Control method and apparatus for terminal, storage medium, and electronic device

Abstract

The application relates to a terminal control method and device, a storage medium and an electronic device, and relates to the interactive control field.The application comprises the following steps: firstly, receiving a voice instruction of a target user outside a cabin of the terminal; and then, based on the voice instruction, controlling the terminal to park into and / or park out of a target position corresponding to the terminal.Compared with the related art, the application controls the parking-in and / or parking-out action of the vehicle based on the voice instruction of the target user outside the cabin, realizes accurate recognition and instant execution of the natural voice instruction outside the cabin, enables the user to complete vehicle scheduling through voice interaction without entering the cabin, significantly improves the interactive convenience and control flexibility in the cabin-outside scenario, and ensures effective response of the terminal to the intention of the user outside the cabin.

Description

Technical Field

[0001] This application relates to the field of interactive control, specifically to a control method, device, storage medium, and electronic device for a terminal. Background Technology

[0002] In related technologies, the voice interaction systems of terminals (such as vehicles or robots) are mainly limited to in-cabin scenarios and lack an effective response mechanism for external voices. Summary of the Invention

[0003] In view of this, this application provides a terminal control method, device, storage medium and electronic device, the main purpose of which is to improve the technical problem of lack of an effective response mechanism for external voice in related technologies.

[0004] Firstly, this application provides a method for controlling a terminal, including: Receives voice commands from the target user outside the cockpit of the terminal; Based on the voice commands, the terminal is controlled to dock into and / or dock out of the target location corresponding to the terminal.

[0005] Optionally, controlling the terminal to dock at and / or dock out of the target location corresponding to the terminal based on the voice command includes: Based on the parking instruction from the target user, control the terminal to park in the first parking space corresponding to the terminal; and / or, Based on the parking instruction from the target user, the terminal is controlled to park out of the second parking space where it is located.

[0006] Optionally, controlling the terminal to park in the first parking space corresponding to the terminal based on the parking instruction from the target user includes: In response to the existence of at least one available parking space within the parking range corresponding to the terminal, the terminal is controlled to park in the first parking space, where the first parking space is one of the at least one available parking space.

[0007] Optionally, the step of controlling the terminal to park in the first parking space in response to the existence of at least one available parking space within the parking range corresponding to the terminal includes: In response to the existence of a parking space within the parking range, the terminal is controlled to park in the target parking area of ​​the first parking space, the target parking area including at least one of the left-hand area and the right-hand area.

[0008] Optionally, the method further includes: In response to the absence of a parking space within the parking area corresponding to the terminal, a first voice message is output, which is used to indicate that there is no parking space available and / or the terminal needs to be moved.

[0009] Optionally, controlling the terminal to park from the second parking space where the terminal is located based on the parking instruction from the target user includes: Based on the target user's parking instruction, determine the current location of the terminal; Based on the current location of the terminal, control the terminal to park out of the second parking space.

[0010] Optionally, controlling the terminal to park out of the second parking space where it is located based on the terminal's current location includes: If the current location is a parking space available, control the terminal to park out of the second parking space.

[0011] Optionally, the method further includes: If the current location is not a parking space, a second voice message is output to prompt the terminal that parking is not required.

[0012] Optionally, controlling the terminal to park from the second parking space where the terminal is located based on the parking instruction from the target user includes: Based on the parking instruction from the target user, the terminal is controlled to park out of the second parking space where it is located in a target parking direction, which includes at least one of parking forward, parking to the left, and parking to the right.

[0013] Optionally, the method further includes: If the parking space corresponding to the target location meets the parking space conditions, control the terminal to park in and / or park out of the target location; If the parking space corresponding to the target location does not meet the parking space conditions, a third voice prompt is output to indicate that the parking space corresponding to the target location is insufficient.

[0014] Optionally, the method further includes: In response to a pause voice command, control the terminal to pause berthing at the target location corresponding to the terminal; and / or, In response to a wake-up voice command, control the terminal to pause berthing at the target location corresponding to the terminal; and / or, In response to a voice command to cancel, the terminal is controlled to cancel berthing at and / or cancel berthing at the target location corresponding to the terminal.

[0015] Optionally, the method further includes: If the voice command is verified by voiceprint, the terminal is controlled to dock at and / or dock out of the target location corresponding to the terminal.

[0016] Optionally, the method further includes: The status information of the terminal is determined based on the voice commands of the target user outside the terminal cockpit. Based on the status information, a fourth voice message is output, which is used to prompt the terminal about its status.

[0017] Optionally, the method further includes: If the terminal's configuration information does not meet the parking configuration conditions, a fifth voice message is output. The fifth voice message is used to prompt that the terminal's configuration information does not meet the parking configuration conditions and / or that the terminal's configuration information needs to be changed.

[0018] Optionally, the configuration information includes at least one of the following: voice interaction configuration, vehicle model configuration, parking configuration, driving mode configuration, driving status configuration, vehicle body opening and closing status, and parking scenario information.

[0019] Optionally, the terminal may be a vehicle or a robot.

[0020] Secondly, this application provides a control device for a terminal, comprising: The receiving module is configured to receive voice commands from a target user outside the cockpit of the terminal; The control module is configured to control the terminal to dock into and / or dock out of the target location corresponding to the terminal based on the voice command.

[0021] Thirdly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method described in the first aspect.

[0022] Fourthly, this application provides an electronic device, including a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, wherein the processor executes the computer program to implement the control method described in the first aspect.

[0023] Fifthly, this application provides a vehicle including the control device described in the second aspect, or the computer-readable storage medium described in the third aspect, or the electronic device described in the fourth aspect.

[0024] By employing the above technical solutions, this application provides a terminal control method, device, storage medium, and electronic device, comprising: firstly receiving voice commands from a target user outside the terminal's cabin; and then, based on the voice commands, controlling the terminal to park in and / or park out of the target location corresponding to the terminal. Compared with related technologies, this application achieves accurate recognition and immediate execution of natural voice commands from outside the vehicle by controlling the parking and / or parking actions of the vehicle based on voice commands from a target user outside the cabin. This allows users to complete vehicle dispatching through voice interaction without entering the cabin, significantly improving the convenience and flexibility of interaction in scenarios outside the cabin, and ensuring the terminal's effective response to the intentions of users outside the cabin.

[0025] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0026] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this disclosure, illustrate exemplary embodiments of the present disclosure and are used to explain the disclosure, but do not constitute an undue limitation of the disclosure. In the drawings: Figure 1 A flowchart illustrating a terminal control method provided in an embodiment of this disclosure is shown. Figure 2 A flowchart illustrating an example provided by an embodiment of this disclosure is shown; Figure 3 A flowchart illustrating a terminal control method provided in an embodiment of this disclosure is shown. Figure 4 A flowchart illustrating an example provided by an embodiment of this disclosure is shown; Figure 5 A flowchart illustrating an example provided by an embodiment of this disclosure is shown; Figure 6 A flowchart illustrating a terminal control method provided in an embodiment of this disclosure is shown. Figure 7 A flowchart illustrating an example provided by an embodiment of this disclosure is shown; Figure 8 A flowchart illustrating an example provided by an embodiment of this disclosure is shown; Figure 9 A flowchart illustrating an example provided by an embodiment of this disclosure is shown; Figure 10 A schematic diagram of the structure of a control device provided in an embodiment of this disclosure is shown; Figure 11 A schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure is shown. Detailed Implementation

[0027] To better understand the above-mentioned objectives, features, and advantages of this application, the solution of this application will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0028] To address the technical problem of the lack of an effective response mechanism for external voice in related technologies, this embodiment provides a terminal control method, such as... Figure 1 As shown, the method includes: Step 101: Receive voice commands from the target user outside the cockpit of the terminal.

[0029] Optionally, the terminal can be a mobile carrier with voice interaction capabilities, such as a vehicle or robot. Robots can include manned flying robots (such as personal aircraft with cockpits or air taxis), manned walking robots (such as large biomimetic walking vehicles equipped with seats or enclosed cabins, including large versions of robotic horses and robotic dogs), mobile intelligent service robots (such as automated mobile cafes, mobile karaoke rooms, and mobile clinics with integrated cockpits for user use), and mobile operating cabins in industrial / special operations robots (such as mobile robot platforms with protective cockpits in mining and disaster relief scenarios, supporting operator seating or autonomous operation), etc. These robots are all equipped with voice interaction modules, enabling them to receive voice commands from target users outside the cockpit to perform corresponding movement, service, or operational tasks.

[0030] For example, this embodiment uses a vehicle as an example for illustration. The system receives voice control commands issued by a target user located outside the vehicle through an onboard microphone array. The target user can be a person outside the cabin, and the voice commands issued by the user can include, but are not limited to, parking commands and parking exit commands. The parking command can be used to control the vehicle to automatically drive and park in a designated parking space; the parking exit command can be used to control the vehicle to automatically drive out of the current parking space.

[0031] In some examples, voice commands may also include driving commands, body control commands, etc. Driving commands can be used to control the vehicle to move a short distance in specific scenarios (such as moving the vehicle or following a track); body control commands can be used to control the opening and closing of body opening and closing components such as doors, windows, trunk or charging port cover.

[0032] Step 102: Based on voice commands, control the terminal to dock into and / or out of the target location corresponding to the terminal.

[0033] For example, in a parking-in scenario, the target location refers to an available parking space identified within the parking area; while in a parking-out scenario, the target location refers to the parking space where the vehicle is currently located. The system uses these coordinates to pinpoint the specific coordinates and controls the terminal to complete the action of driving into or out of the current parking space. It should be understood that "available parking space" here refers to a standard parking space with compliant dimensions. At the same time, corresponding to the size of the vehicle, "available parking space" must also be large enough to accommodate the vehicle, especially when the vehicle is large; even a standard parking space may not be able to accommodate the vehicle due to the parking positions of surrounding vehicles.

[0034] Optionally, the method in this embodiment may further include: outputting a fifth voice message when the terminal's configuration information does not meet the parking configuration conditions, wherein the fifth voice message is used to prompt that the terminal's configuration information does not meet the parking configuration conditions and / or that the terminal's configuration information needs to be changed.

[0035] In this embodiment, all voice interaction content (including status feedback, command confirmation, and prompts) can be output by the terminal.

[0036] Optionally, the configuration information includes at least one of the following: voice interaction configuration, vehicle model configuration, parking configuration, driving mode configuration, driving status configuration, body opening and closing status, and parking scenario information.

[0037] In some examples, such as Figure 2 As shown, before executing a parking operation in response to a target user's voice command, the system's Environment Information Display (EID) can be used to check the voice interaction configuration (such as the status of the Vision-Language-Action (VLA) command switch), vehicle configuration (such as Pro vehicle identity), parking configuration (such as whether the intelligent parking function is activated), driving mode configuration (such as whether the intelligent driving module is activated), and driving status confirmation (such as Driver Confirmation Command (DCC) & external markers). This is a necessary prerequisite for initiating subsequent automatic parking or remote control processes. A preliminary verification is performed; if the configuration information is detected to be inconsistent with the parking configuration conditions, the vehicle will immediately trigger a corresponding voice prompt.

[0038] For example, if the vehicle does not support the voice command or the vehicle is not the target model (such as the Pro model), a voice prompt will be output to indicate that the vehicle does not support the voice command, such as "I haven't learned this function yet".

[0039] For example, when the vehicle's intelligent parking function is not activated, a voice prompt can be output to remind the target user to activate the intelligent parking function, such as "Please turn on the intelligent parking switch first and then try it."

[0040] For example, when the vehicle's voice interaction function is not activated, a voice prompt is output to remind the target user to activate the voice interaction function, such as "Please turn on the VLA command switch first and then try again."

[0041] For example, when the vehicle's Full Self-Driving (FSD) module is not activated, a wake-up signal is sent to the FSD module (ACC power is turned on) and voice prompts (such as text-to-speech, TTS) are output to guide the FSD module's startup process, such as "The current FSD function is not activated, so I cannot help you operate it", "Okay, the vehicle is starting, please wait", "Startup complete".

[0042] For example, in the event that the intelligent driving module fails to start or times out, a voice prompt is output to indicate that the intelligent driving module has failed to start, such as "Intelligent driving system failed to start / timed out, please try again later".

[0043] Furthermore, such as Figure 2 As shown, the CE side can also perform in-depth detection of driving status configuration (such as whether the gear is in P gear), body opening and closing status (such as whether the four doors and two hoods are fully closed), and parking scenario information (such as whether it is in an unsupported scenario mode). If the configuration information is detected to be inconsistent with the parking configuration conditions, the corresponding voice prompt will be triggered immediately. During this process, the response color when the command is issued can be distinguished according to whether the single-round dialogue has ended. After all the above configuration information has been verified and confirmed to be retrieved to the READY state, the system will then officially issue control to the Agent to execute subsequent automatic vehicle operations.

[0044] For example, if the vehicle is not in the target gear (such as P), a voice prompt can be output to remind the target user to shift to the target gear, such as "Please put it in P and try again."

[0045] For example, when the vehicle's body opening and closing parts (front hood, driver / passenger / rear doors, trunk, etc.) are open, a voice prompt is output to remind the vehicle to close the body opening and closing parts, such as "Please close the [driver / passenger / rear doors] or [trunk] first and then try again."

[0046] For example, if the vehicle's scenario mode is not in the target scenario mode, a voice prompt is output to indicate that the vehicle's scenario mode does not support the voice command, such as "In xx mode, this operation is not currently supported."

[0047] For example, if the vehicle's environment / parking space conditions do not meet the parking conditions, such as the parking space being too narrow, the passage being too narrow, there being suspended obstacles in the parking space, excessive traffic flow, excessive pedestrian flow, people in the cabin, vehicle malfunction, excessive slope, or the charging gun not being unplugged, the system outputs a voice message to indicate that the vehicle's environment does not support the voice command, such as "This operation is not currently supported."

[0048] Optionally, the method in this embodiment may further include: controlling the terminal to dock at and / or dock out of the target location corresponding to the terminal when the voice command is verified by voiceprint.

[0049] For example, when the voiceprint characteristics of the voice command issuer are confirmed to match the pre-stored authorization information, the system responds and executes the docking and / or docking actions of the control terminal to move to the corresponding target location to ensure the safety and accuracy of the operation.

[0050] In some examples, key or authorization conditions can also be determined. For example, it can detect whether the user's smart key (including physical remote key or digital key bound to mobile phone) is within the target authorization range (e.g. 3 meters) around the vehicle. If the key is within the authorization range, the voice command of the target user outside the cabin can be received from the terminal. This can effectively prevent remote accidental triggering or unauthorized control behavior and improve the safety and reliability of the vehicle in unattended scenarios.

[0051] Compared with related technologies, this embodiment controls the parking and / or parking actions of the vehicle based on the voice commands of the target user outside the cabin. It achieves accurate recognition and real-time execution of natural voice commands outside the vehicle, allowing users to complete vehicle dispatch through voice interaction without entering the cabin. This significantly improves the convenience of interaction and control flexibility in the scenario outside the cabin, and ensures that the terminal effectively responds to the intentions of the user outside the cabin.

[0052] To further illustrate the specific implementation process of the method in this embodiment, this embodiment provides a method such as... Figure 3 The method shown includes: Step 201: Receive the parking instruction from the target user outside the cockpit of the terminal.

[0053] The parking commands can include various natural voice expressions issued by the user through the vehicle's external microphone, such as: "Parking from the vehicle", "Activate parking from the vehicle", "Continue parking from the vehicle", "Park", "Park by yourself", "I want to park", "Park the car", "Park the car in the parking space", "Park", "I want to park", "Park for me", "Start parking", "Continue parking", "Park immediately", "Park here", and "Park here", etc.; all of the above commands can be used to trigger the vehicle's automatic parking function.

[0054] Furthermore, parking commands can also include more detailed expressions of parking position preferences. For example, users can specify parking positions such as "left," "right," or "center" via voice, and the system adjusts the lateral alignment strategy when the vehicle finally parks. Specific voice examples may include: "Left-side parking," "Activate left-side parking," "Continue center-side parking," "Left-side parking," "Park right-side automatically," "I want to center-park," "Park the car on the left," "Park the car in the parking space on the left," "Drive the car into the parking space on the right," "Park on the left," "I want to park on the left," "Park right-side for me," "Start center-parking," "Continue center-parking," "Center-parking immediately," "Park on the left here," etc. These commands with directional modifications, while triggering the automatic parking function, can guide the vehicle to prioritize parking space boundaries that match the user-specified offset direction after recognizing available parking spaces, thereby enhancing the personalization and practicality of the parking experience.

[0055] Step 202: Based on the parking instruction from the target user, control the terminal to park in the first parking space corresponding to the terminal.

[0056] Optionally, step 202 may specifically include: in response to the existence of at least one available parking space within the parking range corresponding to the terminal, controlling the terminal to park in the first parking space, wherein the first parking space is one of the at least one available parking space.

[0057] For example, the parking range can refer to a fan-shaped sensing area centered on the current front of the vehicle, extending forward by a first degree and to the left and right by a second degree (covering the effective detection field of the vehicle's radar and camera). When the user issues the command "leave the vehicle and park," the system immediately scans the parking range in real time. If it detects an empty and compliant standard parking space on the right side (i.e., the first parking space), it determines that the condition of having a parking space within the parking range is met, automatically controls the vehicle to adjust its direction, and smoothly parks in the parking space. If no available space is found within the limited range, the system will prompt "No available parking space found nearby, please continue to search," to avoid the vehicle blindly driving into invalid areas or conducting long-distance invalid searches.

[0058] Optionally, in response to the existence of at least one available parking space within the parking range corresponding to the terminal, the control terminal is directed to park in the first parking space. Specifically, this may include: in response to the existence of an available parking space within the parking range, the control terminal is directed to park in the target parking area of ​​the first parking space, where the target parking area includes at least one of the left-hand area and the right-hand area.

[0059] For example, such as Figure 4As shown, the surrounding space can be divided into multiple directional sectors based on the vehicle coordinate system (such as 10 degrees in front, 100 degrees to the left / right, 35 degrees to the left front / right front / left rear / right rear, etc.), and parking spaces can be recalled by mapping the directional keywords in the user's voice command (such as "left" or "right"). If there are multiple available parking spaces in the selected target sector, the parking space with the largest area is selected first. If there are two or more parking spaces with the same area in the same direction, one is automatically selected as the first parking space according to the default logic of the dynamic machine (such as the closest distance, the optimal path, or historical preference).

[0060] Optionally, the method in this embodiment may further include: determining the terminal's status information based on the voice command of the target user outside the terminal's cockpit; and outputting a fourth voice message based on the status information, wherein the fourth voice message is used to prompt the terminal's status.

[0061] For example, before entering the first parking space corresponding to the parking terminal, the system can sequentially determine whether the vehicle is currently in the remote parking out (RPO) function, whether it is in the remote parking assist (RPA) state, whether there is an available parking space, and whether the RPA activation conditions are met. If any condition is not met, the process terminates and the corresponding voice prompt shown in the figure is displayed; if all conditions are met, the system proceeds to the preference determination and parking space selection logic.

[0062] In some examples, if an instruction without preferences is received during the RPA process, the response is: "Parking has been completed in [current preference]". If an instruction with preferences is received, the current preference is validated. If the parking conditions are met, confirmation is sent; otherwise, the preference is switched, the route is replanned, and the response is: "Okay, I will readjust, [new preference] parking".

[0063] For example, such as Figure 5As shown, on the AD side (FSD intelligent driving module), it first determines whether it is currently in RPO (Responsible Parking Position) mode. If it is not in RPO mode, it directly replies, "This command is not supported during parking." If it is in RPO mode, the system will further check whether it has entered RPA (Road in Parking) mode. If RPA is already running and the user has not made any new preference requests, the system will respond, "You have already parked in the [current preference] parking space," informing the user of the current execution status. If the user makes a new preference, such as changing from "center" to "left," the system will verify whether the preference can be satisfied. If it can be satisfied, the system will confirm and announce, "Okay, you will soon park in the [left front / right rear, etc.] parking space. You can wake me up at any time to pause," while playing the corresponding voice prompt. If the new preference cannot be satisfied, for example due to insufficient space or path conflict, the system will automatically replan the path and reply, "Okay, I will readjust, [left] parking," to adapt to the user's new needs.

[0064] Optionally, the method in this embodiment may further include: in response to the absence of a parking space within the parking range corresponding to the terminal, outputting a first voice message, wherein the first voice message is used to indicate that there is no parking space available and / or a mobile terminal is required.

[0065] For example, if the vehicle is not yet in RPA mode but all activation conditions are met, such as available parking spaces, vehicle malfunction, and environmental safety, the system will initiate the "Activate Parking Space Search" process and notify the user that "Okay, we are looking for available parking spaces," letting the user know that the system is taking action. If any prerequisite is not met, such as no suitable parking space nearby, terrain limitations, or safety hazards, the system will immediately terminate the operation and provide a clear prompt, such as "No parking spaces nearby at the moment, try parking next to a space again" or "Insufficient space, unable to park on the left / right," ensuring that the user clearly understands the reason for the failure.

[0066] Compared with related technologies, this embodiment controls the parking and / or parking actions of the vehicle based on the voice commands of the target user outside the cabin. It achieves accurate recognition and real-time execution of natural voice commands outside the vehicle, allowing users to complete vehicle dispatch through voice interaction without entering the cabin. This significantly improves the convenience of interaction and control flexibility in the scenario outside the cabin, and ensures that the terminal effectively responds to the intentions of the user outside the cabin.

[0067] To further illustrate the specific implementation process of the method in this embodiment, this embodiment provides a method such as... Figure 6 The method shown includes: Step 301: Receive the parking instruction from the target user outside the cockpit of the terminal.

[0068] The parking command can include various natural voice expressions issued by the user through the vehicle's external microphone, such as: "Drive the vehicle out", "Smart driving out", "Automatic driving out", "Help me drive the car out", "Drive the car out", "Continue to drive out automatically", "Continue to drive the car out", "Smart parking out", "Automatic parking out", "Drive out of the parking space", "Drive the car out of the parking space / drive it out of the parking space", "Park out of the parking space", "Help me park out of the parking space", and "Park out of the parking space", etc.; all of the above commands can be used to trigger the vehicle's automatic parking function.

[0069] Furthermore, parking commands can also include detailed expressions of the target location or driving path after the vehicle leaves. For example, users can specify specific intentions such as "drive out to the intersection," "drive to the side of the road," "drive forward," "reverse," or "park at the entrance" via voice. The system then plans the vehicle's route and final parking point after leaving the parking space accordingly. Specific voice examples include: "drive the vehicle out to the intersection," "intelligently drive out to the side of the road," "automatically drive forward," "help me drive the car out and park at the entrance," "drive the car out to the main road," "continue to automatically drive out to the designated point," "continue to drive the car out and pull over," "intelligently park out to the front," "automatically park out and wait," "drive out of the parking space to the side of the road," "drive the car out of the parking space and park at the gate," "drive out of the parking space to the intersection," "park out of the parking space to the designated area," "park out of the parking space and turn off the engine," "help me park out of the parking space to the side of the road," and "park out of the parking space to the main road," etc. These instructions with destination or route modifications can trigger the automatic parking function and guide the vehicle to navigate autonomously to the user-specified temporary parking point or shuttle area after it has safely left the current parking space.

[0070] Step 302: Based on the parking instruction from the target user, control the terminal to park from the second parking space where the terminal is located.

[0071] Optionally, step 302 may specifically include: determining the current position of the terminal based on the parking instruction of the target user; and controlling the terminal to park out of the second parking space where the terminal is located based on the current position of the terminal.

[0072] Optionally, based on the terminal's current location, the control of the terminal to exit the second parking space where the terminal is located may specifically include: if the current location is a parking space available, controlling the terminal to exit the second parking space.

[0073] For example, when a user issues the voice command "Please park in the parking space," the system first calls the positioning module to determine the terminal's current latitude and longitude coordinates and the vehicle's posture. Then, it matches and verifies the current location with parking space data in a high-precision map: if the system detects that the vehicle is parked in an "available parking space" (i.e., the second parking space), it determines that the execution conditions are met, immediately plans a path, and controls the vehicle to leave the parking space; conversely, if the system determines that the vehicle is currently in a non-standard parking space location such as a driving lane, a non-parking area, or a temporary parking spot, it terminates the parking process and provides a voice feedback stating "Currently not in a valid parking space, automatic parking cannot be performed."

[0074] Optionally, step 302 may specifically include: based on the parking instruction of the target user, the control terminal parking out of the second parking space where the terminal is located in accordance with the target parking direction, the target parking direction including at least one of parking forward, parking to the left and parking to the right.

[0075] For example, the parking path space can be divided into multiple directional sectors (such as forward, left, right, etc.) based on the vehicle coordinate system. The specific division method can be found in step 202, and will not be repeated here. Then, the directional keywords (such as "forward", "left", "right", etc.) in the user's voice command are mapped to the corresponding sector range for path planning. Within the selected target sector, the system first verifies whether the direction meets the parking conditions (such as sufficient space, no dynamic obstacles, etc.). If there are multiple feasible paths or areas in the direction, the solution with the shortest path or the smallest turning angle is selected as the first execution strategy. If there are two or more equally feasible paths in the same direction, the one with the least distance, least time, or historical preference is automatically selected as the final parking trajectory according to the default logic of the dynamic machine (such as the closest distance, the least time, or historical preference).

[0076] Optionally, the method in this embodiment may further include: determining the terminal's status information based on the voice command of the target user outside the terminal's cockpit; and outputting a fourth voice message based on the status information, wherein the fourth voice message is used to prompt the terminal's status.

[0077] For example, before the second parking space corresponding to the parking exit terminal, it can be sequentially determined whether the vehicle is currently in RPA function, whether it is in RPO state, whether it is currently not in a parking space, and whether the RPO activation conditions are met. If any condition is not met, the process terminates and a corresponding voice prompt as shown in the figure is provided; if all conditions are met, the preference judgment and parking direction confirmation logic is entered.

[0078] In some examples, if an instruction without preference is received during the RPO process: reply "I have already parked in the parking space according to [current preference]". If an instruction with preference is received: verify the current preference. If satisfied, reply with confirmation; if not satisfied, switch preferences, replan the route and reply "Okay, I will readjust, park in [new preference]".

[0079] For example, such as Figure 7 As shown, the system first determines whether it is currently in RPA (Robotic Process Automation) mode. If the vehicle is performing a parking maneuver, it directly replies, "This command is not supported during parking," to avoid responding to parking requests in conflict situations. If it is not in RPA mode, the system will continue to check whether it has entered the RPO (Robotic Process Objective) process. If it is already in RPO, the system will further analyze whether the voice command contains a direction preference: if the user does not specify a direction (e.g., only says "park out"), and is currently executing in the "perpendicular" direction, it replies, "You have already parked in the [perpendicular] parking space," informing the user of the current status; if the user proposes a new direction preference (e.g., changing from "perpendicular" to "right"), the system will verify whether the preference is consistent with the current task. If they are consistent, it will immediately confirm and announce, "Okay, you will park out [right] soon"; if they are inconsistent but the environment allows (e.g., sufficient space on the right, unobstructed path), it will replan the route and reply, "1. Replan the route; 2. Reply: 'Okay, I will readjust, park out [right]'; 3. Perpendicular parking is not currently supported," to adapt to the user's new needs.

[0080] Optionally, the method in this embodiment may further include: when the current location is not a parking space, outputting a second voice message, wherein the second voice message is used to prompt the terminal that parking is not required.

[0081] For example, if the vehicle is not yet in RPO (Responsible Parking Position) status, the system first checks if the vehicle is not currently in a parking space. If so, it displays "Not currently in a parking space" to prevent accidental operation. If the vehicle is indeed in a parking space, it continues to verify whether the RPO activation conditions are met, such as closed doors, no obstructions, and normal sensor operation. If any condition is not met, the system will terminate the process and provide a corresponding prompt, such as "See the table below; if not met, reply with the corresponding content" or "Forward parking is not currently supported; tell me to park to the left or right."

[0082] Optionally, the method in this embodiment may further include: if the parking space corresponding to the target location meets the parking space conditions, controlling the terminal to park in and / or park out of the target location; if the parking space corresponding to the target location does not meet the parking space conditions, outputting a third voice message, wherein the third voice message is used to prompt that the parking space corresponding to the target location is insufficient.

[0083] For example, the parking space conditions in this embodiment can be specifically defined as a comprehensive quantitative judgment of the spatial dimensions, ground flatness, and obstacle distribution of the target location. For instance, if the length and width of the parking space are greater than the corresponding dimensions of the vehicle plus a preset safety threshold (e.g., length + 0.8 meters, width + 0.6 meters), the dimensions are deemed to meet the standard. At the same time, the system scans the ground elevation and foreign objects in real time and sets a "passable tolerance" (e.g., undulation height ≤ 5cm or slope ≤ 5°). Ground undulations within this range are identified as valid planes, while steep slopes, curbs, or any static / dynamic objects (e.g., stones, other vehicles) that occupy the remaining available space and cause it to fall below the safety standard are judged as obstacles. The vehicle performs parking and / or parking exit operations only when the above-mentioned size and terrain obstacle conditions are met. Conversely, if insufficient space, excessive ground undulations, or insurmountable obstacles are detected, the vehicle control will immediately stop the parking task and output a third voice message to prompt the user that the current environment does not meet the parking space conditions.

[0084] In some examples, if all preconditions are met, the preference processing stage begins: if the user does not explicitly specify a direction, the system randomly selects left or right and replies "Okay, about to [park] left / right"; if the user specifies a direction (such as "left"), it further determines whether the direction is feasible. If feasible, it replies "Okay, about to [park] left" and simultaneously plays the TTS voice message "about to [park] left"; if not feasible (e.g., insufficient space on the left or obstacles), it prompts "Insufficient space to park left / right, please operate manually," guiding the user to take over control.

[0085] Optionally, the method in this embodiment may further include: in response to a pause voice command, controlling the terminal to pause the berthing and / or suspend the target position corresponding to the berthing and / or suspend the berthing and / or suspend the berthing and / or suspend the berthing and / or suspend the target position corresponding to the berthing and / or suspend the berthing and / or suspend the berthing and / or suspend the berthing and / or suspend the berthing and / or suspend the berthing and / or suspend the target position corresponding to the berthing and / or berthing in response to a cancel voice command.

[0086] For example, during the entire process of automatic parking, the system monitors the external voice interaction channel in real time. Figure 8As shown, when a user issues a "pause parking" command or directly wakes up the voice assistant using the corresponding wake-up word, the system first verifies the readiness status of the underlying intelligent driving functions and the current task context: if it detects that the vehicle is in the process of parking and / or exiting, the system immediately interrupts the current path planning and control execution (i.e., suspends the RPA / RPO program), locks the vehicle's current position, and replies "Okay, parking / exit has been paused," ensuring that the vehicle remains stationary and safe under unexpected intervention; conversely, if the system determines that it is not currently in any parking task process, it replies "Not currently in the process of parking / exiting" and actively activates relevant services to respond to the user's wake-up.

[0087] For example, pause voice commands can include: "pause driving out", "pause driving out", "pause automatic parking", "pause driving out of the parking space", "pause parking out of the parking space", "pause driving the vehicle out to the left", "pause driving out to the right front", "pause driving out of the parking space to the left front", "pause parking out of the parking space to the right", etc., covering various semantic expressions such as basic pause, direction preference (left / right / forward), and action stage (driving out / parking out / driving to the parking space). Regardless of whether these commands carry spatial guidance words (such as "left front", "right rear"), action description words (such as "drive out", "drive out", "park out") or scene limiting words (such as "parking space", "automatic"), as long as their core intent is to temporarily stop the current parking or parking out behavior, the system will recognize them as valid pause requests and trigger the corresponding status judgment and response logic. That is, when the task is confirmed to be in progress, the system will execute the pause and provide feedback, and when the task is not in progress, the system will prompt the user that there is no relevant operation at present.

[0088] In some examples, when the user issues a clear termination command such as "cancel parking," "no longer parking," or "exit parking / re-entry," the system reconfirms the status: e.g. Figure 9 As shown, if a parking task is confirmed to be in progress (including a paused state), the system will completely terminate the current parking session, clear the remaining route planning, keep the vehicle in a safe state or reset it to the initial standby mode, and announce "Okay, parking has been canceled". Then the voice assistant will exit and no longer perform any subsequent actions. If there is no relevant task at present, the user will be prompted that no parking operation has been performed in the current state.

[0089] For example, voice commands for canceling parking can include: “Cancel parking from the car,” “I’m not parking anymore,” “Exit smart parking,” “I want to cancel parking on the right,” “Don’t help me park,” “Cancel parking here immediately,” “Cancel centering out of the parking space,” “Exit from the parking space to the right,” “Don’t need to drive out automatically to the left,” “Cancel driving out of the parking space to the left,” etc. These commands cover various semantic expressions such as basic termination, preference cancellation (left / right / center), action stages (parking / parking out / driving to the parking space / driving out of the parking space), and directional guidance (left front / right rear, etc.). Regardless of whether these commands carry scene qualifiers (such as “leave the car,” “parking space,” action verbs (such as “exit,” “cancel,” “not…”) or spatial descriptions (such as “left,” “center,” “to the right front”), as long as their core intent is to completely terminate the current parking or parking out task, the system recognizes them as valid cancellation requests and triggers the corresponding status judgment and response logic. That is, when the task is confirmed to be in progress, the complete termination process is executed, and when the task is not in progress, the user is prompted that there is no relevant operation at present.

[0090] Compared with related technologies, this embodiment controls the parking and / or parking actions of the vehicle based on the voice commands of the target user outside the cabin. It achieves accurate recognition and real-time execution of natural voice commands outside the vehicle, allowing users to complete vehicle dispatch through voice interaction without entering the cabin. This significantly improves the convenience of interaction and control flexibility in the scenario outside the cabin, and ensures that the terminal effectively responds to the intentions of the user outside the cabin.

[0091] As an optional approach, this application may include, but is not limited to, the following embodiments, including: Example 1: A terminal control method, comprising: receiving a voice command from a target user outside the cockpit of the terminal; and controlling the terminal to dock into and / or out of a target location corresponding to the terminal based on the voice command.

[0092] Example 2: Based on the parking instruction of the target user, control the terminal to park in the first parking space corresponding to the terminal; and / or, based on the parking exit instruction of the target user, control the terminal to exit from the second parking space where the terminal is located.

[0093] Example 3: In response to the existence of at least one available parking space within the parking range corresponding to the terminal, the terminal is controlled to park in the first parking space, where the first parking space is one of the at least one available parking space.

[0094] Example 4: In response to the absence of a parking space within the parking range corresponding to the terminal, a first voice message is output, which is used to indicate that there is no parking space available and / or the terminal needs to be moved.

[0095] Example 5: Based on the parking instruction from the target user, determine the current position of the terminal; based on the current position of the terminal, control the terminal to park out of the second parking space.

[0096] Example 6: If the current location is not a parking space, output a second voice message to prompt the terminal that parking is not required.

[0097] Example 7: Based on the parking instruction of the target user, control the terminal to park out of the second parking space in a target parking direction, the target parking direction including at least one of parking forward, parking to the left, and parking to the right.

[0098] Example 8: When the parking space corresponding to the target location meets the parking space conditions, control the terminal to park in and / or park out of the target location; when the parking space corresponding to the target location does not meet the parking space conditions, output a third voice message, which is used to prompt that the parking space corresponding to the target location is insufficient.

[0099] Example 9: In response to a pause voice command, control the terminal to pause berthing at the target location and / or pause berthing out of the target location; and / or, in response to a wake-up voice command, control the terminal to pause berthing at the target location and / or pause berthing out of the target location; and / or, in response to a cancel voice command, control the terminal to cancel berthing at the target location and / or cancel berthing out of the target location.

[0100] Example 10: When the voice command is verified by voiceprint, control the terminal to dock into and / or dock out of the target location.

[0101] Example 11: Based on the voice command of the target user outside the terminal cockpit, determine the status information of the terminal; based on the status information, output a fourth voice, which is used to prompt the status of the terminal.

[0102] Example 12: If the configuration information of the terminal does not meet the parking configuration conditions, a fifth voice message is output. The fifth voice message is used to prompt that the configuration information of the terminal does not meet the parking configuration conditions and / or that the configuration information of the terminal needs to be changed.

[0103] Example 13: The terminal is a vehicle or a robot.

[0104] It should be noted that the control methods involved in the above embodiments may include at least one of Embodiments 1 to 13. For example, Embodiment 1 can be implemented as an independent embodiment, Embodiment 1+2 can be implemented as an independent embodiment, Embodiment 1+2+3 can be implemented as an independent embodiment, Embodiment 1+2+4 can be implemented as an independent embodiment, Embodiment 1+2+3+4 can be implemented as an independent embodiment, Embodiment 1+2+4+5 can be implemented as an independent embodiment, Embodiment 1+2+3+4+5 can be implemented as an independent embodiment, Embodiment 1+2+4+6 can be implemented as an independent embodiment, Embodiment 1+2+3+4+6 can be implemented as an independent embodiment, Embodiment 1+2+4+5+6 can be implemented as an independent embodiment, Embodiment 1+2+3+4+5+6 can be implemented as an independent embodiment, and Embodiment 1+7 can be implemented as an independent embodiment. Examples 1+2+7 can be implemented as independent embodiments, examples 1+2+3+7 can be implemented as independent embodiments, examples 1+2+4+7 can be implemented as independent embodiments, examples 1+2+3+4+7 can be implemented as independent embodiments, examples 1+2+4+5+7 can be implemented as independent embodiments, examples 1+2+3+4+5+7 can be implemented as independent embodiments, examples 1+2+4+6+7 can be implemented as independent embodiments, examples 1+2+3+4+6+7 can be implemented as independent embodiments, examples 1+2+4+5+6+7 can be implemented as independent embodiments, examples 1+2+3+4+5+6+7 can be implemented as independent embodiments, etc., but are not limited to these, and will not be listed one by one here.

[0105] Compared with related technologies, this embodiment triggers the vehicle's parking and / or parking actions based on the voice commands of the target user outside the cabin, achieving accurate recognition and real-time execution of natural voice commands outside the vehicle. This allows users to complete vehicle dispatching through voice interaction without entering the cabin, significantly improving the convenience of interaction and control flexibility in the scenario outside the cabin, and ensuring that the terminal effectively responds to the intentions of the user outside the cabin.

[0106] Furthermore, as Figures 1 to 6 To specifically implement the method shown, this embodiment provides a control device, such as... Figure 10 As shown, the device includes: a receiving module 41 and a control module 42.

[0107] The receiving module 41 is configured to receive voice commands from a target user outside the cockpit of the terminal; Control module 42 is configured to control the terminal to dock into and / or dock out of the target location corresponding to the terminal based on the voice command.

[0108] In some examples of this embodiment, the control module 42 is specifically configured to control the terminal to park in the first parking space corresponding to the terminal based on the parking instruction of the target user; and / or to control the terminal to park out of the second parking space where the terminal is located based on the parking instruction of the target user.

[0109] In some examples of this embodiment, the control module 42 is specifically configured to control the terminal to park in the first parking space in response to the existence of at least one available parking space within the parking range corresponding to the terminal, wherein the first parking space is one of the at least one available parking space.

[0110] In some examples of this embodiment, the control module 42 is specifically configured to output a first voice prompt in response to the absence of a parking space within the parking range corresponding to the terminal. The first voice prompt is used to indicate that there is no parking space available and / or that the terminal needs to be moved.

[0111] In some examples of this embodiment, the control module 42 is specifically configured to determine the current position of the terminal based on the parking instruction of the target user; and control the terminal to park out of the second parking space according to the current position of the terminal.

[0112] In some examples of this embodiment, the control module 42 is specifically configured to output a second voice message when the current location is not a parking space, the second voice message being used to prompt the terminal that parking is not required.

[0113] In some examples of this embodiment, the control module 42 is specifically configured to control the terminal to park out of the second parking space in a target parking direction based on the parking instruction of the target user. The target parking direction includes at least one of parking forward, parking to the left, and parking to the right.

[0114] In some examples of this embodiment, the control module 42 is specifically configured to control the terminal to park in and / or park out of the target location when the parking space corresponding to the target location meets the parking space conditions; and to output a third voice message when the parking space corresponding to the target location does not meet the parking space conditions, the third voice message being used to prompt that the parking space corresponding to the target location is insufficient.

[0115] In some examples of this embodiment, the control module 42 is specifically configured to, in response to a pause voice command, control the terminal to pause berthing and / or pause berthing out of the target location; and / or, in response to a wake-up voice command, control the terminal to pause berthing and / or pause berthing out of the target location; and / or, in response to a cancel voice command, control the terminal to cancel berthing and / or cancel berthing out of the target location.

[0116] In some examples of this embodiment, the control module 42 is specifically configured to control the terminal to dock into and / or dock out of the target location when the voice command is verified by voiceprint.

[0117] In some examples of this embodiment, the control module 42 is specifically configured to determine the status information of the terminal based on the voice commands of the target user outside the terminal cockpit; and output a fourth voice message based on the status information, the fourth voice message being used to prompt the status of the terminal.

[0118] In some examples of this embodiment, the control module 42 is specifically configured to output a fifth voice message when the configuration information of the terminal does not meet the parking configuration conditions. The fifth voice message is used to prompt that the configuration information of the terminal does not meet the parking configuration conditions and / or that the configuration information of the terminal needs to be changed.

[0119] In some examples of this embodiment, the terminal is a vehicle or a robot.

[0120] It should be noted that other corresponding descriptions of the functional units involved in the control device provided in this embodiment can be found in [reference needed]. Figures 1 to 6 The corresponding description in [the document] will not be repeated here.

[0121] Based on the above, Figures 1 to 6 Accordingly, this embodiment also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method. Figures 1 to 6 The method shown.

[0122] Based on this understanding, the technical solution of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, or portable hard drive) and includes several instructions to cause a computer device (such as a personal computer, server, or network device) to execute the methods of various implementation scenarios of this application.

[0123] like Figure 11 The diagram shown is a hardware structure schematic of an electronic device according to the present invention, comprising: At least one processor 501; and, A memory 502 is communicatively connected to at least one of the processors 501; wherein, The memory 502 stores instructions that can be executed by at least one of the processors to enable the at least one of the processors to perform the control method as described above.

[0124] Figure 11 Take a processor 501 as an example.

[0125] The electronic device may also include an input device 503 and a display device 505.

[0126] The processor 501, memory 502, input device 503, and display device 505 can be connected via a bus or other means. Figure 11 Taking the example of a connection between China and Israel via a bus.

[0127] The memory 502, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the control method in the embodiments of this application, for example, Figures 1 to 6 The method flow is shown. The processor 501 executes various functional applications and data processing by running non-volatile software programs, instructions, and modules stored in the memory 502, thereby implementing the control method in the above embodiments.

[0128] Memory 502 may include a program storage area and a data storage area, wherein the program storage area may store the operating system and application programs required for at least one function; the data storage area may store data created according to the use of the control method, etc. Furthermore, memory 502 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 502 may optionally include memory remotely located relative to processor 501, and these remote memories may be connected to the apparatus performing the control method via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0129] The input device 503 can receive user clicks and generate signal inputs related to user settings and function control of the control method. The display device 505 may include a display screen or other display device.

[0130] When one or more modules are stored in the memory 502, and are run by one or more processors 501, the control method in any of the above method embodiments is executed.

[0131] Optionally, the aforementioned physical devices may also include a user interface, a network interface, a camera, radio frequency (RF) circuitry, sensors, audio circuitry, a Wi-Fi module, etc. The user interface may include a display screen, input units such as a keyboard, etc., and optional user interfaces may also include USB interfaces, card reader interfaces, etc. The network interface may optionally include standard wired interfaces, wireless interfaces (such as Wi-Fi interfaces), etc.

[0132] Those skilled in the art will understand that the physical device structure provided in this embodiment does not constitute a limitation on the physical device, and may include more or fewer components, or combine certain components, or have different component arrangements.

[0133] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the hardware and software resources of the aforementioned physical device, supporting the operation of information processing programs and other software and / or programs. The network communication module is used to enable communication between the various components within the storage medium, as well as communication with other hardware and software in the information processing physical device.

[0134] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented using software plus necessary general-purpose hardware platforms, or it can be implemented through hardware. By applying the solution of this embodiment, compared with related technologies, this embodiment triggers the parking and / or parking-out actions of the vehicle based on the voice commands of the target user outside the cabin, realizing accurate recognition and real-time execution of natural voice commands outside the vehicle. This allows users to complete vehicle dispatching through voice interaction without entering the cabin, significantly improving the convenience of interaction and control flexibility in the scenario outside the cabin, and ensuring the effective response of the terminal to the intentions of the user outside the cabin.

[0135] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the term "comprising" or any other variations thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0136] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A terminal control method, characterized in that, include: Receives voice commands from the target user outside the cockpit of the terminal; Based on the voice commands, the terminal is controlled to dock into and / or ditch at the target location corresponding to the terminal.

2. The method according to claim 1, characterized in that, The step of controlling the terminal to dock at and / or dock out of the target location corresponding to the terminal based on the voice command includes: Based on the parking instruction from the target user, control the terminal to park in the first parking space corresponding to the terminal; and / or, Based on the parking instruction from the target user, the terminal is controlled to park out of the second parking space where it is located.

3. The method according to claim 2, characterized in that, The step of controlling the terminal to park in the first parking space corresponding to the terminal based on the parking instruction of the target user includes: In response to the existence of at least one available parking space within the parking range corresponding to the terminal, the terminal is controlled to park in the first parking space, where the first parking space is one of the at least one available parking space.

4. The method according to claim 2 or 3, characterized in that, The method further includes: In response to the absence of a parking space within the parking area corresponding to the terminal, a first voice message is output, which is used to indicate that there is no parking space available and / or the terminal needs to be moved.

5. The method according to any one of claims 2 to 4, characterized in that, The step of controlling the terminal to park from the second parking space where the terminal is located based on the parking instruction from the target user includes: Based on the target user's parking instruction, determine the current location of the terminal; Based on the current location of the terminal, control the terminal to park out of the second parking space.

6. The method according to claim 5, characterized in that, The method further includes: If the current location is not a parking space, a second voice message is output to prompt the terminal that parking is not required.

7. The method according to any one of claims 2 to 6, characterized in that, The step of controlling the terminal to park from the second parking space where the terminal is located based on the parking instruction from the target user includes: Based on the parking instruction from the target user, the terminal is controlled to park out of the second parking space in a target parking direction, which includes at least one of parking forward, parking to the left, and parking to the right.

8. The method according to any one of claims 1 to 7, characterized in that, The method further includes: If the parking space corresponding to the target location meets the parking space conditions, control the terminal to park in and / or park out of the target location; If the parking space corresponding to the target location does not meet the parking space conditions, a third voice prompt is output to indicate that the parking space corresponding to the target location is insufficient.

9. The method according to any one of claims 1 to 8, characterized in that, The method further includes: In response to a pause voice command, the terminal is controlled to pause berthing at the target location and / or pause berthing out; and / or, In response to a wake-up voice command, the terminal is controlled to pause berthing at the target location and / or pause berthing out; and / or, In response to a voice command to cancel, the terminal is controlled to cancel berthing at the target location and / or cancel berthing out.

10. The method according to any one of claims 1 to 9, characterized in that, The method further includes: If the voice command is verified by voiceprint, the terminal is controlled to dock at and / or dock out of the target location.

11. The method according to any one of claims 1 to 10, characterized in that, The method further includes: The status information of the terminal is determined based on the voice commands of the target user outside the terminal cockpit. Based on the status information, a fourth voice message is output, which is used to prompt the terminal about its status.

12. The method according to any one of claims 1 to 11, characterized in that, The method further includes: If the terminal's configuration information does not meet the parking configuration conditions, a fifth voice message is output. The fifth voice message is used to prompt that the terminal's configuration information does not meet the parking configuration conditions and / or that the terminal's configuration information needs to be changed.

13. The method according to any one of claims 1 to 12, characterized in that, The terminal is a vehicle or a robot.

14. A control device for a terminal, characterized in that, include: The receiving module is configured to receive voice commands from a target user outside the cockpit of the terminal; The control module is configured to control the terminal to dock into and / or dock out of the target location corresponding to the terminal based on the voice command.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 13.

16. An electronic device, characterized in that, The invention includes a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, characterized in that the processor, when executing the computer program, implements the method of any one of claims 1 to 13.

17. A vehicle or robot, characterized in that, include: The apparatus of claim 14, or the computer-readable storage medium of claim 15, or the electronic device of claim 16.

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