claim 1, wherein the relative positional relationship at least indicates the relative distance between the vehicle and the at least one predetermined sound source, and wherein determining whether the vehicle meets the return conditions based on the relative positional relationship comprises: Based on the relative distance, it is determined whether the vehicle is located within the target area indicated by the return conditions, the target area including at least a portion of the parking area corresponding to the at least one predetermined sound source; as well as Based on the determination that the vehicle is located in the target area, it is determined that the vehicle meets the return conditions.

9. The method of claim 8, wherein the relative positional relationship further indicates the relative attitude between the vehicle and the at least one predetermined sound source, and wherein determining that the vehicle meets the return conditions comprises: Based on the relative attitude, determine whether the vehicle's attitude matches the target attitude indicated by the return conditions; as well as Furthermore, based on determining that the vehicle's posture conforms to the target posture, it is determined that the vehicle meets the return conditions.

10. A vehicle comprising: Sound acquisition equipment; A storage unit is configured to store a computer program; as well as The control unit is configured as follows: Control the sound acquisition device to acquire the first sound signal in the space where the vehicle is located, and The computer program is executed to implement the method according to any one of claims 1 to 9.

11. The vehicle according to claim 10, wherein the sound acquisition device comprises a plurality of acquisition units, the plurality of acquisition units being deployed at different locations on the vehicle.

12. The vehicle of claim 10, wherein the vehicle is a two-wheeled vehicle, and the sound acquisition device comprises at least one acquisition unit, the at least one acquisition unit being deployed at at least one of the following locations on the two-wheeled vehicle: a front wheel axle, a pedal, a rear wheel axle, a handlebar axle, or a seat.

13. A device for vehicle control, comprising: The first determining module is configured to, in response to a vehicle return request, determine at least one set of second sound signals corresponding to at least one predetermined sound source based on a first sound signal acquired by a sound acquisition device associated with the vehicle. The second determining module is configured to determine the relative positional relationship between the vehicle and the at least one predetermined sound source based on the at least one set of second sound signals; The third determining module is configured to determine whether the vehicle meets the return conditions based on the relative positional relationship; as well as The execution module is configured to respond to the vehicle return request based on a determination of whether the vehicle meets the return conditions.

14. An electronic device comprising: At least one processing unit; as well as At least one memory, coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit, which, when executed by the at least one processing unit, cause the electronic device to perform the method according to any one of claims 1 to 9.

15. A computer-readable storage medium having a computer program stored thereon, the computer program being executable by a processor to implement the method according to any one of claims 1 to 9.

16. A computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements the method according to any one of claims 1 to 9.

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