Vehicle control method and device, mobile terminal, vehicle-mounted terminal, medium and product

Abstract

The application provides a vehicle control method, device, mobile terminal, vehicle-mounted terminal, medium and product. In the method, the mobile terminal analyzes the vehicle control demand data input by the user, obtains initial vehicle control instructions, filters the parameters in each initial vehicle control instruction to obtain to-be-verified vehicle control instructions, and then sends each to-be-verified vehicle control instruction to the vehicle-mounted terminal. The vehicle-mounted terminal filters and processes each to-be-verified vehicle control instruction and each unexecuted vehicle control instruction through conflict verification and safety verification to obtain target vehicle control instructions, and then controls the vehicle according to each target vehicle control instruction. The scheme removes abnormal vehicle control instructions by filtering the control instructions according to the parameters and filtering through conflict verification and safety verification, thereby reducing the occurrence frequency of control abnormal conditions.

Description

Technical Field

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

[0002] As vehicles become more feature-rich, the required vehicle control commands also become more numerous and complex. To improve the convenience of vehicle control for users, users can input their vehicle control needs via voice or text, and the large language model will parse the commands to generate the desired control instructions.

[0003] In existing technologies, to save computing power on the vehicle-mounted terminal, the user's mobile terminal can perform the parsing process and then send the parsed vehicle control commands to the vehicle-mounted terminal. The vehicle-mounted terminal then controls the vehicle according to the control commands.

[0004] However, if the vehicle terminal directly controls the vehicle based on the parsed vehicle control commands, it will lead to a higher frequency of control anomalies. Summary of the Invention

[0005] The vehicle control method, device, mobile terminal, vehicle terminal, medium, and product provided in this application are intended to solve the problem that in existing vehicle control methods, the vehicle terminal directly controls the vehicle based on the parsed vehicle control commands, resulting in a high frequency of control anomalies.

[0006] In a first aspect, embodiments of this application provide a vehicle control method applied to an in-vehicle terminal, the method comprising:

[0007] Receive vehicle control commands to be verified from mobile terminals;

[0008] For each vehicle control command to be verified and each unexecuted vehicle control command, the target vehicle control command is obtained through conflict verification and security verification.

[0009] Control the vehicle according to each target vehicle control command.

[0010] In one possible implementation, the step of filtering each vehicle control command to be verified and each unexecuted vehicle control command through conflict checking and security checking to obtain the target vehicle control command includes:

[0011] All vehicle control commands to be verified and all unexecuted vehicle control commands are deduplicated to obtain the first command;

[0012] By performing conflict checking, all first instructions are filtered out to obtain second instructions;

[0013] By filtering and processing all second commands based on the current vehicle speed and safety verification, the target vehicle control command is obtained.

[0014] In one possible implementation, the step of filtering all first instructions through conflict checking to obtain second instructions includes:

[0015] The instructions are grouped according to the executor in the first instruction to obtain instruction groups, and the first instructions in the same instruction group have the same executor.

[0016] For each instruction group, if the executor of the first instruction in the instruction group belongs to the preset executor conflict list, then the first instruction with the latest timestamp in the instruction group is taken as the second instruction.

[0017] For each instruction group, if the executor of the first instruction in the instruction group does not belong to the preset executor conflict list, then the first instruction in the instruction group will be treated as the second instruction.

[0018] In one possible implementation, the step of filtering all second commands based on the current vehicle speed and safety verification to obtain the target vehicle control command includes:

[0019] If the current vehicle speed is greater than 0, then obtain the vehicle control command blacklist;

[0020] Remove all second instructions that match the vehicle control instructions in the vehicle control instruction blacklist to obtain the target control instruction.

[0021] In one possible implementation, before controlling the vehicle according to each target vehicle control command, the method further includes:

[0022] For each target vehicle control command, if it is determined that the target vehicle control command is a command to add a navigation waypoint, then obtain the current first remaining navigation time and the second remaining navigation time after adding the navigation waypoint;

[0023] If the ratio of the remaining time of the first navigation to the remaining time of the second navigation is less than a preset ratio, an abnormal waypoint prompt message will be output.

[0024] Secondly, embodiments of this application provide a vehicle control method applied to a mobile terminal, the method comprising:

[0025] The user's input vehicle control request data is parsed to obtain the initial vehicle control command;

[0026] The parameters in each initial vehicle control command are filtered to obtain the vehicle control commands to be verified.

[0027] Each vehicle control command to be verified is sent to the vehicle terminal.

[0028] In one possible implementation, the step of filtering based on parameters in each initial vehicle control command to obtain the vehicle control command to be verified includes:

[0029] For each initial vehicle control command, the target parameter type, target parameter value range, and target parameter quantity are determined based on the preset correspondence between actuator and parameter type, parameter value range, and parameter quantity, as well as the actuator in the initial vehicle control command.

[0030] For each initial vehicle control command, if the parameter in the initial vehicle control command belongs to the target parameter value range of the initial vehicle control command, the parameter type of the parameter is the target parameter type of the initial vehicle control command, and the number of the parameter is the target parameter number of the initial vehicle control command, then the initial vehicle control command is regarded as a vehicle control command to be verified.

[0031] In one possible implementation, before sending each vehicle control command to be verified to the vehicle terminal, the method further includes:

[0032] Get the executor whitelist;

[0033] For each vehicle control command to be verified, if the actuator in the vehicle control command to be verified belongs to the actuator whitelist, then the vehicle control command to be verified is used as the filtered vehicle control command to be verified.

[0034] The step of sending each vehicle control command to be verified to the vehicle terminal includes:

[0035] Each filtered vehicle control command to be verified is sent to the vehicle terminal.

[0036] In one possible implementation, the method further includes:

[0037] Upon receiving a stop request or detecting a disconnection in the communication connection with the vehicle terminal, the sending of the vehicle control command to be verified to the vehicle terminal is stopped.

[0038] Thirdly, embodiments of this application provide a vehicle control device, including:

[0039] The receiving module is used to receive the vehicle control command to be verified sent by the mobile terminal;

[0040] The processing module is used to filter each vehicle control command to be verified and each unexecuted vehicle control command through conflict verification and security verification to obtain the target vehicle control command.

[0041] The control module is used to control the vehicle according to each target vehicle control command.

[0042] Fourthly, embodiments of this application provide a vehicle control device, including:

[0043] The processing module is used to parse the vehicle control request data input by the user and obtain the initial vehicle control command;

[0044] The filtering module is used to filter the parameters in each initial vehicle control command to obtain the vehicle control commands to be verified.

[0045] The sending module is used to send each vehicle control command to be verified to the vehicle terminal.

[0046] Fifthly, embodiments of this application provide a vehicle-mounted terminal, including:

[0047] Processor, memory, communication interface;

[0048] The memory is used to store the executable instructions of the processor;

[0049] The processor is configured to execute the vehicle control method according to any one of the first aspects by executing the executable instructions.

[0050] Sixthly, embodiments of this application provide a mobile terminal, including:

[0051] Processor, memory, communication interface;

[0052] The memory is used to store the executable instructions of the processor;

[0053] The processor is configured to execute the vehicle control method according to any of the second aspects by executing the executable instructions.

[0054] In a seventh aspect, embodiments of this application provide a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle control method described in either the first or second aspect.

[0055] Eighthly, embodiments of this application provide a computer program product, including a computer program, which, when executed by a processor, is used to implement the vehicle control method described in either the first or second aspect.

[0056] The vehicle control method, device, mobile terminal, vehicle-mounted terminal, medium, and product provided in this application's embodiments parse user-input vehicle control request data through the mobile terminal to obtain initial vehicle control commands. Then, based on the parameters in each initial vehicle control command, a selection of vehicle control commands to be verified is obtained. Each verification command is then sent to the vehicle-mounted terminal. The vehicle-mounted terminal performs conflict and safety checks on each verification command and each unexecuted vehicle control command to obtain target vehicle control commands. Finally, the vehicle is controlled according to each target vehicle control command. This solution, by filtering control commands based on parameters and through conflict and safety checks, removes abnormal vehicle control commands, reducing the frequency of control anomalies. Attached Figure Description

[0057] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0058] Figure 1 A flowchart illustrating an embodiment of the vehicle control method provided in this application;

[0059] Figure 2 A flowchart illustrating Embodiment 2 of the vehicle control method provided in this application;

[0060] Figure 3 This is a schematic diagram of the structure of a vehicle control device according to Embodiment 1 of the present application;

[0061] Figure 4 This is a schematic diagram of the structure of Embodiment 2 of the vehicle control device provided in this application;

[0062] Figure 5 This application provides a structural schematic diagram of an in-vehicle terminal;

[0063] Figure 6 This is a schematic diagram of the structure of a mobile terminal provided in this application.

[0064] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0065] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0066] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0067] As vehicles become more feature-rich, the required vehicle control commands also become more numerous and complex. To improve the convenience of vehicle control for users, users can input their vehicle control needs via voice or text, and the large language model will parse the commands to generate the desired control instructions.

[0068] In existing technologies, to save computing power on the vehicle-mounted terminal, the user's mobile terminal can perform the parsing process and then send the parsed vehicle control commands to the vehicle-mounted terminal. The vehicle-mounted terminal then controls the vehicle according to the control commands.

[0069] However, if the vehicle terminal directly controls the vehicle based on the parsed vehicle control commands, it will lead to a higher frequency of control anomalies.

[0070] To address the problems existing in the prior art, the inventors, during their research on vehicle control methods, discovered that control anomalies can arise from reasons such as the inability to execute control commands, conflicts between control commands, and safety issues. Therefore, after the mobile terminal parses the control commands, it filters them based on the parameters, removing commands that cannot be executed due to parameter problems. Upon receiving the control commands, the vehicle terminal removes conflicting commands and those that affect vehicle safety, finally executing the remaining commands to reduce the occurrence of control anomalies. Based on the above inventive concept, the vehicle control scheme described in this application was designed.

[0071] The following provides examples illustrating the application scenarios of the vehicle control method provided in this application.

[0072] For example, in this application scenario, a user needs to drive a vehicle. Before getting into the car, the user speaks into the mobile terminal.

[0073] After the mobile terminal converts the voice into vehicle control request data, it uses a large language model to parse it and obtain initial vehicle control commands. Then, based on the parameters in each initial vehicle control command, it filters to obtain the vehicle control commands to be verified.

[0074] After the user gets on the vehicle, the mobile terminal establishes a communication connection with the vehicle terminal, and the mobile terminal sends each vehicle control command to be verified to the vehicle terminal.

[0075] The vehicle terminal performs screening and processing on each vehicle control command to be verified and each unexecuted vehicle control command through conflict verification and security verification to obtain the target vehicle control command.

[0076] Then, based on each target vehicle control command, the vehicle is controlled.

[0077] It should be noted that the above scenario is only an example of an application scenario provided by the embodiments of this application. The embodiments of this application do not limit the actual form of the various devices included in the scenario, nor do they limit the interaction method between devices. In the specific application of the solution, it can be set according to actual needs.

[0078] The technical solution of this application will now be described in detail through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0079] Figure 1 This is a flowchart illustrating a first embodiment of the vehicle control method provided in this application. In this embodiment, after the mobile terminal parses the vehicle control command, it filters it according to parameters and then sends it to the vehicle terminal. The vehicle terminal performs conflict checking, security checking, and filtering on the vehicle control command, and describes the execution of the target vehicle control command. The method in this embodiment can be implemented through software, hardware, or a combination of both. Figure 1 As shown, the vehicle control method specifically includes the following steps:

[0080] S101: The mobile terminal parses the vehicle control request data input by the user and obtains the initial vehicle control command.

[0081] In this step, after the user inputs the vehicle control request data into the mobile terminal, the mobile terminal uses a large language model to parse the vehicle control request data and obtain the initial vehicle control command.

[0082] It should be noted that the vehicle control request data can be either voice data or text data.

[0083] It should be noted that the vehicle control command includes an actuator and parameters. The actuator can be a windshield wiper, window motor, air conditioner, etc., and the parameters are the parameters required by the actuator. This application embodiment does not limit the vehicle control command, and it can be determined according to the actual situation.

[0084] It should be noted that after the mobile terminal receives the initial vehicle control command, it can also display the initial vehicle control command. Users can modify or delete the initial vehicle control command, or manually add new initial vehicle control commands.

[0085] It should be noted that if the mobile terminal cannot parse the vehicle control request data, it can output a parsing failure message so that the user can re-enter the vehicle control request data.

[0086] It should be noted that the mobile terminal can be a smartphone, tablet, or other portable computing device. This application does not limit the mobile terminal, and it can be determined according to the actual situation.

[0087] S102: The mobile terminal filters the parameters in each initial vehicle control command to obtain the vehicle control command to be verified.

[0088] In this step, after the mobile terminal receives the initial vehicle control command, in order to remove vehicle control commands that cannot be executed due to abnormal parameters, it filters according to the parameters in each initial vehicle control command to obtain the vehicle control commands to be verified.

[0089] Specifically, for each initial vehicle control command, the target parameter type, target parameter value range, and target parameter quantity are determined based on the preset correspondence between actuators and parameter types, parameter value ranges, and parameter quantities, as well as the actuators in the initial vehicle control command.

[0090] The actuator in the initial vehicle control command has the target parameter type, the corresponding parameter value range is the target parameter value range, and the corresponding parameter quantity is the target parameter quantity.

[0091] It should be noted that the parameter type can be numeric, character, Boolean, time, etc. This application does not limit the parameter type, and it can be determined according to the actual situation.

[0092] Furthermore, for each initial vehicle control command, if the parameters in the initial vehicle control command belong to the target parameter value range of the initial vehicle control command, the parameter type is the target parameter type of the initial vehicle control command, and the number of parameters is the target parameter number of the initial vehicle control command, it indicates that the parameters of the initial vehicle control command are correct, and then the initial vehicle control command is taken as the vehicle control command to be verified.

[0093] If the parameters in the initial vehicle control command do not fall within the target parameter value range of the initial vehicle control command, the parameter type is not the target parameter type of the initial vehicle control command, or the number of parameters is not the target number of parameters of the initial vehicle control command, it indicates that there is a problem with the parameters of the initial vehicle control command, and the initial vehicle control command is discarded.

[0094] It should be noted that when the number of parameters is greater than 1, the target parameter type is the target parameter type corresponding to each parameter, and the value range of the target parameter is the target parameter range corresponding to each parameter.

[0095] The parameter type being the target parameter type of the initial vehicle control command means that the parameter type of each parameter is the target parameter type. The parameter type not being the target parameter type of the initial vehicle control command means that there exists a parameter whose parameter type is not the target parameter type.

[0096] A parameter belonging to the target parameter value range of the initial vehicle control command means that each parameter falls within the target parameter value range. A parameter not belonging to the target parameter value range of the initial vehicle control command means that there are parameters that do not fall within the target parameter value range.

[0097] For example, the executor of the initial vehicle control command is the air conditioner, and the parameter is 23. The target parameter type is numerical, the target parameter range is 10-30, and the number of target parameters is 1. Therefore, this initial vehicle control command is a vehicle control command to be verified.

[0098] S103: The mobile terminal sends each vehicle control command to be verified to the vehicle terminal.

[0099] In this step, the mobile terminal stores the vehicle control command to be verified after receiving it, and after establishing a communication connection with the vehicle terminal, it sends each vehicle control command to be verified to the vehicle terminal.

[0100] After establishing a communication connection between the mobile terminal and the vehicle terminal, the vehicle control command to be verified is sent. This enables the separation of the generation and execution of the vehicle control command, allowing the vehicle control command to be generated first and then executed.

[0101] It should be noted that the communication connection established between the mobile terminal and the vehicle terminal can be a wired connection or a wireless connection; the wireless connection can be a Wireless Fidelity (WiFi) connection, a Bluetooth connection, etc. This application does not limit the method of communication connection, and it can be determined according to the actual situation.

[0102] S104: After receiving the vehicle control command to be verified from the mobile terminal, the vehicle terminal performs screening processing on each vehicle control command to be verified and each unexecuted vehicle control command through conflict verification and security verification to obtain the target vehicle control command.

[0103] In this step, after the mobile terminal sends each vehicle control command to be verified to the vehicle terminal, the vehicle terminal can receive the vehicle control command to be verified. Then, in order to remove conflicting and unexecuted commands, each vehicle control command to be verified and each unexecuted vehicle control command are filtered through conflict verification and security verification to obtain the target vehicle control command.

[0104] Specifically, all vehicle control commands to be verified and all unexecuted vehicle control commands are deduplicated to obtain the first command.

[0105] It should be noted that unexecuted vehicle control commands refer to those vehicle control commands that have not yet been executed within the vehicle terminal when it receives the vehicle control command to be verified. If there are no unexecuted vehicle control commands at this time, only deduplication processing is performed on all vehicle control commands to be verified to obtain the first command.

[0106] Then, through conflict checking, all first instructions are filtered to obtain second instructions.

[0107] In other words, instructions are grouped according to the executor in the first instruction to obtain instruction groups; the first instructions in the same instruction group have the same executor, while the first instructions in different instruction groups have different executors.

[0108] For each instruction group, if the executor of the first instruction in the instruction group belongs to the preset executor conflict list, it means that only the latest first instruction needs to be retained. In this case, the first instruction with the latest timestamp in the instruction group will be used as the second instruction.

[0109] For each instruction group, if the executor of the first instruction in the instruction group is not in the preset executor conflict list, then the first instruction in the instruction group will be treated as the second instruction.

[0110] The actuators in the preset actuator conflict list can be actuators such as air conditioners, windshield wipers, and seat motors that only need to execute the latest vehicle control commands.

[0111] It should be noted that after each vehicle control command is parsed, the parsing time will be used as the timestamp of the vehicle control command.

[0112] Then, by checking the current vehicle speed and safety, all second commands are filtered and processed to obtain the target vehicle control command.

[0113] In other words, if the current vehicle speed is greater than 0, the vehicle control command blacklist is obtained; all commands in the second command that match the vehicle control commands in the vehicle control command blacklist are removed to obtain the target control command.

[0114] When the vehicle speed is greater than 0, some vehicle control commands cannot be executed because they would affect driving safety and therefore need to be removed. The vehicle control command blacklist contains commands that cannot be executed when the vehicle speed is greater than 0. Examples include commands to fold the rearview mirrors, to flatten the driver's seat back, and to open the doors.

[0115] It should be noted that if the current vehicle speed is 0, then each second instruction will be used as a target control instruction.

[0116] It should be noted that the parameters of the vehicle control commands in the blacklist are parameter ranges or set values. A second command that matches a vehicle control command in the blacklist is either identical to the original vehicle control command, or has the same actuator as the original vehicle control command and its parameters fall within the parameter range of the original vehicle control command.

[0117] For example, the actuator of the second command is the rearview mirror motor, with a parameter of 0, indicating folding the rearview mirror. This second command is identical to a vehicle control command in the blacklist and needs to be removed. The actuator of the second command is the driver's seat backrest motor, with a parameter of 180, indicating folding flat. The actuator of a vehicle control command in the blacklist is the driver's seat backrest motor, with parameters of 160-180, and this command also needs to be removed.

[0118] In one implementation, for each target vehicle control command, before executing the target vehicle control command to control the vehicle, if it is determined that the target vehicle control command is a command to add a navigation waypoint, then the current first remaining navigation time and the second remaining navigation time after adding the navigation waypoint are obtained.

[0119] If the ratio of the remaining time of the first navigation to the remaining time of the second navigation is less than the preset ratio, it indicates that the waypoint addition is abnormal, and a waypoint abnormality prompt message will be output.

[0120] It should be noted that if the executor of the target vehicle control command is a navigation device, and the parameters are the identifier and coordinates of the waypoint to be added, then the target vehicle control command is determined to be a command to add a navigation waypoint. The remaining navigation time can be obtained through the navigation device, which can be an in-vehicle terminal.

[0121] It should be noted that the preset ratio can be 40%, 60%, 70%, etc. This application embodiment does not limit the preset ratio, and it can be determined according to the actual situation.

[0122] It should be noted that the vehicle terminal can be a smart cockpit host, a vehicle controller, a voice processing unit in a vehicle infotainment system, or a comprehensive control terminal connected to the vehicle control domain, etc. This application does not limit the vehicle terminal, and it can be determined according to the actual situation.

[0123] S105: The vehicle terminal controls the vehicle according to each target vehicle control command.

[0124] In this step, after receiving the target vehicle control command, the vehicle terminal controls the vehicle according to each target vehicle control command.

[0125] It should be noted that for each target vehicle control command, after executing the command, the on-board terminal can send the execution result to the mobile terminal for the user to view. The execution result is either successful or unsuccessful.

[0126] The vehicle-mounted terminal can interact with the mobile terminal through a data monitoring service to transmit vehicle control commands and execution results.

[0127] The vehicle control method provided in this embodiment parses the vehicle control request data input by the user through a mobile terminal to obtain initial vehicle control commands. Then, it filters these commands based on the parameters to obtain vehicle control commands to be verified. Each command to be verified is then sent to the vehicle terminal. The vehicle terminal performs conflict and safety checks on each command to be verified and each unexecuted command to obtain target vehicle control commands. Finally, the vehicle is controlled according to each target command. This solution reduces the frequency of abnormal control situations by filtering control commands based on parameters and by performing conflict and safety checks to remove abnormal commands.

[0128] In addition, by parsing the vehicle control commands from the mobile terminal and sending them to the vehicle terminal for execution, the user can avoid being distracted by operating the vehicle terminal, reduce user operations, improve driving safety, and save the computing power of the vehicle terminal, as the vehicle terminal does not need to have the function of parsing vehicle control data, making it more adaptable.

[0129] This solution supports not only the execution of a single vehicle control command, but also the execution of batch vehicle control commands; it can execute vehicle control tasks not only when there are no vehicle control tasks in the vehicle terminal, but also when there are vehicle control tasks in the vehicle terminal.

[0130] This solution uses a large language model to parse vehicle control commands, which can improve the accuracy of vehicle control commands.

[0131] Figure 2 This is a flowchart illustrating a second embodiment of the vehicle control method provided in this application. Based on the above embodiments, this application describes the process where the vehicle terminal receives the vehicle control command to be verified, performs further filtering, and then sends it to the vehicle terminal. For example... Figure 2 As shown, the vehicle control method specifically includes the following steps:

[0132] S201: Get the executor whitelist.

[0133] In this step, after the mobile terminal receives the vehicle control command to be verified, some of these commands cannot be executed because the vehicle does not have the corresponding actuator. Therefore, these commands need to be removed, and the actuator whitelist needs to be obtained first.

[0134] It should be noted that the actuator whitelist can be obtained as follows: the user inputs the vehicle model into the mobile terminal, which stores the correspondence between the vehicle model and the actuator whitelist. Therefore, the corresponding actuator whitelist can be determined based on the vehicle model input by the user.

[0135] Alternatively, the mobile terminal displays a list of actuators, the user selects an actuator already present in the vehicle, and the mobile terminal adds the user-selected actuator to the actuator whitelist.

[0136] Alternatively, the mobile terminal sends an actuator acquisition request to the vehicle terminal, the vehicle terminal sends the actuators in the vehicle to the mobile terminal, and the mobile terminal uses the received actuators as an actuator whitelist.

[0137] It should be noted that the embodiments of this application do not limit the method of obtaining the actuator whitelist, and can be determined according to the actual situation.

[0138] S202: For each vehicle control command to be verified, if the actuator in the vehicle control command to be verified belongs to the actuator whitelist, then the vehicle control command to be verified shall be the filtered vehicle control command to be verified.

[0139] In this step, after the mobile terminal obtains the actuator whitelist, for each vehicle control command to be verified, if the actuator in the vehicle control command to be verified belongs to the actuator whitelist, it means that the vehicle control command to be verified can be executed, and then the vehicle control command to be verified is used as the filtered vehicle control command to be verified.

[0140] If the actuator in the vehicle control command to be verified is not in the actuator whitelist, then the vehicle control command to be verified will be removed.

[0141] S203: Send each filtered vehicle control command to be verified to the vehicle terminal.

[0142] In this step, after the mobile terminal receives the filtered vehicle control commands to be verified, it sends each filtered vehicle control command to the vehicle terminal.

[0143] The vehicle control method provided in this embodiment filters the vehicle control commands to be verified by using an actuator whitelist, which can avoid the situation where the vehicle cannot execute the vehicle control commands because the vehicle does not have an actuator.

[0144] Based on the above embodiments, the following describes the situation where the mobile terminal stops sending vehicle control commands to be verified, using the vehicle control method embodiment three provided in this application.

[0145] When the mobile terminal receives a stop instruction request, or detects that the communication connection with the vehicle terminal is disconnected, it stops sending the vehicle control instruction to be verified to the vehicle terminal.

[0146] When the mobile terminal receives a stop request, indicating that the vehicle does not need to perform vehicle control tasks, it stops sending the vehicle control command to be verified to the vehicle terminal. The vehicle terminal will then stop executing the vehicle control command and stop controlling the vehicle.

[0147] It should be noted that the stop instruction request can be sent from other devices to the mobile terminal; it can also be generated by the mobile terminal when the user performs a task termination operation on the mobile terminal.

[0148] When the mobile terminal detects a disconnection in communication with the vehicle-mounted terminal, it stops sending the vehicle control commands to be verified to the vehicle-mounted terminal in order to maintain vehicle control in the future. It can also output a communication disconnection notification message to prompt the user to restore the communication connection promptly.

[0149] It should be noted that when the mobile terminal detects that the communication connection with the vehicle terminal has been restored, it will continue to send the vehicle control command to be verified in order to control the vehicle.

[0150] The vehicle control method provided in this embodiment stops sending the vehicle control command to be verified to the vehicle terminal when a stop command request is received or when the communication connection with the vehicle terminal is detected to be disconnected, thereby stopping the execution of the vehicle control command.

[0151] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0152] Figure 3 This is a schematic diagram of the structure of a vehicle control device according to a first embodiment of the present application; the device can be integrated into the vehicle terminal in the above method embodiments, or it can be implemented through the vehicle terminal in the above method embodiments. Figure 3 As shown, the vehicle control device 30 includes:

[0153] Receiver module 31 is used to receive the vehicle control command to be verified sent by the mobile terminal;

[0154] Processing module 32 is used to filter each vehicle control command to be verified and each unexecuted vehicle control command through conflict verification and security verification to obtain the target vehicle control command;

[0155] The control module 33 is used to control the vehicle according to each target vehicle control command.

[0156] Furthermore, processing module 32 is specifically used for:

[0157] All vehicle control commands to be verified and all unexecuted vehicle control commands are deduplicated to obtain the first command;

[0158] By performing conflict checking, all first instructions are filtered out to obtain second instructions;

[0159] By filtering and processing all second commands based on the current vehicle speed and safety verification, the target vehicle control command is obtained.

[0160] Furthermore, processing module 32 is specifically used for:

[0161] The instructions are grouped according to the executor in the first instruction to obtain instruction groups, and the first instructions in the same instruction group have the same executor.

[0162] For each instruction group, if the executor of the first instruction in the instruction group belongs to the preset executor conflict list, then the first instruction with the latest timestamp in the instruction group will be used as the second instruction.

[0163] For each instruction group, if the executor of the first instruction in the instruction group is not in the preset executor conflict list, then the first instruction in the instruction group will be treated as the second instruction.

[0164] Furthermore, processing module 32 is specifically used for:

[0165] If the current vehicle speed is greater than 0, retrieve the blacklist of vehicle control commands;

[0166] Remove all second commands that match the vehicle control commands in the vehicle control command blacklist to obtain the target control command.

[0167] Furthermore, before controlling the vehicle according to each target vehicle control command, the processing module 32 is also used for:

[0168] For each target vehicle control command, if it is determined that the target vehicle control command is a command to add a navigation waypoint, then obtain the current remaining duration of the first navigation and the remaining duration of the second navigation after adding the navigation waypoint;

[0169] If the ratio of the remaining time of the first navigation to the remaining time of the second navigation is less than a preset ratio, an abnormal waypoint prompt message will be output.

[0170] The vehicle control device provided in this embodiment is used to execute the technical solution of the vehicle terminal in any of the aforementioned method embodiments. Its implementation principle and technical effect are similar, and will not be described again here.

[0171] Figure 4This is a schematic diagram of the structure of a second embodiment of the vehicle control device provided in this application; the device can be integrated into the mobile terminal in the above method embodiments, or it can be implemented through the mobile terminal in the above method embodiments. Figure 4 As shown, the vehicle control device 40 includes:

[0172] Processing module 41 is used to parse the vehicle control request data input by the user to obtain the initial vehicle control command;

[0173] The filtering module 42 is used to filter the parameters in each initial vehicle control command to obtain the vehicle control command to be verified.

[0174] The sending module 43 is used to send each vehicle control command to be verified to the vehicle terminal.

[0175] Furthermore, the filtering module 42 is specifically used for:

[0176] For each initial vehicle control command, the target parameter type, target parameter value range, and target parameter quantity are determined based on the preset correspondence between actuator and parameter type, parameter value range, and parameter quantity, as well as the actuator in the initial vehicle control command.

[0177] For each initial vehicle control command, if the parameter in the initial vehicle control command belongs to the target parameter value range of the initial vehicle control command, the parameter type is the target parameter type of the initial vehicle control command, and the number of parameters is the target parameter number of the initial vehicle control command, then the initial vehicle control command is taken as the vehicle control command to be verified.

[0178] Furthermore, before sending each vehicle control command to be verified to the vehicle terminal, the filtering module 42 is also used for:

[0179] Get the executor whitelist;

[0180] For each vehicle control command to be verified, if the actuator in the vehicle control command to be verified belongs to the actuator whitelist, then the vehicle control command to be verified is used as the filtered vehicle control command to be verified.

[0181] The sending module 43 is specifically used to send each filtered vehicle control command to be verified to the vehicle terminal.

[0182] Furthermore, the sending module 43 is also used to stop sending the vehicle control command to be verified to the vehicle terminal when it receives a stop instruction request or detects that the communication connection with the vehicle terminal is disconnected.

[0183] The vehicle control device provided in this embodiment is used to execute the technical solution of the mobile terminal in any of the aforementioned method embodiments. Its implementation principle and technical effect are similar, and will not be described again here.

[0184] Figure 5 This is a structural schematic diagram of a vehicle-mounted terminal provided in this application. Figure 5 As shown, the vehicle-mounted terminal 50 includes:

[0185] Processor 51, memory 52, and communication interface 53;

[0186] Memory 52 is used to store executable instructions of processor 51;

[0187] The processor 51 is configured to execute the technical solution of the vehicle terminal in any of the foregoing method embodiments by executing executable instructions.

[0188] Optionally, the memory 52 can be either standalone or integrated with the processor 51.

[0189] Optionally, when the memory 52 is a device independent of the processor 51, the vehicle terminal 50 may further include:

[0190] Bus 54, memory 52 and communication interface 53 are connected to processor 51 through bus 54 and complete communication with each other. Communication interface 53 is used to communicate with other devices.

[0191] Optionally, the communication interface 53 can be implemented using a transceiver. The communication interface is used to enable communication between the database access device and other devices (e.g., clients, read-write databases, and read-only databases). The memory may include random access memory (RAM) and may also include non-volatile memory, such as at least one disk drive.

[0192] Bus 54 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, only one thick line is used in the diagram, but this does not indicate that there is only one bus or one type of bus.

[0193] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0194] The vehicle-mounted terminal is used to execute the technical solution of the vehicle-mounted terminal in any of the aforementioned method embodiments. Its implementation principle and technical effect are similar, and will not be described again here.

[0195] Figure 6 This is a schematic diagram of the structure of a mobile terminal provided in this application. Figure 6 As shown, the mobile terminal 60 includes:

[0196] Processor 61, memory 62, and communication interface 63;

[0197] Memory 62 is used to store executable instructions of processor 61;

[0198] The processor 61 is configured to execute the technical solution of the mobile terminal in any of the foregoing method embodiments by executing executable instructions.

[0199] Optionally, the memory 62 can be either standalone or integrated with the processor 61.

[0200] Optionally, when the memory 62 is a device independent of the processor 61, the mobile terminal 60 may further include:

[0201] Bus 64, memory 62 and communication interface 63 are connected to processor 61 through bus 64 and complete communication with each other. Communication interface 63 is used to communicate with other devices.

[0202] Optionally, the communication interface 63 can be implemented using a transceiver. The communication interface is used to enable communication between the database access device and other devices (e.g., clients, read-write databases, and read-only databases). The memory may include random access memory (RAM) and may also include non-volatile memory, such as at least one disk drive.

[0203] Bus 64 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, only one thick line is used in the diagram, but this does not indicate that there is only one bus or one type of bus.

[0204] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0205] The mobile terminal is used to execute the technical solution of the mobile terminal in any of the aforementioned method embodiments. Its implementation principle and technical effect are similar, and will not be repeated here.

[0206] This application also provides a readable storage medium storing a computer program thereon, which, when executed by a processor, implements the technical solutions provided in any of the foregoing method embodiments.

[0207] This application also provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the technical solutions provided in any of the foregoing method embodiments.

[0208] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0209] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application 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 or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A vehicle control method, characterized in that, Applied to vehicle-mounted terminals, the method includes: Receive vehicle control commands to be verified from mobile terminals; For each vehicle control command to be verified and each unexecuted vehicle control command, the target vehicle control command is obtained through conflict verification and security verification. Control the vehicle according to each target vehicle control command.

2. The method according to claim 1, characterized in that, The process involves filtering each vehicle control command to be verified and each unexecuted vehicle control command through conflict checking and security checking to obtain the target vehicle control command, including: All vehicle control commands to be verified and all unexecuted vehicle control commands are deduplicated to obtain the first command; By performing conflict checking, all first instructions are filtered out to obtain second instructions; By filtering and processing all second commands based on the current vehicle speed and safety verification, the target vehicle control command is obtained.

3. The method according to claim 2, characterized in that, The process of filtering all first instructions through conflict checking to obtain second instructions includes: The instructions are grouped according to the executor in the first instruction to obtain instruction groups, and the first instructions in the same instruction group have the same executor. For each instruction group, if the executor of the first instruction in the instruction group belongs to the preset executor conflict list, then the first instruction with the latest timestamp in the instruction group is taken as the second instruction. For each instruction group, if the executor of the first instruction in the instruction group does not belong to the preset executor conflict list, then the first instruction in the instruction group will be treated as the second instruction.

4. The method according to claim 2, characterized in that, The process involves filtering all second commands based on the current vehicle speed and safety verification to obtain the target vehicle control commands, including: If the current vehicle speed is greater than 0, then obtain the vehicle control command blacklist; Remove all second instructions that match the vehicle control instructions in the vehicle control instruction blacklist to obtain the target control instruction.

5. The method according to any one of claims 1 to 4, characterized in that, Before controlling the vehicle according to each target vehicle control command, the method further includes: For each target vehicle control command, if it is determined that the target vehicle control command is a command to add a navigation waypoint, then obtain the current first remaining navigation time and the second remaining navigation time after adding the navigation waypoint; If the ratio of the remaining time of the first navigation to the remaining time of the second navigation is less than a preset ratio, an abnormal waypoint prompt message will be output.

6. A vehicle control method, characterized in that, Applied to a mobile terminal, the method includes: The user's input vehicle control request data is parsed to obtain the initial vehicle control command; The parameters in each initial vehicle control command are filtered to obtain the vehicle control commands to be verified. Each vehicle control command to be verified is sent to the vehicle terminal.

7. The method according to claim 6, characterized in that, The step of filtering based on parameters in each initial vehicle control command to obtain the vehicle control command to be verified includes: For each initial vehicle control command, the target parameter type, target parameter value range, and target parameter quantity are determined based on the preset correspondence between actuator and parameter type, parameter value range, and parameter quantity, as well as the actuator in the initial vehicle control command. For each initial vehicle control command, if the parameter in the initial vehicle control command belongs to the target parameter value range of the initial vehicle control command, the parameter type of the parameter is the target parameter type of the initial vehicle control command, and the number of parameters is the target parameter number of the initial vehicle control command, then the initial vehicle control command is regarded as a vehicle control command to be verified.

8. The method according to claim 6 or 7, characterized in that, Before sending each vehicle control command to be verified to the vehicle terminal, the method further includes: Get the executor whitelist; For each vehicle control command to be verified, if the actuator in the vehicle control command to be verified belongs to the actuator whitelist, then the vehicle control command to be verified is used as the filtered vehicle control command to be verified. The step of sending each vehicle control command to be verified to the vehicle terminal includes: Each filtered vehicle control command to be verified is sent to the vehicle terminal.

9. The method according to claim 6 or 7, characterized in that, The method further includes: Upon receiving a stop request or detecting a disconnection in the communication connection with the vehicle terminal, the sending of the vehicle control command to be verified to the vehicle terminal is stopped.

10. A vehicle control device, characterized in that, include: The receiving module is used to receive the vehicle control command to be verified sent by the mobile terminal; The processing module is used to filter each vehicle control command to be verified and each unexecuted vehicle control command through conflict verification and security verification to obtain the target vehicle control command. The control module is used to control the vehicle according to each target vehicle control command.

11. A vehicle control device, characterized in that, include: The processing module is used to parse the vehicle control request data input by the user and obtain the initial vehicle control command; The filtering module is used to filter the parameters in each initial vehicle control command to obtain the vehicle control commands to be verified. The sending module is used to send each vehicle control command to be verified to the vehicle terminal.

12. A vehicle-mounted terminal, characterized in that, include: Processor, memory, communication interface; The memory is used to store the executable instructions of the processor; The processor is configured to execute the vehicle control method according to any one of claims 1 to 5 by executing the executable instructions.

13. A mobile terminal, characterized in that, include: Processor, memory, communication interface; The memory is used to store the executable instructions of the processor; The processor is configured to execute the vehicle control method according to any one of claims 6 to 9 by executing the executable instructions.

14. A readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the vehicle control method according to any one of claims 1 to 5, or any one of claims 6 to 9.

15. A computer program product, characterized in that, Includes a computer program, which, when executed by a processor, is used to implement the vehicle control method according to any one of claims 1 to 5, or any one of claims 6 to 9.

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