Vehicle control method and apparatus, and terminal device

Abstract

A vehicle control method and apparatus, and a terminal device, are provided, and the vehicle control method and apparatus are applicable to the terminal device. The terminal device includes a display screen. The method includes generating a first control command for controlling vehicle steering in response to a first touch operation on a first display area of ​​the display screen, generating a second control command for controlling forward and reverse movement of the vehicle in response to a second touch operation on a second display area of ​​the display screen, and transmitting the first control command and the second control command to an in-vehicle communication terminal to control the vehicle to operate. According to the vehicle control method, the steering, forward movement, and reverse movement of the vehicle are controlled by touch operations on the first display area and the second display area, respectively, thereby effectively reducing the complexity of vehicle control.

Description

[Technical Field]

[0001] The present disclosure relates to the field of vehicle intelligent control technology, and in particular to a vehicle control method and device, and a terminal equipment. [Background technology]

[0002] Currently, remote vehicle control technology is widely used in tight parking environments and hard-to-reach driving scenarios due to its support for controlling vehicle movement from outside the vehicle.

[0003] However, although existing remote vehicle control methods can realize remote control of a vehicle, the complexity of controlling a vehicle through these remote control methods is high, which can cause inconvenience for users and increase the likelihood of driving safety issues. Summary of the Invention

[0004] SUMMARY OF THE INVENTION Embodiments of the present disclosure provide a vehicle control method, apparatus, and vehicle that can solve the problem of high complexity in controlling vehicles using existing remote vehicle control methods.

[0005] In a first aspect, an embodiment of the present disclosure provides a vehicle control method applied to a terminal device, the terminal device discloses a display screen, and the method includes:

[0006] a first control command for controlling vehicle steering is generated in response to a first touch operation on a first display area of ​​the display screen;

[0007] a second control command for controlling forward or reverse movement of the vehicle is generated in response to a second touch operation on a second display area of ​​the display screen; and

[0008] The first control command and the second control command are transmitted to the in-vehicle communication terminal to control the operation of the vehicle.

[0009] In a second aspect, an embodiment of the present disclosure provides a vehicle control device applied to a terminal device, the terminal device including a display screen, the device including:

[0010] a first touch module configured to generate a first control command for controlling vehicle steering in response to a first touch operation on a first display area of ​​the display screen;

[0011] a second touch module configured to generate a second control command for controlling forward or reverse movement of the vehicle in response to a second touch operation on a second display area of ​​the display screen;

[0012] and a transmission module configured to transmit the first control command and the second control command to the in-vehicle communication terminal to control an operation of the vehicle.

[0013] In a third aspect, certain embodiments of the present disclosure provide a terminal device including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0014] the memory is configured to store a computer program;

[0015] The processor is configured to implement the vehicle control method according to the first aspect when executing a program stored in the memory.

[0016] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the vehicle control method described in the first aspect.

[0017] In a fifth aspect, an embodiment of the present disclosure provides a vehicle including the terminal device according to the third aspect.

[0018] The present disclosure has the following advantages over the prior art.

[0019] In an embodiment of the present disclosure, a first control command for controlling vehicle steering is generated by performing a first touch operation on a first display area of ​​a display screen of a terminal device, and a second control command for controlling forward or reverse movement of the vehicle is generated by performing a second touch operation on a second display area of ​​the display screen. The first command and the second control command are then transmitted to an in-vehicle communication terminal, enabling remote control of the vehicle's operation. The method of the present disclosure controls the vehicle's steering and forward / reverse movement through touch operations on the first and second display areas, respectively, thereby effectively reducing the complexity of vehicle control. Furthermore, the method facilitates simultaneous operation with the user's left and right hands, making the operation more convenient and closer to the user's intuition. In addition, the system eliminates an automatic task judgment process, thereby further reducing the complexity of vehicle control.

[0020] The above description is merely a summary of the technical solution of the present disclosure. In order to have a clearer understanding of the technical means of the present disclosure, it can be implemented according to the contents of this specification. In order to make the above and other objects, features and advantages of the present disclosure more obvious and understandable, specific embodiments of the present disclosure are described below.

[0021] In order to provide a clearer description of the embodiments of the present disclosure or the technical solutions in the prior art, a brief introduction to the accompanying drawings required for the description of the embodiments is given. [Brief explanation of the drawings]

[0022] [Figure 1] 1 is a flowchart of a vehicle control method according to an embodiment of the present disclosure. [Figure 2]1 is a schematic diagram of a display interface of a terminal device according to an embodiment of the present disclosure. [Figure 3] FIG. 3 is an enlarged view of the S007 region in FIG. 2. [Figure 4] FIG. 1 is a system architecture diagram for implementing a vehicle control method according to an embodiment of the present disclosure. [Figure 5] 1 is a schematic diagram of the structure of a vehicle remote control system according to an embodiment of the present disclosure. [Figure 6] 1 is a schematic diagram of the structure of an in-vehicle communication terminal according to an embodiment of the present disclosure; [Figure 7] FIG. 1 is a logic schematic diagram of a vehicle control method according to an embodiment of the present disclosure. [Figure 8] An execution flowchart of step 704 is shown. [Figure 9] 1 is a schematic diagram of the structure of a vehicle control device according to an embodiment of the present disclosure; [Figure 10] FIG. 2 is a structural block diagram of a terminal device according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0023] Exemplary embodiments of the present disclosure are described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are illustrated in the accompanying drawings, it should be understood that the present disclosure can be embodied in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more complete understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0024] FIG. 1 is a schematic diagram of a vehicle control method according to an embodiment of the present disclosure applied to a terminal device, where the terminal device includes a display screen, and the method includes steps 101-103.

[0025] A vehicle control method according to an embodiment of the present disclosure is applied to a terminal device, the terminal device including a display screen, which may be a touch screen on which a user can perform a touch operation, and the terminal device is communicatively connected to an in-vehicle communication terminal.

[0026] The terminal device is a mobile terminal, which may include a mobile phone and a tablet. In practical application, a user can control the terminal device to establish a communication connection with the in-vehicle communication terminal and realize communication with the vehicle, so that the vehicle can receive a vehicle activation command issued by the user through the terminal device via the in-vehicle communication terminal. When the vehicle receives the command, its remote control system activates the vehicle.

[0027] Among them, the in-vehicle communication terminal includes various types of communication units, which are configured to perform information exchange between the in-vehicle units and information transmission between the vehicle and the terminal device. The terminal device and the in-vehicle communication terminal can transmit information through various communication modules, such as a 5G communication module, a Wi-Fi communication module, and a short-range communication module.

[0028] In a specific embodiment, after a user activates the remote control vehicle function of the terminal device, the terminal device establishes a communication connection with the vehicle using an encryption key. For example, through an account system, the terminal device can be paired with the user's vehicle to obtain control authentication. During the connection establishment process, the in-vehicle communication terminal automatically selects a connection establishment method according to the current network environment, such as short-range communication, wireless fidelity (Wi-Fi) connection, or 5G connection. After establishing a stable communication connection between the terminal device and the vehicle, the interface of the terminal device prompts the user to start the vehicle. The user then issues a vehicle activation command to control a vehicle control unit (VCU) through the terminal device to activate the vehicle.

[0029] Step 101: A first control command for controlling vehicle steering is generated in response to a first touch operation on a first display area of ​​a display screen.

[0030] In this step, the first display area is a touch area configured to control wheel steering on the display interface of the terminal device after the remote control vehicle function of the terminal device is enabled. In some embodiments, as shown in FIG. 2, the first display area S002 may be located in the lower left area of ​​the entire display interface. The first touch operation is a gesture operation for determining the rotation direction of the wheel. For example, this may be a pressing, rotating, or dragging operation on the first display area. In practical applications, a correspondence between the first touch operation and the wheel rotation angle is established in advance. Then, when a specific touch operation on the first display area is received, the wheel rotation angle can be determined according to this correspondence, and a control command for controlling vehicle steering, i.e., the above-mentioned first control command, can be generated.

[0031] Step 102: A second control command for controlling the forward or reverse movement of the vehicle is generated in response to a second touch operation on a second display area of ​​the display screen.

[0032] In this step, the second display area is a touch area configured to control the forward / reverse movement of the vehicle on the display interface of the terminal device after the remote control vehicle function of the terminal device is enabled. The second display area is a display screen area different from the first display area. In some embodiments, as shown in FIG. 2, the second display area S003 may be located in the lower right area of ​​the entire display interface. The second touch operation is a gesture operation for determining the forward and reverse requirements of the vehicle. For example, this may be a pressing, rotating, or dragging operation on the second display area. In practical applications, a correspondence between the second touch operation and the driving direction is established in advance. Then, when a specific touch operation on the second display area is received, the forward and reverse requirements can be determined according to this correspondence, and a control command for controlling the forward or reverse movement of the vehicle, i.e., the above-mentioned second control command, can be generated.

[0033] Step 103: The first control command and the second control command are sent to the vehicle-mounted communication terminal to control the vehicle to operate.

[0034] In this step, since a communication connection has been established between the terminal device and the in-vehicle communication terminal, the first control command and the second control command can be sent to the in-vehicle communication terminal and then forwarded to the vehicle control unit, which then controls a corresponding execution mechanism to execute the control commands, thereby realizing remote control of the vehicle's operating status.

[0035] In the above-described implementation process, a first control command for controlling vehicle steering is generated by performing a first touch operation on a first display area of ​​the display screen of the terminal device, and a second control command for controlling the vehicle's forward or reverse direction is generated by performing a second touch operation on a second display area of ​​the display screen. The first control command and the second control command are then transmitted to the in-vehicle communication terminal, thereby achieving remote control of vehicle operation. The method disclosed herein controls the vehicle's steering and forward / reverse direction via touch operations on the first and second display areas, respectively, thereby effectively reducing the complexity of vehicle control. Furthermore, the method facilitates simultaneous operation with the user's left and right hands, making the operation more convenient and closer to the user's intuition. Additionally, the system eliminates an automatic task judgment process, thereby further reducing the complexity of vehicle control.

[0036] In one embodiment, step 101 includes steps 111-114.

[0037] Step 111: The first touch endpoint of the first touch operation is determined.

[0038] In this step, the last touch point of the first touch operation in the first display area is continuously determined as the first touch endpoint. It can be understood that the endpoint of the first touch is dynamically updated during the continuous first touch operation.

[0039] Step 112: A first positional relationship between the first touch endpoint and the first display area is determined.

[0040] In this step, the positional relationship between the two, that is, the above-mentioned first positional relationship, is determined according to the coordinate information of the first touch endpoint on the display screen and the coordinate information of the first display area on the display screen.

[0041] Step 113: The rotation angle of the wheel according to the first positional relationship is determined.

[0042] In this step, the position of the first touch point in the first display area is determined according to the first positional relationship and the pre-established positional relationship between the first touch end point and the first display area corresponding to the wheel rotation angle. Thus, the wheel rotation angle required by the user can be determined according to the first positional relationship.

[0043] Step 114: A first control command is generated according to the rotation angle.

[0044] In this step, a control command is generated in accordance with the rotation angle, that is, the first control command described above, for the vehicle control unit to control the steering mechanism of the vehicle and rotate the wheels to the rotation angle.

[0045] In this embodiment, the first control command is generated by determining a rotation angle of the vehicle according to a first positional relationship between the first touch endpoint of the first touch operation and the first display area.

[0046] In one embodiment, as shown in FIG. 2, a disk is displayed in the first display area S002 to indicate the range of the first touch area to the user and facilitate the first touch operation.

[0047] In one embodiment, the disc represents a first button S201 that can be pressed and dragged, as shown in Figure 2. The vehicle control method according to the embodiment of the present disclosure further includes steps 115-117.

[0048] In this embodiment, the first button is a virtual button that can move within the first display area following a user's touch operation, and the first button can be a circular button.

[0049] Step 115: The first touch point of the first touch operation is determined.

[0050] In this step, a current touch point of the first touch operation in the first display area is continuously determined as the first touch point. It can be understood that the first touch point is dynamically updated during the continuous first touch operation.

[0051] Step 116: First position information is determined according to the first touch point.

[0052] In this step, specific position information of the first button displayed in the first display area, that is, the above-mentioned first position information, is determined according to the current touch point of the first touch operation.

[0053] In some embodiments, step 116 specifically includes: if the touch starting point of the first touch operation is located in the area where the first button is located, the first position information is determined according to the first touch point. Only when the current position of the first button is touched by pressing, touching, or other means through the first touch operation, the first position information is updated, i.e., the first button is triggered for mobile display.

[0054] Step 117: The first button is displayed in the first display area according to the first position information.

[0055] In this step, the first button is displayed at the current touch point of the first touch operation, which realizes the tracking display effect of the first button and can make it easier for the user to know the current steering angle of the wheel.

[0056] In some embodiments, directional keys may be displayed on the disc to prompt the user to touch to adjust the rotation angle of the wheel.

[0057] In an embodiment, the first button is displayed in the first display area according to the first touch point of the first touch operation, which realizes a tracking display effect of the first button and can make it easier for the user to know the current steering angle of the wheel.

[0058] In some embodiments, in a specific example, the first display area is circular. Step 113 includes steps 1131-1132.

[0059] Step 1131: A connecting line between the first touch end point and the center point of the first display area is determined according to the first positional relationship.

[0060] In this step, since the first positional relationship describes the positional relationship between the first touch end point and the first display area, the connecting line between the first touch end point and the center point of the first display area can be determined according to the first positional relationship.

[0061] Step 1132: A rotation angle is determined according to the angle between the connecting line and the target radius of the first display area.

[0062] In this step, the target radius can be any radius of the first display area. Since the connecting line passes through the center point of the first display area, an intersection point is created between the connecting line and the target radius, thereby forming an angle. Therefore, the rotation angle of the wheel can be determined according to the angle.

[0063] In some embodiments, if there are two angles between the connecting line and the target radius of the first display area, an angle less than 180° is used as the angle control input, and the rotation angle is determined based on a mapping relationship between the angle control input and the rotation angle of the wheel.

[0064] For example, if the 6 o'clock and 12 o'clock positions of the first display area are taken as boundaries, the first button is positioned to the left and right of the boundary, which corresponds to the rotation angle of the wheel in each direction. An angle between the connecting line and the radius of the 12 o'clock direction of the first display area that is less than 180 degrees is used as the angle control input. Based on the mapping relationship between the angle control input and the rotation angle of the wheel, the required rotation angle of the wheel is determined.

[0065] Among them, an appropriate mapping table can be created according to various vehicle dynamics characteristics for table lookup, and then the rotation angle is output by table lookup according to the angle control input. Alternatively, a relationship curve between the angle and the rotation angle of the wheel can be obtained by fitting an experimentally determined angle input and the corresponding rotation angle of the wheel, and then the rotation angle can be output according to the combination of the angle and the relationship curve.

[0066] In this embodiment, a first button that can be pressed and dragged in the first display area is displayed in the first display area, and the first button is dragged to any position in the first display area through a first touch operation to control the rotation angle of the wheel, and the control process is intuitive and simple.

[0067] In one embodiment, step 102 includes steps 121-124.

[0068] Step 121: The touch trajectory direction and touch-slide speed of the second touch operation in the second display area are determined.

[0069] In this step, the trajectory direction and touch-slide speed formed by the second touch operation in the second display area are acquired in real time.

[0070] Step 122: A target running direction according to the touch track direction is determined.

[0071] In this step, the running direction corresponding to the touch trajectory direction is determined as the target running direction according to the correspondence between the touch trajectory direction of the touch operation and the running direction.

[0072] In some embodiments, in one particular example, step 122 specifically includes determining that the target driving direction is forward if the touch trajectory direction is clockwise, and determining that the target driving direction is backward if the touch trajectory direction is counterclockwise.

[0073] In this embodiment, when the second display area is touched clockwise, the target driving direction is determined to be forward, whereas when the second display area is touched counterclockwise, the target driving direction is determined to be reverse, making it possible to easily control the vehicle's forward or reverse direction switching.

[0074] Step 123: A target running speed is determined according to the touch-slide speed.

[0075] In this step, the running speed corresponding to the touch-slide speed is determined as the target running speed according to the correspondence relationship between the touch-slide speed of the touch operation and the running speed of the vehicle.

[0076] In some embodiments, in certain examples, the faster the touch-slide speed is set, the faster the corresponding driving speed will be, making it easier for the user to remotely control the vehicle's driving speed through the terminal device.

[0077] Step 124: A second control command is generated according to the target traveling direction and the target traveling speed.

[0078] In this step, based on the target driving direction and the target driving speed, a control command, i.e., the above-mentioned second control command, is generated for the vehicle control unit of the vehicle to control the vehicle's driving mechanism and control the operation of the vehicle according to the target driving direction and the target driving speed.

[0079] In this embodiment, the second control command is generated by the user's second touch operation in the second display area, allowing the user to visually, realistically, and intuitively control the forward or reverse movement of the vehicle.

[0080] In another embodiment, step 102 includes steps 131-133.

[0081] Step 131: The touch trajectory direction of the second touch operation in the second display area is determined.

[0082] This step can be referred to step 121 for details and will not be repeated here.

[0083] Step 132: The target running direction is determined according to the touch track direction.

[0084] This step can be seen in step 122 for details and will not be repeated here.

[0085] Step 133: A second control command is generated according to the target running direction and the preset running speed.

[0086] In this step, when the vehicle is remotely controlled, the running speed of the vehicle is set to a fixed value, i.e., the above-mentioned preset running speed. Then, based on the target running direction and the preset running speed, a control command, i.e., the above-mentioned second control command, is generated for the vehicle control unit of the vehicle to control the running mechanism of the vehicle and control the operation of the vehicle according to the target running direction and the preset running speed.

[0087] In this embodiment, the second control command is generated by the user's second touch operation in the second display area, allowing the user to visually, realistically, and intuitively control the forward or reverse movement of the vehicle.

[0088] In some embodiments, in one particular implementation, a second button is displayed in the second display area that can be pressed and dragged within the second display area. The above method also includes steps 125-127.

[0089] In this embodiment, the second button is a virtual button that can move within the second display area following a user's touch operation, and the second button can be a circular button.

[0090] Step 125: A second touch point for the second touch operation is determined.

[0091] In this step, the current touch point of the second touch operation in the second display area is continuously determined as the second touch point, and it can be understood that the second touch point is dynamically updated during the continuous second touch operation.

[0092] Step 126: Second position information is determined according to the second touch point.

[0093] In this step, specific position information of the second button displayed in the second display area, ie, second position information, is determined according to the current touch point of the second touch operation.

[0094] Step 127: A second button is displayed in the second display area according to the second position information.

[0095] In this step, the second button is displayed at the current touch point of the second touch operation, which can realize the effect of the second button following display, which not only makes it easier for the user to perform the forward / reverse operation of the vehicle through the visual interface, but also makes it easier for the user to know the current forward / reverse state of the vehicle.

[0096] In one embodiment, the vehicle control method according to the embodiment of the present disclosure further includes steps 100 to 110.

[0097] Step 100: An image of the current environment of the vehicle transmitted by the in-vehicle communication terminal is received.

[0098] Step 110: The image is displayed in the third display area of ​​the screen.

[0099] In this embodiment, after the vehicle is started by the terminal device, the vehicle actively obtains an image of its current surrounding environment and transmits it to the terminal device via the in-vehicle communication terminal, so that the terminal device displays it in the third display area of ​​the screen.

[0100] In some embodiments, the third display area is disposed between the first and second display areas. That is, after the terminal device receives the image, it is displayed in the third area disposed between the first and second display areas. This allows the image to be displayed in a centered manner, making it easier for the user to view the environmental conditions around the vehicle and control the vehicle's operation through simultaneous operation with the left and right hands. Operation with both hands is more consistent with the operation logic and realizes a game-like control effect.

[0101] In some embodiments, the terminal device displays a vehicle control interface in a lateral mode for remotely controlling the vehicle to operate. The lateral two-handed operation is more consistent with the operation logic, more effectively realizes game-like control effects, promotes better coordination between the left and right hands, and enhances both the safety and precision of vehicle control.

[0102] In some embodiments, the image may include a surround view image, and before the surround view image is transmitted to the terminal device, the vehicle's panoramic image processing unit performs fisheye distortion correction and stitching processing on the surround view image to obtain a 3D panoramic image.

[0103] In some embodiments, the image may also include partial images captured by individual camera devices, allowing the user to toggle and view specific areas around the vehicle.

[0104] In some embodiments, in certain specific examples, the vehicle control method described herein further includes steps 120-130.

[0105] Step 120: A third touch operation on the display screen is received.

[0106] In this step, the third touch operation is a gesture operation for adjusting the image display state, which can be a specific action such as pressing, dragging, double-clicking, etc.

[0107] Step 130: The display parameters of the image are adjusted in response to the third touch operation.

[0108] In this step, a display parameter corresponding to the third touch operation is determined according to the pre-established correspondence between the touch operation and the display parameter, and the display state of the image is adjusted according to the display parameter.

[0109] In some embodiments, as shown in FIG. 2 , the position and orientation of the panoramic image can be adjusted by a finger press-drag gesture in any area of ​​the screen. Alternatively, based on the zoom button S001, partial magnification of the panoramic image can be achieved by a two-finger spreading gesture, making it easier to view areas of interest around the vehicle body and thereby enabling safer remote vehicle control, while a two-finger pinching gesture can be used to zoom out the panoramic image to view the complete environmental scene. In addition, the user can exit the surround view mode and switch to a different perspective view of the surrounding camera for detailed viewing operations. In particular, the user can also click on the camera logo on the first vehicle model to obtain images from different camera perspectives.

[0110] In one embodiment, after step 103, the vehicle control method according to the embodiment of the present disclosure further includes steps 104 to 106.

[0111] Step 104: Vehicle driving information fed back from the vehicle-mounted communication terminal is received, which includes a moving trajectory and vehicle position information for a predetermined future period.

[0112] In this step, the vehicle predicts its trajectory for a predetermined future period according to the motion information fed back from the vehicle's execution mechanism. In practical applications, the vehicle inputs its own parameters, such as body dimensions, axle spacing, coordinates of the front and rear axle centers, the vehicle's yaw angle, and the steering angle of the front wheels, into the vehicle dynamics model to predict the vehicle's trajectory for a predetermined future period, and calculates a relationship expression for the coordinates of each body vertex relative to the coordinates of the front and rear axle centers through a geometric relationship. Then, based on the vehicle's traveling direction and traveling speed, the vehicle's position information for a predetermined future period in the current motion state is determined. The predetermined period may be 1 s, 2 s, etc.

[0113] Step 105: The first vehicle model of the vehicle is displayed in the third display area.

[0114] In this step, a first vehicle model is constructed according to the body parameters of the vehicle and displayed in a third display area for the user to easily view the vehicle and its environment.

[0115] Step 106: According to the target driving direction, a moving trajectory and a marker are displayed in a first orientation of the first vehicle model, and the marker is configured to indicate the position information of the vehicle.

[0116] In this step, the first orientation corresponds to the target driving direction, and the first vehicle model is displayed in the third display area, and the movement trajectory and the marker are dynamically displayed in the orientation corresponding to the target driving direction of the first vehicle model, so that the user can know the movement trajectory and position information of the vehicle for a predetermined future period in the current motion state.

[0117] In some embodiments, when the target driving direction is forward, the movement trajectory and vehicle position information are displayed in front of the first vehicle model. For example, as shown in Figure 2, the movement trajectory S006 for the next two seconds is displayed in front of the first vehicle model, and the head area S005 of the first vehicle model is dynamically displayed as a warning.

[0118] In one embodiment, the vehicle control method according to the embodiment of the present disclosure further includes steps 107 to 109.

[0119] Step 107: Obstacle position information fed back from the vehicle-mounted communication terminal is received.

[0120] In this step, the obstacle position information is acquired by the vehicle's perception system (e.g., radar, etc.) and then transmitted to the terminal device via the vehicle-mounted communication terminal. The obstacle position information is used to depict the actual orientation and actual range of the obstacle to the vehicle.

[0121] Step 108: The second vehicle model of the vehicle is displayed in the fourth display area of ​​the screen.

[0122] In this step, a second vehicle model is constructed according to the vehicle body parameters and displayed in the fourth display area so that the user can easily visually recognize the positional relationship between the vehicle and surrounding obstacles.

[0123] Step 109: The obstacle model is displayed in a second orientation of the second vehicle model according to the obstacle position information.

[0124] In this step, since the obstacle position information describes the actual orientation and actual area extent of the obstacle of the vehicle, a virtual orientation corresponding to the actual orientation of the second vehicle model can be determined as a second position based on the obstacle position information, and the obstacle model S004 is displayed at the second position based on the actual area extent, as shown in Fig. 2, so that the user can visualize the positional relationship between the vehicle and the obstacle. Among them, the obstacle model can be, in particular, the outline of the obstacle.

[0125] In an embodiment, after step 103, the vehicle control method according to the embodiment of the present disclosure further includes steps 201-202.

[0126] Step 201: Collision warning information fed back from the vehicle-mounted communication terminal is received.

[0127] In this step, the vehicle obtains distance analysis of obstacles around the vehicle through multiple monitoring radars, calculates the orientation and distance information of the obstacles, and then combines this with the vehicle operation status information fed back by the execution mechanism to make a collision warning judgment and time-align the collision warning information with the uploaded data. The collision warning information is then time-synchronized with the uploaded data and transmitted to the terminal device via the on-board communication terminal. Among these, the vehicle operation status information includes the vehicle's current wheel angle information, wheel speed information, and vehicle state information, which are fed back in real time by the electronic power steering system (EPS), VCU, and intelligent integrated power brake system (IPB), respectively.

[0128] Step 202: Collision warning information is displayed in a second orientation of a second vehicle model in response to the collision warning information.

[0129] In this step, after receiving the collision warning information, the terminal device determines the orientation of the vehicle that is about to collide, determines a virtual orientation corresponding to the vehicle orientation in the second vehicle model as a third direction, and displays the collision warning information in the third direction to more intuitively and accurately alert the user about the collision.

[0130] Specifically, the vehicle's surroundings are pre-divided into separate block-shaped areas based on the location of the radar. For example, if six radars are installed at the front and rear of the vehicle, the surroundings are divided into 14 areas, of which 12 in the front and rear sections of the vehicle are warning-enabled. The radars can be ultrasonic radar, millimeter-wave radar, or laser radar.

[0131] After receiving the obstacle distance information fed back from the various radars, the vehicle performs a comprehensive weighting process, determines that the distance between the vehicle and the obstacle is less than a set distance threshold, determines that a collision risk exists in the corresponding area, generates collision warning information indicating the area where the vehicle is about to collide, and transmits it to the terminal device. The terminal device then displays the collision warning information in the corresponding area of ​​the generated second vehicle model by filling it with a distinctive color, etc.

[0132] In some embodiments, as shown in Figures 2 and 3, the second vehicle model is displayed in area S007 in the upper right corner of the display screen of the terminal device, and if a collision risk is detected in area S008, a prominent warning color is displayed in that area.

[0133] In some embodiments, when displaying collision warning information, feedback and reminders can also be provided to the user by controlling the vibration of the terminal device or by controlling the signal lights of the terminal device.

[0134] The vehicle control method according to the embodiment of the present disclosure completes the vehicle remote control process by relying solely on sensory information provided by the vehicle and the operation commands provided by the user, without any automatic task judgment processing, allowing the user to more clearly execute the vehicle remote control process through sensory information fed back by the vehicle.

[0135] To implement the above-described vehicle control method, as shown in FIG. 4, a vehicle is equipped with a vehicle remote control system 41, which is electrically connected to the vehicle's perception system 42 and execution system 43. Perception information describing the vehicle's current surroundings is acquired by the perception system 42 to determine the presence of obstacles around the vehicle, the distance between the vehicle and the obstacles, and image information about the vehicle's surroundings. At the same time, perception information describing the vehicle's operating status is acquired by the system 43. The vehicle remote control system 41 then processes the perception information fed back from the perception system 42 and combines it with the perception information fed back by the execution system 43 to provide feedback on the vehicle's running status to the terminal device. After the user sends an operation command through the terminal device, the vehicle remote control system analyzes the operation command and sends it to the execution system for execution.

[0136] Among them, after analyzing the perception information acquired by the perception system 42, if the vehicle remote control system determines that the distance between the vehicle body and an obstacle is less than a preset threshold, or if it determines that the future vehicle movement trajectory will collide with an obstacle under the current vehicle motion state, the vehicle remote control system sends collision warning information to the terminal device 44. The terminal device displays a conspicuous attention-reminding color in the corresponding orientation area of ​​the vehicle model based on the collision warning information, so that the user can control the vehicle speed and direction to avoid the obstacle according to the prompt information provided by the vehicle remote control system 41. If the distance between the vehicle body and the obstacle is equal to or greater than the preset threshold and the collision risk is eliminated, the attention-reminding color is also correspondingly removed.

[0137] Among them, the perception system 42 includes a surround view camera and an ultrasonic radar sensor. The surround view camera is configured to acquire a surround view image of the vehicle's surroundings and generate an around view monitor (AVM) through image stitching to assist the user in remotely controlling the vehicle. The ultrasonic radar sensor can acquire the distance between the vehicle and surrounding obstacles to help the user perceive the vehicle's surrounding environment.

[0138] In some embodiments, the perception system 42 also includes a Multi-Purpose Front Camera (MPC) and other surrounding cameras on the vehicle to capture images of the surrounding environment and facilitate the user's ability to switch perspectives for viewing.

[0139] In some embodiments, the perception system 42 also includes millimeter wave radar to more accurately obtain the distance between the vehicle and surrounding obstacles, helping the user perceive the vehicle's surrounding environment.

[0140] Among them, the executive system 43 includes an electric power steering (EPS) system, a VCU, and an integrated power brake (IPB) system.

[0141] In an embodiment of the present disclosure, data acquired by the perception system 42 is transmitted to the vehicle remote control system for processing via an on-board communication bus. As shown in FIG. 5, the vehicle remote control system 41 includes a control data processing unit, an on-board communication terminal, a panoramic image processing unit, an ultrasonic data processing unit, a vehicle motion data processing unit, and a data fusion unit. The vehicle remote control system 41 may also include a millimeter-wave data processing unit and an image processing unit. The on-board communication terminal is responsible for data transmission and reception. Various processing units in the vehicle remote control system acquire their own data information through the on-board communication terminal for analysis. The processed data is fused by the data fusion unit and then transmitted to the on-board communication terminal for visual presentation. The control data processing unit can execute control commands sent by the user through the terminal device via various execution mechanisms in the execution system, and the various execution mechanisms also feed vehicle motion information back to the vehicle remote control system for processing.

[0142] As shown in FIG. 6 , the in-vehicle communication terminal includes a CAN communication module, an Ethernet terminal module, a 5G communication module, a Wi-Fi communication module, and a short-range communication module, which enables the in-vehicle communication terminal to automatically establish a communication connection with the terminal device according to the current network environment and perform data transmission.

[0143] Please refer to FIG. 7, which shows a logical block diagram of a vehicle control method according to an embodiment of the present disclosure.

[0144] 7, in step 701, after the remote control vehicle function of the terminal device is enabled, a remote control start command is sent to the vehicle. After receiving the remote control start command, the vehicle is activated and enters an operating state. Among them, the vehicle's on-board communication terminal includes various types of communication units, which are configured to perform information exchange between on-board units and information transmission between the vehicle and the terminal device.

[0145] In step 702, the vehicle remote control system processes sensory data acquired by various sensors of the vehicle, and then transmits the processed data to the terminal device via the in-vehicle communication terminal.

[0146] In step 703, the terminal device displays the received sensory data for the user to visually confirm, and the user can issue remote control commands to the vehicle through the visual interface and control buttons of the terminal device.

[0147] In step 704, the vehicle receives the operation commands sent by the terminal device in real time via the on-board communication terminal, and then analyzes them through the vehicle remote control system. The analyzed remote control commands are sent to the relevant execution mechanism for execution, and the analyzed future trajectory data are transmitted in real time to the terminal device for visualization on its display interface.

[0148] In step 705, the terminal device continuously displays the feedback information from the in-vehicle communication terminal, allowing the user to make a decision and execute the next remote control step. After completing the entire vehicle remote control process, the user sends a remote control shutdown command through the terminal device. The shutdown remote control command is transmitted to the actuator VCU module through the remote control system, allowing the vehicle to enter a power-off state.

[0149] Among them, as shown in FIG. 8, the above step 704 particularly includes steps 801 to 804.

[0150] In step 801, after receiving the operation command sent by the terminal device, the in-vehicle communication terminal synchronizes in real time with the control data processing unit in the vehicle remote control system for analysis.

[0151] In step 802, after the control data processing unit completes the data analysis, the acquired control information is transmitted to the execution system in real time for execution, realizing the remote control operation of the vehicle.

[0152] In step 803, during the execution process, the execution system provides real-time synchronized feedback of vehicle attitude information and simultaneously transmits it to the vehicle's remote control system for analysis and processing.

[0153] In step 804, the vehicle remote control system fuses the feedback data from the execution system and the perception system and transmits it to the user terminal for display through the in-vehicle communication system, so that the user can know the latest driving status of the vehicle and continue to operate it.

[0154] In summary, the vehicle control method according to the embodiment of the present disclosure provides the following advantages:

[0155] (1) The vehicle control method according to the embodiment relies on panoramic imaging, millimeter wave, or ultrasonic distance warning, and enables remote vehicle control solely through vehicle information provided by the mobile terminal, eliminating the need for physical visual confirmation of the vehicle's surroundings and significantly enhancing the convenience of remote vehicle operation.

[0156] (2) In the vehicle control method according to the embodiment, a lateral grip vehicle remote control gesture is adopted, which is more consistent with the gaming operation experience compared to the vertical screen operation, promotes better coordination between the left and right hands, and improves the safety and accuracy of vehicle control.

[0157] (3) In the vehicle control method according to the embodiment of the present disclosure, two-finger zoom and rotation operations are supported, and the distance between the vehicle and an obstacle and the vehicle's movement trajectory for a preset future period are fed back to the terminal device in real time, greatly improving the convenience of operation.

[0158] (4) The vehicle control method according to the embodiment of the present disclosure is based on existing mature equipment and technology and operates entirely based on user commands, making it more controllable and effectively balancing implementation difficulty, convenience, and safety.

[0159] FIG. 9 is a schematic diagram of a vehicle control device according to an embodiment of the present disclosure applied to a terminal device, the terminal device including a display screen, and the device:

[0160] a first touch module 91, the first touch module 91 being configured to generate a first control command for controlling vehicle steering in response to a first touch operation on a first display area of ​​the screen;

[0161] a second touch module 92, the second touch module 92 being configured to generate a second control command for controlling the vehicle to move forward or backward in response to a second touch operation on a second display area of ​​the screen;

[0162] and a transmitting module 93 configured to transmit the first control command and the second control command to the in-vehicle communication terminal to control the vehicle to operate.

[0163] In some embodiments, in the vehicle control device, the first touch module 91

[0164] a first determining unit, the first determining unit being configured to determine a first touch endpoint of a first touch operation;

[0165] a second determining unit, the second determining unit being configured to determine a first positional relationship between the first touch endpoint and the first display area;

[0166] a third determination unit, the third determination unit being configured to determine a rotation angle of the wheel according to the first positional relationship;

[0167] a first command generating unit, the first command generating unit configured to generate a first control command according to the rotation angle;

[0168] In some embodiments, a first button that can be pressed and dragged is displayed in the first display area.

[0169] a first determination module, the first determination module being configured to determine a first touch point of the first touch operation;

[0170] a second determination module, wherein the second determination module is configured to determine first position information according to the first touch point;

[0171] The sixth display module further includes a sixth display module, wherein the sixth display module is configured to display the first button in the first display area according to the first position information.

[0172] In some embodiments, the first display area is circular.

[0173] a third determining subunit, the third determining subunit being configured to determine a connecting line between the first touch end point and the center point of the first display area according to the first positional relationship;

[0174] and a fourth limiting subunit configured to determine a rotation angle according to an angle between the connecting line and a target radius of the first display area.

[0175] In some embodiments, the second touch module 92

[0176] a fourth determination unit configured to determine a touch trajectory direction and a touch-slide speed of a second touch operation in the second display area;

[0177] a fifth judging unit, the fifth judging unit being configured to judge a target running direction according to the touch track direction;

[0178] a sixth determination unit, the sixth determination unit being configured to determine a target running speed according to a touch-slide speed;

[0179] and a second command generating unit configured to generate second control commands according to the target travel direction and the target travel speed.

[0180] In some embodiments, the fifth determining unit is specifically configured to determine that the target running direction is forward when the touch trajectory direction is clockwise, and to determine that the target running direction is backward when the touch trajectory direction is counterclockwise.

[0181] In some embodiments, the second display area displays a second button that can be pressed and dragged in the second display area. The second touch module 92

[0182] a seventh determining unit, the seventh determining unit being configured to determine a second touch point of the second touch operation;

[0183] an eighth determining unit, wherein the eighth determining unit is configured to determine second position information according to the second touch point; and

[0184] The display unit further includes a display unit configured to display a second button in the second display area according to the second position information.

[0185] In some embodiments, the device comprises:

[0186] a first receiving module, the first receiving module being configured to receive an image of a current environment of the vehicle transmitted by the in-vehicle communication terminal;

[0187] The display device further includes a first display module, the first display module configured to display the image in a third display area of ​​the display screen.

[0188] In some embodiments, the device comprises:

[0189] a second receiving module, configured to receive feedback of vehicle driving information from the in-vehicle communication terminal after transmitting the first control command and the second control command to the in-vehicle communication terminal (the vehicle driving information includes a moving trajectory and vehicle position information for a predetermined future period);

[0190] a second display module configured to display the first vehicle model of the vehicle in a third display area; and

[0191] The vehicle control system further includes a third display module configured to display a moving trajectory and a marker in a first orientation of the first vehicle model according to the target driving direction, and the marker is configured to indicate position information of the vehicle.

[0192] In some embodiments, the device comprises:

[0193] a third receiving module, the third receiving module being configured to receive obstacle position information transmitted by the in-vehicle communication terminal;

[0194] a fourth display module configured to display a second vehicle model of the vehicle in a fourth display area of ​​the display screen; and

[0195] and a fifth display module, wherein the fifth display module is configured to display the obstacle model in a second orientation of the second vehicle model in response to the obstacle position information.

[0196] In some embodiments, the device comprises:

[0197] a fourth receiving module, the fourth receiving module being configured to receive collision warning information feedback from the in-vehicle communication terminal after transmitting the first control command and the second control command to the in-vehicle communication terminal;

[0198] and a reminder module, the reminder module configured to display the collision warning information in the third orientation of the second vehicle model.

[0199] In some embodiments, the device comprises:

[0200] a third receiving module, the third receiving module being configured to receive a third touch operation on the display screen;

[0201] The display adjustment module further includes: a display adjustment module, where the display adjustment module is configured to adjust a display parameter of the environment image in response to the third touch operation.

[0202] In some embodiments, the second touch module 92

[0203] a ninth determination unit, the ninth determination unit being configured to determine a touch trajectory direction of a second touch operation in the second display area;

[0204] a tenth determination unit, wherein the tenth determination unit is configured to determine a target running direction according to the touch track direction;

[0205] and a third command generating unit configured to generate a second control command according to the target driving direction and the preset driving speed.

[0206] For the apparatuses according to the above embodiments, they are basically similar to the vehicle control method embodiments, so please refer to the partial description of the method embodiments for relevant information.

[0207] The vehicle control device according to the embodiment of the present disclosure controls the steering and forward / reverse of the vehicle through touch operations on the first display area and the second display area, thereby effectively reducing the complexity of vehicle control. Furthermore, the device facilitates simultaneous operation by the user's left and right hands, making the operation more convenient and closer to the user's intuition, and making the remote control interaction clearer. In addition, the system eliminates the automatic task judgment process, thereby further reducing the complexity of vehicle control.

[0208] This embodiment further provides a terminal device, and as shown in Figure 10, the terminal device includes a processor 1001, a communication interface 1002, a memory 1003, and a communication bus 1004. Among them, the processor 1001, the communication interface 1002, and the memory 1003 communicate with each other through the communication bus 1004.

[0209] The memory 1003 is configured to store a computer program.

[0210] When the processor 1001 executes a program stored in the memory 1003,

[0211] generating a first control command for controlling vehicle steering in response to a first touch operation on a first display area of ​​the display screen;

[0212] generating a second control command for controlling forward or reverse movement of the vehicle in response to a second touch operation on a second display area of ​​the display screen;

[0213] and transmitting the first control command and the second control command to the in-vehicle communication terminal to control the vehicle to operate.

[0214] In addition, the processor 1001 may also perform other steps in the vehicle control method, which are not repeated here.

[0215] The communication bus mentioned in the above terminal device may be a peripheral component interconnect (PCI) bus, or an extended industry standard architecture (EISA) bus, etc. This communication bus may be divided into an address bus, a data bus, a control bus, etc. For simplicity of representation, only one thick line is used in the diagram, but this does not indicate that only one bus or one type of bus is present.

[0216] The communication interface is used for communication between the terminal device and other devices.

[0217] The memory may include at least one random access memory (RAM) or non-volatile memory, such as disk memory, hi some embodiments, the memory may be at least one storage device located remotely from the processor.

[0218] The processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc. It may also be a digital signal processing (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component.

[0219] In another embodiment provided by the present disclosure, there is further provided a computer program product including instructions that, when executed on a computer, cause the computer to perform the vehicle control method described in the above embodiment.

[0220] In another embodiment provided by the present disclosure, there is further provided a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the vehicle control method described in the above embodiment.

[0221] In another embodiment provided by the present disclosure, there is further provided a vehicle including the terminal device described above.

[0222] In another embodiment provided by the present disclosure, there is further provided a computer program product including instructions that, when executed on a computer, cause the computer to perform the vehicle control method described in the above embodiment.

[0223] In the above embodiments, it may be implemented entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it may be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present disclosure are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored on a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from a website, computer, server, or data center to another website, computer, server, or data center via wired means (such as coaxial cable, fiber optic cable, or digital subscriber line (DSL)), or wireless means (such as infrared, wireless, or microwave). The computer-readable storage medium may be any available medium accessible by a computer, or a data storage device such as a server or data center that integrates one or more available media. The available media can be magnetic (such as a floppy disk, hard drive, or magnetic tape), optical (such as a DVD), or semiconductor (such as a solid state disk (SSD)).

[0224] In this section, relational terms such as first and second are used only to distinguish one entity or operation from another and do not necessarily require or imply any actual relationship thereto or ordering between those entities or operations. Furthermore, the terms "including," "containing," or any other variation thereof, are intended to cover non-exclusive inclusions, whereby a process, method, article, or device comprising a set of elements includes not only those elements but also other elements not expressly recited or inherent in such process, method, article, or device. Without further limitation, an element defined by the phrase "including one..." does not exclude the presence of other identical elements in the process, method, article, or device that comprises that element.

[0225] Each embodiment in this specification is described in association with the others, and the same and identical parts between the embodiments may be referenced. Each embodiment focuses on the differences from other embodiments. For the embodiments of a computer program product including an apparatus, a terminal device, a computer-readable storage medium, and instructions, the description is relatively simple due to its basic similarity to the method embodiments. For related information, please refer to the partial description of the method embodiments.

[0226] The above description is merely a preferred embodiment of the present disclosure, and is not intended to limit the scope of protection of the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present disclosure are included in the scope of protection of the present disclosure.

Claims

1. 1. A vehicle control method applied to a terminal device, the terminal device having a display screen, the method comprising: generating a first control command for controlling vehicle steering in response to a first touch operation on a first display area of ​​the display screen; generating a second control command for controlling forward or reverse movement of the vehicle in response to a second touch operation on a second display area of ​​the display screen; transmitting the first control command and the second control command to an in-vehicle communication terminal to control the vehicle to operate; A vehicle control method comprising:

2. generating the first control command for controlling vehicle steering in response to the first touch operation on the first display area of ​​the display screen, Determining a first touch endpoint of the first touch operation; Determining a first positional relationship between the first touch endpoint and the first display area; determining a rotation angle of the wheel according to the first positional relationship; generating the first control command in response to the rotation angle; The vehicle control method according to claim 1 , comprising:

3. a first button that can be pressed and dragged is displayed in the first display area; The method comprises: Determining a first touch point of the first touch operation; determining first position information in response to the first touch point; The vehicle control method according to claim 1 , further comprising: displaying the first button in the first display area according to the first position information.

4. the first display area is circular, and the rotation angle of the wheel is determined according to the first positional relationship; determining a connection line between the first touch end point and a center point of the first display area according to the first positional relationship; determining the rotation angle according to an angle between the connecting line and a radius of interest of the first display area; The vehicle control method according to claim 2 , comprising:

5. generating the second control command for controlling forward or reverse movement of the vehicle in response to the second touch operation on the second display area of ​​the display screen; determining a touch trajectory direction and a touch / slide speed of the second touch operation in the second display area; determining a target running direction according to the touch track direction; determining a target running speed according to the touch / slide speed; generating the second control command in accordance with the target traveling direction and the target traveling speed; The vehicle control method according to claim 1 , further comprising:

6. generating the second control command for controlling forward or reverse movement of the vehicle in response to the second touch operation on the second display area of ​​the display screen; determining a touch trajectory direction of the second touch operation in the second display area; determining the target running direction according to the touch track direction; generating the second control command in accordance with the target traveling direction and a preset traveling speed; The vehicle control method according to claim 1 , further comprising:

7. determining the target running direction according to the touch track direction, If the touch trajectory direction is clockwise, determining that the target running direction is forward; If the touch trajectory direction is counterclockwise, determining that the target traveling direction is backward; The vehicle control method according to claim 5 or 6, comprising:

8. a second button that can be pressed and dragged in the second display area is displayed in the second display area, and the method further comprises: determining a second touch point of the second touch operation; determining second position information in response to the second touch point; displaying the second button in the second display area according to the second position information; The vehicle control method according to claim 5 or 6, further comprising:

9. The method comprises: receiving an image of the current environment of the vehicle transmitted by the in-vehicle communication terminal; displaying the image in a third display area of ​​the display screen; The vehicle control method according to claim 5 , further comprising:

10. After transmitting the first control command and the second control command to the in-vehicle communication terminal, the method further comprises: receiving vehicle travel information fed back from the in-vehicle communication terminal, the vehicle travel information including a travel trajectory and vehicle position information for a predetermined future period; displaying a first vehicle model of the vehicle in the third display area; Displaying the movement trajectory and a marker in a first orientation of the first vehicle model according to the target driving direction, the marker being configured to indicate position information of the vehicle; The vehicle control method of claim 9 further comprising:

11. The method comprises: receiving obstacle position information transmitted by the in-vehicle communication terminal; displaying a second vehicle model of the vehicle in a fourth display area of ​​the display screen; displaying an obstacle model in a second orientation of the second vehicle model in response to the obstacle position information; The vehicle control method according to claim 1 , further comprising:

12. After transmitting the first control command and the second control command to the in-vehicle communication terminal, the method further comprises: receiving collision warning information feedback from the in-vehicle communication terminal; displaying the collision warning information in a third orientation of the second vehicle model in response to the collision warning information; The vehicle control method of claim 11 further comprising:

13. The method comprises: receiving a third touch operation on the display screen; adjusting a display parameter of the image in response to the third touch operation; The vehicle control method of claim 9 further comprising:

14. a processor, a communication interface, a memory, and a communication bus; the processor, the communication interface, and the memory communicate with each other through the communication bus; the memory is configured to store a computer program; A terminal device configured to implement the vehicle control method according to any one of claims 1 to 13 when the processor executes a program stored in the memory.

15. A computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the method of any one of claims 1 to 13.

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