A control method and related apparatus

Abstract

The application discloses a control method and related device, which are applied to the technical field of vehicle control. In the application, a vehicle provides surrounding environment information of the vehicle to a server, the server establishes a surrounding situation model based on the surrounding environment information of the vehicle and provides the surrounding situation model to a user equipment, and the user equipment can show the positional relationship between the vehicle and surrounding objects through the surrounding situation model. A user can select a target relative position in the user equipment, the user equipment provides the target relative position to the server, and the server issues the target relative position to the vehicle, so that the vehicle can control the movement to a target position corresponding to the target relative position. The application can more simply, quickly and efficiently realize remote vehicle moving, and improve the user experience. Further, the application can also guarantee the user privacy safety and improve the safety of remote vehicle moving.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a control method and related device. Background Technology

[0002] With the improvement of people's living standards and the increase in car ownership, driving has become an indispensable part of daily life. In busy urban traffic, it's easy for a parked car to block other cars. In such cases, when stuck in traffic and needing to move, users often have to rush to the scene to move their cars, which is very inefficient. Especially in emergency or temporary parking situations, users may find it difficult to get to the scene in time to move their cars.

[0003] Therefore, how to achieve remote vehicle relocation more efficiently and quickly, and improve user experience, is a problem that this invention urgently needs to solve. Summary of the Invention

[0004] This application provides a control method and related device that enables remote vehicle relocation more simply, quickly, and efficiently, while protecting user privacy and security, improving the ease of use and security of remote vehicle relocation, and enhancing the user experience.

[0005] Firstly, this application provides a control method applied to a first vehicle, for example, implemented by a vehicle controller or computing device, or by a controller or a module within the controller, where the module may include a software module, a hardware module, or a combination of both. For ease of description, the following explanation uses a control device as the executing entity. Furthermore, the first vehicle has a communication connection with a server.

[0006] The control method includes: sending information about a first surrounding environment of a first vehicle to a server, the first surrounding environment including a second vehicle; receiving instruction information from the server regarding the second vehicle, the instruction information indicating that the second vehicle's travel path conflicts with the current position of the first vehicle; sending the relative position of the second vehicle to the server, the relative position of the second vehicle being its position relative to a first reference point, the first reference point being a point in the first surrounding environment of the first vehicle; receiving a target relative position from the server, the target relative position being its position relative to the first reference point; determining a target position based on the target relative position, the target position also being related to the absolute position of the first reference point; and controlling the first vehicle to move to the target position.

[0007] In this application, the first surrounding environment refers to the environment surrounding the location where the first vehicle is parked, including at least other vehicles around the first vehicle. Optionally, the first surrounding environment may also include other obstacles, such as bollards and trees. The control device sends the first surrounding environment data to the server for processing, which reduces the computational and storage burden on the vehicle-side equipment and saves hardware resources. Moreover, servers typically have strong data processing capabilities; processing the data on the server side ensures the efficiency and accuracy of the control method provided in this application.

[0008] When a traffic jam occurs, the control device receives instructions from the server regarding the blocked vehicles and then sends the relative positions of the blocked vehicles to the server. The relative position of the blocked vehicle is its absolute position relative to a first reference point, which is a point in the surrounding environment. Optionally, the first reference point can be defined by the user. Alternatively, the first reference point can be calculated by the server. Based on the relative position of the blocked vehicles and the surrounding environment information, the server obtains a target relative position, which is the relative position of the target location for moving the first vehicle. After receiving the target relative position from the server, the control device calculates the target position and then moves to the target position. Because the target relative position is determined by the server based on the relative position of the blocked vehicles and the surrounding environment information, which includes a wider range and more obstacle information, the target relative position determined by the server is more accurate. Traditional methods of moving vehicles, such as requiring users to physically move their vehicles, waste users' time and energy, negatively impacting the user experience.

[0009] In some possible designs, the first vehicle is equipped with a memory that stores the absolute positions of important objects in the first surrounding environment, such as the absolute position of the vehicle and the absolute position of a first reference point.

[0010] Furthermore, the coordinates between the first vehicle and the server are transmitted by encrypting the absolute position into a relative position and decrypting the relative position into an absolute position. This also takes into account data security and can prevent the vehicle's position from being leaked during the process of uploading to the server.

[0011] In one possible implementation of the first aspect, the control method further includes: when the first vehicle is detected to have a parking intention, the control device acquires information about a second surrounding environment of the first vehicle and sends the information about the second surrounding environment to a server, wherein the information about the second surrounding environment is used by the server to establish a surrounding environment model of the first vehicle, and the surrounding environment model is used to characterize the positional relationship between the first vehicle and the objects surrounding the first vehicle.

[0012] In the above implementation, the first vehicle acquires the second environmental information and sends it to the server when it intends to park. This helps the server to build a surrounding environment model in advance, which is used to present the positional relationship between the first vehicle and objects around it to the user. Since the user needs to move the car as soon as possible, if the server only builds the surrounding environment model after acquiring the first environmental information, the model building process takes time. Building the surrounding environment model only when the car needs to be moved increases the time required for the user to remotely move the car, reduces the efficiency of moving the car, and affects the user experience. Therefore, the server builds the surrounding environment model before the user is notified to move the car, saving time compared to building the surrounding environment model only when the car needs to be moved. This helps to save time, improve the efficiency of moving the car, and enhance the user experience. Furthermore, the user can understand the situation on site through the surrounding environment model, which also helps to improve the user experience.

[0013] In another possible implementation of the first aspect, after the first vehicle moves to the target position, the travel route of the second vehicle does not conflict with the current position of the first vehicle.

[0014] In the above implementation, "no conflict" means that the travel route of the second vehicle will not overlap or intersect with the space currently occupied by the first vehicle, and the second vehicle will not collide or glide with the first vehicle or engage in other unsafe behaviors during its travel route.

[0015] In another possible implementation of the first aspect, the target position is the position where the second vehicle is parked, and the control device controls the first vehicle to move to the target position. This operation includes: the control device controls the first vehicle to move to the intermediate parking position, and after the second vehicle leaves the parking position, the control device controls the first vehicle to move to the target position.

[0016] In the above embodiment, the target location of the first vehicle is the location where the second vehicle is parked. The first vehicle first drives into the middle parking space to allow the second vehicle to leave. After the second vehicle leaves its parking position, the first vehicle drives into the location where the second vehicle was previously parked. Since the locations of the second and first vehicles are close, directly selecting the location of the second vehicle as the target location of the first vehicle can save the user's time in moving the vehicle and improve the efficiency of moving the vehicle.

[0017] In another possible implementation of the first aspect, the control method further includes: the control device receiving indication information of the intermediate parking relative position from the server, the intermediate parking relative position being the position of the intermediate parking position relative to a first reference point. The first vehicle obtains its intermediate parking position based on the intermediate parking relative position.

[0018] In the above implementation, the relative position of the intermediate parking space is determined by the server. After the first vehicle moves to the intermediate parking position, the travel route of the second vehicle will not conflict with the current position of the first vehicle. Since servers typically have strong data processing capabilities, they can more comprehensively consider road conditions, such as the positions of the first vehicle, the second vehicle, and surrounding obstacles, when determining the intermediate parking position. Furthermore, compared to determining the intermediate parking position using traditional methods, such as relying solely on a local perception system (e.g., onboard sensors), the server-determined intermediate parking position avoids safety issues caused by errors or blind spots.

[0019] In some possible designs, users can choose the middle parking position as the target position for moving the first vehicle, which can reduce the need for secondary relocation and save relocation time.

[0020] In another possible implementation of the first aspect, the target location belongs to a movable area, which is a continuous parking space in the first surrounding environment of the first vehicle.

[0021] In the above implementation, the server determines the available parking space for the first vehicle in the surrounding environment based on vehicle occupancy. The user can then select a target location for the first vehicle within the movable area based on the actual situation. Since the surrounding environment of the first vehicle can change in real time, the target parking space selected by the user may change due to temporary obstacles during actual vehicle relocation. For example, the target parking space may be occupied by other vehicles while the first vehicle is moving towards it. By establishing a movable area for the first vehicle, more relocation options can be provided to address actual situations and enhance the user experience.

[0022] In another possible implementation of the first aspect, the control device controls a first vehicle to move to a target location. This operation includes: the control device receiving indication information of a target route from a server, the target route indicating the travel path of the first vehicle, the target route being the route taken by the first vehicle from its position relative to a first reference point to the target relative position. Based on the target route, the control device calculates the route for the first vehicle to move from its current position to the target location. Based on the route taken by the first vehicle to move from its current position to the target location, the control device controls the first vehicle to move to the target location.

[0023] In the above implementation, the first vehicle moves to the target location based on the target route planned by the server. If the first vehicle moves in a traditional way, such as moving to the target location based on the vehicle's sensors sensing surrounding information, the range of the vehicle's sensors is limited. The first vehicle may need to re-sensitize the surrounding environment after moving a certain distance, and blind spots may exist during the moving process. Therefore, the traditional vehicle sensor-based moving method is inefficient, provides a poor user experience, and poses safety hazards. However, planning the moving route through the server avoids inaccurate path selection caused by errors or localized data from the vehicle's own sensors, thereby reducing the risk of conflicts between the vehicle and its surrounding environment (such as other vehicles, obstacles, etc.), and improving the safety and efficiency of remote vehicle moving.

[0024] Secondly, this application provides a control method applied to a terminal, which has a communication connection with a server. The method includes: the terminal acquiring a surrounding environment model of a first vehicle sent by the server. The first vehicle surrounding environment model represents the positional relationship between the first vehicle and surrounding objects, including a second vehicle whose travel path conflicts with the current position of the first vehicle. The terminal displays a first interface including the surrounding environment model of the first vehicle. The terminal receives an input first instruction indicating a target relative position, which is the target position relative to a first reference point. The first reference point is a point in the first surrounding environment of the first vehicle, and the first interface includes the first reference point. The point included in the target relative position does not fall within the position of the first vehicle. The terminal sends a first message to the server, including the target relative position, indicating that the first vehicle should move to the target position.

[0025] In the above implementation, the surrounding environment model is used to represent the positional relationship between the first vehicle and surrounding objects to the user. By displaying the surrounding environment model on the first interface, the user can clearly and intuitively see the relative relationship between the first vehicle and surrounding objects, and make decisions as accurately as possible. For example, the user can use the surrounding environment model to determine the vehicle blocked by the first vehicle, or the user can also use the surrounding environment model to determine the location that the first vehicle can reach, and thus determine the target location of the first vehicle. Furthermore, when it is necessary to move the car, the user can directly perform remote operation on the terminal, which meets the user's remote car moving needs, saves the user's time to move the car on-site, and improves the efficiency of car moving.

[0026] In some possible designs, if the situation changes during the relocation of the first vehicle, the user can operate on the terminal to adjust the relocation to reflect the real-time situation. For example, the user can pause the operation on the terminal to deal with obstacles that suddenly appear during the relocation of the first vehicle.

[0027] In another possible implementation of the second aspect, the control method further includes: the terminal receiving a second input instruction, the second instruction being used to determine a blocked vehicle, the blocked vehicle being a vehicle whose travel route conflicts with the current position of the first vehicle. The terminal sending a second message to the server, the second message being used to indicate the determined blocked vehicle.

[0028] In the above implementation, the blocked vehicle is determined by the user. By having the user assist in confirming the blocked vehicle, the data on the blocked vehicle used by the server can be ensured to be accurate, thereby ensuring the safety of remote vehicle relocation.

[0029] In some possible designs, the server has a model deployed on it or has the ability to call the model. The server can use the model to learn based on the information of blocked vehicles confirmed by the user, thereby improving its ability to predict blocked vehicles.

[0030] In another possible implementation of the second aspect, the control method further includes: the terminal receiving indication information from the server regarding predicted congested vehicles, wherein the predicted congested vehicles are predicted vehicles whose routes conflict with the current position of the first vehicle, and the objects surrounding the first vehicle include the predicted congested vehicles. The first interface further includes first prompt information used to prompt the user regarding the predicted congested vehicles.

[0031] In the above implementation, the server predicts the vehicles blocked by the first vehicle based on the surrounding environment and sends a notification of the predicted blocked vehicles to the terminal. The terminal then displays this notification to the user on a first interface. In this way, the predicted blocked vehicles are clearly and intuitively displayed on the terminal, helping the user identify the blocked vehicles, saving the user's judgment time, and improving the efficiency of remote vehicle relocation.

[0032] In another possible implementation of the second aspect, the target location is the location of the second vehicle.

[0033] In the above implementation, the user selects the location of the second vehicle as the target of the first vehicle. The beneficial effects of this implementation can be found in the beneficial effects of the corresponding implementation in the first aspect, and will not be repeated here.

[0034] In another possible implementation of the second aspect, the first interface further includes a second prompt message for indicating that the position of the second vehicle is used as the parking space for the first vehicle.

[0035] In the above implementation, the user can select the location of the second vehicle as the parking space for the first vehicle based on the information indicated by the first prompt. Since the location of the second vehicle is closer to the first vehicle, selecting the location of the second vehicle as the parking space can save the user's decision-making time, improve parking efficiency, and enhance the user experience.

[0036] In another possible implementation of the second aspect, the target location is a location within a movable area, which is a continuous parking space in the first surrounding environment of the first vehicle.

[0037] In the above embodiment, the user selects the target location of the first vehicle in the movable area. The beneficial effects of this embodiment can be found in the beneficial effects of the corresponding embodiment in the first aspect, and will not be repeated here.

[0038] In another possible implementation of the second aspect, the control method further includes: the terminal receiving indication information of a movable area sent from the server. The first interface also includes third prompt information, which indicates the location of the movable area in the surrounding environment model.

[0039] In the above implementation, the server calculates the movable area of ​​the first vehicle based on its surrounding environment and sends indication information of the movable area to the server. The terminal then indicates the location of the movable area in the surrounding environment model to the user on the first interface based on third prompt information. In this way, the user can clearly and intuitively see the location of the movable area on the terminal, which helps the user select the target location for the first vehicle. Furthermore, when the surrounding environment changes, the user can quickly adjust the target location of the first vehicle accordingly. For example, if the target location selected by the user is occupied by another vehicle, the user can quickly select another location in the movable area as the target location for the first vehicle, thereby improving the efficiency and safety of remote vehicle relocation.

[0040] In another possible implementation of the second aspect, the first instruction corresponds to a drag operation by a user in a movable area, the drag operation being used to select a parking position for a first vehicle in the movable area, the target relative position being the parking position of the first vehicle indicated by the drag operation.

[0041] In the above implementation, the user selects a target location within a movable area by dragging. Drag and drop is an intuitive and natural interaction method that eliminates the need for complex menus or input, greatly simplifying the operation. For example, the user can directly select the target location on the terminal using their finger or a mouse. Furthermore, this method of determining the target location through dragging provides extremely high flexibility. Compared to a fixed target location, the user can choose the most suitable parking space based on the actual situation, the size of the parking space, and the location of other vehicles.

[0042] In another possible implementation of the second aspect, the control method further includes: the terminal receiving indication information for at least one travel route, the travel route being the route taken by the first vehicle from its position relative to the first reference point to the target relative position. The first interface further includes fourth prompt information, the fourth prompt information being used to indicate at least one travel route. The terminal receives an input third instruction, the third instruction being used to determine a target route, the target route belonging to at least one travel route. The terminal sends the indication information for the target route to the server.

[0043] In the above implementation, the travel route is calculated by the server. Based on the relative position of the target, the server calculates at least one travel route, and the terminal displays at least one travel route to the user through a fourth prompt message for the user to choose from. Because the graphical prompt message makes it easier for the user to understand the differences between the various routes, the user can clearly see the possible scenarios for each route and thus choose the most suitable one. Furthermore, by having the user assist in selecting the target route, vehicle collisions or route conflicts caused by insufficient route planning can be avoided, thereby reducing the risk of vehicle relocation and congestion problems.

[0044] Thirdly, this application provides a control method applied to a server. The server has a communication connection with a first vehicle and also a communication connection with a terminal. The method includes: acquiring information about a first surrounding environment of the first vehicle, the first surrounding environment including a second vehicle; obtaining a surrounding environment model of the first vehicle based on the information about the first surrounding environment; sending the surrounding environment model of the first vehicle to the terminal, the surrounding environment model representing the positional relationship between the first vehicle and surrounding objects, including the second vehicle; receiving a first message from the terminal, the first message including a target relative position, the target relative position being the position of the target position relative to a first reference point, the first reference point being a point in the first surrounding environment of the first vehicle, the first message being used to instruct the first vehicle to move to the target position; and sending indication information of the target relative position to the first vehicle.

[0045] In one possible implementation of the third aspect, the method further includes: obtaining a predicted blocked vehicle based on a first surrounding environment of the first vehicle, wherein the predicted blocked vehicle is a predicted vehicle whose route conflicts with the current position of the first vehicle, and the first surrounding environment of the first vehicle includes the predicted blocked vehicle; and sending indication information of the predicted blocked vehicle to a terminal.

[0046] In another possible implementation of the third aspect, the target location is the location of the second vehicle, and the method further includes: obtaining the relative position of the second vehicle from the first vehicle, the relative position of the second vehicle being the position of the second vehicle relative to a first reference point; obtaining the relative position of the intermediate parking space based on the relative position of the second vehicle, the relative position of the intermediate parking space being the position of the intermediate parking space relative to the first reference point; and sending the indication information of the intermediate parking space to the first vehicle.

[0047] In another possible implementation of the third aspect, the method further includes: obtaining at least one travel route based on the target relative position and the position of the first vehicle relative to the first reference point, the travel route being the route by which the first vehicle travels from its position relative to the first reference point to the target relative position.

[0048] In another possible implementation of the third aspect, the method further includes: sending indication information for at least one travel route to the terminal; receiving indication information for a target route sent by the terminal, wherein the target route belongs to at least one travel route and is a defined route for the first vehicle to travel from a position relative to a first reference point to a target relative position; and sending the indication information for the target route to the first vehicle.

[0049] Fourthly, this application provides a control device, which includes an acquisition unit and a communication unit, which are used to perform the method of the first aspect, or the method of the second aspect, or the method of the third aspect.

[0050] Fifthly, this application provides a vehicle including a processor and a memory, the memory storing a program including instructions for performing the method of the first aspect.

[0051] In a sixth aspect, this application provides a terminal device, which includes a processor and a memory, the memory storing a program including instructions for performing the method of the second aspect.

[0052] In a seventh aspect, this application provides a server, which includes a processor and a memory, the memory storing a program including instructions for performing the method of the third aspect.

[0053] Eighthly, this application provides a computer-readable storage medium for storing a computer program, the computer program including methods for performing the first aspect, or performing the second aspect, or performing the third aspect.

[0054] Ninthly, this application provides a computer program product that, when executed by a processor, performs the method of the first aspect, or the method of the second aspect, or the method of the third aspect.

[0055] The beneficial effects of the technical solutions provided in aspects three to nine of this application can be referenced from the beneficial effects of the technical solutions in aspects one and two. Attached Figure Description

[0056] The accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0057] Figure 1A This is a schematic diagram of the architecture of a control method provided in an embodiment of this application;

[0058] Figure 1B This is a possible structural schematic diagram of the first vehicle provided in an embodiment of this application;

[0059] Figure 2 This is a flowchart illustrating a control method according to an embodiment of this application;

[0060] Figure 3 This is a schematic diagram of one possible scenario of the surrounding situation model in the embodiments of this application;

[0061] Figure 4 This is a schematic diagram of one possible scenario for the first interface in an embodiment of this application;

[0062] Figure 5 This is a schematic diagram illustrating the possible relative and absolute positions of the second vehicle and the first reference point in the embodiments of this application;

[0063] Figure 6A This is a schematic diagram of another possible scenario for the first interface in the embodiments of this application;

[0064] Figure 6B This is a schematic diagram of another possible scenario for the first interface in the embodiments of this application;

[0065] Figure 6C This is a schematic diagram of another possible scenario for the first interface in the embodiments of this application;

[0066] Figure 7 This is a schematic diagram illustrating another possible scenario for the first interface in the embodiments of this application;

[0067] Figure 8A This is a schematic diagram of another possible scenario for the first interface in the embodiments of this application;

[0068] Figure 8B This is a schematic diagram of another possible scenario for the first interface in the embodiments of this application;

[0069] Figure 8C This is a schematic diagram illustrating one possible scenario of drag-and-drop operation in an embodiment of this application;

[0070] Figure 9 This is a schematic diagram of another possible scenario for the first interface in the embodiments of this application;

[0071] Figure 10A This is a schematic diagram of another possible scenario for the first interface in the embodiments of this application;

[0072] Figure 10B This is a schematic diagram of another possible scenario for the first interface in the embodiments of this application;

[0073] Figure 11A This is a schematic diagram of another possible scenario for the first interface in the embodiments of this application;

[0074] Figure 11B This is a schematic diagram of another possible scenario for the first interface in the embodiments of this application;

[0075] Figure 12 This is a flowchart illustrating another control method according to an embodiment of this application;

[0076] Figure 13 This is a flowchart illustrating another control method according to an embodiment of this application;

[0077] Figure 14 This is a schematic diagram of the structure of a control device provided in an embodiment of this application;

[0078] Figure 15 This is a schematic diagram of the structure of another control device provided in the embodiments of this application;

[0079] Figure 16 This is a schematic diagram of the structure of another control device provided in the embodiments of this application;

[0080] Figure 17 This is a schematic diagram of the structure of another first vehicle provided in the embodiments of this application;

[0081] Figure 18 This is a schematic diagram of the structure of a terminal provided in an embodiment of this application;

[0082] Figure 19 This is a schematic diagram of the structure of a server provided in an embodiment of this application. Detailed Implementation

[0083] With the improvement of people's living standards and the increase in car ownership in modern society, driving has become an indispensable part of people's daily lives. However, in busy urban traffic, drivers often encounter situations where they need to stop urgently or temporarily. Due to the lack of an effective management mechanism, these vehicles that need to stop urgently or temporarily often become the source of traffic congestion. Once a traffic jam occurs, drivers often have no choice but to rely on traditional methods of communication, such as telephone calls, to try to contact the relevant car owners so that they can move their vehicles as soon as possible. After receiving the call, the car owners must rush to the scene to move their vehicles before they can leave. This traditional method of moving vehicles is not only inefficient, but also fails to quickly resolve problems in emergency situations, causing many inconveniences and troubles to urban traffic.

[0084] Despite the rapid advancements in automotive technology, with some high-end models now equipped with intelligent valet parking features that allow vehicles to be moved without the driver needing to get in, the effective range of this function remains relatively limited. Once the vehicle is parked outside its designated operating range, the function becomes ineffective. This means that in many situations, drivers still need to rely on traditional communication methods to contact the owner to move the car.

[0085] In view of this, this application provides a control method and related device, which allows users to remotely move vehicles by controlling them through a terminal. This improves the efficiency of remote vehicle relocation, enhances the user experience, and helps alleviate traffic congestion.

[0086] For ease of understanding, the system architecture and scenarios of the control method provided in the embodiments of this application are described below. It should be noted that the architecture and application of the device described in this application are for the purpose of more clearly illustrating the technical solution of this application, and do not constitute a limitation on the technical solution provided in this application. Those skilled in the art will know that with the evolution of architecture and the emergence of new business scenarios, the technical solution of this application is also applicable to similar technical problems.

[0087] Please see Figure 1A , Figure 1A This is a schematic diagram of the architecture of a control method provided in an embodiment of this application. The control system 10 includes a first vehicle 101, a server 102, and a terminal device 103. Wherein:

[0088] The first vehicle 101 is a device capable of movement. For example, the first vehicle 101 includes, but is not limited to, different types of vehicles such as automobiles, trucks, buses, vans, and electric vehicles.

[0089] Furthermore, the first vehicle 101 is a communication-capable device. For example, the first vehicle 101 can communicate with the server 102, sending and / or receiving information from the server 102. For instance, the first vehicle 101 can send first ambient information about itself to the server 102 and receive indication information about a second vehicle from the server 102. As another example, the first vehicle 101 can send the relative position of the second vehicle to the server 102, and the first vehicle 101 can receive a target relative position from the server.

[0090] Furthermore, the first vehicle is a device with data acquisition capabilities. For example, the first vehicle can acquire first surrounding environmental information, which refers to a certain environmental condition of the first vehicle's surroundings. Please see [link / reference]. Figure 1B , Figure 1B This is a schematic diagram of a possible structure of the first vehicle provided in an embodiment of this application. Figure 1B A schematic diagram illustrating one possible distribution of the camera sensors in the first vehicle. Figure 1B In the first vehicle 101, camera sensors 1011, 1012, 1013, 1014, 1015, and 1016 are included, where the fan-shaped area represents the range of environmental information acquired by each camera sensor.

[0091] Alternatively, the first vehicle 101 may also have data storage capabilities, or the first vehicle 101 may deploy a storage unit. For example, the first vehicle 101 may store the absolute and relative coordinates of vehicles in the surrounding environment.

[0092] Optionally, the first vehicle 101 also has computing capabilities. For example, the first vehicle 101 can process the absolute coordinates of vehicles in the surrounding environment to obtain their relative coordinates. For another example, the first vehicle 101 can process the target route sent by the server 102 (this route is formed based on the relative position of the first vehicle 101's current position and the relative position of the target position) to obtain the route for the first vehicle 101 to move from its current position to the target position. The server 102 is a device with centralized computing capabilities. Optionally, the server 102 can be a physical device such as a server or host, or a virtual device such as a virtual machine or container. Optionally, the server 102 can also be in the cloud, such as a single service or a server cluster composed of multiple servers in the cloud, or a local device, such as a single service or a server cluster composed of multiple servers locally. For example, the server 102 can establish a surrounding environment model representing the positional relationship between the first vehicle and surrounding objects based on the surrounding environment information of the first vehicle 101. As another example, the server 102 can also process the route for the first vehicle 101 to move to the target relative position based on the relative position of the current position of the first vehicle 101 and the target relative position.

[0093] Furthermore, server 102 also has communication capabilities. For example, server 102 can communicate with the first vehicle 101, sending and / or receiving information from the first vehicle 101. For instance, server 102 can obtain information about the surrounding environment of the first vehicle 101 and send the target relative position to the first vehicle 101. As another example, server 102 can communicate with terminal device 103, sending and / or receiving information from terminal device 103. For instance, server 102 can send indication information predicting congested vehicles to terminal device 103 and receive a first message from terminal device 103, the first message including the target relative position of the first vehicle 101.

[0094] In some possible designs, server 102 deploys a model with data processing capabilities. For example, this model could perform one or more of the following functions: predicting the location of congested vehicles, calculating movable areas, or planning driving routes. Alternatively, the model could have learning capabilities, learning information about congested vehicles confirmed by the user to improve the accuracy of predicting congested vehicles, and learning the user's route preferences based on the user's chosen route to improve the model's route planning capabilities.

[0095] Terminal device 103, also referred to as user equipment (UE) in some scenarios, is a device with communication capabilities. For example, terminal device 103 can send information to server 102 and / or receive information from server 102. For instance, terminal device 103 can send a first message to server 102, the first message including the target relative position of the first vehicle 101. Another example is that terminal device 103 obtains a surrounding environment model from server 102. Optionally, terminal device 103 can interact with a user, such as presenting a first interface or receiving user-input commands. For example, terminal device 103 can receive a first command selected by the user, the first command indicating the target relative position of the first vehicle 101. For example, terminal device 103 includes, but is not limited to, handheld terminals, wearable devices, entertainment devices, transportation devices, etc. Handheld devices include, for example, mobile phones, tablets, laptops, or police communication devices. Wearable devices include, for example, smart bracelets, smartwatches, or smart glasses.

[0096] In one possible implementation, server 102 establishes a communication connection with first vehicle 101 and terminal device 103. The communication link can include one or more types of connection media, including wired links (e.g., fiber optics), wireless links, or a combination of wired and wireless links. For example, the connection media can be a wireless link using short-range connection technologies, such as 802.11b / g, Bluetooth, Zigbee, radio frequency identification (RFID), ultra-wideband (UWB), short-range wireless communication (e.g., vehicular short-range wireless communication), or vehicle-to-everything (V2X) technology. Alternatively, the wireless link can use long-range connection technologies, such as Global System for Mobile Communications (GSM), General Packet Radio Service (GPRS), Universal Mobile Telecommunications System (UMTS), LTE, or 5G.

[0097] The background and system architecture of this application have been explained above. The method provided by the embodiments of this application is described below.

[0098] Please see Figure 2 , Figure 2This is a flowchart illustrating a control method according to an embodiment of this application. Optionally, this method can be applied to a control system, such as... Figure 1A The aforementioned control system.

[0099] like Figure 2 The control method described may include multiple steps in steps S201 to S211. It should be understood that this application describes the steps in the order of S201 to S211 for ease of description, and is not intended to limit the execution to this specific order. The embodiments of this application do not limit the order of execution, the execution time, or the number of executions of one or more of the above steps. Steps S201 to S211 are as follows:

[0100] Step S201: The first vehicle sends its first surrounding environment information to the server. Correspondingly, the server receives the first surrounding environment information of the first vehicle.

[0101] The first vehicle, as provided in this application embodiment, is a device with both mobility and communication capabilities. The first vehicle may include, but is not limited to, different types of vehicles such as automobiles, trucks, buses, vans, and electric vehicles. For example, the first vehicle may be... Figure 1A The first vehicle 101 shown or Figure 1B The first vehicle 101 shown is an example. The server is a device with centralized computing capabilities provided in this embodiment of the application, and a communication connection is established between the first vehicle and the server. Exemplarily, the server may be... Figure 1A The server shown is 102.

[0102] The first surrounding environment information refers to the environmental conditions within a first range of the location where the first vehicle was parked when the user was notified to move the vehicle, including at least other vehicles around the first vehicle. Optionally, the first surrounding environment may also include other obstacles, such as bollards and trees. For example, the first range may be a square area centered on the first vehicle with a side length of 5m, and the environmental conditions include the parked vehicles within this area, the drivable area, and the situation of other obstacles.

[0103] In some possible implementations, when a user is notified that the vehicle needs to be moved, the user controls the first vehicle via a terminal to acquire information about its surrounding environment. For example, after being notified that the vehicle needs to be moved, the user remotely wakes up the first vehicle via a terminal, powering it on. The user then controls the first vehicle to grant environmental data acquisition permissions via the terminal, allowing the first vehicle to acquire information about its surrounding environment. The first vehicle acquires this information through its camera sensors and uploads it to the cloud for storage. For example, the distribution of the first vehicle's camera sensors is as follows: Figure 1B As shown.

[0104] Step S202: The server obtains a model of the surrounding environment of the first vehicle based on the first surrounding environment information of the first vehicle.

[0105] The surrounding environment model is a model representing the positional relationship between the first vehicle and its surrounding objects. It is obtained by the server through feature extraction and modeling from the first surrounding environment. Optionally, the server builds the surrounding environment model based on the existing model. For example, this model can be a deep learning model or a reinforcement learning model. For example, surrounding objects can include other vehicles and vegetation in the first vehicle's surrounding environment; see [link to relevant documentation]. Figure 3 , Figure 3 It is a schematic diagram of one type of surrounding situation model.

[0106] In some possible implementations, the surrounding environment model can be updated in real time. For example, when a vehicle is detected leaving the vicinity of the first vehicle, the first vehicle re-acquires information about its surrounding environment and uploads it to the server, which then updates the surrounding environment model.

[0107] In some possible implementations, when the first vehicle is detected to have the intention to park, it acquires second ambient environment information. In this implementation, the first vehicle acquires ambient environment information twice: once while moving to the current parking position and sending this information to the server for initial storage; and again after the user is notified to move the vehicle, the first vehicle acquires the ambient environment information a second time and sends it to the server for secondary storage. Based on the first acquired ambient information, the server builds a model of the first vehicle's surroundings, representing the positional relationships between the first vehicle and surrounding objects. Since the first vehicle's surroundings may change over time—for example, a car may leave or a new car may enter—the first vehicle needs to acquire the latest ambient information when the user is notified to move the vehicle, and the server updates the model based on this updated information. Furthermore, the establishment of the model requires a certain amount of time and computing resources. Before the user is notified to move the car, the server establishes a model of the surrounding environment. After the user is notified to move the car, the server only needs to update the model of the surrounding environment based on the latest environmental information, instead of establishing a new model based on the latest environmental information. This implementation can save users time in moving their cars, improve the efficiency of moving cars, and enhance the user experience.

[0108] Optionally, after the first vehicle sends the second ambient information to the server, the first vehicle performs a power-off operation.

[0109] Step S203: The server sends the surrounding environment model of the first vehicle to the terminal. Correspondingly, the terminal receives the surrounding environment model of the first vehicle.

[0110] A terminal is a device with communication capabilities, capable of communicating with a server. Furthermore, a terminal can accept user input instructions. For example, a terminal may be as follows: Figure 1A The terminal device 103 shown.

[0111] Step S204: The terminal displays the first interface.

[0112] The first interface is a user interface that includes a model of the surrounding environment of the first vehicle.

[0113] For some possible implementations, please refer to Figure 4 , Figure 4 This is a schematic diagram of one possible scenario for the first interface. Figure 4 The first interface includes a real-time scene area around the vehicle, a surrounding environment model area, and a text information interaction area. The real-time scene area includes real-time views of the areas to the left front, right front, left rear, and right rear of the vehicle. This real-time scene view is based on information about the first surrounding environment and is used to display a realistic view of the surrounding environment. The surrounding environment model area displays the positional relationships between the vehicle and surrounding objects. Optionally, the user can interact with the surrounding environment model area. For example, the user can select a blocked vehicle in the surrounding environment model area. The text information interaction area displays text prompts for user interaction with the terminal. For example, the text information interaction area can be a confirmation button, which the user can click on the terminal to input a confirmation command.

[0114] Step S205: The server sends the instruction information for the second vehicle to the first vehicle. Accordingly, the first vehicle receives the instruction information for the second vehicle.

[0115] The instruction information for the second vehicle is used to indicate that the second vehicle's route conflicts with that of the first vehicle. For example, the instruction information includes a Boolean value indicating whether the vehicle corresponding to the instruction information is in conflict with the second vehicle; when a conflict occurs, the Boolean value is 1.

[0116] In some possible implementations, the indication information for the second vehicle may also include content related to the second vehicle. For example, the indication information may further include an identifier for the second vehicle, enabling the first vehicle to be matched with the second vehicle.

[0117] In some possible implementations, the server predicts blocked vehicles based on the first vehicle's surrounding environment. These predicted blocked vehicles are those whose routes conflict with the first vehicle's current position. Optionally, the server uses a model to learn features of the first surrounding environment to predict blocked vehicles. For example, the features of the first surrounding environment learned by the server in predicting blocked vehicles include, but are not limited to, the distance between the first vehicle and surrounding vehicles, and the driving intentions of the surrounding vehicles.

[0118] After receiving the predicted number of vehicles in traffic jams, the server sends an indication of these vehicles to the terminal. The terminal then displays a first prompt on a first interface. This first prompt is used to alert the terminal to the predicted traffic jam. The presentation of the first prompt on the first interface may include, but is not limited to, at least one of the following: text box prompts, graphical displays, or icon icons. For example, please refer to [link to example]. Figure 6A , Figure 6A This is another possible schematic diagram of the first interface. Figure 6A This demonstrates one possible scenario for the initial message.

[0119] In other possible implementations, the server directly controls the movement of the first vehicle based on the predicted congested vehicles. For example, after obtaining the predicted congested vehicles, the server obtains the location of the predicted congested vehicles from the first vehicle. Based on the location of the congested vehicles and the first surrounding environmental information, the server plans the movement route of the first vehicle, causing the first vehicle to move along that route.

[0120] In other possible implementations, the user inputs a second command into the terminal to identify the blocked vehicle. For example, after receiving a call to move the car, the user identifies the blocked vehicle based on the driver's description and the real-time scene around the vehicle displayed on the terminal. In some possible designs, the text information interaction area of ​​the first interface also includes prompts for the user to identify the blocked vehicle. For example, please refer to [link to relevant documentation]. Figure 6B , Figure 6B This is a schematic diagram illustrating another possible scenario for the first interface. Figure 6B The text information interaction area includes prompts to confirm if a vehicle is stuck in traffic. Users can click in the text information interaction area to select "Yes" or "No". When a user selects "No", it means that the user believes the predicted stuck vehicle is not actually stuck.

[0121] When the predicted blocked vehicle is not actually blocked, the user can perform other operations on the terminal to select the correct blocked vehicle. For example, please refer to [link to example]. Figure 6C , Figure 6C This is a diagram illustrating another possible scenario for the first interface. It should be noted that... Figure 6CThe "hand" symbols marked with ① or ② represent user interaction actions and are not part of the primary interface. For example... Figure 6C As shown, the user first performs a click operation in the surrounding situation model area to select the blocked vehicle, and then performs a click operation in the text information interaction area to confirm that the selected vehicle is the blocked vehicle.

[0122] After the user identifies the blocked vehicle, the terminal sends a second message to the server, which indicates the blocked vehicle identified by the user.

[0123] Step S206: The first vehicle sends the relative position of the second vehicle to the server. Accordingly, the server receives the relative position of the second vehicle.

[0124] The instruction information for the second vehicle also includes a command to obtain the relative position of the second vehicle. After receiving the instruction information from the second vehicle, the first vehicle sends the relative position of the second vehicle to the server.

[0125] The relative position of the second vehicle is its absolute position relative to a first reference point, which is a point in the first vehicle's surrounding environment. The relative position of the second vehicle is derived from the first vehicle's position based on its absolute position, where the absolute position refers to the vehicle's precise location on the Earth's surface, such as latitude, longitude, altitude, or other geographical coordinates. The first reference point is a point in the first surrounding environment; optionally, it may be a fixed point or a changing point. For example, the first reference point is located 5 meters northeast of the first vehicle. As another example, the surrounding environment model is established based on a square area with sides of 5 meters centered on the first vehicle. The first reference point is the point in the real environment corresponding to the lower left corner of the surrounding environment model. As the first vehicle moves, the environment displayed in the surrounding environment model changes accordingly, and the first reference point also changes accordingly.

[0126] For some possible implementations, please refer to Figure 5 , Figure 5 This is a schematic diagram illustrating the possible relative and absolute positions of the second vehicle and the first reference point in the embodiments of this application. Figure 5 The left side shows the absolute positions of the second vehicle and the first reference point, while the right side shows their relative positions. The first reference point is the bottom left corner of the environmental information included in the surrounding environment model. The absolute positions of the second vehicle and the first reference point are expressed in latitude and longitude. However, for privacy reasons, the specific latitude and longitude coordinates of the first vehicle and the first reference point are not listed here.

[0127] In some other possible implementations, the first vehicle stores a set of correspondences between the identifiers, absolute positions, and relative positions of various vehicles in the first surrounding environment. For example, please refer to Table 1 below, which shows the set of correspondences between the identifiers, absolute positions, and relative positions of various vehicles in the first surrounding environment.

[0128] Table 1 shows possible examples of the correspondence between vehicle identification, absolute position, and relative position.

[0129]

[0130]

[0131] Step S207: The terminal receives the first input instruction.

[0132] The first instruction is used to indicate the target relative position of the first vehicle. The target relative position is the position of the target position of the first vehicle relative to the first reference point. The area contained in the target position does not overlap with the area contained in the current position of the first vehicle.

[0133] In some possible implementations, since the second vehicle is closer to the first vehicle, the user can select the location of the second vehicle as the target location for the first vehicle's movement, thus saving time spent moving the vehicle. The first interface also includes a second prompt message, which instructs the user to use the location of the second vehicle as the parking space for the first vehicle. For example, please refer to... Figure 7 , Figure 7 This is a schematic diagram illustrating another possible scenario for the first interface in the embodiments of this application. Figure 7 The text information interaction area includes a second prompt message, which is used to prompt the user whether to use the location of the blocked vehicle as the target location. If the user selects "yes", it means that the first vehicle will be moved to the location of the blocked vehicle.

[0134] In other possible implementations, the server calculates the movable area of ​​the first vehicle based on the surrounding environment information. The movable area is a continuous parking space within the first surrounding environment of the first vehicle. After obtaining the movable area, the server sends indication information of the movable area to the terminal, and the terminal displays the movable area to the user on a first interface based on third prompt information. For example, please refer to [link to relevant documentation]. Figure 8A , Figure 8A This is a schematic diagram illustrating another possible scenario for the first interface. Figure 8A The movable area includes a third prompt message, which is used to display the movable area to the user. Optionally, in this implementation, the phrase "Use the location of the blocked vehicle as the target location" in the text information interaction area of ​​the first interface is grayed out, and the user cannot select the location of the blocked vehicle as the parking space.

[0135] In this implementation, the user selects to move the first vehicle to a movable area. For example, when the user clicks on the movable area, a rounded rectangle appears, representing the area of ​​the target relative position for the first vehicle's movement. The user can drag this rounded rectangle within the movable area to select the desired target relative position. For an example, please refer to... Figure 8C , Figure 8C This is a schematic diagram illustrating possible drag-and-drop operations in an embodiment of this application. Optionally, the text information interaction area of ​​the first interface also includes a "Confirm Parking Space" prompt, allowing the user to click within the text information interaction area to confirm the target parking space.

[0136] The following describes the steps of a method for calculating the movable area on a server.

[0137] S71: The server obtains the global region based on information from the first surrounding environment.

[0138] The server calculates a global region based on information about the first surrounding environment, and this global region corresponds to the spatial range covered by the first surrounding environment. For example, the server uses a first reference point as the origin and calculates the global region based on the relative positions of the first vehicle and other vehicles. Optionally, these relative positions are sent to the server by the first vehicle. Even more optionally, these relative positions are obtained by the server based on the relative positions of second vehicles. For instance, the information about the first surrounding environment includes vehicle size information and the spacing between vehicles; the server obtains the relative positions based on the relative positions of the first reference point and the second vehicle, as well as the information about the first surrounding environment.

[0139] S72: Server construction already occupied area.

[0140] Based on the relative position and actual size of each vehicle, the server determines the occupied area in the initial surrounding environment and marks the position of the occupied area within the global area. For an example, please refer to [link to example]. Figure 8B , Figure 8B This is a schematic diagram illustrating another possible scenario for the first interface in an embodiment of this application. Figure 8B This demonstrates one possible representation of an occupied area. Figure 8B The first screen also includes a notification message indicating that the area is already occupied.

[0141] S73: The server determines the movable area.

[0142] The server first obtains a preliminary free area based on the global area and the occupied area, and then obtains a movable area based on the preliminary free area and the corner distance of the first vehicle's parking angle.

[0143] Step S208: The terminal sends a first message to the server. Accordingly, the server receives the first message.

[0144] Step S209: The server sends the target's relative position indication information to the first vehicle. Accordingly, the first vehicle receives the target's relative position indication information.

[0145] Step S210: The first vehicle determines the target position based on the target relative position.

[0146] The first message indicates the target relative position selected by the user, which is the position of the target position relative to a first reference point. Optionally, the target position is the position of the second vehicle. Further optionally, the target position is a position within a movable area.

[0147] After receiving the indication of the target's relative position, the first vehicle determines the target's location.

[0148] Step S211: The first vehicle controls the first vehicle to move to the target position.

[0149] In some possible implementations, the target location is the position of the second vehicle. In this implementation, the first vehicle moves to the intermediate parking position, and after the second vehicle moves, the first vehicle moves to the position of the second vehicle. The intermediate parking position is a transitional position for the movement of the first vehicle, allowing the second vehicle to move safely after the first vehicle reaches the intermediate parking position. For an example, please refer to... Figure 9 , Figure 9 This is a schematic diagram of another possible scenario for the first interface in the embodiments of this application. Figure 9 The first screen also includes information about the parking spot in the middle.

[0150] In some possible implementations, the intermediate parking position is determined by the server. Based on the relative positions of the first vehicle and the second vehicle, the server determines the relative position of the intermediate parking space, which is the position of the intermediate parking space relative to a first reference point. After obtaining the relative position of the intermediate parking space, the server sends indication information of the relative position to the first vehicle.

[0151] In some other possible implementations, in order to save time and improve the efficiency of moving vehicles, the first vehicle can move directly to the middle parking position.

[0152] In some possible implementations, based on the current position of the first vehicle and its relative position to the target, at least one travel route is determined. This travel route is the path taken by the first vehicle from its position relative to a first reference point to the target relative position. After obtaining at least one travel route, the server sends indication information for the at least one travel route to the terminal, and the terminal displays the at least one travel route to the user on the first interface based on a fourth prompt. For example, when the target position of the first vehicle is the location of the blocked vehicle, please refer to [link to relevant documentation]. Figure 10A , Figure 10A This is a schematic diagram illustrating another possible scenario for the first interface in an embodiment of this application. Figure 10A This demonstrates at least one possible path for the first vehicle to move from its current location to the location of the blocked vehicle. For another example, please see... Figure 10B When the target location of the first vehicle is within the movable area... Figure 10B This is a schematic diagram illustrating another possible scenario for the first interface in an embodiment of this application. Figure 10B It shows at least one route for the first vehicle to move from its current position to a position in the movable area.

[0153] Optionally, the text information interaction area of ​​the first interface may also include prompts for determining the relative route to the target. For example, please refer to... Figure 11A , Figure 11A This is a schematic diagram illustrating another possible scenario of the first interface in this application embodiment. When the target location is the location of the blocked vehicle, the user first selects the target route of the first vehicle's movement in the terminal, and then inputs a third command to determine the target relative route in the text information interaction area. As another example, please refer to... Figure 11B , Figure 11B This is a schematic diagram of another possible scenario for the first interface in this application embodiment. When the target location is a location within a movable area, the user first selects the target relative route of the first vehicle's movement in the terminal, and then inputs a third command to determine the target relative route in the text information interaction area.

[0154] After the user selects the target relative route for the first vehicle, the terminal sends the target relative route indication information to the server, and the server then sends the target relative position indication information to the first vehicle. After receiving the target relative position indication information, the first vehicle calculates the target route and then moves to the target position based on the target route.

[0155] In some other possible implementations, during the movement of the first vehicle, the user can observe the situation in real time on the terminal and choose to brake immediately based on the vehicle relocation situation, and then select a new target location.

[0156] exist Figure 2In the illustrated embodiment, the server can build a surrounding environment model based on the first vehicle's initial environmental information. Users can use this model to view the positional relationships between the first vehicle and surrounding objects. Furthermore, users can select a target location for the first vehicle on their terminal and control its movement. This method enables simpler, faster, and more efficient vehicle relocation, improving the user experience.

[0157] Figure 2 The embodiments shown cover a variety of possible implementations of this solution, which will be described below in conjunction with... Figure 12 and Figure 13 The possible implementations of the embodiments of this application are described by way of example. It should be understood that any logic or terminology not explained below can be found in the foregoing. Figure 2 Introduction.

[0158] In some scenarios, users often choose the location of blocked vehicles as their parking spot for the sake of simplicity and convenience.

[0159] Please see Figure 12 , Figure 12 This is a flowchart illustrating another control method according to an embodiment of this application. Optionally, this method can be applied to a control system, such as... Figure 1A The aforementioned control system.

[0160] like Figure 12 The control method described may include multiple steps from S1201 to S1215. It should be understood that, for ease of description, this application describes the steps in the order of S1201 to S1215, and is not intended to limit the execution to this specific order. This application's embodiments do not limit the order of execution, the execution time, or the number of executions of one or more of the above steps. Steps S1201 to S1215 are as follows:

[0161] Step S1201: The first vehicle sends its second surrounding environment information. Correspondingly, the server receives the second surrounding environment information of the first vehicle.

[0162] The first vehicle, as provided in this application embodiment, is a device with both mobility and communication capabilities. The first vehicle may include, but is not limited to, different types of vehicles such as automobiles, trucks, buses, vans, and electric vehicles. For example, the first vehicle may be... Figure 1A The first vehicle 101 shown or Figure 1B The first vehicle 101 shown is an example. The server is a device with centralized computing capabilities provided in this embodiment of the application, and a communication connection is established between the first vehicle and the server. Exemplarily, the server may be... Figure 1A The server shown is 102.

[0163] The second surrounding environment information is the surrounding environment information acquired by the first vehicle when it intends to park, including at least other vehicles around the first vehicle. Optionally, the first surrounding environment may also include other obstacles, such as bollards and trees. For example, the first range may be a square area centered on the first vehicle with a side length of 5m, and the environmental conditions include the parked vehicles, the drivable area, and other obstacles within that area.

[0164] Furthermore, after the first vehicle sends the second ambient information to the server, the first vehicle performs a power-off operation.

[0165] Step S1202: The server obtains a model of the surrounding environment of the first vehicle based on the second surrounding environment information of the first vehicle.

[0166] The surrounding environment model is a model used to characterize the positional relationship between the first vehicle and objects surrounding it. It is obtained by the server through feature extraction and modeling from the first surrounding environment. Optionally, the server builds the surrounding environment model based on the existing model. Exemplarily, this model can be a deep learning model or a reinforcement learning model. Exemplarily, surrounding objects can include other vehicles and vegetation in the first vehicle's surrounding environment; see [link to relevant documentation]. Figure 3 , Figure 3 This is a schematic diagram of one scenario of the surrounding situation model in the embodiments of this application.

[0167] Step S1203: The server sends the surrounding environment model of the first vehicle to the terminal. Correspondingly, the terminal receives the surrounding environment model of the first vehicle.

[0168] A terminal is a device with communication capabilities, capable of communicating with a server. Furthermore, a terminal can accept user input instructions. For example, a terminal may be as follows: Figure 1A The terminal device 103 shown.

[0169] Step S1204: The terminal displays the first interface.

[0170] The first interface is a user interface that includes a model of the surrounding environment of the first vehicle. For example, please refer to... Figure 4 , Figure 4 This is one possible schematic diagram of the first interface. Figure 4The first interface includes a real-time scene area around the vehicle, a surrounding environment model area, and a text information interaction area. The real-time scene area includes real-time views of the areas to the left front, right front, left rear, and right rear of the vehicle. This real-time scene view is based on information about the first surrounding environment and is used to display a realistic view of the surrounding environment. The surrounding environment model area displays the positional relationships between the vehicle and surrounding objects. Optionally, the user can interact with the surrounding environment model area. For example, the user can select a blocked vehicle in the surrounding environment model area. The text information interaction area displays text prompts for user interaction with the terminal. For example, the text information interaction area can be a confirmation button, which the user can click on the terminal to input a confirmation command.

[0171] Step S1205: The first vehicle sends its first surrounding environment information to the server. Correspondingly, the server receives the first surrounding environment information of the first vehicle.

[0172] The first surrounding environment information refers to the environmental information collected by the first vehicle when the user moves the car. When the user needs to move the car, they operate on their terminal and remotely view the vehicle through a car-moving application. After the user starts the car-moving application, the first vehicle automatically collects the first surrounding environment information and sends it to the server for secondary storage. The server updates the surrounding situation model based on the first surrounding environment information.

[0173] Step S1206: The server obtains the predicted blocked vehicles based on the first surrounding environment information of the first vehicle.

[0174] The process involves predicting vehicles that are stuck in traffic, specifically those whose routes conflict with the current position of the first vehicle. Optionally, the server uses a model to learn features of the surrounding environment to predict stuck vehicles. For example, the features of the surrounding environment learned by the server during the prediction of stuck vehicles include, but are not limited to, the distance between the first vehicle and surrounding vehicles, and the driving intentions of the surrounding vehicles.

[0175] Step S1207: The server sends an indication of predicted congested vehicles to the terminal. Correspondingly, the terminal receives the indication of predicted congested vehicles.

[0176] After receiving the predicted number of vehicles in traffic jams, the server sends an indication of these vehicles to the terminal. The terminal then displays a first prompt on a first interface. This first prompt is used to alert the terminal to the predicted traffic jam. The presentation of the first prompt on the first interface may include, but is not limited to, at least one of the following: text box prompts, graphical displays, or icon icons. For example, please refer to [link to example]. Figure 6A , Figure 6A This is a schematic diagram illustrating another possible scenario for the first interface in an embodiment of this application. Figure 6A This demonstrates one possible scenario for the initial message.

[0177] Step S1208: The terminal receives the input second instruction.

[0178] The second instruction is used to identify the blocked vehicle. After receiving a call to move the car, the user identifies the blocked vehicle on the terminal based on the driver's description and the real-time scene around the vehicle displayed on the terminal. The text information interaction area of ​​the first interface also includes prompts for the user to identify the blocked vehicle. For example, please refer to... Figure 6B , Figure 6B This is a schematic diagram of another possible scenario for the first interface in the embodiments of this application. Figure 6B The text information interaction area includes prompts to confirm if a vehicle is stuck in traffic. Users can click in the text information interaction area to select "Yes" or "No". When the user selects "Yes", it means that the user confirms that the predicted vehicle is indeed stuck in traffic.

[0179] When the user selects "No," it means the predicted congested vehicle is not actually in a traffic jam. The user can then perform other actions on the terminal to select the correct congested vehicle. For an example, please refer to [link to example]. Figure 6C , Figure 6C This is a schematic diagram illustrating another possible scenario for the first interface in an embodiment of this application. For example... Figure 6C As shown, the user first performs a click operation in the surrounding situation model area to select the blocked vehicle, and then performs a click operation in the text information interaction area to confirm that the selected vehicle is the blocked vehicle.

[0180] Step S1209: The terminal sends a second message to the server. Accordingly, the server receives the second message.

[0181] The second message is used to indicate the blocked vehicle identified by the user.

[0182] Step S1210: The server sends the instruction information of the second vehicle to the first vehicle. Accordingly, the first vehicle receives the instruction information of the second vehicle.

[0183] After receiving the second message, the server sends the second vehicle's instruction information to the first vehicle. This instruction information indicates that the second vehicle's route conflicts with the first vehicle. For example, the instruction information includes a Boolean value indicating whether the vehicle corresponding to the instruction information is in conflict with the second vehicle; when a conflict occurs, the Boolean value is 1.

[0184] Furthermore, the instruction information for the second vehicle also includes content related to the second vehicle. For example, the instruction information may also include the identifier of the second vehicle, so that the first vehicle can match the second vehicle.

[0185] Step S1211: The first vehicle sends the relative position of the second vehicle to the server. Accordingly, the server receives the relative position of the second vehicle.

[0186] After receiving the instruction from the second vehicle, the first vehicle sends its relative position to the server. This relative position is the second vehicle's absolute position relative to a first reference point, which is a point in the first vehicle's surrounding environment. The second vehicle's relative position is derived from the first vehicle's position based on its absolute position, which refers to its latitude and longitude coordinates on the Earth's surface. The first reference point, being a point in the first surrounding environment, can optionally be a fixed point or a changing point. For example, the first reference point is located 5 meters northeast of the first vehicle. As another example, the surrounding environment model is established as a square area centered on the first vehicle with sides of 5 meters. The first reference point is the point in the real environment corresponding to the lower left corner of the surrounding environment model. As the first vehicle moves, the environment displayed in the surrounding environment model changes accordingly, and the first reference point also changes accordingly.

[0187] Optionally, after obtaining the relative position of the second vehicle, the server can calculate the relative positions of other points in the first surrounding environment based on the first surrounding environment information and the relative position of the second vehicle.

[0188] Step S1212: The terminal receives the first instruction input by the user.

[0189] The first instruction is used to indicate the target relative position of the first vehicle. The target relative position is the position of the target position of the first vehicle relative to the first reference point. The area included by the target position does not overlap with the area included by the current position of the first vehicle.

[0190] Because the second vehicle is closer to the first vehicle, the user selects the second vehicle's location as the target location for the first vehicle's movement, thus saving time. The first interface also includes a second prompt message, which instructs the user to use the second vehicle's location as the parking space for the first vehicle. For example, please refer to... Figure 7 , Figure 7 This is a schematic diagram illustrating another possible scenario for the first interface in the embodiments of this application. Figure 7The text information interaction area includes a second prompt message, which is used to prompt the user whether to use the location of the blocked vehicle as the target location. If the user selects "yes", it means that the first vehicle will be moved to the location of the blocked vehicle.

[0191] Step S1213: The terminal sends the first message to the server. Accordingly, the server receives the first message.

[0192] The first message includes the target's relative position, which is the target's position relative to a first reference point. Figure 12 In this embodiment, the target relative position is the position of the second vehicle relative to the first reference point.

[0193] Step S1214: The server sends the target's relative position indication information to the first vehicle. Accordingly, the first vehicle receives the target's relative position indication information.

[0194] Step S1215: The first vehicle moves to the position of the second vehicle.

[0195] After receiving the relative position of the second vehicle, the first vehicle determines the absolute position of the second vehicle based on that relative position. The first vehicle first moves to the middle parking position, and after the two vehicles have moved, the first vehicle then moves to the position of the second vehicle. For example, possible scenarios for the middle parking position can be found in [reference needed]. Figure 9 The first interface shown.

[0196] Optionally, users can also directly control the first vehicle to move to the middle parking position, saving time spent moving the vehicle.

[0197] Figure 12 In the illustrated embodiment, since the location of the blocked vehicle is close to the location of the first vehicle, the user can directly control the first vehicle to move to the location of the blocked vehicle, thereby saving the user's time in moving the vehicle.

[0198] In other possible scenarios, users select a location within a movable area as the parking spot.

[0199] Please see Figure 13 , Figure 13 This is a flowchart illustrating another control method according to an embodiment of this application. Optionally, this method can be applied to a control system, such as... Figure 1A The aforementioned control system.

[0200] like Figure 13The control method described may include multiple steps from S1301 to S1320. It should be understood that this application describes the steps in the order of S1301 to S1320 for ease of description, but it is not intended to limit the execution to this specific order. The embodiments of this application do not limit the order of execution, the execution time, or the number of executions of one or more of the above steps. Steps S1301 to S1320 are as follows:

[0201] Step S1301: The first vehicle sends its second surrounding environment information. Correspondingly, the server receives the second surrounding environment information of the first vehicle.

[0202] Step S1302: The server obtains a model of the surrounding environment of the first vehicle based on the second surrounding environment information of the first vehicle.

[0203] Step S1303: The server sends the surrounding environment model of the first vehicle to the terminal. Correspondingly, the terminal receives the surrounding environment model of the first vehicle.

[0204] Step S1304: The terminal displays the first interface.

[0205] Step S1305: The first vehicle sends its first surrounding environment information to the server. Correspondingly, the server receives the first surrounding environment information of the first vehicle.

[0206] Step S1306: The server obtains the predicted blocked vehicles based on the first surrounding environment information of the first vehicle.

[0207] Step S1307: The server sends an indication of predicted congested vehicles to the terminal. Correspondingly, the terminal receives the indication of predicted congested vehicles.

[0208] Step S1308: The terminal receives the input second instruction.

[0209] Step S1309: The terminal sends a second message to the server. Accordingly, the server receives the second message.

[0210] Step S1310: The server sends the instruction information of the second vehicle to the first vehicle. Accordingly, the first vehicle receives the instruction information of the second vehicle.

[0211] Step S1311: The first vehicle sends the relative position of the second vehicle to the server. Accordingly, the server receives the relative position of the second vehicle.

[0212] The implementation methods included in steps S1301 to S1311 are the same as Figure 12The implementation methods included in steps S1201 to S1211 in the embodiments are consistent. Therefore, the implementation methods for steps S1301 to S1311 can be found in [reference needed]. Figure 12 The embodiments included in steps S1201 to S1211 in the examples.

[0213] Step S1312: The server obtains the movable area based on the information of the first surrounding environment of the first vehicle.

[0214] The movable area refers to the continuous parking space within the first surrounding environment of the first vehicle. After the first vehicle sends the first surrounding environment information to the server, it also sends the coordinates of a first reference point. All coordinates within the server's first surrounding environment, excluding the first vehicle's relative coordinates, are connected to form an occupied area. For example, a schematic diagram of the occupied area can be shown as follows... Figure 8B As shown. Then the server further trims the remaining area, removing the corner distance of the docking angle to form a movable area.

[0215] Step S1313: The server sends an indication of the movable area to the terminal. Correspondingly, the terminal receives the indication of the movable area.

[0216] After obtaining the movable area, the server sends indication information about the movable area to the terminal, and the terminal displays the movable area to the user on the first interface based on the third prompt information. For example, please refer to... Figure 8A , Figure 8A This is a schematic diagram of another possible scenario for the first interface in the embodiments of this application. Figure 8A The movable area includes a third prompt message, which is used to display the movable area to the user. Optionally, in this implementation, the phrase "Use the location of the blocked vehicle as the target location" in the text information interaction area of ​​the first interface is grayed out, and the user cannot select the location of the blocked vehicle as the parking space.

[0217] Step S1314: The terminal receives the first input instruction.

[0218] The first instruction is used to indicate the target relative position of the first vehicle. The target relative position is the position of the target position of the first vehicle relative to the first reference point. The area included by the target position does not overlap with the area included by the current position of the first vehicle.

[0219] In this implementation, the user operates on the terminal to select the target relative position of the first vehicle's movement within a movable area. For example, when the user clicks on the movable area, a rounded rectangle appears, representing the area of ​​the target relative position of the first vehicle's movement. The user can drag this rounded rectangle within the movable area to select the desired target relative position. For an example, please refer to... Figure 8C , Figure 8C This is a schematic diagram illustrating one possible scenario of drag-and-drop operation in an embodiment of this application. Optionally, the text information interaction area of ​​the first interface also includes a "Confirm Parking Space" prompt, allowing the user to perform a click operation in the text information interaction area to confirm the target relative parking space.

[0220] Step S1315: The terminal sends the first message to the server. Correspondingly, the server receives the first message.

[0221] The first message includes the target's relative position, which is the target's position relative to a first reference point. Figure 13 In one embodiment, the target's relative position is within a movable area.

[0222] Step S1316: The server obtains at least one travel route based on the target's relative position and the position of the first vehicle relative to the first reference point.

[0223] Based on the current position of the first vehicle and the relative position of the target, the server determines at least one travel route, which is the route taken by the first vehicle from its position relative to the first reference point to the relative position of the target.

[0224] Step S1317: The server sends at least one route indication information to the terminal. Correspondingly, the terminal receives at least one route indication information.

[0225] After obtaining at least one travel route, the server sends at least one route instruction to the terminal. The terminal then displays the at least one travel route to the user on the first interface based on the fourth prompt information. For example, when the target location of the first vehicle is the location of the blocked vehicle, please refer to... Figure 10A , Figure 10A This is a schematic diagram illustrating another possible scenario for the first interface in the embodiments of this application. Figure 10A This demonstrates at least one possible path for the first vehicle to move from its current location to the location of the blocked vehicle. For another example, please see... Figure 10B When the target location of the first vehicle is within the movable area... Figure 10B This is a schematic diagram illustrating another possible scenario for the first interface in the embodiments of this application. Figure 10B It shows at least one route for the first vehicle to move from its current position to a position in the movable area.

[0226] Step S1318: The terminal receives the input third instruction.

[0227] The third instruction is used to determine the target route, which the user can select on the terminal. The text information interaction area of ​​the first interface also includes prompts for determining the relative route to the target; for example, please refer to [link to example]. Figure 11A , Figure 11A This is a schematic diagram illustrating another possible scenario for the first interface in this application embodiment. When the target location is the location of the blocked vehicle, the user first selects the target route of the first vehicle's movement in the terminal, and then determines the target relative route in the text information interaction area. As another example, please refer to... Figure 11B , Figure 11B This is a schematic diagram illustrating another possible scenario for the first interface in this application embodiment. When the target location is within a movable area, the user first selects the target relative route for the movement of the first vehicle in the terminal, and then determines the target relative route in the text information interaction area.

[0228] Step S1319: The terminal sends the target route indication information to the server. Correspondingly, the server receives the target route indication information and sends it to the first vehicle. Then, the first vehicle receives the target route indication information.

[0229] After the user selects the target relative route for the first vehicle's movement, the terminal sends the target relative route indication information to the server, and the server then sends the target relative position indication information to the first vehicle.

[0230] Step S1320: Based on the target route, control the first vehicle to move to the target position.

[0231] After receiving the indication information of the relative position of the target, the first vehicle calculates the target route for the first vehicle to move, and then moves to the target position based on the target route.

[0232] During the movement of the first vehicle, the user can observe the situation in real time on the terminal and choose to brake immediately based on the vehicle relocation situation, and then select a new target location.

[0233] exist Figure 13 In the illustrated embodiment, the user selects a target location for the first vehicle within a movable area. Since the surrounding environment of the first vehicle can change in real time, the target parking space selected by the user may change due to temporary obstacles during actual vehicle relocation. For example, while the first vehicle is moving towards the user-selected target parking space, that space may be occupied by other vehicles. By establishing a movable area for the first vehicle, more relocation options can be ensured to address actual situations and enhance the user experience.

[0234] The methods of the embodiments of this application have been described in detail above. The apparatus of the embodiments of this application is provided below.

[0235] It should be understood that the division of units in the apparatus provided in this application embodiment is only a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, the units in the apparatus can be implemented in the form of a processor calling software; for example, the apparatus includes a processor connected to a memory, which stores instructions. The processor calls the instructions stored in the memory to implement any of the above methods or to implement the functions of each unit of the apparatus. The processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is either internal to the apparatus or external to it. Alternatively, the units in the device can be implemented as hardware circuits. The functionality of some or all units can be achieved through the design of these hardware circuits, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC). The functionality of some or all of the above units is achieved through the design of the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented using a programmable logic device (PLD). Taking a field-programmable gate array (FPGA) as an example, it can include a large number of logic gates. The connection relationships between the logic gates are configured through a configuration file, thereby achieving the functionality of some or all of the above units. All units of the above device can be implemented entirely through processor-invoked software, entirely through hardware circuits, or partially through processor-invoked software with the remaining parts implemented through hardware circuits.

[0236] In this application embodiment, a processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction reading and execution capabilities, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a type of microprocessor), or a digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships of hardware circuits are fixed or reconfigurable. For example, the processor is a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. Furthermore, it can also be a hardware circuit designed for artificial intelligence, which can be understood as a type of ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), or a deep learning processing unit (DPU).

[0237] As can be seen, each unit in the above device can be one or more processors (or processing circuits) configured to implement the above methods, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0238] Furthermore, the units in the above devices can be integrated in whole or in part, or they can be implemented independently. In one implementation, these units are integrated together as a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of the units in the device. The at least one processor may be of different types, such as CPU and FPGA, CPU and artificial intelligence processor, CPU and GPU, etc.

[0239] Several possible devices are listed below.

[0240] Please see Figure 14 , Figure 14This is a schematic diagram of a control device provided in an embodiment of this application. Optionally, the control device 140 can be an independent device, such as a terminal, server, vehicle, etc. Alternatively, the control device 140 can also be a component in an independent device (such as a node), such as a chip or integrated circuit. The control device 140 is used to implement the aforementioned control method, for example... Figure 2 , Figure 12 ,or Figure 13 The control method shown in any one or more of the embodiments is illustrated.

[0241] like Figure 14 As shown, the control device 140 includes a transmitting unit 1401, a processing unit 1402, and a receiving unit 1403. The transmitting unit 1401 performs one or more operations such as transmitting, receiving, transmitting, and establishing a connection, and further includes other operations for implementing the control method. The processing unit 1402 performs one or more operations such as processing, calculating, determining, generating, controlling, obtaining, and displaying, and further includes other operations for implementing the control method. The receiving unit 1403 performs one or more operations such as receiving, responding, and acquiring, and further includes other operations for implementing the control method.

[0242] It should be noted that the above division of multiple units is only a logical division based on function and does not constitute a limitation on the specific structure of the control device 140. In actual implementation, some functional modules may be subdivided into more smaller functional modules, and some functional modules may be combined into a single functional module.

[0243] In one possible implementation, the sending unit 1401 is used for the first vehicle to send information about its first surrounding environment to the server, the receiving unit 1403 is used for the first vehicle to receive instruction information from the server for the second vehicle, the sending unit 1401 is also used for the first vehicle to send the relative position of the second vehicle to the server, the receiving unit 1403 is also used for the first vehicle to receive a target relative position from the server, the processing unit 1402 is used for the first vehicle to determine a target position based on the target relative position, and the processing unit 1402 is also used for the first vehicle to control the first vehicle to move to the target position.

[0244] In one possible implementation, the receiving unit 1403 is used for the first vehicle to obtain information about the second surrounding environment of the first vehicle, and the sending unit 1401 is used for the first vehicle to send the information about the second surrounding environment to the server.

[0245] In one possible implementation, the processing unit 1402 is used to control the first vehicle to move to the middle parking position, and the processing unit 1402 is also used to control the first vehicle to move to the target position.

[0246] In one possible implementation, the receiving unit 1403 is used for the first vehicle to receive indication information of the intermediate parking relative position from the server, and the processing unit 1402 is used for the first vehicle to obtain the intermediate parking position based on the intermediate parking relative position.

[0247] In one possible implementation, the receiving unit 1403 is used for the first vehicle to receive the indication information of the target route from the server, and the processing unit 1402 is used for the first vehicle to calculate the route for the first vehicle to move from the current position to the target position based on the target route. The processing unit 1402 is also used for the first vehicle to control the first vehicle to move to the target position based on the route for the first vehicle to move from the current position to the target position.

[0248] Please see Figure 15 , Figure 15 This is a schematic diagram of another control device provided in an embodiment of this application. Optionally, the control device 150 can be an independent device, such as a terminal, server, vehicle, etc. Alternatively, the control device 150 can also be a component in an independent device (such as a node), such as a chip or integrated circuit. The control device 150 is used to implement the aforementioned control method, for example... Figure 2 , Figure 12 ,or Figure 13 The control method shown in any one or more of the embodiments is illustrated.

[0249] like Figure 15 As shown, the control device 150 includes a transmitting unit 1501, a processing unit 1502, and a receiving unit 1503. The transmitting unit 1501 performs one or more operations such as transmitting, receiving, transmitting, and establishing a connection, and further includes other operations for implementing the control method. The processing unit 1502 performs one or more operations such as processing, calculating, determining, generating, controlling, obtaining, and displaying, and further includes other operations for implementing the control method. The receiving unit 1503 performs one or more operations such as receiving, responding, and acquiring, and further includes other operations for implementing the control method.

[0250] It should be noted that the above division of multiple units is only a logical division based on function and does not constitute a limitation on the specific structure of the control device 150. In actual implementation, some functional modules may be subdivided into more smaller functional modules, and some functional modules may be combined into a single functional module.

[0251] In one possible implementation, the receiving unit 1503 is used for the terminal to obtain the surrounding situation model of the first vehicle sent by the server, the processing unit 1402 is used for the terminal to display the first interface, the receiving unit 1503 is also used for the terminal to receive the input first instruction, and the sending unit 1401 is used for the terminal to send the first message to the server.

[0252] In one possible implementation, the receiving unit 1503 is used for the terminal to receive the input second instruction, and the sending unit 1401 is used for the terminal to send the second message to the server.

[0253] In one possible implementation, the receiving unit 1503 is used for the terminal to receive indication information of predicted congested vehicles from the server.

[0254] In one possible implementation, the receiving unit 1503 is used for the terminal to receive indication information of a movable area sent from the server.

[0255] In one possible implementation, the receiving unit 1503 is used for the terminal to receive indication information of at least one travel route, the receiving unit 1403 is also used for the terminal to receive input third instructions, and the sending unit 1501 is used for the terminal to send indication information of the target route to the server.

[0256] Please see Figure 16 , Figure 16 This is a schematic diagram of another control device provided in an embodiment of this application. Optionally, the control device 160 can be an independent device, such as a terminal, server, vehicle, etc. Alternatively, the control device 160 can also be a component in an independent device (such as a node), such as a chip or integrated circuit. The control device 160 is used to implement the aforementioned control method, for example... Figure 2 , Figure 12 ,or Figure 13 The control method shown in any one or more of the embodiments is illustrated.

[0257] like Figure 16 As shown, the control device 160 includes a transmitting unit 1601, a processing unit 1602, and a receiving unit 1603. The transmitting unit 1601 performs one or more operations such as transmitting, receiving, transmitting, and establishing a connection, and further includes other operations for implementing the control method. The processing unit 1602 performs one or more operations such as processing, calculating, determining, generating, controlling, obtaining, and displaying, and further includes other operations for implementing the control method. The receiving unit 1603 performs one or more operations such as receiving, responding, and acquiring, and further includes other operations for implementing the control method.

[0258] It should be noted that the above division of multiple units is only a logical division based on function and does not constitute a limitation on the specific structure of the control device 160. In actual implementation, some functional modules may be subdivided into more smaller functional modules, and some functional modules may be combined into a single functional module.

[0259] In one possible implementation, the receiving unit 1603 is used for the server to obtain information about the first surrounding environment of the first vehicle, the processing unit 1602 is used for the server to obtain a surrounding environment model of the first vehicle based on the information about the first surrounding environment of the first vehicle, the sending unit 1601 is used for the server to send the surrounding environment model of the first vehicle to the terminal, the receiving unit 1603 is also used for the server to receive a first message from the terminal, and the sending unit 1601 is also used for the server to send indication information of the target relative position to the first vehicle.

[0260] In one possible implementation, the receiving unit 1603 is used for the server to receive a second message from the terminal.

[0261] In one possible implementation, the processing unit 1602 is used for the server to obtain a prediction of the blocked vehicles based on the first surrounding environment of the first vehicle, and the sending unit 1601 is used for the server to send the indication information of the predicted blocked vehicles to the terminal.

[0262] In one possible implementation, the receiving unit 1603 is used for the server to obtain the relative position of the second vehicle from the first vehicle, the processing unit 1602 is used for the server to obtain the relative position of the intermediate parking space based on the relative position of the second vehicle, and the sending unit 1601 is used for the server to send the indication information of the intermediate parking space to the first vehicle.

[0263] In one possible implementation, the processing unit 1602 is used for the server to obtain a movable area based on information about the first surrounding environment of the first vehicle, and the sending unit 1601 is used for the server to send indication information of the movable area to the terminal.

[0264] In one possible implementation, the processing unit 1602 is used by the server to obtain at least one travel route based on the target relative position and the position of the first vehicle relative to the first reference point.

[0265] In one possible implementation, the sending unit 1601 is used by the server to send at least one route indication information to the terminal, and the receiving unit 1403 is used by the server to receive the target route indication information sent by the terminal. The sending unit 1601 is also used by the server to send the target route indication information to the first vehicle.

[0266] Figure 17This is a schematic diagram of the structure of a first vehicle provided in an embodiment of this application. The first vehicle is a device with processing and communication capabilities.

[0267] like Figure 17 As shown, the first vehicle 170 includes a processor 1701, a memory 1702, and one or more programs, and may include a communication interface 1703. It should be understood that this application does not limit the number of processors and memories in the first vehicle 170.

[0268] Processor 1701 is a module for performing calculations and may include a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), a digital signal processor (DSP), a microcontroller unit (MCU), or one or more integrated circuits for controlling the execution of programs in the above schemes.

[0269] Memory 1702 provides storage space, in which application data, user data, operating system, and computer programs can be optionally stored. Memory 1702 may include read-only memory (ROM) or other types of static storage devices capable of storing static information and instructions, random access memory (RAM) or other types of dynamic storage devices capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto.

[0270] The memory 1702 can exist independently and be connected to the processor 1701 via a bus. Alternatively, the memory 1702 can be integrated with the processor 1701.

[0271] The communication interface 1703 is used to provide information input or output to the at least one processor. And / or, the communication interface 1703 can be used to receive data transmitted externally and / or transmit data externally. The communication interface 1703 can be a wired link interface, such as an Ethernet cable, or a wireless link interface (Wi-Fi, Bluetooth, general wireless transmission, and other wireless communication technologies, etc.). Optionally, the communication interface 1703 may also include a transmitter (such as a radio frequency transmitter, antenna, etc.) or a receiver coupled to the interface.

[0272] In this embodiment of the application, one or more of the above-mentioned programs are stored in the memory 1702 in the form of program code and are configured to be executed by the processor 1701. The programs include instructions for implementing the steps in the aforementioned control method. For example... Figure 2 , Figure 12 or Figure 13 The control method shown refers to the memory 1702 storing executable instructions, and the processor 1701 executing these executable instructions to implement the aforementioned control method, for example... Figure 2 , Figure 12 or Figure 13 The control method in the embodiment. That is, the memory 1702 stores instructions for executing the control method.

[0273] Alternatively, the memory 1702 stores executable instructions, and the processor 1701 executes these executable instructions to implement the aforementioned tasks respectively. Figure 14 The control device shown utilizes the functions of one or more units (or devices) among the detection unit, processing unit, and acquisition unit to implement the control method.

[0274] Figure 18 This is a schematic diagram of the structure of a terminal provided in an embodiment of this application. A terminal is a device with processing and communication capabilities.

[0275] like Figure 18 As shown, terminal 180 includes a processor 1801, a memory 1802, and one or more programs, and may include a communication interface 1803. It should be understood that this application does not limit the number of processors and memories in terminal 180.

[0276] Processor 1801 is a module that performs calculations and may include a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), a digital signal processor (DSP), a microcontroller unit (MCU), or one or more integrated circuits used to control the execution of programs in the above schemes.

[0277] Memory 1802 provides storage space, in which application data, user data, operating system, and computer programs can be optionally stored. Memory 1802 may include read-only memory (ROM) or other types of static storage devices capable of storing static information and instructions, random access memory (RAM) or other types of dynamic storage devices capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto.

[0278] The memory 1802 can exist independently and be connected to the processor 1801 via a bus. Alternatively, the memory 1802 can be integrated with the processor 1801.

[0279] The communication interface 1803 is used to provide information input or output to the at least one processor. And / or, the communication interface 1803 can be used to receive data transmitted externally and / or transmit data externally. The communication interface 1803 can be a wired link interface, such as an Ethernet cable, or a wireless link interface (Wi-Fi, Bluetooth, general wireless transmission, and other wireless communication technologies, etc.). Optionally, the communication interface 1803 may also include a transmitter (such as a radio frequency transmitter, antenna, etc.) or a receiver coupled to the interface.

[0280] In this embodiment of the application, one or more programs are stored in the memory 1802 in the form of program code and are configured to be executed by the processor 1801. The programs include instructions for implementing the steps in the aforementioned control method. For example... Figure 2 , Figure 12 or Figure 13 The control method shown refers to the memory 1802 storing executable instructions, and the processor 1801 executing these executable instructions to implement the aforementioned control method, for example... Figure 2 , Figure 12 or Figure 13 The control method in the embodiment. That is, the memory 1802 stores instructions for executing the control method.

[0281] Alternatively, the memory 1802 stores executable instructions, and the processor 1801 executes these executable instructions to implement the aforementioned tasks respectively. Figure 15 The control device shown utilizes the functions of one or more units (or devices) among the detection unit, processing unit, and acquisition unit to implement the control method.

[0282] Figure 19 This is a schematic diagram of the structure of a server provided in an embodiment of this application. A server is a device with processing and communication capabilities. This device can be a physical device, such as a rack server or a host, or it can be a virtual device, such as a virtual machine or a container.

[0283] like Figure 19 As shown, server 190 includes a processor 1901, a memory 1902, and one or more programs, and may include a communication interface 1903. It should be understood that this application does not limit the number of processors and memories in server 190.

[0284] Processor 1901 is a module that performs calculations and may include a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), a digital signal processor (DSP), a microcontroller unit (MCU), or one or more integrated circuits for controlling the execution of programs in the above schemes.

[0285] Memory 1902 provides storage space, in which application data, user data, operating system, and computer programs can be optionally stored. Memory 1902 may include read-only memory (ROM) or other types of static storage devices capable of storing static information and instructions, random access memory (RAM) or other types of dynamic storage devices capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto.

[0286] The memory 1902 can exist independently and be connected to the processor 1901 via a bus. Alternatively, the memory 1902 can be integrated with the processor 1901.

[0287] The communication interface 1903 is used to provide information input or output to the at least one processor. And / or, the communication interface 1903 can be used to receive data transmitted externally and / or transmit data externally. The communication interface 1903 can be a wired link interface, such as an Ethernet cable, or a wireless link interface (Wi-Fi, Bluetooth, general wireless transmission, and other wireless communication technologies, etc.). Optionally, the communication interface 1903 may also include a transmitter (such as a radio frequency transmitter, antenna, etc.) or a receiver coupled to the interface.

[0288] In this embodiment of the application, one or more programs are stored in the memory 1902 in the form of program code and are configured to be executed by the processor 1901. The programs include instructions for implementing the steps in the aforementioned control method. For example... Figure 2 , Figure 12 or Figure 13 The control method shown refers to the memory 1902 storing executable instructions, and the processor 1901 executing these executable instructions to implement the aforementioned control method, for example... Figure 2 , Figure 12 or Figure 13 The control method in the embodiment. That is, the memory 1902 stores instructions for executing the control method.

[0289] Alternatively, the memory 1902 stores executable instructions, and the processor 1901 executes these executable instructions to implement the aforementioned tasks respectively. Figure 17 The control device shown utilizes the functions of one or more units (or devices) among the detection unit, processing unit, and acquisition unit to implement the control method.

[0290] This application also provides a computer program product containing instructions. The computer program product may be a software or program product containing computer instructions, capable of running on a computing device or stored on any usable medium. The computer program instructions are used to implement the aforementioned control method, for example... Figure 2 , Figure 12 or Figure 13 The control method in the embodiments.

[0291] This application also provides a computer-readable storage medium. The computer-readable storage medium includes instructions for implementing the aforementioned control method, for example... Figure 2 , Figure 12 or Figure 13 The method in the embodiments.

[0292] The computer-readable storage medium can be any available medium that the control device can store, or a data storage device such as a data center that contains one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives).

[0293] In this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0294] In this application, "at least one" in the embodiments refers to one or more items, and "more than one" refers to two or more items. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, and c can be single or multiple. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0295] Furthermore, unless otherwise stated, the use of ordinal numbers such as "first" and "second" in the embodiments of this application is for distinguishing multiple objects and is not for limiting the order, timing, priority, or importance of multiple objects. For example, "first terminal" and "second terminal" are only for ease of description and do not indicate differences in the device structure, deployment order, importance, etc. of the first terminal and the second terminal.

[0296] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0297] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method, characterized in that, Applied to a first vehicle, which has a communication connection with a server, the method includes: Send information about the first surrounding environment of the first vehicle to the server, wherein the first surrounding environment of the first vehicle includes the second vehicle; The system receives instruction information from the server regarding the second vehicle, which indicates that the second vehicle's travel route conflicts with the current position of the first vehicle. Send the relative position of the second vehicle to the server. The relative position of the second vehicle is the position of the second vehicle relative to a first reference point, which is a point in the first surrounding environment of the first vehicle. Receive the target relative position from the server, where the target relative position is the position of the target position relative to the first reference point; The target position is determined based on the relative position of the target, and the target position is also related to the absolute position of the first reference point; Control the first vehicle to move to the target position.

2. The method according to claim 1, characterized in that, The method further includes: If the first vehicle is detected to have the intention to park, information about the second surrounding environment of the first vehicle is obtained; The system sends information about the second surrounding environment to the server. This information is used by the server to build a model of the surrounding environment of the first vehicle. The model of the surrounding environment of the first vehicle is used to characterize the positional relationship between the first vehicle and the objects surrounding it.

3. The method according to claim 1 or 2, characterized in that, After the first vehicle moves to the target position, the travel route of the second vehicle does not conflict with the current position of the first vehicle.

4. The method according to any one of claims 1-3, characterized in that, The target location is the position where the second vehicle is parked, and controlling the first vehicle to move to the target location includes: Control the first vehicle to move to the middle parking position; After the second vehicle leaves its station, the first vehicle is controlled to move to the target location.

5. The method according to claim 4, characterized in that, The method further includes: Receive indication information of the intermediate parking relative position from the server, wherein the intermediate parking relative position is the position of the intermediate parking position relative to the first reference point; The intermediate parking position is obtained based on the relative position of the intermediate parking space.

6. The method according to any one of claims 1-3, characterized in that, The target location belongs to the movable area, which is a continuous parking space in the first surrounding environment of the first vehicle.

7. The method according to any one of claims 1-6, characterized in that, Controlling the first vehicle to move to the target position includes: Receive indication information of a target route from the server, the target route being used to indicate the travel route of the first vehicle, the target route being the route by which the first vehicle travels from its position relative to the first reference point to the target relative position; Based on the target route, the route taken by the first vehicle from its current position to the target position is calculated; Based on the route taken by the first vehicle from its current position to the target position, the first vehicle is controlled to move to the target position.

8. A control method, characterized in that, Applied to a terminal that has a communication connection with the server, the method includes: Obtain the surrounding environment model of the first vehicle sent by the server. The surrounding environment model of the first vehicle is used to characterize the positional relationship between the first vehicle and the surrounding objects of the first vehicle. The surrounding objects of the first vehicle include the second vehicle. The travel route of the second vehicle conflicts with the current position of the first vehicle. The first interface is displayed, which includes a model of the surrounding environment of the first vehicle. The system receives a first instruction, which indicates the relative position of a target. The relative position of the target is the position of the target relative to a first reference point. The first reference point is a point in the first surrounding environment of the first vehicle. The first interface includes the first reference point. The area contained in the target position does not overlap with the area contained in the current position of the first vehicle. A first message is sent to the server, the first message including the relative position of the target, the first message being used to instruct the first vehicle to move to the target position.

9. The method according to claim 8, characterized in that, The method further includes: The system receives a second instruction, which is used to identify a blocked vehicle, wherein the blocked vehicle is a vehicle whose travel route conflicts with the current position of the first vehicle. A second message is sent to the server, the second message being used to indicate the identified blocked vehicles.

10. The method according to claim 8 or 9, characterized in that, The method further includes: The system receives indication information from the server regarding predicted vehicles that are stuck in traffic. These predicted vehicles are vehicles whose routes conflict with the current position of the first vehicle. The objects surrounding the first vehicle include the predicted vehicles that are stuck in traffic. The first interface also includes a first prompt message, which is used to prompt the user about the predicted traffic jam.

11. The method according to any one of claims 8-10, characterized in that, The target location is the location of the second vehicle.

12. The method according to claim 11, characterized in that, The first interface also includes a second prompt message, which is used to indicate that the location of the second vehicle is used as the parking space for the first vehicle.

13. The method according to any one of claims 8-10, characterized in that, The target location is a location within a movable area, which is a continuous parking space in the first surrounding environment of the first vehicle.

14. The method according to claim 13, characterized in that, The method further includes: Receive indication information about the movable area sent from the server; The first interface also includes a third prompt message, which is used to indicate the location of the movable area in the surrounding environment model.

15. The method according to claim 13 or 14, characterized in that, The first instruction corresponds to the user's drag-and-drop operation within the movable area. The drag operation is used to select the parking location of the first vehicle in the movable area. The target relative position is the parking position of the first vehicle indicated by the drag operation.

16. The method according to any one of claims 8-15, characterized in that, The method further includes: Receive at least one route indication information, the route being the route taken by the first vehicle from its position relative to the first reference point to the target's relative position; The first interface also includes a fourth prompt message, which is used to indicate the at least one travel route; Receive a third instruction input, the third instruction being used to determine a target route, the target route belonging to the at least one travel route; Send the target route indication information to the server.

17. A control method, characterized in that, The method, applied to a server that has a communication connection with a first vehicle and also a communication connection with a terminal, includes: Obtain information about the first surrounding environment of the first vehicle, wherein the first surrounding environment of the first vehicle includes the second vehicle; Based on the information of the first surrounding environment of the first vehicle, a model of the surrounding situation of the first vehicle is obtained. The surrounding environment model of the first vehicle is sent to the terminal. The surrounding environment model of the first vehicle is used to characterize the positional relationship between the first vehicle and the surrounding objects of the first vehicle. The surrounding objects of the first vehicle include the second vehicle. The system receives a first message from the terminal, the first message including a target relative position, the target relative position being the position of the target position relative to a first reference point, the first reference point being a point in a first surrounding environment of the first vehicle, the first message being used to instruct the first vehicle to move to the target position; Send the indication information of the target's relative position to the first vehicle.

18. The method according to claim 17, characterized in that, The method further includes: A second message is received from the terminal, the second message being used to indicate a identified blocked vehicle, the blocked vehicle being a vehicle whose travel route conflicts with the current position of the first vehicle.

19. The method according to claim 17 or 18, characterized in that, The method further includes: Based on the first surrounding environment of the first vehicle, a predicted blocked vehicle is obtained. The predicted blocked vehicle is a vehicle whose travel route conflicts with the current position of the first vehicle. The first surrounding environment of the first vehicle includes the predicted blocked vehicle. Send indication information predicting the vehicles stuck in traffic to the terminal.

20. The method according to any one of claims 17-19, characterized in that, The target location is the location of the second vehicle, and the method further includes: The relative position of the second vehicle is obtained from the first vehicle, and the relative position of the second vehicle is the position of the second vehicle relative to the first reference point; Based on the relative position of the second vehicle, the relative position of the middle parking car is obtained, which is the position of the middle parking car relative to the first reference point; Send the indication information of the intermediate parking space to the first vehicle.

21. The method according to any one of claims 17-19, characterized in that, The target location is a location within a movable area, and the movable area is a continuous parking space in the first surrounding environment of the first vehicle. The method further includes: Based on the information about the first surrounding environment of the first vehicle, the movable area is obtained; Send indication information of the movable area to the terminal.

22. The method according to any one of claims 17-21, characterized in that, The method further includes: Based on the target's relative position and the first vehicle's position relative to the first reference point, at least one travel route is obtained, the travel route being the route taken by the first vehicle from its position relative to the first reference point to the target's relative position.

23. The method according to claim 22, characterized in that, The method further includes: Send the indication information of the at least one travel route to the terminal; The terminal sends an indication of a target route, wherein the target route belongs to the at least one travel route and the target route is a defined route from the first vehicle to the target relative position relative to the first reference point. Send the target route instruction information to the first vehicle.

24. A control device, characterized in that, The control device includes an acquisition unit and a communication unit, which are used to perform the method according to any one of claims 1-7, or the method according to any one of claims 8-16, or the method according to any one of claims 17-23.

25. A vehicle, characterized in that, The vehicle includes a processor and a memory, the memory storing a program including instructions for performing the method according to any one of claims 1-7.

26. A terminal device, characterized in that, The terminal device includes a processor and a memory, the memory storing a program including instructions for performing the method according to any one of claims 8-16.

27. A server, characterized in that, The server includes a processor and a memory, the memory storing a program including instructions for performing the method of any one of claims 17-23.

28. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program comprising methods for performing the method of any one of claims 1-7, or the method of any one of claims 8-16, or the method of any one of claims 17-23.

29. A computer program product, characterized in that, When the computer program product is executed by a processor, it performs the method according to any one of claims 1-7, or the method according to any one of claims 8-16, or the method according to any one of claims 17-23.

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