Vehicle control method, site-side system, automobile company system, and terminal device

Abstract

To provide a vehicle control method, site-side system, automobile company system, and terminal device making it possible to upgrade the reliability and robustness in remotely controlling a vehicle.SOLUTION: The present method includes the fact that, when communications between an automobile company system and vehicle work normally, the automobile company system controls the vehicle so that the vehicle executes a vehicle control command, and the fact that, when the communications between the automobile company system and vehicle work abnormally, the automobile company system transfers the vehicle control command to a site-side system, and the site-side system controls the vehicle so that the vehicle executes the vehicle control command. The automobile company system includes a management system for allowing an automobile company to remotely control the vehicle. The site-side system includes at least one of a management system of a roadside unit and a management system of a parking lot.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present application relates to the field of intelligent driving, and in particular to a vehicle control method, a field system, an automobile enterprise system and a terminal device. [Background technology]

[0002] With the development of intelligent driving, more and more vehicles are beginning to support remote vehicle control functions. Typical vehicle remote control commands include dispatch commands, parking commands, ignition commands, and engine shutdown commands. Currently, remote control solutions include individual vehicle intelligence solutions and on-site system-assisted solutions. Individual vehicle intelligence solutions allow vehicles to independently complete remote vehicle control commands, but this solution places high demands on vehicle performance. However, on-site system-assisted solutions can affect the execution of remote vehicle control commands if the communication signal between the vehicle and the on-site system is poor. For example, performing remote vehicle control functions in parking lots (especially underground parking lots) is usually limited by cost and price-performance ratio. When the network is abnormal or a service function fails, the remotely controlled vehicle cannot operate normally, resulting in remote vehicle control failure. Therefore, the industry lacks a mechanism for dealing with network failures in the remote vehicle control process. This mechanism is used to improve the reliability and robustness of vehicles during remote control. Summary of the Invention

[0003] The present application provides a vehicle control method, a field system, an automobile enterprise system, and a terminal device that use a remote vehicle control method to improve reliability and robustness.

[0004] According to a first aspect, there is provided a vehicle control method, the method including: an on-site system receiving, when communication between the vehicle enterprise system and the vehicle is abnormal, a second vehicle control command sent by the vehicle enterprise system, the second vehicle control command instructing the on-site system to control the vehicle to perform a task related to vehicle operation; and the on-site system controlling, based on the second vehicle control command, the vehicle to perform the task instructed by the second vehicle control command, wherein the vehicle enterprise system includes a management system for remotely controlling the vehicle by the vehicle enterprise, and the on-site system includes at least one of a roadside unit management system and a parking lot management system.

[0005] The vehicle enterprise system may be used as a primary system for executing vehicle control commands, and the on-site system may be used as a secondary system for executing vehicle control commands. The vehicle enterprise system and the on-site system cooperate to form a primary / secondary architecture system. When communication between the vehicle enterprise system and the vehicle is normal, the vehicle enterprise system executes the vehicle control command. When communication between the vehicle enterprise system and the vehicle is abnormal, the vehicle enterprise system may send the vehicle control command to the on-site system, and the on-site system completes the vehicle control command. This improves the reliability and robustness of executing remote vehicle control commands.

[0006] With respect to the first aspect, in some possible implementations of the first aspect, the second vehicle control command includes at least one of a dispatch request used to request the vehicle to perform a dispatch operation, a parking request used to request the vehicle to perform a parking operation, an ignition command instructing the vehicle to perform an ignition operation, an engine stop command instructing the vehicle to perform an engine stop operation, a steering command instructing the vehicle to perform a steering operation, a throttle command instructing the vehicle to perform an engine throttle up operation or an engine throttle down operation, or a brake command instructing the vehicle to perform a braking operation.

[0007] With respect to the first aspect, in some possible implementations of the first aspect, the second vehicle control command is a dispatch request or a parking request, and controlling the vehicle by the on-site system to perform the task instructed by the second vehicle control command based on the second vehicle control command includes: the on-site system transmitting route planning information and available parking space information to the vehicle based on the second vehicle control command; the on-site system receiving an ignition command from the vehicle enterprise system; and the on-site system transmitting the ignition command to the vehicle.

[0008] In the vehicle dispatch and parking process, when communication between the vehicle company system and the vehicle is abnormal, the on-site system may be used as the primary system for transmitting route planning information and available parking space information to the vehicle. However, the vehicle company system is considered to have a higher degree of expertise in vehicle management and control. Therefore, the ignition command, which is highly related to the vehicle's driving safety, is still transferred to the vehicle by the vehicle company system using the on-site system. This solution can ensure that the vehicle company system still has the authority to decide on the ignition command in the event of a communication failure, thereby improving the security of remotely controlling the vehicle.

[0009] Regarding the first aspect, in some possible implementations of the first aspect, controlling the vehicle to perform a task commanded by the second vehicle control command based on the second vehicle control command includes: the on-site system receiving vehicle self-check status information from the vehicle, where the vehicle self-check status information indicates a self-check status of the vehicle; and the on-site system transmitting the vehicle self-check status information to the vehicle enterprise system. Receiving an ignition command from the vehicle enterprise system by the on-site system includes receiving an ignition command from the vehicle enterprise system after the on-site system has transmitted the vehicle self-check status information.

[0010] In the vehicle dispatch and parking process, when the communication between the vehicle-side system and the vehicle is abnormal, the vehicle-side system receives the vehicle self-inspection status information transmitted by the on-site system, and after determining that the vehicle is in a normal state, sends an ignition command to the vehicle via the on-site system. Because the vehicle enterprise system has a higher degree of expertise in vehicle management and control, the vehicle enterprise system determines the opportunity to send the ignition command on behalf of the on-site system, thereby improving the safety of remotely controlling the vehicle.

[0011] According to a second aspect, there is provided a vehicle control method, the method including: an on-site system receiving a third vehicle control command sent by the terminal device when communication between the automobile enterprise system and the terminal device is abnormal, the third vehicle control command instructing the on-site system to control the vehicle to perform a task related to vehicle operation; and the on-site system controlling the vehicle to perform the task instructed by the third vehicle control command based on the third vehicle control command, wherein the automobile enterprise system includes a management system for remotely controlling the vehicle by the automobile enterprise, the on-site system includes at least one of a roadside unit management system and a parking lot management system, and the terminal device corresponds to the vehicle.

[0012] The vehicle enterprise system may be used as a primary system for executing vehicle control commands, and the on-site system may be used as a secondary system for executing vehicle control commands. The vehicle enterprise system and the on-site system cooperate to form a primary / secondary architecture system. When communication between the vehicle enterprise system and the terminal device is normal, the vehicle enterprise system executes the vehicle control command. When communication between the vehicle enterprise system and the terminal device is abnormal, the terminal device may send the vehicle control command to the on-site system, and the on-site system completes the vehicle control command. This primary / secondary system architecture control method can improve the reliability and robustness of executing remote vehicle control commands.

[0013] With respect to the second aspect, in some possible implementations of the second aspect, the third vehicle control command includes at least one of a dispatch command instructing the vehicle to perform a dispatch operation, a parking command instructing the vehicle to perform a parking operation, an ignition command instructing the vehicle to perform an ignition operation, an engine stop command instructing the vehicle to perform an engine stop operation, a steering command instructing the vehicle to perform a steering operation, a throttle command instructing the vehicle to perform an engine throttle up operation or an engine throttle down operation, or a brake command instructing the vehicle to perform a braking operation.

[0014] According to a third aspect, there is provided a vehicle control method, the method including: an on-site system transmitting sensing information to the vehicle when communication between the on-site system and the vehicle is normal, the sensing information indicating reference information required when the vehicle is traveling; or, when communication between the on-site system and the vehicle is abnormal, the on-site system transmitting sensing information to a vehicle company system, the vehicle company system including a management system for remotely controlling the vehicle by the vehicle company, and the on-site system including at least one of a roadside unit management system and a parking lot management system.

[0015] The on-site system may be used as a primary system for distributing sensory information, and the vehicle enterprise system may be used as a secondary system for distributing sensory information. The on-site system and the vehicle enterprise system cooperate to form a primary / secondary architecture system. When communication between the on-site system and the vehicle is normal, the on-site system distributes the sensory information. When communication between the on-site system and the vehicle is abnormal, the on-site system may send the sensory information to the vehicle enterprise system, and the vehicle enterprise system distributes the sensory information. Because sensory information is normally collected by the on-site system, this primary / secondary architecture can improve the speed and efficiency of transmitting sensory information when communication is normal and ensure the timely distribution of sensory information when communication is abnormal, improving the reliability and robustness of remote vehicle control.

[0016] Regarding the third aspect, in some possible implementations of the third aspect, the sensing information includes at least one of vacant parking space information indicating parking spaces not occupied by vehicles in a parking lot, route planning information indicating a driving route of the vehicle from a current location to a destination, real-time vehicle positioning information indicating a real-time location of the vehicle in the driving process, or obstacle sensing location information indicating a location of an obstacle in the driving process.

[0017] Regarding the third aspect, in some possible implementations of the third aspect, the method further includes the on-site system determining whether communication between the on-site system and the vehicle is normal.

[0018] Regarding the third aspect, in some possible implementations of the third aspect, the on-site system determining whether communication between the on-site system and the vehicle is normal includes the on-site system sending a query command to the vehicle, and the on-site system determining that communication between the on-site system and the vehicle is functioning normally when the on-site system receives a return command from the vehicle within a predetermined time, the return command being used to respond to the query command, or the on-site system determining that communication between the on-site system and the vehicle is functioning abnormally when the on-site system does not receive a return command from the vehicle within the predetermined time.

[0019] Regarding the third aspect, in some possible implementations of the third aspect, the on-site system determining whether communication between the on-site system and the vehicle is normal includes the on-site system continuously sending N query commands to the vehicle, where N is a predetermined integer greater than or equal to 2, and the on-site system determining that communication between the on-site system and the vehicle is functioning normally when the on-site system receives a return command corresponding to at least one of the N query commands from the vehicle, where the return command is used to respond to the query command, or the on-site system determining that communication between the on-site system and the vehicle is functioning abnormally when the on-site system does not receive a return command corresponding to the N query commands from the vehicle.

[0020] Regarding the third aspect, in some possible implementations of the third aspect, the on-site system determining whether communication between the on-site system and the vehicle is normal includes the on-site system receiving second indicator information from the vehicle enterprise system, the second indicator information indicating that the vehicle has not received the sensing information transmitted by the on-site system based on a predetermined periodicity, and determining, by the on-site system, based on the second indicator information, that communication between the on-site system and the vehicle is abnormal.

[0021] According to a fourth aspect, there is provided a vehicle control method, the method including: an automobile enterprise system receiving a first vehicle control command from a terminal device, the first vehicle control command instructing the automobile enterprise system to control the vehicle to perform a task related to vehicle operation, the terminal device corresponding to the vehicle; the automobile enterprise system controlling the vehicle to perform the task instructed by the first vehicle control command based on the first vehicle control command when communication between the automobile enterprise system and the vehicle is normal; and the automobile enterprise system sending a second vehicle control command to an on-site system based on the first vehicle control command when communication between the automobile enterprise system and the vehicle is abnormal, the second vehicle control command instructing the on-site system to control the vehicle to perform the task related to vehicle operation. The automobile enterprise system includes a management system for remotely controlling the vehicle by the automobile enterprise, and the on-site system includes at least one of a roadside unit management system and a parking lot management system.

[0022] The vehicle enterprise system may be used as a primary system for executing vehicle control commands, and the on-site system may be used as a secondary system for executing vehicle control commands. The vehicle enterprise system and the on-site system cooperate to form a primary / secondary architecture system. When communication between the vehicle enterprise system and the vehicle is normal, the vehicle enterprise system executes the vehicle control command. When communication between the vehicle enterprise system and the vehicle is abnormal, the vehicle enterprise system may send the vehicle control command to the on-site system, and the on-site system completes the vehicle control command. This improves the reliability and robustness of executing remote vehicle control commands.

[0023] With respect to the fourth aspect, in some possible implementations of the fourth aspect, the first vehicle control command includes at least one of a dispatch command instructing the vehicle to perform a dispatch operation, a parking command instructing the vehicle to perform a parking operation, an ignition command instructing the vehicle to perform an ignition operation, an engine stop command instructing the vehicle to perform an engine stop operation, a steering command instructing the vehicle to perform a steering operation, a throttle command instructing the vehicle to perform an engine throttle up operation or an engine throttle down operation, or a brake command instructing the vehicle to perform a braking operation.

[0024] With respect to the fourth aspect, in some possible implementations of the fourth aspect, the second vehicle control command includes at least one of a dispatch request used to request the vehicle to perform a dispatch operation, a parking request used to request the vehicle to perform a parking operation, an ignition command instructing the vehicle to perform an ignition operation, an engine stop command instructing the vehicle to perform an engine stop operation, a steering command instructing the vehicle to perform a steering operation, a throttle command instructing the vehicle to perform an engine throttle up operation or an engine throttle down operation, or a brake command instructing the vehicle to perform a braking operation.

[0025] Regarding the fourth aspect, in some possible implementations of the fourth aspect, the first vehicle control command is a dispatch command or a parking command, and when communication between the vehicle company and the vehicle is abnormal, after the vehicle company system sends a second vehicle control command to the on-site system based on the first vehicle control command, the method further includes: the vehicle company system receiving vehicle self-inspection status information from the on-site system, where the vehicle self-inspection status information indicates a self-inspection status of the vehicle; and after the vehicle company system receives the self-inspection status information, sending an ignition command to the on-site system.

[0026] In the vehicle dispatch and parking process, when the communication between the vehicle-side system and the vehicle is abnormal, the vehicle-side system receives the vehicle self-inspection status information transmitted by the on-site system, and after determining that the vehicle is in a normal state, sends an ignition command to the vehicle via the on-site system. Because the vehicle enterprise system has a higher degree of expertise in vehicle management and control, the vehicle enterprise system determines the opportunity to send the ignition command on behalf of the on-site system, thereby improving the safety of remotely controlling the vehicle.

[0027] Regarding the fourth aspect, in some possible implementations of the fourth aspect, the method further includes the vehicle enterprise system determining whether communication between the vehicle enterprise system and the vehicle is normal.

[0028] The vehicle enterprise system determines whether communication between the vehicle enterprise system and the vehicle is normal and determines whether the on-site system is to be used as the primary system for executing vehicle control commands, thereby improving the reliability and safety of remote vehicle control.

[0029] With respect to the fourth aspect, in some possible implementations of the fourth aspect, the vehicle enterprise system determining whether communication between the vehicle enterprise system and the vehicle is normal includes the vehicle enterprise system sending a query command to the vehicle, and when the vehicle enterprise system receives a return command from the vehicle within a predetermined time, the vehicle enterprise system determining that communication between the vehicle enterprise system and the vehicle is functioning normally, the return command being used to respond to the query command; or when the vehicle enterprise system does not receive a return command from the vehicle within the predetermined time, the vehicle enterprise system determining that communication between the vehicle enterprise system and the vehicle is functioning abnormally.

[0030] Regarding the fourth aspect, in some possible implementations of the fourth aspect, the vehicle enterprise system determining whether communication between the vehicle enterprise system and the vehicle is normal includes the vehicle enterprise system continuously sending N query commands to the vehicle, where N is a predetermined integer greater than or equal to 2, and the vehicle enterprise system determining that communication between the vehicle enterprise system and the vehicle is functioning normally when the vehicle enterprise system receives a return command corresponding to at least one of the N query commands from the vehicle, where the return command is used to respond to the query command, or the vehicle enterprise system determining that communication between the vehicle enterprise system and the vehicle is functioning abnormally when the vehicle enterprise system does not receive a return command corresponding to the N query commands from the vehicle.

[0031] According to a fifth aspect, there is provided a vehicle control method, the method including: when communication between an on-site system and a vehicle is abnormal, an automobile enterprise system receives sensory information from the on-site system, the sensory information indicating reference information required when the vehicle is traveling, and the automobile enterprise system transmits the sensory information to the vehicle, The automobile enterprise system includes a management system for remotely controlling the vehicle by the automobile enterprise, and the on-site system includes at least one of a roadside unit management system and a parking lot management system.

[0032] The on-site system may be used as a primary system for distributing sensory information, and the vehicle enterprise system may be used as a secondary system for distributing sensory information. The on-site system and the vehicle enterprise system cooperate to form a primary / secondary architecture system. When communication between the on-site system and the vehicle is normal, the on-site system distributes the sensory information. When communication between the on-site system and the vehicle is abnormal, the on-site system may send the sensory information to the vehicle enterprise system, and the vehicle enterprise system distributes the sensory information. Because sensory information is typically collected by the on-site system, this primary / secondary architecture can improve the speed and efficiency of transmitting sensory information when communication is normal and ensures timely delivery of sensory information when communication is abnormal, improving the reliability and robustness of remote vehicle control.

[0033] Regarding the fifth aspect, in some possible implementations of the fifth aspect, the sensing information includes at least one of vacant parking space information indicating parking spaces not occupied by vehicles in a parking lot, route planning information indicating a driving route of the vehicle from a current location to a destination, real-time vehicle positioning information indicating a real-time location of the vehicle in the driving process, or obstacle sensing location information indicating a location of an obstacle in the driving process.

[0034] With respect to the fifth aspect, in some possible implementations of the fifth aspect, the method further includes: the vehicle enterprise system receiving first indicator information from the vehicle, the first indicator information indicating that the vehicle has not received the sensory information transmitted by the on-site system based on the preset periodicity; and the vehicle enterprise system transmitting second indicator information to the on-site system based on the first indicator information, the second indicator information indicating that the vehicle has not received the sensory information transmitted by the on-site system based on the preset periodicity.

[0035] According to a sixth aspect, there is provided a vehicle control method, the method including: a terminal device transmitting a first vehicle control command to the vehicle enterprise system when communication between the vehicle enterprise system and the terminal device is normal, the first vehicle control command instructing the vehicle enterprise system to control the vehicle to perform a task related to vehicle driving; and a terminal device transmitting a third vehicle control command to an on-site system when communication between the vehicle enterprise system and the terminal device is abnormal, the third vehicle control command instructing the vehicle to control the vehicle to perform the task related to vehicle driving. The vehicle enterprise system includes a management system for remotely controlling the vehicle by the vehicle enterprise, the on-site system includes at least one of a roadside unit management system and a parking lot management system, and the terminal device corresponds to the vehicle.

[0036] The vehicle enterprise system may be used as a primary system for executing vehicle control commands, and the on-site system may be used as a secondary system for executing vehicle control commands. The vehicle enterprise system and the on-site system cooperate to form a primary / secondary architecture system. When communication between the vehicle enterprise system and the terminal device is normal, the vehicle enterprise system executes the vehicle control command. When communication between the vehicle enterprise system and the terminal device is abnormal, the terminal device may send the vehicle control command to the on-site system, and the on-site system completes the vehicle control command. This improves the reliability and robustness of executing remote vehicle control commands.

[0037] With respect to the sixth aspect, in some possible implementations of the sixth aspect, the third vehicle control command includes at least one of a dispatch command instructing the vehicle to perform a dispatch operation, a parking command instructing the vehicle to perform a parking operation, an ignition command instructing the vehicle to perform an ignition operation, an engine stop command instructing the vehicle to perform an engine stop operation, a steering command instructing the vehicle to perform a steering operation, a throttle command instructing the vehicle to perform an engine throttle up operation or an engine throttle down operation, or a brake command instructing the vehicle to perform a braking operation.

[0038] Regarding the sixth aspect, in some possible implementations of the sixth aspect, the method further includes the terminal device determining whether communication between the automobile enterprise system and the terminal device is normal.

[0039] Regarding the sixth aspect, in some possible implementations of the sixth aspect, the terminal device determining whether communication between the vehicle enterprise system and the terminal device is normal includes the terminal device sending a query command to the vehicle enterprise system, and determining that communication between the terminal device and the vehicle enterprise system is functioning normally when the terminal device determines that a return command has been received from the vehicle enterprise system within a predetermined time, the return command being to respond to the first vehicle control command, or determining that communication between the terminal device and the vehicle enterprise system is functioning abnormally when the terminal device determines that a return command has not been received from the vehicle enterprise system within a predetermined time.

[0040] Regarding the sixth aspect, in some possible implementations of the sixth aspect, determining by the terminal device whether communication between the terminal device and the vehicle is normal includes: the terminal device continuously sending N query commands to the vehicle enterprise system, where N is a predetermined integer greater than or equal to 2; and determining by the terminal device that the functioning of communication between the terminal device and the vehicle enterprise system is normal when the terminal device determines that a return command corresponding to at least one of the N query commands has been received from the vehicle enterprise system, where the return command is for responding to the query command; or determining that the functioning of communication between the terminal device and the vehicle enterprise system is abnormal when the terminal device determines that a return command corresponding to the N query commands has not been received from the vehicle enterprise system.

[0041] According to a seventh aspect of the present invention, there is provided an on-site system, the on-site system including a module configured to perform the method of the first aspect, the second aspect, the third aspect, any possible implementation of the first aspect, any possible implementation of the second aspect, or any possible implementation of the third aspect.

[0042] According to an eighth aspect, there is provided an automotive enterprise system, the automotive enterprise system including modules configured to perform the method of the fourth aspect, the fifth aspect, any possible implementation of the fourth aspect, or any possible implementation of the fifth aspect.

[0043] According to an eighth aspect, there is provided a terminal device, the terminal device including a module configured to perform the method of the sixth aspect or any possible implementation of the sixth aspect.

[0044] According to a ninth aspect, there is provided a field-side system including a communication interface and a processor. The processor is configured to call a computer program from a memory. When the computer program is executed, the processor is configured to perform a method of the first aspect, the second aspect, the third aspect, any possible implementation of the first aspect, any possible implementation of the second aspect, or any possible implementation of the third aspect.

[0045] According to a tenth aspect, there is provided an automobile enterprise system. The automobile enterprise system includes a communication interface and a processor. The processor is configured to call a computer program from a memory. When the computer program is executed, the processor is configured to perform the method of the fourth aspect, the fifth aspect, any possible implementation of the fourth aspect, or any possible implementation of the fifth aspect.

[0046] According to an eleventh aspect, there is provided a terminal device, the terminal device including a communication interface and a processor, the processor being configured to call a computer program from a memory, the computer program being configured, when executed, to perform the method of the sixth aspect or any possible implementation of the sixth aspect.

[0047] According to a twelfth aspect, there is provided a computer-readable storage medium configured to store a computer program, the computer program including instructions used to perform any one of the first to sixth aspects or any possible implementation of any one of the first to sixth aspects.

[0048] According to a thirteenth aspect, there is provided a computer program product including a computer program, the computer program including instructions used to perform any one of the first to sixth aspects or any possible implementation of any one of the first to sixth aspects. [Brief explanation of the drawings]

[0049] [Figure 1] 1 is a schematic diagram of an applicable application scenario according to an embodiment of the present application.

[0050] [Figure 2] 1 is a schematic flowchart of a vehicle control method according to an embodiment of the present application.

[0051] [Figure 3] FIG. 2 is a schematic diagram of a vehicle control method according to another embodiment of the present application.

[0052] [Figure 4] 1 is a schematic diagram of a vehicle control method according to yet another embodiment of the present application;

[0053] [Figure 5] 1 is a schematic diagram of a scenario for executing a vehicle control command according to an embodiment of the present application;

[0054] [Figure 6] 1 is a schematic flowchart of an automated vehicle dispatch method according to an embodiment of the present application.

[0055] [Figure 7] 1 is a schematic flowchart of an automatic vehicle dispatching method during normal communication according to an embodiment of the present application.

[0056] [Figure 8] 1 is a schematic flowchart of a vehicle dispatch method during abnormal communication according to an embodiment of the present application.

[0057] [Figure 9] 1 is a schematic diagram of an automated parking method scenario according to an embodiment of the present application; FIG.

[0058] [Figure 10] 1 is a schematic flowchart of a parking method in normal use procedure according to an embodiment of the present application;

[0059] [Figure 11] 1 is a schematic flowchart of an automatic parking method in an emergency procedure according to an embodiment of the present application.

[0060] [Figure 12] 1 is a schematic diagram of a display interface when switching between primary and secondary channels of a terminal device according to an embodiment of the present application;

[0061] [Figure 13] 2 is a schematic flowchart of a method for switching primary / secondary channels at a terminal device side according to an embodiment of the present application;

[0062] [Figure 14] 1 is a flowchart of a method for distributing sensory information according to an embodiment of the present application.

[0063] [Figure 15] 1 is a schematic flowchart for distributing route planning information and available parking space information according to an embodiment of the present application;

[0064] [Figure 16] 1 is a schematic flowchart of a method for distributing real-time vehicle positioning information according to an embodiment of the present application.

[0065] [Figure 17] 17 is a schematic diagram of the structure of an apparatus 1700 for controlling a vehicle according to an embodiment of the present application.

[0066] [Figure 18] FIG. 18 is a schematic diagram of the structure of an apparatus 1800 for controlling a vehicle according to another embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0067] The technical solutions of the present application will be described below with reference to the accompanying drawings.

[0068] Some terms in the embodiments of this application will be explained first.

[0069] Automated valet parking (AVP) uses sensors in the vehicle and surrounding environment to sense objects around the vehicle, measure the relative distance, speed, and angle between the vehicle and surrounding objects, and then controls the vehicle through on-board computing systems and cloud computing systems to implement automated parking and some driving functions.

[0070] Existing automated vehicle control solutions have the following problems: the network signal in the parking lot is unstable, the signal quality cannot be ensured in all areas, and even network failures may occur. However, in the process of executing remote vehicle control commands, the vehicle needs to continuously communicate with external systems, such as the automobile enterprise system or the on-site system. Therefore, when a network failure occurs, the vehicle may not receive all or some of the commands, resulting in the failure, interruption, or error of the execution of the control commands.

[0071] To solve the above-mentioned problems, embodiments of the present application provide a design architecture for primary / secondary channels used in automated vehicle control and a vehicle control method based on the architecture, thereby improving the robustness of automated vehicle control functions. In existing solutions, the architectures used for automated vehicle control typically use their own central processing mechanisms and lack backup channels. However, in embodiments of the present application, the vehicle enterprise system and the field system are jointly used as core functional systems, and distributed collaboration is performed between them, with both the vehicle enterprise system and the field system serving as primary and secondary backup channels for each other. The solution in the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0072] 1 is a schematic diagram of an application scenario according to an embodiment of the present application. As shown in FIG. 1, a control system 100 for implementing autonomous driving of a vehicle includes a field system 10, a field edge server 50, an automobile enterprise system 20, a vehicle 30, and a terminal device 40.

[0073] The on-site system 10 may also be referred to as an on-site cloud system, and may include at least one of a parking lot management system and a road side unit (RSU) management system. Optionally, when the on-site system 10 includes two management systems, the on-site system 10 may be referred to as a parking lot and road side unit management system. The on-site system 10 may use various devices disposed in the parking lot and the road side to collect parking lot and road side environment information, route information, vacant parking space information, obstacle identification information, etc., and may perform comprehensive analysis and send commands based on the collected information.

[0074] The functions of the on-site system 10 include, but are not limited to, management of equipment at the edge of the parking lot, information push, upgrades and maintenance, interconnection with third party systems such as parking lots, parking space allocation and identification, route planning and dispatch, and acting as a backup channel for interconnection with terminal devices 40 such as mobile phones.

[0075] The field system 10 may be any third-party system, provided that the third-party system supports the primary / secondary channel system architecture in the embodiments of the present application and is capable of implementing distributed collaboration with the automotive enterprise system 20.

[0076] The on-site system 10 may include one or more servers, which implement the functionality of the on-site system 10. It should be understood that in practice, the on-site system 10 may perform more or fewer functions. For example, in some instances, functionality related to parking lot management (or a parking lot management system) may be implemented independently by another party.

[0077] The vehicle enterprise system 20 may also be referred to as a vehicle enterprise cloud system. The vehicle enterprise system 20 may communicate with terminal devices 40, vehicles 30, and the field system 10. A vehicle owner may communicate with the vehicle enterprise system through a terminal device to exchange information with the vehicle or instruct the vehicle enterprise system to implement some control function. For example, the vehicle enterprise system 20 may deliver a corresponding command to the vehicle 30 after receiving a remote vehicle control command sent by the vehicle owner through the terminal device 40. Functions of the vehicle enterprise system 20 include, but are not limited to, the following: delivery of dispatch commands, delivery of parking commands, delivery of ignition commands, delivery of engine stop commands, delivery of steering commands, delivery of throttle commands, delivery of braking commands, vehicle status monitoring, and interconnection with terminal devices 40 such as mobile phones.

[0078] The on-site edge server 50, which may also be referred to as an edge server 50, may be disposed near a parking lot or a road. The on-site edge server 50 may communicate with the on-site system 10 and the vehicle 30. Additionally, the on-site edge server 50 may communicate with monitoring devices, such as smart cameras, disposed near the parking lot or the road to obtain corresponding environmental monitoring information. Functions of the on-site edge server 50 include, but are not limited to, the following: obstacle identification and related information distribution, vehicle operating status monitoring, real-time vehicle positioning information distribution, and device operation status reporting to the on-site system 10.

[0079] In one example, the communication method between the on-site system 10 and the on-site edge server 50 is Ethernet communication. The on-site edge server 50 may communicate with the vehicle 30 via Cellular Vehicle-to-Everything (C-V2X) technology. For example, the on-site edge server 50 may communicate with the vehicle 30 via a road side unit (RSU).

[0080] The terminal device 40 may include a mobile phone, a tablet computer, a smart watch, or another type of intelligent terminal device 40, and may communicate with the automotive enterprise system 20 or the on-site system 10 via a mobile phone application. The following communication technologies may be used between the terminal device 40 and the automotive enterprise system 20 or the on-site system 10: 4th generation mobile communication technology (4G), 5th generation mobile communication technology (5G), or Wi-Fi.

[0081] In this embodiment of the present application, the functions of the terminal device 40 include, but are not limited to, sending dispatch commands, sending parking commands, implementing AVP service interactions and queries, such as delivering automatic vehicle wash commands, delivering charging service commands, querying the driving trajectory and driving status of the vehicle 30, pushing service notifications by the system, and determining primary / secondary channel switching. For the definition of primary / secondary channels, see the specific description below. Optionally, the terminal device 40 may provide a mobile phone application interface, allowing the user to implement switching and interaction between the primary / secondary channels on the mobile phone interface. For example, when a fault occurs in the automobile enterprise system 20, the mobile phone interface may present a prompt interface, allowing the user to select whether to switch the channel operation interface of the field system 10.

[0082] The vehicle 30 may be configured to receive commands sent by the vehicle enterprise system 20 or the on-site system 10 or to report operational status information of the vehicle 30. For example, the vehicle 30 may communicate with the vehicle enterprise system 20 via 4G, 5G, or Wi-Fi. The vehicle 30 communicates with the on-site system 10 via the on-site edge server 50. In some examples, a highly secure and low-latency vehicle 30 network-dedicated communication channel, such as C-V2X communication, may be used between the vehicle 30 and the on-site edge server 50, or a 4G or 5G communication method may be used between the vehicle 30 and the on-site edge server 50.

[0083] In an embodiment of the present application, a vehicle control method may be completed by a field system, an automobile enterprise system, a vehicle, and a terminal device through cooperation. Functions performed by the vehicle are controlled to execute vehicle control commands or distribute sensory information, so that the field system and the automobile enterprise system can be flexibly configured as a primary system or a secondary system, respectively. The primary system may be understood as a system that executes the vehicle control method. When communication functions normally, the vehicle control method is completed by the primary system. The secondary system may be understood as a backup system that executes the vehicle control method. When communication between the primary system and the vehicle functions abnormally, the vehicle control method is completed by the secondary system. A communication link corresponding to the primary system may be referred to as a primary channel, and a communication link corresponding to the secondary system may be referred to as a secondary channel.

[0084] In an embodiment of the present application, when the vehicle control method executes vehicle control commands, the vehicle enterprise system may be configured as a primary system and the on-site system may be configured as a secondary system. The control commands may be commands to control the vehicle to perform tasks related to vehicle operation or commands that can remotely operate the vehicle. The vehicle control commands include, but are not limited to, ignition commands, engine stop commands, dispatch commands, parking commands, steering commands, throttle commands, and brake commands. Vehicle control commands are considered to be highly relevant to vehicle driving safety, and are therefore preferentially executed by vehicle enterprise systems with higher levels of expertise, thereby improving vehicle driving safety performance. If a failure occurs in the vehicle enterprise system or the communication link between the vehicle enterprise system and the vehicle, the on-site system is used to execute the vehicle control commands.

[0085] For reference, the aforementioned vehicle control commands are defined as follows:

[0086] Dispatch Command: This command is used to notify the system to start driving the vehicle from the parking space to the shuttle area where the user is located.

[0087] Parking Command: This command instructs the system to start driving the vehicle from the shuttle area where the user left to an available parking space for parking.

[0088] The ignition command is a command for the vehicle enterprise system to remotely control the vehicle to start the engine.

[0089] The ignition command is a command for the car company system to remotely control the vehicle to shut off the engine.

[0090] The steering command commands a steering action to be taken on the vehicle.

[0091] The throttle command instructs the vehicle to throttle up the engine or throttle down the engine.

[0092] The brake command instructs the vehicle to perform a braking action.

[0093] In an embodiment of the present application, when a vehicle control method distributes sensory information to a vehicle, an on-site system may be configured as a primary system and an automobile enterprise system may be configured as a secondary system. The sensory information indicates reference information required for a vehicle to travel. The sensory information includes, but is not limited to, available parking space status information, route planning information, real-time vehicle positioning information, and obstacle detection location information. The on-site system may transmit the sensory information to the vehicle using an on-site edge server installed in the parking lot. However, because of the high communication speed and low safety association between the sensory information and the vehicle, it may be preferable for the on-site system to transmit the sensory information. If a failure occurs in the on-site system or the communication link between the on-site system and the vehicle, the automobile enterprise system may be used to transmit the sensory information.

[0094] For example, the sensed information may include reference information related to vehicle operation and collected and monitored by a field system.

[0095] If the primary system or the communication link between the vehicle and the primary system fails, a switchover mechanism may be initiated and the secondary system will execute vehicle control commands or deliver sensory information.

[0096] For reference, the aforementioned sensed information is defined as follows:

[0097] The vacant parking space information indicates parking spaces in the parking lot that are not occupied by vehicles.

[0098] The route plan information indicates a driving route for the vehicle from a current location to a destination, which may be, for example, an available parking space.

[0099] The real-time vehicle positioning information indicates the real-time location of the vehicle during the driving process. For example, during the driving process of the vehicle, the actual location information of the vehicle may be sensed and calculated in real time by the on-site system.

[0100] The obstacle sensing location information indicates the location of an obstacle during the driving process of the vehicle. For example, during the driving process of the vehicle, the actual location information of an obstacle on the road ahead of the vehicle may be sensed and calculated in real time by the on-site system.

[0101] 2 is a schematic flowchart of a vehicle control method according to an embodiment of the present application. The method of FIG. 2 describes a processing method used when the vehicle control method is to execute a vehicle control command and the communication between the automobile enterprise system and the vehicle is abnormal. As shown in FIG. 2, the method includes the following steps:

[0102] S201: A terminal device sends a first vehicle control command to an automobile enterprise system, and in response, the automobile enterprise system receives the first vehicle control command from the terminal device, the first vehicle control command instructs the automobile enterprise system to control the vehicle to perform a task related to vehicle driving, and the terminal device corresponds to the vehicle.

[0103] Optionally, the first vehicle control command includes at least one of the following: a dispatch command, a parking command, an ignition command, an engine stop command, a steering command, a throttle command, or a braking command.

[0104] Optionally, a dispatch command sent by a terminal device may also be referred to as a one-tap dispatch command, and a parking command sent by a terminal device may also be referred to as a one-tap parking command.

[0105] In a specific example, a user may tap a link corresponding to a first vehicle control command on a terminal device to send the first vehicle control command.

[0106] S202: When communication between the automobile enterprise system and the vehicle is normal, the automobile enterprise system controls the vehicle based on the first vehicle control command to perform a task commanded by the first vehicle control command.

[0107] The vehicle enterprise system is the primary system for executing vehicle control commands, and therefore, when communication between the vehicle enterprise system and the vehicle is normal, the vehicle control commands are executed by the vehicle enterprise system.

[0108] S203: When communication between the vehicle enterprise system and the vehicle is abnormal, the vehicle enterprise system sends a second vehicle control command to the on-site system, and in response, the on-site system receives the second vehicle control command sent by the vehicle enterprise system, and the second vehicle control command instructs the on-site system to control the vehicle to perform a task related to vehicle driving.

[0109] When communication between the vehicle enterprise system and the vehicle is abnormal, the vehicle enterprise system may initiate a switching mechanism and send a second vehicle control command to the on-site system, so that the on-site system executes the second vehicle control command.

[0110] The second vehicle control command is generated based on the first vehicle control command, and the content of the second vehicle control command may be exactly the same as the content of the first vehicle control command, or may be appropriately adjusted for reception by the on-site system.

[0111] For example, if the first vehicle control command is a dispatch command or a parking command, the second vehicle control command may be a dispatch request or a parking request. The process for executing the dispatch command and the parking command is complex, for example, route planning information needs to be further distributed to the vehicle and vehicle self-status information needs to be obtained, so multiple communications and collaborations are required between the on-site system and the automobile enterprise system to complete the dispatch command and the parking command. Therefore, the second vehicle control command is a dispatch request or a parking request. After the vehicle feedback is obtained, the remaining procedures of the dispatch command and the parking command continue.

[0112] Optionally, the second vehicle control command includes at least one of, but is not limited to, a dispatch request, a parking request, an ignition command, an engine stop command, a steering command, a throttle command, and a braking command.

[0113] Optionally, the abnormal communication between the vehicle enterprise system and the vehicle may include a case where the vehicle enterprise system is experiencing a failure.

[0114] S204: The on-site system controls the vehicle to perform the task commanded by the second vehicle control command based on the second vehicle control command, and the automobile company system includes a management system for remotely controlling the vehicle by the automobile company, and the on-site system includes at least one of a roadside unit management system and a parking lot management system.

[0115] After receiving the second vehicle control command, the on-site system may perform remote control over the vehicle based on the second vehicle control command. Optionally, the on-site system may independently implement the remote control over the vehicle, or may implement the remote control over the vehicle by interacting and communicating with the automobile enterprise system.

[0116] For example, the on-site system may be used as a transfer station for transferring key vehicle control commands between the vehicle enterprise system and the vehicle. In other words, the on-site system may transfer a second vehicle control command sent by the terminal device to the vehicle enterprise system. After receiving the second vehicle control command, the vehicle enterprise system may transmit control signaling or information related to the execution of the second vehicle control command to the vehicle via the on-site system.

[0117] For example, the second vehicle control command is a dispatch request or a parking request, and controlling the vehicle to perform the task instructed by the second vehicle control command based on the second vehicle control command includes: the on-site system transmitting route planning information and available parking space information to the vehicle after receiving the second vehicle control command from the vehicle company system; receiving an ignition command from the vehicle company system after the on-site system has transmitted the route planning information and available parking space information; and the on-site system transmitting the ignition command to the vehicle. For example, the vehicle may transmit a response message to the vehicle company system via the on-site system, where the response message indicates that the route planning information and available parking space information have been received. The vehicle company system may transmit the ignition command to the vehicle via the on-site system after receiving the response message.

[0118] Further, controlling the vehicle to perform the task commanded by the second vehicle control command based on the second vehicle control command by the on-site system includes receiving vehicle self-check status information from the vehicle by the on-site system, where the vehicle self-check status information indicates a self-check status of the vehicle, and transmitting the vehicle self-check status information to the vehicle company system by the on-site system. Receiving an ignition command from the vehicle company system by the on-site system includes receiving an ignition command from the vehicle company system after the on-site system transmits the vehicle self-check status information. For example, the vehicle company system may transmit an ignition command to the vehicle via the on-site system after receiving the vehicle self-check status information.

[0119] In this embodiment of the present application, the vehicle enterprise system may be used as a primary system for executing vehicle control commands, and the on-site system may be used as a secondary system for executing vehicle control commands. The vehicle enterprise system and the on-site system cooperate with each other to form a primary / secondary architecture system. When communication between the vehicle enterprise system and the vehicle is normal, the vehicle enterprise system executes the vehicle control command. When communication between the vehicle enterprise system and the vehicle is abnormal, the vehicle enterprise system may send the vehicle control command to the on-site system, and the on-site system completes the vehicle control command. This improves the robustness and safety of executing remote vehicle control commands.

[0120] Optionally, the method of FIG. 2 further includes the vehicle enterprise system determining whether communication between the vehicle enterprise system and the vehicle is normal.

[0121] Optionally, the vehicle enterprise system may send a query command to the vehicle and determine whether communication between the vehicle enterprise system and the vehicle is normal based on whether a corresponding return command is received.

[0122] For example, the vehicle enterprise system sends a query command to the vehicle. When the vehicle enterprise system determines that a return command is received from the vehicle within a preset time, the vehicle enterprise system determines that the communication between the vehicle enterprise system and the vehicle is functioning normally. The return command is used to respond to the query command. When the vehicle enterprise system determines that a return command is not received from the vehicle within the preset time, the vehicle enterprise system determines that the communication between the vehicle enterprise system and the vehicle is functioning abnormally.

[0123] Optionally, the vehicle enterprise system may preset the number of times to send the inquiry command, and if no return command is received after the inquiry command has been sent to the vehicle multiple times, it is determined that the communication between the vehicle enterprise system and the vehicle is malfunctioning.

[0124] For example, the vehicle enterprise system continuously transmits N interrogation commands to the vehicle, where N is a preset integer greater than or equal to 2. When the vehicle enterprise system determines that a return command corresponding to at least one of the N interrogation commands has been received from the vehicle, the vehicle enterprise system determines that the communication between the vehicle enterprise system and the vehicle is functioning normally. The return command is used to respond to the interrogation commands. When the vehicle enterprise system determines that a return command corresponding to the N interrogation commands has not been received from the vehicle, the vehicle enterprise system determines that the communication between the vehicle enterprise system and the vehicle is functioning abnormally.

[0125] For example, the automobile enterprise system may send a query command to the vehicle. If the return command sent by the vehicle is not received within a predetermined time, the query command will continue to be sent to the vehicle until the return command is received, in which case it is determined that the communication is normal. Alternatively, if the return command is not received until the number of times the query command is sent reaches a preset number, it is determined that the communication is abnormal.

[0126] Additionally, in this embodiment of the present application, determining whether the communication function between two devices is abnormal based on the number of inquiries is a common determination method. However, the determination method is not limited to the method of the number of inquiry instructions, and other determination methods also exist. In this embodiment of the present application, the number of inquiries is used as an example.

[0127] 3 is a schematic diagram of a vehicle control method according to another embodiment of the present application. The method of FIG. 3 describes a method used when the functions performed by the vehicle are controlled by vehicle control commands and the communication between the automobile enterprise system and the terminal device is abnormal. As shown in FIG. 3, the method includes the following steps:

[0128] S301: When communication between the automobile enterprise system and the terminal device is normal, the terminal device sends a first vehicle control command to the automobile enterprise system, and in response, the automobile enterprise system receives the first vehicle control command from the terminal device, and the first vehicle control command instructs the automobile enterprise system to control the vehicle to perform a task related to vehicle driving.

[0129] For the definition of the first vehicle control command, please refer to the related content above, and the details will not be described again in this specification.

[0130] S302: When communication between the automobile enterprise system and the terminal device is abnormal, the terminal device sends a third vehicle control command to the on-site system, and in response, the on-site system receives a third vehicle control command from the terminal device, and the third vehicle control command instructs the on-site system to control the vehicle to perform a task related to vehicle driving.

[0131] The automobile enterprise system includes a management system for remotely controlling vehicles by the automobile enterprise, the field-side system is a management system of roadside units and a management system of parking lots, and the terminal device corresponds to the vehicle.

[0132] Optionally, the content of the third vehicle control command may be the same as the content of the first vehicle control command. When communication between the automobile enterprise system and the terminal device is abnormal, the terminal device may use the on-site system as an alternative system and send the third vehicle control command to the on-site system, so that the on-site system remotely controls the vehicle.

[0133] For example, the third vehicle control command includes at least one of a dispatch command, a parking command, an ignition command, an engine stop command, a steering command, a throttle command, and a braking command.

[0134] Optionally, the abnormal communication between the vehicle enterprise system and the terminal device may include a case where the vehicle enterprise system is experiencing a failure.

[0135] S303: Based on the third vehicle control command, the on-site system controls the vehicle to perform the task instructed by the third vehicle control command.

[0136] After receiving the third vehicle control command, the on-site system may perform remote control over the vehicle based on the third vehicle control command. Optionally, the on-site system may independently implement the remote control over the vehicle, or may implement the remote control over the vehicle by interacting and communicating with the automobile enterprise system.

[0137] For example, the on-site system may be used as a transfer station for transferring key vehicle control commands between the vehicle enterprise system and the vehicle. In other words, the on-site system may transfer the third vehicle control command sent by the terminal device to the vehicle enterprise system. After receiving the third vehicle control command, the vehicle enterprise system may transmit control signaling related to the execution of the third vehicle control command to the vehicle via the on-site system.

[0138] In another example, the on-site system may forward the third vehicle control command to the vehicle enterprise system, and the vehicle enterprise system may also detect whether communication between the vehicle enterprise system and the vehicle is normal. If communication between the vehicle enterprise system and the vehicle is normal, the vehicle enterprise system may directly control the vehicle to execute the third vehicle control command, and the on-site system does not need to be used as a forwarding device.

[0139] In this embodiment of the present application, for ease of distinction, the vehicle control command sent by the terminal device to the automotive enterprise system may be referred to as the first vehicle control command, the vehicle control command sent by the automotive enterprise system to the on-site system may be referred to as the second vehicle control command, and the vehicle control command sent by the terminal device to the on-site system may be referred to as the third vehicle control command.

[0140] In this embodiment of the present application, the vehicle enterprise system may be used as a primary system for executing vehicle control commands, and the on-site system may be used as a secondary system for executing vehicle control commands. The vehicle enterprise system and the on-site system cooperate with each other to form a primary / secondary architecture system. When communication between the vehicle enterprise system and the terminal device is normal, the vehicle enterprise system executes the vehicle control command. When communication between the vehicle enterprise system and the terminal device is abnormal, the terminal device may send the vehicle control command to the on-site system, and the on-site system completes the vehicle control command. This improves the robustness and safety of executing remote vehicle control commands.

[0141] Optionally, the method of FIG. 3 comprises the terminal device determining whether communication between the vehicle enterprise system and the terminal device is normal.

[0142] Optionally, the terminal device may send an inquiry command to the vehicle enterprise system, and determine whether the communication between the vehicle enterprise system and the terminal device is normal based on whether the vehicle enterprise system responds to the inquiry command.

[0143] For example, the terminal device sends an inquiry command to the vehicle enterprise system. When the terminal device determines that a return command is received from the vehicle enterprise system within a predetermined time, the terminal device determines that the communication between the terminal device and the vehicle enterprise system is functioning normally. The return command is used to respond to the inquiry command. When the terminal device determines that a return command is not received from the vehicle enterprise system within a predetermined time, the terminal device determines that the communication between the terminal device and the vehicle enterprise system is functioning abnormally.

[0144] Alternatively, the terminal device may preset the number of times to send the inquiry command, and if no return command is received after the inquiry command is sent to the vehicle enterprise system multiple times, it is determined that the function of the communication between the terminal device and the vehicle enterprise system is abnormal.

[0145] For example, the terminal device continuously sends N query commands to the vehicle enterprise system, where N is a preset integer greater than or equal to 2. When the terminal device determines that a return command corresponding to at least one of the N query commands is received from the vehicle enterprise system, it determines that the function of the communication between the terminal device and the vehicle enterprise system is normal. The return command is used to respond to the query command. When the terminal device determines that a return command corresponding to the N query commands is not received from the vehicle enterprise system, it determines that the function of the communication between the terminal device and the vehicle enterprise system is abnormal.

[0146] In some examples, the query command may be a first vehicle control command. Specifically, after the terminal device sends the first vehicle control command to the vehicle enterprise system, if the terminal device does not receive a return command from the vehicle enterprise system, the function of communication between the terminal device and the vehicle enterprise system may be considered abnormal.

[0147] 4 is a schematic diagram of a vehicle control method according to another embodiment of the present application. The method of FIG. 4 illustrates a vehicle control method for distributing sensing information when communication between the on-site system and the vehicle is abnormal. As shown in FIG. 4, the method includes the following steps:

[0148] S401: When communication between the on-site system and the vehicle is normal, the on-site system transmits sensing information to the vehicle, and in response, the vehicle receives sensing information from the on-site system, which indicates reference information required when the vehicle is traveling.

[0149] Optionally, the sensing information includes, but is not limited to, the following information: vacant parking space status information, route planning information, real-time vehicle positioning information, and obstacle sensing location information.

[0150] For the distribution of sensory information, the on-site system may be used as the primary system, and the automobile enterprise system may be used as the secondary system, so that when the communication between the on-site system and the vehicle is normal, the on-site system is responsible for transmitting the sensory information to the vehicle.

[0151] S402: When communication between the on-site system and the vehicle is abnormal, the on-site system sends sensing information to the automobile company system, and in response, the automobile company system receives sensing information from the on-site system, and as a result, the automobile company system sends the sensing information to the vehicle.

[0152] When the communication between the on-site system and the vehicle is abnormal, the on-site system may send the sensing information to the vehicle enterprise system, and the vehicle enterprise system is responsible for sending the sensing information to the vehicle.

[0153] Optionally, the abnormal communication between the on-site system and the vehicle may include a case where the on-site system is experiencing a failure.

[0154] S403: The vehicle enterprise system transmits the sensing information to the vehicle, and in response, the vehicle receives the sensing information from the vehicle enterprise system.

[0155] In this embodiment of the present application, the on-site system may be used as a primary system for distributing sensory information, and the vehicle enterprise system is used as a secondary system for distributing sensory information. The on-site system and the vehicle enterprise system cooperate with each other to form a primary / secondary architecture system. When communication between the on-site system and the vehicle is normal, the on-site system distributes the sensory information. When communication between the on-site system and the vehicle is abnormal, the on-site system may send the sensory information to the vehicle enterprise system, and the on-site system distributes the sensory information. This improves the robustness and safety of remote vehicle control.

[0156] Optionally, the on-site system may send an interrogation command to the vehicle and determine whether communication between the on-site system and the vehicle is normal based on whether the vehicle responds to the interrogation command.

[0157] For example, the on-site system sends an inquiry command to the vehicle. When the on-site system determines that a return command is received from the vehicle within a predetermined time, the on-site system determines that the communication between the on-site system and the vehicle is functioning normally. The return command is used to respond to the inquiry command. When the on-site system determines that the return command is not received from the vehicle within the predetermined time, the on-site system determines that the communication between the on-site system and the vehicle is functioning abnormally.

[0158] Alternatively, the on-site system may preset the number of times to send the interrogation command, and if no return command is received after the interrogation command has been sent to the vehicle multiple times, it is determined that the communication between the on-site system and the vehicle is malfunctioning.

[0159] For example, the local system continuously transmits N interrogation commands to the vehicle, where N is a preset integer equal to or greater than 2. When the local system determines that a return command corresponding to at least one of the N interrogation commands has been received from the vehicle, the local system determines that the communication between the local system and the vehicle is functioning normally. The return command is used to respond to the interrogation commands. When the local system determines that a return command corresponding to the N interrogation commands has not been received from the vehicle, the local system determines that the communication between the local system and the vehicle is functioning abnormally.

[0160] Optionally, the sensing information is sent to the vehicle by the on-site system based on a preset periodicity, and if the vehicle does not receive the sensing information within a preset time, the vehicle reports this case to the vehicle enterprise system, which then notifies the on-site system, so that the on-site system can determine that the communication between the on-site system and the vehicle is functioning abnormally.

[0161] For example, if the vehicle does not receive the sensing information based on a preset periodicity, the vehicle may transmit first indicator information to the vehicle enterprise system. The first indicator information indicates that the vehicle does not receive the sensing information transmitted by the on-site system based on the preset periodicity. The vehicle enterprise system transmits second indicator information to the on-site system based on the first command information. The second indicator information indicates that the vehicle does not receive the sensing information transmitted by the on-site system based on the preset periodicity. The on-site system determines that communication between the on-site system and the vehicle is abnormal based on the second indicator information.

[0162] In this embodiment of the present application, the primary / secondary relationship between the automobile enterprise system and the on-site system may be flexibly set. In other words, since the services performed by different vehicle control methods are different, the corresponding primary system and the corresponding secondary system are also different.

[0163] In this embodiment of the present application, a primary / secondary channel vehicle control architecture is provided. Field systems and vehicle enterprise systems collaborate with each other in distributed collaboration to provide a dual channel communication link, so that key commands and information can be backed up and protected. When a network element in the communication link or the communication link fails, the channel may be switched to another channel to ensure robustness and safety in executing remote vehicle control commands.

[0164] The embodiments of the present application may be applicable to multiple abnormal scenarios in which the vehicle control method is performed. By way of example instead of limitation, the embodiments of the present application are applicable to the following abnormal scenarios:

[0165] Weak network signals around the vehicle

[0166] If the network signal around the vehicle is weak, for example, if the communication between the vehicle and the automobile enterprise system or the on-site system is abnormal, the vehicle may not receive the command when the vehicle control command is executed, resulting in the execution of the vehicle control command failing.

[0167] System failure

[0168] The system failure may include a vehicle enterprise system failure or a field system failure.

[0169] Weak network signal or obstruction at the parking lot side

[0170] For example, the communication signal between the on-site edge server and the vehicle in the parking lot may be weak, or the on-site edge server may be experiencing a failure.

[0171] Hereinafter, the vehicle control method in the embodiment of the present application will be further described with reference to a specific example.

[0172] 5 is a schematic diagram of a scenario for executing a vehicle control command according to an embodiment of the present application. As shown in FIG. 5, for a vehicle control command, the vehicle enterprise system 20 may be set as the primary system, and the field system 10 may be set as the secondary system. When the communication signal between the vehicle enterprise system 20 and the vehicle 30 is normal, the vehicle enterprise system 20 executes the vehicle control command, that is, the communication link between the vehicle enterprise system 20 and the vehicle 30 is the primary channel. The communication path of the primary channel is from the terminal device 40 to the vehicle enterprise system 20 to the vehicle 30.

[0173] The on-site system 10 executes a vehicle control command when a communication signal between the automotive company system 20 and the vehicle 30 is abnormal. The communication link between the on-site system 10 and the vehicle 30 is a secondary channel. The communication path of the secondary channel is from the terminal device 40 to the automotive company system 20 to the on-site system 10 to the on-site edge server 50 to the vehicle 30.

[0174] 6 is a schematic flowchart of an automatic vehicle dispatching method according to an embodiment of the present application. As shown in FIG. 6, when the communication of the primary channel is normal, the normal operation procedure is as follows: a user taps a link for a dispatch command on a terminal device, and the terminal device sends a dispatch command to the vehicle company system. The vehicle company system sends an inquiry command to the vehicle. If the vehicle responds to the inquiry command, the communication between the vehicle company system and the vehicle is normal, and the dispatch command can be executed via the primary channel. Therefore, the vehicle company system sends a dispatch command to the vehicle. The vehicle automatically determines to enter an ignition state and starts to execute the dispatch command.

[0175] Still referring to FIG. 6, when the communication of the primary channel is abnormal, the abnormality procedure is as follows: the user taps the link of the dispatch command on the terminal device, and the terminal device sends the dispatch command to the automobile company system. The automobile company system sends an inquiry command to the vehicle. If the vehicle does not respond to the inquiry command, the communication between the automobile company system and the vehicle is abnormal. In this case, the primary channel needs to be switched to the secondary channel to execute the dispatch command. Therefore, the automobile company system sends the dispatch command to the on-site system, and the on-site system executes the dispatch command.

[0176] Optionally, the vehicle enterprise system may send a query command to the vehicle a predetermined number of times (e.g., three times). If the query result by the vehicle is not received within a preset time (e.g., three seconds), it may be determined that the communication between the vehicle enterprise system and the vehicle is abnormal.

[0177] 7 is a schematic flowchart of an automatic vehicle dispatching method under normal communication according to an embodiment of the present application. As shown in FIG. 7, the method includes the following steps:

[0178] S701: A terminal device sends a dispatch command to a vehicle enterprise system.

[0179] S702: The automobile enterprise system sends a query command to the vehicle.

[0180] In one example, the query command may be vehicle status query information for querying the vehicle status.

[0181] S703: The vehicle sends a return command to the vehicle enterprise system. The return command is used to respond to the inquiry command.

[0182] For example, the return command may be vehicle status information.

[0183] S704: The vehicle enterprise system determines that the communication on the primary channel is normal and sends a dispatch command to the vehicle.

[0184] 8 is a schematic flowchart of a vehicle dispatching method under abnormal communication according to an embodiment of the present application. As shown in FIG. 8, the method includes the following steps:

[0185] S801: A user uses a terminal device to send a dispatch instruction to a vehicle company system.

[0186] S802: The automobile enterprise system sends a query command to the vehicle.

[0187] S803: When the vehicle enterprise system does not receive the return command sent by the vehicle, the vehicle enterprise system determines that the communication between the vehicle enterprise system and the vehicle is abnormal, and therefore the vehicle enterprise system needs to switch to the field system to continue executing the command.

[0188] S804: The automobile company system transmits a vehicle dispatch request to the local system.

[0189] S805: The on-site system transmits a wake-up request for vehicle dispatch within the field to the on-site edge server located near the parking lot.

[0190] S806: The on-site edge server sends an in-field vehicle dispatch wake-up request to the vehicle.

[0191] S807: After the vehicle receives an in-field vehicle dispatch wake-up request, it starts ignition and enters the AVP state.

[0192] S808: The vehicle sends vehicle status information to the on-site system via the on-site edge server to indicate that the vehicle is entering the AVP state. The vehicle status information indicates the current status of the vehicle.

[0193] S809: The on-site system sends the vehicle status information to the automobile company system.

[0194] It should be noted that the solution in Figure 8 is used as an example for explanation purposes, and in practice, the method in Figure 8 may include more or fewer steps, or appropriate modifications may be made to some steps.

[0195] FIG. 9 is a schematic diagram of a scenario of an automatic parking method according to an embodiment of this application. As shown in FIG. 9, when the communication signal is normal, a parking command may be executed via the primary channel. The normal procedure is as follows: a user uses a terminal device to tap a parking command link within the shuttle area, and the terminal device sends the parking command to the vehicle enterprise system. The vehicle enterprise system sends a query command to the vehicle. If the vehicle responds to the query command, the communication between the vehicle enterprise system and the vehicle is normal, and the parking command may be executed via the primary channel. Therefore, the vehicle enterprise system sends a parking command to the vehicle. The vehicle automatically determines to enter an ignition state and starts to execute the parking command.

[0196] Still refer to FIG. 9. The abnormality procedure is as follows: a user uses a terminal device to tap a parking command, and the terminal device sends the parking command to the automobile enterprise system. The automobile enterprise system sends a query command to the vehicle. If the vehicle does not respond to the query command, the communication between the automobile enterprise system and the vehicle is abnormal. In this case, the channel needs to be switched to the secondary channel to execute the parking command. Therefore, the automobile enterprise system sends a parking command to the on-site system, and the on-site system executes the parking command.

[0197] 10 is a schematic flowchart of a parking method in normal operation according to an embodiment of the present application. As shown in FIG. 10, the method includes the following steps:

[0198] S1001: A user uses a terminal device to send a parking instruction to a vehicle enterprise system.

[0199] For example, a user may exit a vehicle at a shuttle area. After the user confirms that the vehicle doors and windows are closed and completes actions such as turning off the engine and removing the vehicle key, the user may tap a parking command icon using mobile phone software on the terminal device. The terminal device then transmits the parking command to the vehicle enterprise system.

[0200] S1002: The automobile company system sends a query command to the vehicle.

[0201] In one example, the query command may be vehicle status query information for querying the vehicle status.

[0202] S1003: The vehicle feeds back a return command to the automobile enterprise system.

[0203] For example, the feedback instruction may be vehicle status information, e.g., the vehicle may perform a self-check and feed the vehicle status information back to the vehicle enterprise system.

[0204] S1004: After receiving the return command, the vehicle enterprise system determines that the communication between the vehicle enterprise system and the vehicle is normal.

[0205] S1005: The automobile enterprise system sends a parking request to the vehicle.

[0206] S1006: The on-site system transmits the route planning information and the available parking space information to the automobile company system.

[0207] S1007: The automobile enterprise system sends route planning information and available parking space information to the vehicle.

[0208] In some examples, in an automated vehicle dispatching process or an automated parking process, the vehicle enterprise system may be used as the primary system for distributing sensory information. That is, the on-site system sends sensory information to the vehicle enterprise system, which then sends the sensory information to the vehicle to improve the consistency of vehicle control performed by the vehicle enterprise system in the dispatching and parking process, and improve the safety and reliability of the vehicle in the dispatching and parking process. However, in the following example, when the vehicle is in a normal driving process, the on-site system may be used as the primary system for distributing sensory information.

[0209] In some other examples, in an automated vehicle dispatch or parking process, the on-site system may transmit sensory information directly to the vehicle.

[0210] S1008: The vehicle transmits reception response information to the automobile company system, indicating that the route planning information and the parking space attribute information have been received.

[0211] S1009: The vehicle enterprise system sends an ignition command to the vehicle.

[0212] S1010: The vehicle ignites and enters the AVP state.

[0213] S1011: The vehicle sends vehicle status information indicating that the vehicle has entered the AVP state to the vehicle enterprise system.

[0214] S1012: The automotive enterprise system and the field system synchronize vehicle status information.

[0215] It should be noted that the solution in Figure 10 is used as an example for explanation purposes, and in practice, the method in Figure 10 may include more or fewer steps, or appropriate modifications may be made to some steps.

[0216] 11 is a schematic flowchart of an automatic parking method in an emergency procedure according to an embodiment of the present application. As shown in FIG. 11, the method includes the following steps:

[0217] S1101: A user uses a terminal device to send a parking instruction to a vehicle enterprise system.

[0218] S1102: The automobile enterprise system sends a query command to the vehicle.

[0219] In one example, the query command may be vehicle status query information for querying the vehicle status.

[0220] S1103: When the vehicle enterprise system does not receive the return command sent by the vehicle, the vehicle enterprise system determines that the communication between the vehicle enterprise system and the vehicle is abnormal, and therefore the channel needs to be switched to the secondary channel.

[0221] For example, the return command may be vehicle status information.

[0222] S1104: The automobile company system sends a parking request to the local system.

[0223] S1105: The on-site system sends confirmation information to the automobile company system indicating that the execution of the parking request has been approved.

[0224] S1106: The on-site system sends on-site handover information to the terminal device via the automobile company system, and notifies the user that the on-site system is currently executing the vehicle dispatch command.

[0225] S1107: The on-site system uses the on-site edge server to send route planning information and available parking space information to the vehicle.

[0226] S1108: The vehicle reports vehicle self-inspection status information to the on-site system.

[0227] S1109: The on-site system and the vehicle synchronize vehicle self-inspection status information.

[0228] S1110: The automobile company system sends an ignition command to the field system.

[0229] S1111: The on-site system sends an ignition command to the vehicle.

[0230] S1112: The vehicle ignites and enters the AVP state.

[0231] S1113: The vehicle transmits vehicle status information indicating that the vehicle has entered the AVP state to the local system.

[0232] S1114: The on-site system and the vehicle system synchronize vehicle status information.

[0233] FIG. 12 is a schematic diagram of a display interface when a terminal device switches between primary and secondary channels according to an embodiment of the present application. As shown in FIG. 12, when a user taps the vehicle control command on the application icon of the terminal device, no response is received. In this case, an interface option may pop up in the display interface of the mobile phone application. The interface option includes confirming whether to enter on-site system takeover. If the user confirms entering on-site system takeover, the on-site system subsequently executes the vehicle control command. For example, as shown in FIG. 12, when a user taps the vehicle control command more than a preset number of times (e.g., three times) and no response is received, an interface option may pop up in the display interface of the mobile phone application. The lack of a response to the vehicle control command may be understood as an abnormality in the communication between the terminal device and the automobile enterprise system. Therefore, the on-site system may take over communication with the terminal device.

[0234] In some examples, the user does not need to tap the vehicle control command in the application icon multiple times. After the user taps the vehicle control command in the application icon, the terminal device may send the vehicle control command to the vehicle enterprise system. If there is no response within a preset time, the terminal device may continue to send the vehicle control command to the vehicle enterprise system. If there is no response after sending the vehicle control command more than a preset number of times (e.g., three times), an interface option pops up on the display interface of the mobile phone application, allowing the user to select whether to enter on-site system handover.

[0235] Alternatively, in some instances, when a user taps a vehicle control command within an application icon on the terminal device, if no response is received, the terminal device may default to field system takeover without user confirmation.

[0236] 13 is a schematic flowchart of a method for switching primary / secondary channels at a terminal device according to an embodiment of the present application. The method includes the following steps:

[0237] S1301: After a user taps an icon of a vehicle control command on a vehicle-side operation interface of a terminal device, the terminal device sends a first vehicle control command to an automobile enterprise system.

[0238] The vehicle-side operation interface is an interface that displays icons related to the operation of the vehicle enterprise system.

[0239] S1302: If the terminal device does not receive a return command fed back from the automobile enterprise system within a time exceeding a preset duration, the terminal device determines that the communication between the terminal device and the automobile enterprise system is abnormal.

[0240] S1303: The terminal device switches the operation interface to the on-site operation interface.

[0241] The on-site operation interface is an interface that displays icons related to the operation of the on-site system, and the on-site system performs the operation related to the remote vehicle control command.

[0242] S1304: After the user taps the vehicle control command icon on the on-site operation interface of the terminal device, the terminal device sends a third vehicle control command to the on-site system.

[0243] 14 is a flowchart of a method for distributing sensory information according to one embodiment of the present application. For sensory information distribution, the on-site system 10 is the primary system and the automotive enterprise system 20 is the secondary system. In a normal operation procedure, the sensory information is distributed via the following primary channel: on-site system 10 → on-site edge server 50 → vehicle 30. In an abnormal operation procedure, communication between the on-site edge server 50 and the vehicle 30 fails, so the sensory information may be distributed via a secondary channel. The secondary channel is a channel from the on-site system 10 to the automotive enterprise system 20 and the vehicle 30.

[0244] FIG. 15 is a schematic flowchart of distributing route planning information and available parking space information according to an embodiment of the present application.

[0245] S1501: The on-site system uses the on-site edge server to transmit route planning information and available parking space information to the vehicle.

[0246] S1502: If the on-site system does not receive the response information fed back by the vehicle, it is determined that the communication of the primary channel is abnormal, and the route planning information and vacant parking space information need to be delivered via the secondary channel.

[0247] In a specific example, if the response information of the vehicle is not received, the on-site system may continue to transmit the route planning information and the parking space attribute information to the vehicle through the primary channel until the number of transmissions reaches a preset number (e.g., three times). If the response information of the vehicle is still not received, it is determined that the communication is abnormal.

[0248] S1503: The on-site system transmits the route planning information and the available parking space information to the automobile company system.

[0249] S1504: The automobile enterprise system sends route planning information and available parking space information to the vehicle.

[0250] S1505: The vehicle transmits the response information to the vehicle enterprise system.

[0251] The response information is used to confirm that the route planning information and available parking space information has been received.

[0252] S1506: The automobile company system transmits the response information to the on-site system.

[0253] FIG. 16 is a schematic flowchart for distributing real-time vehicle positioning information according to an embodiment of the present application.

[0254] S1601: The on-site system transmits real-time vehicle positioning information to the vehicle based on a preset periodicity.

[0255] S1602: If the time during which the vehicle does not receive real-time vehicle positioning information exceeds a preset duration, determine that the communication on the primary channel is abnormal.

[0256] For example, assume that the on-site system transmits real-time vehicle positioning information at a frequency of 100 milliseconds (ms). If the vehicle does not receive real-time vehicle positioning information for a duration of more than 1 second, it may be determined that communication on the primary channel is abnormal.

[0257] S1603: The vehicle transmits first indication information to the automobile enterprise system, indicating that the vehicle is not receiving real-time vehicle positioning information.

[0258] S1604: The automobile enterprise system sends second index information to the on-site system, where the second index information indicates that the vehicle is not receiving real-time vehicle positioning information.

[0259] S1605: After receiving the second index information, the on-site system sends real-time vehicle positioning information to the automobile enterprise system.

[0260] That is, the on-site system switches the path for transmitting real-time vehicle positioning information to the automobile company system from the primary channel to the secondary channel.

[0261] S1606: The automobile enterprise system transmits real-time vehicle positioning information to the vehicle.

[0262] 17 is a schematic diagram of an apparatus 1700 for controlling a vehicle according to an embodiment of the present application. The apparatus 1700 includes a transceiver unit 1710 and a processing unit 1720. The transceiver unit 1710 may be configured to implement corresponding functions of communication, and the processing unit 1720 may be configured to perform data processing. The transceiver unit 1710 may also be referred to as a communication interface or a communication unit.

[0263] Optionally, the apparatus 1700 further includes a storage unit. The storage unit may be configured to store instructions and / or data. The processing unit 1720 reads the instructions and / or data in the storage unit, so that the apparatus implements the actions of the field system, the automotive enterprise system, the vehicle, or the terminal device in the above-described method embodiments.

[0264] In a first design, the apparatus 1700 may be the on-site system or a component (e.g., a chip) of the on-site system in the above-described embodiments. The apparatus 1700 may implement steps or procedures performed by the on-site system corresponding to the above-described method embodiments. The transceiver unit 1710 is configured to perform relevant receiving and transmitting operations of the on-site system in the above-described method embodiments, and the processing unit 1720 is configured to perform relevant processing operations of the on-site system in the above-described method embodiments.

[0265] In a second design, the apparatus 1700 may be the vehicle enterprise system or a component (e.g., a chip) of the vehicle enterprise system in the above-described embodiments. The apparatus 1700 may implement steps or procedures performed by the vehicle enterprise system corresponding to the above-described method embodiments. The transceiver unit 1710 is configured to perform relevant receiving and transmitting operations of the vehicle enterprise system in the above-described method embodiments, and the processing unit 1720 is configured to perform relevant processing operations of the vehicle enterprise system in the above-described method embodiments.

[0266] In a third design, the apparatus 1700 may be the terminal device or a component (e.g., a chip) of the terminal device in the above-described embodiments. The apparatus 1700 may implement steps or procedures performed by the terminal device corresponding to the above-described method embodiments. The transceiver unit 1710 is configured to perform relevant receiving and transmitting operations of the terminal device in the above-described method embodiments, and the processing unit 1720 is configured to perform relevant processing operations of the terminal device in the above-described method embodiments.

[0267] In a fourth design, the apparatus 1700 may be the vehicle or a component (e.g., a chip) of the vehicle in the above-described embodiments. The apparatus 1700 may implement steps or procedures performed by the vehicle corresponding to the above-described method embodiments. The transceiver unit 1710 is configured to perform the relevant receiving and transmitting operations of the vehicle in the above-described method embodiments, and the processing unit 1720 is configured to perform the relevant processing operations of the vehicle in the above-described method embodiments.

[0268] It should be understood that the specific processes by which the units perform the above-mentioned corresponding steps have been described in detail in the above-mentioned method embodiments, and for the sake of brevity, the details will not be described herein.

[0269] It should be further understood that the device 1700 herein is presented in the form of a functional unit. The term "unit" herein may refer to an application-specific integrated circuit (ASIC), an electronic circuit, a processor (e.g., a shared processor, a dedicated processor, or a group processor) configured to execute one or more software or firmware programs, a memory, merge logic, and / or another suitable component supporting the described functionality. In optional examples, those skilled in the art may understand that the device 1700 may specifically be the field-side system in the above-described embodiments and configured to perform procedures and / or steps corresponding to the field-side system in the above-described method embodiments, or that the device 1700 may specifically be the vehicle enterprise system in the above-described embodiments and configured to perform procedures and / or steps corresponding to the vehicle enterprise system in the above-described method embodiments. To avoid repetition, the details will not be described again herein.

[0270] The apparatus 1700 in the above-described solutions has functions for implementing corresponding steps performed by each system or device (e.g., a field system, an automotive enterprise system, a vehicle, or a terminal device) in the above-described methods. The functions may be implemented by hardware or by executing corresponding software. The hardware or software may include one or more modules corresponding to the above-described functions. For example, the transceiver unit 1710 may be replaced with a transceiver or a communication interface (e.g., the transmitting unit of the transceiver unit 1710 may be replaced with a transmitter, or the receiving unit of the transceiver unit 1710 may be replaced with a receiver), and other units such as the processing unit 1720 may be replaced with a processor to separately perform the receiving / transmitting operations and the associated processing operations in each method embodiment.

[0271] Additionally, the transceiver unit 1710 may alternatively be a transceiver circuit (eg, may include a receiving circuit and a transmitting circuit), and the processing unit 1720 may be a processing circuit.

[0272] The device 1700 in Fig. 17 may be a field system, an automotive enterprise system, a vehicle, or a terminal device in the above-described embodiments, or may be a chip or a chip system, such as a system on chip (SoC). The transceiver unit 1710 may be an input / output circuit or a communication interface. The processing unit 1720 may be a processor, a microprocessor, or an integrated circuit integrated on a chip. This is not limited in this specification.

[0273] 18 illustrates an apparatus 1800 for controlling a vehicle according to another embodiment of the present application. The apparatus 1800 includes a processor 1810. The processor 1810 is configured to execute computer programs or instructions recorded in a memory 1820 or to read data stored in the memory 1820 to perform the method in the method embodiments described above. Optionally, there are more than one processor 1810.

[0274] Optionally, as shown in Figure 18, the device 1800 further includes a memory 1820 configured to store computer programs or instructions and / or data. The memory 1820 may be integrated with or located separately from the processor 1810. Optionally, there are more than one memory 1820.

[0275] 18, the apparatus 1800 further includes a communication interface 1830. The communication interface 1830 is configured to receive and / or transmit signals. For example, the processor 1810 is configured to control the communication interface 1830 to receive and / or transmit signals.

[0276] In the first solution, the device 1800 is configured to implement the actions performed by the on-site system in the above-described method embodiments.

[0277] For example, processor 1810 is configured to execute computer programs or instructions stored in memory 1820 to implement the relevant operations of the on-site system in the method embodiments described above, such as the methods performed by the on-site system in the embodiments shown in Figures 2-6, 8-11, and 13-16.

[0278] In the second solution, the device 1800 is configured to implement the actions performed by the vehicle enterprise system in the above-described method embodiments.

[0279] For example, processor 1810 is configured to execute computer programs or instructions stored in memory 1820 to implement relevant operations of the automotive enterprise system in the method embodiments described above, such as the methods performed by the automotive enterprise system in the embodiments shown in Figures 2-11 and 13-16.

[0280] In the third solution, the apparatus 1800 is configured to implement the operations performed by the terminal device in the embodiments of the above-mentioned method.

[0281] For example, the processor 1810 is configured to execute computer programs or instructions stored in the memory 1820 to implement the relevant operations of the terminal device in the method embodiments described above, such as the methods performed by the terminal device in the embodiments shown in Figures 2-3 and 5-14.

[0282] In a fourth solution, the device 1800 is configured to implement the actions performed by the vehicle in the above-described method embodiments.

[0283] For example, processor 1810 is configured to execute computer programs or instructions stored in memory 1820 to implement relevant vehicle operations in the method embodiments described above, such as the methods performed by the vehicle in the embodiments shown in Figures 2-11, 12, and 14-16.

[0284] It should be noted that the processor referred to in the embodiments of the present application may be a central processing unit (CPU), or may be another general-purpose processor, a digital signal processing (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or another programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, etc. The general-purpose processor may be a microprocessor, and the processor may be any conventional processor, etc.

[0285] It should be further understood that the memory referred to in the embodiments of the present application may be volatile and / or nonvolatile memory. The nonvolatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory may be random access memory (RAM). For example, RAM may be used as an external cache.

[0286] By way of example and not limitation, RAM includes the following forms: static random access memory (static RAM, SRAM), dynamic random access memory (dynamic RAM, DRAM), synchronous dynamic random access memory (synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double Data Rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous attached dynamic random access memory (synchlink DRAM, SLDRAM), and direct memory bus random access memory (direct RAMbus RAM, DR RAM).

[0287] It should be noted that when the processor is a general-purpose processor, a DSP, an ASIC, an FPGA, or another programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, the memory (storage module) may be integrated into the processor.

[0288] It should be further noted that memory as described herein includes, but is not limited to, these and any other suitable types of memory.

[0289] An embodiment of the present application further provides a computer-readable storage medium storing computer instructions used to implement a method performed by a field system, an automotive enterprise system, a vehicle, or a terminal device in the aforementioned method embodiments.

[0290] For example, when the computer program is executed by a computer, the computer can implement the methods performed by a field system, an automotive enterprise system, a vehicle, or a terminal device in the above-mentioned method embodiments.

[0291] One embodiment of the present application provides a computer program product including instructions that, when executed by a computer, implement a method performed by a field system, an automotive enterprise system, a vehicle, or a terminal device in accordance with the aforementioned method embodiments.

[0292] For the relevant content description and beneficial effects of any of the above devices, please refer to the corresponding method embodiments above, and the details will not be described again herein.

[0293] As used herein, terms such as "component," "module," and "system" are used to refer to computer-related entities, hardware, firmware, a combination of hardware and software, software, or software being executed. For example, a component may be, but is not limited to, a process running on a processor, a processor, an object, an executable file, a thread of execution, a program, and / or a computer. As illustrated using the figures, both a computing device and an application running on a computing device may be a component. One or more components may reside within a process and / or thread of execution, and a component may be located on one computer and / or distributed between two or more computers. Additionally, these components may execute from various computer-readable media that store various data structures. For example, components may communicate using local and / or remote processes and based on signals, e.g., having one or more data packets (e.g., data from two components interacting with another component over a network such as a local system, a distributed system, and / or the Internet, which interacts with other systems using signals).

[0294] Those skilled in the art may recognize that, in combination with the examples described in the embodiments disclosed herein, the units and algorithm steps may be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether a function is performed by hardware or computer software depends on the design constraints of a specific application and technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered to go beyond the scope of this application.

[0295] For the sake of convenience and simplicity, it is clearly understood by those skilled in the art that the detailed working processes of the aforementioned systems, devices and units may be referred to the corresponding processes in the aforementioned method embodiments, and the details will not be described again herein.

[0296] In some embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the described device embodiments are merely examples. For example, the division into units is merely a logical functional division, and other divisions may be used in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be omitted or not implemented. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be implemented using some interfaces. Indirect couplings or communication connections between devices or units may be implemented in electronic, mechanical, or other forms.

[0297] The units described as separate parts may or may not be physically separate, and the parts shown as units may or may not be physical units, may be located in one location, or may be distributed across multiple network units. Some or all of the units may be selected based on actual requirements to achieve the objectives of the solution of the embodiment.

[0298] Additionally, the functional units in the embodiments of the present application may be integrated into one processing unit, and each of the units may exist physically alone, or two or more units may be integrated into one unit.

[0299] When a function is implemented in the form of a software functional unit and sold or used as an independent product, the function may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be essentially implemented in the form of a software product, a portion contributing to the prior art may be implemented in the form of a software product, or a portion of the technical solution may be implemented in the form of a software product. A software product is stored in a storage medium and includes some instructions for instructing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method described in the embodiments of the present application. The aforementioned storage medium includes any medium capable of storing program code, such as a USB flash drive, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0300] The above description is merely a specific implementation of the present application, but is not intended to limit the scope of protection of the present application. Any modifications or substitutions that can be easily understood by those skilled in the art within the technical scope disclosed in the present application shall be included in the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the scope of protection of the claims.

Claims

1. A vehicle control method, comprising: receiving, by an on-site system, a third vehicle control command sent by the terminal device when communication between the automobile enterprise system and the terminal device is abnormal, the third vehicle control command instructing the on-site system to control the vehicle to perform a task related to vehicle operation; and controlling, by the on-site system, the vehicle to perform a task commanded by the third vehicle control command based on the third vehicle control command, wherein the automobile company system includes a management system for remotely controlling the vehicle by the automobile company, the on-site system includes at least one of a roadside unit management system and a parking lot management system, and the terminal device corresponds to the vehicle.

2. The third vehicle control command is a dispatch command instructing the vehicle to perform a dispatch operation; a parking command instructing the vehicle to perform a parking operation; an ignition command to perform an ignition operation on the vehicle; an engine stop command instructing the vehicle to perform an engine stop operation; a steering command to perform a steering action on the vehicle; a throttle command instructing the vehicle to throttle up the engine or throttle down the engine; or 10. The method of claim 1, including at least one of the brake commands instructing the vehicle to perform a braking operation.

3. A vehicle control method, comprising: Sending sensory information to the vehicle by the on-site system when communication between the on-site system and the vehicle is normal, the sensory information indicating reference information required when the vehicle is traveling; or The method includes transmitting the sensing information to an automobile company system by the on-site system when communication between the on-site system and the vehicle is abnormal, the automobile company system including a management system for remotely controlling the vehicle by the automobile company, and the on-site system including at least one of a roadside unit management system and a parking lot management system.

4. The sensing information is vacant parking space information indicating parking spaces within the parking lot that are not occupied by the vehicle; Route planning information indicating a driving route of the vehicle from a current location to a destination; real-time vehicle positioning information indicating the real-time location of the vehicle during the driving process; or The method of claim 3 , including at least one of obstacle sensing location information indicating a location of an obstacle in a driving process of the vehicle.

5. A vehicle control method, comprising: sending, by the terminal device, a first vehicle control command to the vehicle enterprise system when communication between the vehicle enterprise system and the terminal device is normal, the first vehicle control command instructing the vehicle enterprise system to control the vehicle to perform a task related to driving the vehicle; or a third vehicle control command to an on-site system by the terminal device when communication between the vehicle enterprise system and the terminal device is abnormal, the third vehicle control command instructing the on-site system to control the vehicle to perform a task related to vehicle operation, the vehicle enterprise system including a management system for remotely controlling the vehicle by the vehicle enterprise, the on-site system including at least one of a roadside unit management system and a parking lot management system, and the terminal device corresponds to the vehicle.

6. a communication interface; a processor configured to retrieve a computer program from the memory; When the computer program is executed, the processor: receiving a third vehicle control command sent by the terminal device when communication between the automobile enterprise system and the terminal device is abnormal via the communication interface; the third vehicle control command instructs an on-site system to control a vehicle to perform a task related to vehicle operation; and and controlling the vehicle based on the third vehicle control command to perform a task commanded by the third vehicle control command; The automobile company system includes a management system for remotely controlling the vehicle by the automobile company, the on-site system includes at least one of a roadside unit management system and a parking lot management system, and the terminal device corresponds to the vehicle, the on-site system.

7. a communication interface; a processor configured to retrieve a computer program from the memory; When the computer program is executed, the processor: Sending sensory information to the vehicle via the communication interface when communication between the on-site system and the vehicle is normal, the sensory information indicating reference information required when the vehicle is traveling; or The on-site system is capable of transmitting the sensing information to an automobile company system via the communication interface when communication between the on-site system and the vehicle is abnormal, the automobile company system including a management system for remotely controlling the vehicle by the automobile company, and the on-site system including at least one of a roadside unit management system and a parking lot management system.

8. a communication interface; a processor configured to retrieve a computer program from the memory; When the computer program is executed, the processor: Sending a first vehicle control command to the vehicle enterprise system via the communication interface when communication between the vehicle enterprise system and the terminal device is normal, the first vehicle control command instructing the vehicle enterprise system to control a vehicle to perform a task related to vehicle driving; or A terminal device that is capable of sending a third vehicle control command to a field system via the communication interface when the vehicle company system and the terminal device are abnormal, the third vehicle control command instructing the field system to control the vehicle to perform a task related to vehicle operation, wherein the vehicle company system includes a management system for remotely controlling the vehicle by the vehicle company, the field system includes at least one of a roadside unit management system and a parking lot management system, and the terminal device corresponds to the vehicle.

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