Vehicle control method and related apparatus

Abstract

A vehicle control method and a related apparatus, which can be used in the technical field of terminals. In the technical solution, when a vehicle is in an automatic parking state, the operating state of the vehicle can be output by controlling light of the vehicle, wherein the operating state of the vehicle can comprise one or more of the following states: the movement direction of the vehicle, the parking progress of the vehicle, a pause state and a parking completion state. The method enables users to detect in real time problems and risks during driving of vehicles, thus helping to avoid generation of unsafety factors.

Description

Vehicle control method and related device

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on February 4, 2024, with application number 202410163097.1 and application name “Vehicle Control Method and Related Devices”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of terminal technology, and in particular to a vehicle control method and related devices. Background Art

[0003] At present, assisted driving technology is becoming more and more mature. Vehicles can use assisted driving technology to autonomously drive into parking spaces, realizing unmanned parking.

[0004] In one implementation, a user can control the vehicle's autonomous parking through a terminal. For example, the user can install a parking application (APP) on the terminal. Once the terminal is connected to the vehicle, if the user enters a parking command in the application, the terminal can receive and send the parking command to the vehicle. After receiving the parking command, the vehicle will park autonomously based on the parking command.

[0005] However, in this method, safety hazards may easily occur when the vehicle performs autonomous parking. Summary of the Invention

[0006] The present application provides a vehicle control method and related devices for solving the problem in the prior art that safety hazards are easily generated when a vehicle performs autonomous parking.

[0007] In a first aspect, the present application provides a vehicle control method, the method comprising: when a vehicle is in an automatic parking state, controlling the vehicle's headlights to output the vehicle's operating state, the vehicle's operating state including one or more of the following states: the vehicle's running direction, the vehicle's parking progress, the vehicle's paused state, and the vehicle's completed parking state.

[0008] In this method, the vehicle can output its operating status through its headlights, allowing users to more intuitively understand the vehicle's operating status, thereby determining the vehicle's driving intention and adjusting its direction and status accordingly. This allows users to more effectively identify risky areas and avoid areas where the vehicle is about to travel. This method allows users to instantly identify problems and risks during driving, helping to prevent unsafe conditions.

[0009] In some possible implementations, controlling the vehicle's lights to output the vehicle's running direction includes: when the vehicle's running direction is forward, controlling the vehicle's lights to output a first state, the first state including the vehicle's body lights lighting up in sequence from the headlights to the taillights; when the vehicle's running direction is backward, controlling the vehicle's lights to output a second state, the second state including the vehicle's body lights lighting up in sequence from the taillights to the headlights; when the vehicle's running direction is a left turn, controlling the vehicle's lights to output a third state, the third state including the lights on the left half of the vehicle lighting up; when the vehicle's running direction is a right turn, controlling the vehicle's lights to output a fourth state, the fourth state including the lights on the right half of the vehicle lighting up.

[0010] As shown in Figure 5, it is assumed that the vehicle includes 8 body lights: body lights 1 to 8, among which body lights 1 and body lights 2 are located in the front of the vehicle, body lights 3 to 6 are located on the sides of the vehicle, body lights 7 and body lights 8 are located at the rear of the vehicle, body light 3 is located between body light 1 and body light 5, body light 5 is located between body light 3 and body light 7, body light 4 is located between body light 2 and body light 6, and body light 6 is located between body light 4 and body light 8.

[0011] In this example, an example of the body lights lighting up in sequence from the front lights to the rear lights is: first, body lights 1 and 2 light up, then body lights 3 and 4 light up, body lights 1 and 2 stop lighting up, then body lights 5 and 6 light up, body lights 3 and 4 stop lighting up, and finally body lights 7 and 8 light up, and body lights 5 and 6 stop lighting up.

[0012] Alternatively, a schematic diagram illustrating the body lights illuminating sequentially from the front lights to the rear lights can be shown in FIG6 . The arrows indicate the order in which the body lights illuminate. In this example, when viewed from the front of the vehicle, the body lights illuminate sequentially from the center toward the sides. When viewed from the rear of the vehicle, the body lights illuminate sequentially from the sides toward the center.

[0013] An example of the body lights lighting up in order from the rear lights to the front lights is: first body lights 7 and 8 light up, then body lights 5 and 6 light up, body lights 7 and 8 stop lighting up, then body lights 3 and 4 light up, body lights 5 and 6 stop lighting up, and finally body lights 1 and 2 light up, and body lights 3 and 4 stop lighting up.

[0014] Alternatively, a schematic diagram illustrating the body lights illuminating sequentially from the rear lights to the front lights can be shown in FIG7 . The arrows indicate the order in which the body lights illuminate. In this example, when viewed from the front of the vehicle, the body lights illuminate sequentially from both sides toward the center. When viewed from the rear of the vehicle, the body lights illuminate sequentially from the center toward both sides.

[0015] Assume that the body lights 1 , 3 , 5 and 7 are located on the left half of the vehicle, and the body lights 2 , 4 , 6 and 8 are located on the right half of the vehicle.

[0016] When the vehicle turns left, body lights 1, 3, 5, and 7 can illuminate. At this point, the vehicle's body lights change from (a) in Figure 8 to (b) in Figure 8. In this example, blank areas indicate that the body lights are off, and shaded areas indicate that the body lights are illuminated.

[0017] When the vehicle turns right, body lights 2, 4, 6, and 8 can illuminate. At this point, the vehicle's body lights change from (a) in Figure 9 to (b) in Figure 9. In this example, blank areas indicate that the body lights are off, and shaded areas indicate that the body lights are illuminated.

[0018] In this method, users can determine whether the vehicle is moving forward or backward based on the output status of the headlights, and determine whether the vehicle is turning left or right based on the output status of the headlights. This allows users to immediately discover problems and risks during vehicle driving, which helps avoid the occurrence of unsafe factors.

[0019] In some possible implementations, controlling the vehicle's lights to output the vehicle's running direction includes controlling the vehicle's projection lights to output the vehicle's running direction.

[0020] In this method, the user can determine the direction of the vehicle based on the light projected onto the ground by the projection lamp. This makes it easier for the user to immediately discover problems and risks during the vehicle's driving process, which helps avoid the occurrence of unsafe factors.

[0021] In some possible implementations, the first state also includes that the direction of the arrow projected by the projection lamp in the vehicle onto the ground is facing forward; the second state also includes that the direction of the arrow projected by the projection lamp in the vehicle onto the ground is facing backward; the third state also includes that the direction of the light projected by the projection lamp in the vehicle onto the ground is curved to the left; and the fourth state also includes that the direction of the light projected by the projection lamp in the vehicle onto the ground is curved to the right.

[0022] As shown in Figure 12, the dotted line represents the range of light projected onto the ground by the projector lamp. In Figure 12 (a), the arrow pointing forward is projected onto the ground by the projector lamp. In Figure 12 (b), the arrow pointing backward is projected onto the ground by the projector lamp.

[0023] As shown in Figure 13, the dotted line represents the range of the light projected by the projector lamp onto the ground. In Figure 13 (a), the direction of the light projected by the projector lamp onto the ground is curved to the left. In Figure 13 (b), the direction of the light projected by the projector lamp onto the ground is curved to the right.

[0024] In this method, the user can determine whether the vehicle is moving forward or backward based on the direction of the arrow projected on the ground by the projection lamp, and determine whether the vehicle is turning left or right based on the direction of the light projected on the ground by the projection lamp in the vehicle. This makes it easier for users to immediately discover problems and risks during vehicle driving, which helps avoid the occurrence of unsafe factors.

[0025] In some possible implementations, controlling the vehicle lights to output the parking progress of the vehicle includes: controlling the number of illuminated body lights of the vehicle to output the parking progress of the vehicle.

[0026] 5 , assuming that a vehicle includes eight body lights, the deployment order of the eight body lights in the vehicle is: body light 1 , body light 3 , body light 5 , body light 7 , body light 8 , body light 6 , body light 4 and body light 2 .

[0027] As an example, when the vehicle processor determines that the parking progress of the vehicle is one quarter, two body lights may be constantly lit, for example, body light 1 and body light 3 may be constantly lit.

[0028] Assuming that the body lights 1 and 3 are always on, the body lights of the vehicle can change from (a) in Figure 14 to (b) in Figure 14, where the blank part indicates that the body lights are not on, and the shaded part indicates that the body lights are on.

[0029] Compared with the existing technology, users can determine the parking progress of the vehicle without using a terminal device, and can quickly and intuitively determine the parking progress of the vehicle based on the vehicle's lights, which is conducive to improving user experience.

[0030] In some possible implementations, controlling the vehicle's lights to output the vehicle's pause state includes: when the vehicle is in the pause state, controlling the vehicle's lights to output a fifth state, the fifth state including the vehicle's body lights entering a breathing flashing state.

[0031] Among them, the body lights entering the breathing flashing state can be understood as a process in which the body lights change from dark to bright, then from bright to dark, then from dark to bright, and then from bright to dark repeatedly.

[0032] Assuming that the vehicle body light repeatedly switches between the states shown in FIG15 (a) and FIG15 (b), the vehicle body light is in a breathing flashing state, wherein the shaded portion indicates that the vehicle body light is on, and the blank portion indicates that the vehicle body light is off.

[0033] In this method, when the vehicle stops abnormally, the user can quickly determine that the vehicle is in an abnormal state through the headlights, which helps the user quickly and intuitively discover problems during the vehicle's driving process and make adjustments to the vehicle.

[0034] In some possible implementations, controlling the vehicle's lights to output a status indicating that the vehicle has completed parking includes: after the vehicle completes parking, controlling the vehicle's lights to output a sixth status, the sixth status including the vehicle's body lights flashing three times and then stopping.

[0035] The body lights flash three times and then stop flashing can be understood as: the body lights stop lighting after the third flash.

[0036] Compared with the existing technology, users do not need to use terminal devices to determine whether the vehicle has completed parking. Instead, they can intuitively determine whether the vehicle has completed parking through the vehicle's lights, which is conducive to improving user experience.

[0037] In some possible implementations, the method further includes: determining whether the vehicle is at risk of collision; and if it is determined that the vehicle is at risk of collision, controlling the vehicle's lights to output first information, wherein the first information indicates that the vehicle is at risk of collision.

[0038] For example, when the vehicle processor determines that the vehicle is at risk of collision, it can control the vehicle's lights to output a seventh state, where the seventh state includes the body lights displaying a warning color.

[0039] The warning color may be set in advance, for example, red or yellow.

[0040] In this method, when there is a risk of collision with the vehicle, the user can quickly and intuitively determine the risk of collision with the vehicle through the headlights, and adjust the position of the vehicle to avoid the area where the vehicle is about to travel, which is conducive to avoiding the occurrence of unsafe factors.

[0041] In some possible implementations, the first information further indicates a location of the vehicle where there is a collision risk.

[0042] For example, if the vehicle processor determines that there is a risk of collision directly in front of the vehicle, the vehicle processor can control the vehicle's front body lights to display a warning color. In this case, the vehicle's body lights can change from (a) in Figure 16 to (b) in Figure 16, where the shaded area can indicate that the body lights display a warning color.

[0043] For another example, if the vehicle processor determines that there is a collision risk on the right side of the vehicle, the vehicle processor can control the right side body lights of the vehicle to display a warning color. In this case, the vehicle body lights can change from (a) in Figure 17 to (b) in Figure 17, where the shaded area can indicate that the body lights are displaying the warning color.

[0044] In this method, the user can quickly and intuitively determine the location of the vehicle where there is a risk of collision by the position of the headlights displaying the warning color, which helps the user adjust the position of the vehicle to avoid the area where the vehicle is about to travel, thereby helping to avoid the occurrence of unsafe factors.

[0045] In some possible implementations, the first information further indicates a risk level of collision for the vehicle; the closer the distance between the vehicle and the obstacle, the higher the risk of collision for the vehicle.

[0046] Optionally, the vehicle's collision risk can be represented by the color displayed by the vehicle's body lights. For example, assuming the vehicle's body lights can display three colors: yellow, red, and white, yellow indicates a moderate collision risk, red indicates a high collision risk, and white indicates a low collision risk.

[0047] As an example, assume that when the vehicle processor determines that the distance between the vehicle and the obstacle is less than a first distance threshold, the vehicle body light is controlled to display red.

[0048] Optionally, assuming that there is a collision risk directly in front of the vehicle and the distance between the vehicle and the obstacle is less than a first distance threshold, the vehicle's body lights may change from (a) in Figure 18 to (b) in Figure 18, where the shaded portion may indicate that the body lights display red.

[0049] Assume that when the vehicle processor determines that the distance between the vehicle and the obstacle is greater than the first distance threshold and less than the second distance threshold, the vehicle body light is controlled to display yellow.

[0050] Optionally, assuming that there is a collision risk directly in front of the vehicle and the distance between the vehicle and the obstacle is greater than the first distance threshold and less than the second distance threshold, the vehicle's body lights can change from (a) in Figure 19 to (b) in Figure 19, where the shaded part can indicate that the body lights are yellow.

[0051] Assume that when the vehicle processor determines that the distance between the vehicle and the obstacle is greater than the second distance threshold, the vehicle body lights are controlled to display white.

[0052] Optionally, assuming that there is a collision risk directly in front of the vehicle and the distance between the vehicle and the obstacle is greater than the first distance threshold and less than the second distance threshold, the vehicle's body lights can change from (a) in Figure 20 to (b) in Figure 20, where the shaded part can indicate that the body lights display white.

[0053] In this method, users can quickly and intuitively determine the risk level of a vehicle collision based on the color displayed by the headlights, and adjust the vehicle's position based on the risk level of a vehicle collision to avoid the area where the vehicle is about to travel, which helps to avoid the occurrence of unsafe factors.

[0054] In some possible implementations, the method further includes: obtaining the connection status between the vehicle and the terminal, the connection status between the vehicle and the terminal including the status of the vehicle and the terminal during the connection process, the status of the vehicle and the terminal being successfully connected, and the status of the vehicle and the terminal waiting for an automatic parking instruction after the connection is successfully made; and controlling the vehicle's lights to output the connection status between the vehicle and the terminal.

[0055] For example, when the vehicle processor determines that the vehicle and the terminal device are in the process of connecting, it controls the vehicle lights to output the eighth state, and the eighth state includes the vehicle body lights lighting up in sequence.

[0056] In conjunction with Figure 5, assuming that the vehicle includes eight body lights, the deployment order of these eight body lights in the vehicle is: body light 1, body light 3, body light 5, body light 7, body light 8, body light 6, body light 4 and body light 2, then the lighting order of these eight body lights can be as shown in (a) in Figure 21 or (b) in Figure 21.

[0057] In (a) of FIG. 21 , the lighting order of the body lights is: body light 1 → body light 3 → body light 5 → body light 7 → body light 8 → body light 6 → body light 4 → body light 2 .

[0058] In (b) of FIG. 21 , the lighting order of the body lights is: body light 2 → body light 4 → body light 6 → body light 8 → body light 7 → body light 5 → body light 3 → body light 1 .

[0059] For example, after determining that the vehicle is successfully connected to the terminal device, the vehicle processor may control the vehicle's lights to output a ninth state, which may include all body lights being lit.

[0060] At this point, the vehicle's body lights can change from (a) in Figure 22 to (b) in Figure 22. Figure 22 (a) illustrates an example of the body lights being lit sequentially. Figure 22 (b) illustrates all body lights being lit, with the shaded area indicating that the body lights are lit.

[0061] For example, when the vehicle processor determines that the vehicle is waiting for an automatic parking instruction, it can control the vehicle's lights to output a tenth state, which can include flashing body lights on the side of the vehicle.

[0062] 5 , assuming that the vehicle includes eight body lights, wherein body lights 3 to 6 are located on the sides of the vehicle, when body lights 3 to 6 flash, it indicates that the vehicle is waiting for an automatic parking instruction.

[0063] At this time, the vehicle's body lights may first change from (a) in FIG. 23 to (b) in FIG. 23 , and then present a state of repeatedly changing between (b) in FIG. 23 and (c) in FIG. 23 , where the shaded portion indicates that the vehicle body lights are on.

[0064] Optionally, the body lights of the vehicle may first change from (a) in FIG. 23 to (c) in FIG. 23 , and then present a state of repeatedly changing between (c) in FIG. 23 and (b) in FIG. 23 .

[0065] Compared with the existing technology, users do not need to check the connection status between the vehicle and the terminal device through the terminal device. They can quickly and intuitively determine the connection status between the vehicle and the terminal through the car lights, which is conducive to improving the user experience.

[0066] In some possible implementations, the method further includes: receiving an automatic parking instruction, the automatic parking instruction being used to instruct the vehicle to start parking; and controlling the vehicle's lights to output second information, the second information indicating that the vehicle has received the automatic parking instruction.

[0067] For example, after determining that the vehicle has received an automatic parking command, the vehicle processor may control the vehicle's lights to output an eleventh state, where the vehicle's side lights stop flashing. The vehicle's side lights stopping flashing may be understood as the vehicle's side lights stopping illuminating.

[0068] Referring to Figure 5 , assuming a vehicle has eight body lights, with body lights 3 through 6 located on the side of the vehicle, when body lights 3 through 6 stop flashing, it indicates that the vehicle has received the automatic parking command. At this point, the vehicle's body lights may change from (a) in Figure 24 to (b). Figure 24 (a) shows the body lights on the side of the vehicle flashing, and the shaded area indicates that the body lights are illuminated.

[0069] In this method, users can quickly and intuitively determine whether the vehicle has received an automatic parking instruction through the vehicle lights, which is conducive to improving user experience.

[0070] In a second aspect, the present application provides a vehicle control device, comprising modules or units for implementing the method in the first aspect and any possible implementation of the first aspect. It should be understood that each module or unit can implement the corresponding function by executing a computer program.

[0071] In a third aspect, the present application provides a vehicle control device, comprising a processor, wherein the processor is configured to execute the method described in any possible implementation of the first aspect.

[0072] The apparatus may further include a memory for storing instructions and data. The memory is coupled to the processor, and when the processor executes the instructions stored in the memory, the methods described in the above aspects may be implemented. The apparatus may further include a communication interface for communicating between the apparatus and other devices. Exemplarily, the communication interface may be a transceiver, circuit, bus, module, or other type of communication interface.

[0073] In a fourth aspect, the present application provides a computer-readable storage medium storing program code for execution by a device, wherein the program code includes instructions for implementing the method described in any possible implementation manner in the first aspect.

[0074] In a fifth aspect, the present application provides a computer program product comprising instructions, which, when executed on a device, enables the device to implement the method described in any possible implementation of the first aspect.

[0075] It can be understood that the effects that can be obtained from the second to fifth aspects can be referred to the description in the first aspect and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] FIG1 is a schematic structural diagram of a vehicle provided in an embodiment of the present application;

[0077] FIG2 is a schematic diagram of a display interface of a terminal device;

[0078] FIG3 is another schematic diagram of a display interface of a terminal device;

[0079] FIG4 is a flow chart of a vehicle control method according to an embodiment of the present application;

[0080] FIG5 is a schematic diagram of a vehicle body light provided by one embodiment of the present application;

[0081] FIG6 is a schematic diagram showing the vehicle body lights provided by one embodiment of the present application lighting up in sequence from the front lights to the rear lights;

[0082] FIG7 is a schematic diagram showing the vehicle body lights provided by one embodiment of the present application lighting up in sequence from the rear lights to the headlights;

[0083] FIG8 is a schematic diagram of the display of a vehicle body light provided by one embodiment of the present application;

[0084] FIG9 is a schematic diagram showing the display of a vehicle body light according to another embodiment of the present application;

[0085] FIG10 is a schematic diagram showing the display of a vehicle body light according to another embodiment of the present application;

[0086] FIG11 is a schematic diagram showing the display of a vehicle body light according to another embodiment of the present application;

[0087] FIG12 is a schematic diagram of the projection of a vehicle projection lamp provided by one embodiment of the present application;

[0088] FIG13 is a schematic diagram of the projection of a vehicle projection lamp provided by another embodiment of the present application;

[0089] FIG14 is a schematic diagram showing the display of a vehicle body light according to another embodiment of the present application;

[0090] FIG15 is a schematic diagram showing the display of a vehicle body light according to another embodiment of the present application;

[0091] FIG16 is a schematic diagram showing the display of a vehicle body light according to another embodiment of the present application;

[0092] FIG17 is a schematic diagram showing the display of a vehicle body light according to another embodiment of the present application;

[0093] FIG18 is a schematic diagram showing the display of a vehicle body light according to another embodiment of the present application;

[0094] FIG19 is a schematic diagram showing the display of a vehicle body light according to another embodiment of the present application;

[0095] FIG20 is a schematic diagram showing the display of a vehicle body light according to another embodiment of the present application;

[0096] FIG21 is a schematic diagram showing the display of a vehicle body light according to another embodiment of the present application;

[0097] FIG22 is a schematic diagram showing the display of a vehicle body light according to another embodiment of the present application;

[0098] FIG23 is a schematic diagram showing the display of a vehicle body light according to another embodiment of the present application;

[0099] FIG24 is a schematic diagram showing the display of a vehicle body light according to another embodiment of the present application;

[0100] FIG25 is a schematic diagram of a vehicle control device provided by one embodiment of the present application;

[0101] FIG26 is a schematic diagram of a vehicle control device provided in another embodiment of the present application. DETAILED DESCRIPTION

[0102] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0103] To facilitate a clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. For example, the first information and the second information are merely used to distinguish different information and do not limit their order. Those skilled in the art will understand that words such as "first" and "second" do not limit the quantity or execution order, and words such as "first" and "second" do not necessarily limit differences.

[0104] In the embodiments of the present application, "at least one" refers to one or more, and "more" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c; a and b; a and c; b and c; or a, b, and c. Among them, a, b, and c can be single or multiple.

[0105] The method of the present application can be applied to vehicles, mainly involving vehicle assisted driving technology. It should be understood that the embodiments of the present application do not limit the specific technology and specific device form used in the vehicle.

[0106] In order to better understand the embodiments of the present application, the hardware structure of the vehicle according to the embodiments of the present application is introduced below.

[0107] The vehicle may include a processor 110 , a travel system 120 , a sensing system 130 , a control system 140 , peripheral devices 150 , a power source 160 , and a user interface 170 , among other things.

[0108] The processor 110 may include one or more processing units. For example, the processor 110 may include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, etc. Among them, different processing units may be independent devices or integrated into one or more processors. A memory may also be provided in the processor 110 for storing instructions. For example, the memory may include instructions for sending data, receiving data, interacting and / or controlling one or more of the travel system 120, the sensor system 130, the control system 140 and the peripheral device 150.

[0109] For example, the memory may also store data such as road maps, route information, the vehicle's location, direction, speed, and other information.

[0110] In some embodiments, the processor 110 may also be a controller, a control system, or a control chip.

[0111] The travel system 120 may include components for providing powered motion to the vehicle. In one embodiment, the travel system 120 may include an engine 121 , a transmission 122 , an energy source 123 , and wheels (tires) 124 .

[0112] The engine 121 may be an internal combustion engine, an electric motor, an air compression engine, or a combination of other types of engines, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air compression engine. The engine 121 may convert the energy source 123 into mechanical energy.

[0113] For example, the transmission 122 may include a gearbox, a differential, and a drive shaft. The transmission 122 may transmit mechanical power from the engine 121 to the wheels 124. In some embodiments, the transmission 122 may also include other components, such as a clutch. The drive shaft may include one or more shafts that can be coupled to one or more wheels 124.

[0114] For example, the energy source 123 may include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. The energy source 123 may also provide energy to other systems of the vehicle.

[0115] The sensor system 130 may include several sensors that sense information about the environment around the vehicle, such as a positioning system 131 , an inertial measurement unit (IMU) 132 , a radar 133 , a laser rangefinder 134 , and a camera 135 .

[0116] The positioning system 131 may be a global positioning system (GPS), a BeiDou system, or other positioning systems.

[0117] The sensor system 130 may also include sensors for the vehicle's internal systems, such as an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, and the like. Sensor data from one or more of these sensors may be used to detect objects and their corresponding characteristics (e.g., location, shape, direction, speed, etc.). This detection is a critical function for the safe operation of the vehicle.

[0118] Positioning system 131 can be used to estimate the geographic location of the vehicle. IMU 132 is used to sense changes in the position and orientation of the vehicle based on inertial acceleration. In some examples, IMU 132 can be a combination of an accelerometer and a gyroscope.

[0119] Radar 133 can utilize radio signals to sense objects within the surrounding environment of the vehicle. In some examples, in addition to sensing objects, radar 133 can also be used to sense the speed and / or heading of the objects.

[0120] Laser rangefinder 134 may utilize laser light to sense objects in the environment the vehicle is in. In some examples, laser rangefinder 134 may include one or more laser sources, a laser scanner, and one or more detectors, among other system components.

[0121] The camera 135 may be used to capture multiple images of the vehicle's surroundings. The camera 135 may be a still camera or a video camera.

[0122] The control system 140 is used to control the vehicle and its components. The control system 140 may include various components, such as a steering system 141 , a throttle 142 , a brake unit 143 , a computer vision system 144 , a route control system 145 , and an obstacle avoidance system 146 .

[0123] The steering system 141 can be operated to adjust the vehicle's forward direction. For example, in some embodiments, it can be a steering wheel system.

[0124] Throttle 142 may be used to control the operating speed of engine 121 and, in turn, the speed of the vehicle.

[0125] Braking unit 143 can be used to control vehicle deceleration. For example, braking unit 143 can use friction to slow down wheels 124. In some embodiments, braking unit 143 can also convert the kinetic energy of wheels 124 into electric current. Braking unit 143 can also take other forms to slow down the rotation speed of wheels 124 to control vehicle speed.

[0126] The computer vision system 144 can be operated to process and analyze images captured by the camera 135 to identify objects and / or features in the vehicle's surrounding environment. Such objects and / or features may include traffic signs, road boundaries, and obstacles. The computer vision system 144 can use object recognition algorithms, structure from motion (SFM) algorithms, and other computer vision techniques. In some embodiments, the computer vision system 144 can be used to map the environment, estimate the speed of objects, and so on.

[0127] The route control system 145 can be used to determine the driving route of the vehicle. In some embodiments, the route control system 145 can combine data from sensors, GPS, and one or more maps to determine the driving route for the vehicle.

[0128] Obstacle avoidance system 146 may be used to identify and avoid or otherwise negotiate potential obstacles in the vehicle's environment.

[0129] The vehicle can interact with external sensors, other vehicles, other computer systems, or users through the peripheral device 150. The peripheral device 150 may include a communication module 151, an onboard computer 152, a microphone 153, and / or a speaker 154.

[0130] In some embodiments, peripheral devices 150 can provide a means for the vehicle to interact with user interface 170. For example, onboard computer 152 can provide information to the vehicle's user. Onboard computer 152 can also receive input from the user; onboard computer 152 can be operated via a touch screen. In other cases, peripheral devices 150 can provide a means for the vehicle to communicate with other devices located within the vehicle. For example, microphone 153 can receive audio (such as voice commands or other audio input) from the vehicle's user. Similarly, speaker 154 can output audio to the vehicle's user.

[0131] The communication module 151 can communicate with one or more devices directly or via a communication network. For example, the communication module 151 can use 3G cellular communication, such as code division multiple access (CDMA), global system for mobile communications (GSM) / general packet radio service (GPRS); or use 4G cellular communication, such as long term evolution (LTE); or use 5G cellular communication and some future communication technologies. The communication module 151 can also communicate with a wireless local area network (WLAN) using wireless fidelity (Wi-Fi).

[0132] In some embodiments, the communication module 151 can communicate directly with the device using an infrared link, Bluetooth, or ZigBee. Alternatively, the communication module 151 can include one or more dedicated short range communications (DSRC) devices, which can include public and / or private data communications between vehicles and / or roadside stations.

[0133] In some embodiments, the vehicle may also establish a connection with a terminal device using the communication module 151 and communicate with the terminal device using the communication module 151 .

[0134] Power source 160 can provide power to various components of the vehicle. In some embodiments, power source 160 can be a rechargeable lithium-ion battery or a lead-acid battery. One or more battery packs of such batteries can be configured as a power source to provide power to various components of the vehicle. In some embodiments, power source 160 and energy source 123 can be implemented together, such as in some fully electric vehicles.

[0135] The user interface 170 may be used to provide information to or receive information from a user of the vehicle. Optionally, the user interface 170 may include one or more input / output devices within the set of peripheral devices 150 , such as a communication module 151 , an onboard computer 152 , a microphone 153 , and a speaker 154 .

[0136] It should be understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the vehicle. Alternatively, the vehicle may include more or fewer components than shown in FIG1 , or some components may be combined or separated, or arranged differently. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0137] Optionally, the vehicle may further include a headlight 180 (not shown in FIG1 ), which may be connected to the processor 110. The vehicle may control the headlight 180 via the processor 110, so that the headlight outputs corresponding dynamic effects.

[0138] At present, assisted driving technology is becoming more and more mature. Vehicles can use assisted driving technology to autonomously drive into parking spaces, realizing unmanned parking.

[0139] In one implementation, a user can control the vehicle's autonomous parking via a terminal device, and the terminal device and the vehicle can communicate with each other. For example, the terminal device can be a mobile phone, tablet computer, personal computer (PC), smart screen, car computer device, smart watch and other wearable terminal devices, and can also be various teaching auxiliary tools (such as learning machines, early childhood education machines), smart toys, portable robots, personal digital assistants (PDAs), augmented reality (AR) devices, virtual reality (VR) devices, etc., and can also be devices with mobile office functions, devices with smart home functions, devices with audio and video entertainment functions, devices that support smart travel, etc.

[0140] As an example, a user can install an APP for parking on a terminal device. When the terminal device is connected to the vehicle, if the user enters a parking instruction in the application, the terminal device can receive and send the parking instruction to the vehicle. After the vehicle receives the parking instruction, it will perform autonomous parking based on the parking instruction.

[0141] As shown in FIG2 , after the user selects a parking space, he or she may click a “start parking” button on the terminal device, and the terminal device may then receive a parking instruction and send the parking instruction to the vehicle.

[0142] In this example, the vehicle can establish a connection with the terminal device through Bluetooth, Wi-Fi, etc.

[0143] In this method, the terminal device can display the parking progress of the vehicle. As shown in Figure 3, the terminal device can display the parking progress of the vehicle through a progress bar.

[0144] This method can easily create safety risks when the vehicle is autonomously parking. This is because the terminal device cannot display the vehicle's driving intention, and the user cannot know whether the vehicle is likely to collide with an obstacle, and therefore cannot make real-time adjustments to avoid a collision.

[0145] To this end, the present application provides a vehicle control method and related devices for solving the problem in the prior art that safety hazards are easily generated when a vehicle is automatically parked.

[0146] In the vehicle control method of the present application, when the vehicle is in an automatic parking state, the vehicle's operating status can be output by controlling the vehicle's lights, wherein the vehicle's operating status may include one or more of the following states: the vehicle's running direction, the vehicle's parking progress, the pause state, and the parking completion state.

[0147] In this method, users can determine the real-time operating status of the vehicle based on the vehicle's lights, which helps users to immediately discover problems and risks during vehicle driving, thereby avoiding safety hazards.

[0148] Optionally, the vehicle can also determine in real time whether there is a collision risk. If it is determined that there is a collision risk, the vehicle lights are controlled to output a signal indicating that the vehicle is at risk of collision.

[0149] Optionally, the vehicle can also use its lights to indicate where the vehicle is at risk of collision.

[0150] Optionally, the vehicle can also display the risk level of a collision through its lights, wherein the closer the distance between the vehicle and the obstacle, the higher the risk of a collision.

[0151] In the technical solution of this application, a vehicle can output its operating status through its headlights, allowing users to more intuitively understand the vehicle's operating status, thereby determining the vehicle's driving intention and adjusting the vehicle's driving direction and status based on the vehicle's driving intention. This allows users to more effectively identify risky areas and avoid areas where the vehicle is about to travel. This method allows users to instantly identify problems and risks during driving, helping to avoid unsafe factors.

[0152] FIG4 is a flow chart of a vehicle control method according to an embodiment of the present application. As shown in FIG4 , the vehicle control method may include S401 and S402.

[0153] The vehicle control method may be executed by a vehicle processor, which may also be a controller, a control system, or a control chip.

[0154] S401, when the vehicle is in the automatic parking state, obtain the vehicle's operating state, where the vehicle's operating state includes one or more of the following states: the vehicle's running direction, the vehicle's parking progress, the vehicle's paused state, and the vehicle's parking completion state.

[0155] In this method, the vehicle processor can determine whether it is in the automatic parking state by whether it receives an automatic parking instruction, where the automatic parking instruction is used to instruct the vehicle to start parking.

[0156] For example, when the terminal device receives an automatic parking instruction from the user, it can send the automatic parking instruction to the vehicle. Correspondingly, after the vehicle receives the automatic parking instruction, the vehicle processor can determine that it is in the automatic parking state.

[0157] Optionally, the vehicle can establish a connection with the terminal device via Bluetooth, Wi-Fi, etc. When the vehicle and the terminal device are connected via Bluetooth, the terminal device can send an automatic parking instruction to the vehicle via Bluetooth, and the vehicle can receive the automatic parking instruction via Bluetooth in the vehicle.

[0158] Optionally, after the Bluetooth in the vehicle obtains the parking instruction, it can also send the parking instruction to the vehicle processor. In this example, after the vehicle processor receives the parking instruction, it can determine that the vehicle is in the automatic parking state.

[0159] In this method, the vehicle processor can obtain the vehicle's operating status through the vehicle's travel system, sensor system, or control system.

[0160] As an example, the vehicle processor may obtain the status of the wheels in the vehicle's travel system to determine whether the wheels are started. If the wheels are started, it is determined that the vehicle is in a running state.

[0161] Optionally, when determining that the vehicle is moving, the vehicle processor may also obtain vehicle orientation information from an IMU in the vehicle sensor system, and determine the vehicle's direction of movement based on the vehicle orientation information. Optionally, the vehicle processor may also obtain the vehicle's direction of movement from a radar in the vehicle sensor system.

[0162] Optionally, the vehicle processor may also obtain the vehicle's running direction from a steering system in the vehicle control system.

[0163] In this method, the vehicle processor may obtain the vehicle's parking progress from a computer vision system or a route control system in the vehicle control system. For example, the vehicle's computer vision system may determine the vehicle's parking progress by identifying objects in the vehicle's surroundings, and the vehicle's route control system may determine the vehicle's parking progress based on the vehicle's driving route.

[0164] In the method, the paused state of the vehicle includes a state in which the vehicle is abnormally stopped during an automatic parking process.

[0165] In this method, the vehicle processor may obtain the pause state of the vehicle through the vehicle's travel system, sensor system, or control system.

[0166] For example, the vehicle processor may obtain the status of the wheels in the vehicle's propulsion system to determine whether the wheels are activated. Alternatively, the vehicle processor may obtain the wheel speed from a brake unit in the vehicle control system and determine whether the vehicle is running based on the wheel speed.

[0167] Furthermore, the vehicle processor may also obtain information from a computer vision system in the vehicle control system as to whether the vehicle has successfully parked. If the vehicle processor determines that the wheels have stopped and the vehicle has not successfully parked, it is determined that the vehicle has stopped abnormally.

[0168] S402, controlling the vehicle's lights to output the vehicle's operating status.

[0169] In this method, after the vehicle processor obtains the vehicle's running direction, it can output the vehicle's running direction by controlling the vehicle's lights.

[0170] Optionally, the running direction of the vehicle can be displayed by the output state of the vehicle's lights, wherein the vehicle's lights can include the vehicle's body lights.

[0171] For example, when the vehicle processor determines that the vehicle's running direction is forward, it controls the vehicle's lights to output a first state, and the first state may include the vehicle's body lights lighting up in sequence from the headlights to the rear lights.

[0172] For another example, when the vehicle processor determines that the vehicle is moving in the reverse direction, it controls the vehicle lights to output the second state, and the second state may include the body lights lighting up in sequence from the rear lights to the headlights.

[0173] As shown in Figure 5, it is assumed that the vehicle includes 8 body lights: body lights 1 to 8, among which body lights 1 and body lights 2 are located in the front of the vehicle, body lights 3 to 6 are located on the sides of the vehicle, body lights 7 and body lights 8 are located at the rear of the vehicle, body light 3 is located between body light 1 and body light 5, body light 5 is located between body light 3 and body light 7, body light 4 is located between body light 2 and body light 6, and body light 6 is located between body light 4 and body light 8.

[0174] In this example, an example of the body lights lighting up in sequence from the front lights to the rear lights is: first, body lights 1 and 2 light up, then body lights 3 and 4 light up, body lights 1 and 2 stop lighting up, then body lights 5 and 6 light up, body lights 3 and 4 stop lighting up, and finally body lights 7 and 8 light up, and body lights 5 and 6 stop lighting up.

[0175] Figure 6 shows a schematic diagram of the vehicle's body lights illuminating sequentially from the front lights to the rear lights. The arrows indicate the order in which the body lights illuminate. In this example, when viewed from the front, the body lights illuminate sequentially from the center toward the sides. When viewed from the rear, the body lights illuminate sequentially from the sides toward the center.

[0176] An example of the body lights lighting up in order from the rear lights to the front lights is: first body lights 7 and 8 light up, then body lights 5 and 6 light up, body lights 7 and 8 stop lighting up, then body lights 3 and 4 light up, body lights 5 and 6 stop lighting up, and finally body lights 1 and 2 light up, and body lights 3 and 4 stop lighting up.

[0177] Figure 7 shows a schematic diagram of the vehicle's body lights illuminating sequentially from the rear lights to the front lights. The arrows indicate the order in which the body lights illuminate. In this example, when viewed from the front, the body lights illuminate sequentially from the sides toward the center. When viewed from the rear, the body lights illuminate sequentially from the center toward the sides.

[0178] In some examples, after the vehicle processor determines the direction of the vehicle, it can output a first instruction to the vehicle's body lights, where the first instruction indicates the direction of the vehicle. Correspondingly, after receiving the first instruction, the vehicle's body lights can output a corresponding state.

[0179] For example, when the vehicle processor determines that the vehicle's running direction is forward, the first instruction instructs the vehicle's running direction to be forward. After receiving the first instruction, the vehicle's body lights can light up in order from the headlights to the rear lights.

[0180] For another example, when the vehicle processor determines that the vehicle is moving in the reverse direction, the first instruction instructs the vehicle to move in the reverse direction. After receiving the first instruction, the vehicle body lights may light up in the order from the rear lights to the front lights.

[0181] In other examples, the vehicle processor may further store the output state of the vehicle body light corresponding to the vehicle's running direction. In this example, the first instruction may indicate the output state of the vehicle body light.

[0182] For example, when the vehicle processor determines that the vehicle is moving forward, the first instruction can instruct the vehicle's body lights to output a first state. Accordingly, after receiving the first instruction, the vehicle's body lights light up in order from the front lights to the rear lights.

[0183] For another example, when the vehicle processor determines that the vehicle is moving in reverse, the first instruction may instruct the vehicle's body lights to output the second state. Accordingly, after receiving the first instruction, the vehicle's body lights illuminate in order from the rear lights to the front lights.

[0184] The aforementioned output states of the vehicle body lights are merely examples and do not limit the scope of this application. For example, when the vehicle is moving forward, the vehicle body lights may illuminate more than once, sequentially from the front lights to the rear lights. In this example, after body lights 7 and 8 illuminate, body lights 1 and 2 may continue to illuminate. When body lights 1 and 2 begin to illuminate, body lights 7 and 8 cease illuminating.

[0185] It is understood that in order to better illustrate the position of the vehicle body lights, FIG5 describes the vehicle and the vehicle body lights separately. In actual application, the vehicle body lights are installed on the vehicle.

[0186] Optionally, the direction of the vehicle may further include a left turn and a right turn. Whether the direction of the vehicle is a left turn or a right turn may also be displayed by the vehicle body lights.

[0187] For example, when the vehicle processor determines that the vehicle's running direction is forward, it controls the vehicle's lights to output a third state, and the third state may include the lights on the left half of the vehicle turning on.

[0188] For another example, when the vehicle processor determines that the vehicle's direction of travel is reverse, it controls the vehicle's lights to output a fourth state, and the fourth state may include the lights on the right half of the vehicle turning on.

[0189] 5 , it is assumed that body lights 1 , 3 , 5 and 7 are located on the left half of the vehicle, and body lights 2 , 4 , 6 and 8 are located on the right half of the vehicle.

[0190] When the vehicle turns left, body lights 1, 3, 5, and 7 can illuminate. At this point, the vehicle's body lights change from (a) in Figure 8 to (b) in Figure 8. In this example, blank areas indicate that the body lights are off, and shaded areas indicate that the body lights are illuminated.

[0191] When the vehicle turns right, body lights 2, 4, 6, and 8 can illuminate. At this point, the vehicle's body lights change from (a) in Figure 9 to (b) in Figure 9. In this example, blank areas indicate that the body lights are off, and shaded areas indicate that the body lights are illuminated.

[0192] Furthermore, when the vehicle is turning left and moving forward, body lights 1, 3, 5, and 7 may illuminate sequentially from the front lights to the rear lights. At this point, the vehicle's body lights change from (a) in Figure 10 to (b) in Figure 10. In this example, blank areas indicate that the body lights are off, shaded areas indicate that the body lights are illuminated, and arrows indicate the order in which the body lights illuminate.

[0193] When the vehicle turns left and moves backward, body lights 1, 3, 5, and 7 can illuminate sequentially from the rear lights to the front lights. At this point, the vehicle's body lights change from (a) in Figure 11 to (b) in Figure 11. In this example, blank areas indicate that the body lights are off, shaded areas indicate that the body lights are illuminated, and arrows indicate the order in which the body lights illuminate.

[0194] In this method, the manner in which the vehicle processor controls the vehicle light to output the third state can refer to the manner in which the vehicle processor controls the vehicle light to output the first state and the second state in the aforementioned embodiment, which will not be repeated here.

[0195] In this method, users can determine whether the vehicle is moving forward or backward based on the output status of the headlights, and determine whether the vehicle is turning left or right based on the output status of the headlights. This allows users to immediately discover problems and risks during vehicle driving, which helps avoid the occurrence of unsafe factors.

[0196] Furthermore, the running direction of the vehicle can also be output in other ways.

[0197] As an example, the vehicle's headlights may also include projection lamps, and the vehicle processor may output the vehicle's running direction by controlling the projection lamps.

[0198] In this example, the first state may further include the direction of the arrow projected on the ground by the projector lamp pointing forward. The second state may further include the direction of the arrow projected on the ground by the projector lamp pointing backward. The third state may further include the direction of the light projected on the ground by the projector lamp curving to the left. The fourth state may further include the direction of the light projected on the ground by the projector lamp curving to the right.

[0199] As shown in Figure 12, the dotted line represents the range of light projected onto the ground by the projector lamp. In Figure 12 (a), the arrow pointing forward is projected onto the ground by the projector lamp. In Figure 12 (b), the arrow pointing backward is projected onto the ground by the projector lamp.

[0200] As shown in Figure 13, the dotted line represents the range of the light projected by the projector lamp onto the ground. In Figure 13 (a), the direction of the light projected by the projector lamp onto the ground is curved to the left. In Figure 13 (b), the direction of the light projected by the projector lamp onto the ground is curved to the right.

[0201] In some examples, after the vehicle processor determines the direction of the vehicle, it can output a second instruction to the vehicle's projection light, where the second instruction indicates the direction of the vehicle. Accordingly, after receiving the second instruction, the vehicle's projection light outputs a corresponding state.

[0202] For example, when the vehicle processor determines that the vehicle's running direction is forward, the second instruction may indicate that the vehicle's running direction is forward. After receiving the second instruction, the vehicle's projection light may project an arrow in the direction of the arrow ahead on the ground.

[0203] For another example, when the vehicle processor determines that the vehicle is turning left, the second instruction may indicate that the vehicle is turning left. After receiving the second instruction, the projection lamp of the vehicle may project a light direction that bends left on the ground.

[0204] In other examples, the vehicle processor may further store the output state of the projection lamp corresponding to the vehicle's running direction. In this example, the second instruction may indicate the output state of the projection lamp.

[0205] For example, when the vehicle processor determines that the vehicle is moving forward, the second instruction can instruct the vehicle's projection lamp to output the first state. Accordingly, after receiving the second instruction, the vehicle's projection lamp projects an arrow in the direction of the leading arrow on the ground.

[0206] For another example, when the vehicle processor determines that the vehicle is turning left, the second instruction may instruct the vehicle's projection lamp to output the third state. Accordingly, after receiving the second instruction, the vehicle's projection lamp projects a left-bending light direction on the ground.

[0207] Optionally, the projection light can also output the vehicle's running direction by displaying text or patterns.

[0208] Optionally, in some embodiments, the running direction of the vehicle may be outputted through the projection lamp of the vehicle instead of the body lamp of the vehicle.

[0209] In this method, the user can determine whether the vehicle is moving forward or backward based on the direction of the arrow projected on the ground by the projection lamp, and determine whether the vehicle is turning left or right based on the direction of the light projected on the ground by the projection lamp in the vehicle. This makes it easier for users to immediately discover problems and risks during vehicle driving, which helps avoid the occurrence of unsafe factors.

[0210] Optionally, the vehicle's running direction may be output in other ways, such as voice playback.

[0211] In this method, the parking progress of the vehicle can also be output through the vehicle lights.

[0212] As an example, the vehicle processor can output the parking progress of the vehicle by controlling the vehicle body lights. For example, the vehicle processor can output the parking progress of the vehicle by controlling the number of illuminated vehicle body lights.

[0213] 5 , assuming that a vehicle includes eight body lights, the deployment order of the eight body lights in the vehicle is: body light 1 , body light 3 , body light 5 , body light 7 , body light 8 , body light 6 , body light 4 and body light 2 .

[0214] As an example, when the vehicle processor determines that the parking progress of the vehicle is one quarter, two body lights may be constantly lit, for example, body light 1 and body light 3 may be constantly lit.

[0215] Assuming that the body lights 1 and 3 are always on, the body lights of the vehicle can change from (a) in Figure 14 to (b) in Figure 14, where the blank part indicates that the body lights are not on, and the shaded part indicates that the body lights are on.

[0216] In some examples, after the vehicle processor determines the parking progress of the vehicle, it can output a third instruction to the vehicle body lights, where the third instruction indicates the parking progress of the vehicle. Accordingly, after receiving the third instruction, the vehicle body lights output a corresponding state.

[0217] For example, when the vehicle processor determines that the vehicle's parking progress is one quarter, the third instruction can instruct the vehicle body lights to output that the vehicle's parking progress is one quarter. In this example, after receiving the third instruction, the vehicle body lights 1 and 3 are always on.

[0218] In other examples, the vehicle processor may further store the output state of the vehicle body lights corresponding to the vehicle parking progress. In this example, the third instruction may indicate the output state of the vehicle body lights.

[0219] For example, when the vehicle processor determines that the parking progress of the vehicle is one quarter, the third instruction may instruct the body lights 1 and 3 to be constantly on. Accordingly, the body lights 1 and 3 are constantly on after receiving the third instruction.

[0220] Optionally, the parking progress of the vehicle may be output in other ways, such as voice playback.

[0221] Compared with the existing technology, users can determine the parking progress of the vehicle without using a terminal device, and can quickly and intuitively determine the parking progress of the vehicle based on the vehicle's lights, which is conducive to improving user experience.

[0222] In this method, the abnormal stop state of the vehicle can be output through the vehicle lights.

[0223] As an example, the vehicle processor may output the abnormal stop state of the vehicle by controlling the vehicle body lights.

[0224] For example, when the vehicle processor determines that the vehicle is in an abnormal stopped state, it controls the vehicle lights to output a fifth state, where the fifth state includes the vehicle body lights in a breathing flashing state.

[0225] Among them, the body lights entering the breathing flashing state can be understood as a process in which the body lights change from dark to bright, then from bright to dark, then from dark to bright, and then from bright to dark repeatedly.

[0226] Assuming that the vehicle body lights are repeatedly switching between (a) and (b) in FIG15 , the vehicle body lights are in a breathing flashing state, wherein the shaded portion indicates that the vehicle body lights are on, and the blank portion indicates that the vehicle body lights are not on.

[0227] In some examples, when the vehicle processor determines that the vehicle has stopped abnormally, it can output a fourth instruction to the vehicle body light, indicating that the vehicle has stopped abnormally. Accordingly, after receiving the fourth instruction, the vehicle body light can output a corresponding state.

[0228] For example, when the vehicle processor determines that the vehicle has stopped abnormally, the fourth instruction may instruct the vehicle to stop abnormally. After receiving the fourth instruction, the vehicle body light may enter a breathing flashing state.

[0229] In other examples, the vehicle processor may further store the output state of the vehicle body lights corresponding to when the vehicle stops abnormally. In this example, the fourth instruction may indicate the output state of the vehicle body lights.

[0230] For example, when the vehicle processor determines that the vehicle has stopped abnormally, the fourth instruction may instruct the vehicle body light to output the fifth state. Accordingly, after receiving the fourth instruction, the vehicle body light enters the breathing flashing state.

[0231] Optionally, the abnormal vehicle stop status may be output in other ways, such as voice playback.

[0232] In this method, when the vehicle stops abnormally, the user can quickly determine that the vehicle is in an abnormal state through the headlights, which helps the user quickly and intuitively discover problems during the vehicle's driving process and make adjustments to the vehicle.

[0233] In this method, the status of the vehicle completing parking can also be displayed through the vehicle lights.

[0234] As an example, the vehicle processor may output the vehicle's parking completion status by controlling the vehicle body lights.

[0235] For example, after determining that the vehicle has completed parking, the vehicle processor may control the vehicle lights to output a sixth state, where the vehicle body lights flash three times and then stop flashing. The vehicle body lights flash three times and then stop flashing can be understood as: the vehicle body lights stop lighting up after the third flash.

[0236] In this example, the state of the vehicle body lights flashing may be as shown in FIG. 15 .

[0237] In some examples, when the vehicle processor determines that the vehicle has completed parking, it can output a fifth instruction to the vehicle body light, indicating that the vehicle has completed parking. Accordingly, after receiving the fifth instruction, the vehicle body light can output a corresponding state.

[0238] For example, when the vehicle processor determines that the vehicle has completed parking, the fifth instruction may instruct the vehicle to complete parking. After receiving the fifth instruction, the vehicle body light flashes three times and then stops flashing.

[0239] In other examples, the vehicle processor may further store the output state of the vehicle body lights corresponding to when the vehicle completes parking. In this example, the fifth instruction may indicate the output state of the vehicle body lights.

[0240] For example, when the vehicle processor determines that the vehicle has completed parking, the fifth instruction may instruct the vehicle body light to output the sixth state. Accordingly, after receiving the fifth instruction, the vehicle body light flashes three times and then stops flashing.

[0241] Optionally, the vehicle's parking completion status can be output in other ways, such as a vehicle projection light displaying a parking completion lighting effect, a voice playback method, etc.

[0242] Compared with the existing technology, users do not need to use terminal devices to determine whether the vehicle has completed parking. Instead, they can intuitively determine whether the vehicle has completed parking through the vehicle's lights, which is conducive to improving user experience.

[0243] In the technical solution of the present application, the vehicle processor can also determine whether the vehicle is at risk of collision. If it is determined that the vehicle is at risk of collision, the vehicle lights are controlled to output first information, which indicates that the vehicle is at risk of collision.

[0244] Optionally, the vehicle processor can obtain obstacle information from the vehicle radar, the computer vision system in the vehicle control system, or the obstacle avoidance system, and then determine whether the vehicle is at risk of collision based on the obstacle information.

[0245] The obstacle information may include the distance between the vehicle and the obstacle. When the distance between the vehicle and the obstacle exceeds a preset distance threshold, it may be determined that the vehicle is at risk of collision.

[0246] As an example, the vehicle processor may output the first information by controlling vehicle body lights.

[0247] For example, when the vehicle processor determines that the vehicle is at risk of collision, it can control the vehicle's lights to output a seventh state, where the seventh state includes the body lights displaying a warning color.

[0248] The warning color may be set in advance, for example, red or yellow.

[0249] In some examples, when the vehicle processor determines that the vehicle is at risk of collision, it may output a sixth instruction to the vehicle body light, indicating that the vehicle is at risk of collision. Accordingly, after receiving the sixth instruction, the vehicle body light may output a corresponding state.

[0250] For example, when the vehicle processor determines that the vehicle is at risk of collision, the sixth instruction may indicate that the vehicle is at risk of collision. After receiving the sixth instruction, the vehicle body light displays a warning color.

[0251] In other examples, the vehicle processor may further store the output state of the vehicle body lights corresponding to when the vehicle is at risk of collision. In this way, the sixth instruction may indicate the output state of the vehicle body lights.

[0252] For example, when the vehicle processor determines that the vehicle is at risk of collision, the sixth instruction may instruct the vehicle body light to output the seventh state. Accordingly, after receiving the sixth instruction, the vehicle body light displays a warning color.

[0253] Optionally, the first information may be output in other ways, such as a vehicle projection light displaying a lighting effect indicating that the vehicle is at risk of collision, or a voice playback method.

[0254] In this method, when there is a risk of collision with the vehicle, the user can quickly and intuitively determine the risk of collision with the vehicle through the headlights, and adjust the position of the vehicle to avoid the area where the vehicle is about to travel, which is conducive to avoiding the occurrence of unsafe factors.

[0255] Furthermore, the first information may also indicate a position of the vehicle where there is a risk of collision. After receiving the first information, the vehicle body light may output the first information via the vehicle body light at the corresponding position.

[0256] For example, if the vehicle processor determines that there is a risk of collision directly in front of the vehicle, the vehicle processor can control the vehicle's front body lights to display a warning color. In this case, the vehicle's body lights can change from (a) in Figure 16 to (b) in Figure 16, where the shaded area can indicate that the body lights display a warning color.

[0257] For another example, if the vehicle processor determines that there is a collision risk on the right side of the vehicle, the vehicle processor can control the right side body lights of the vehicle to display a warning color. In this case, the vehicle body lights can change from (a) in Figure 17 to (b) in Figure 17, where the shaded area can indicate that the body lights are displaying the warning color.

[0258] In this method, the method for the vehicle processor to control the vehicle body lights can refer to the aforementioned embodiment and will not be repeated here.

[0259] In this method, the user can quickly and intuitively determine the location of the vehicle where there is a risk of collision by the position of the headlights displaying the warning color, which helps the user adjust the position of the vehicle to avoid the area where the vehicle is about to travel, thereby helping to avoid the occurrence of unsafe factors.

[0260] Furthermore, the first information may also indicate the risk level of a vehicle collision.

[0261] The risk of a vehicle collision may be associated with the distance between the vehicle and the obstacle. The closer the distance between the vehicle and the obstacle, the higher the risk of the vehicle collision.

[0262] Optionally, the vehicle's collision risk can be represented by the color displayed by the vehicle's body lights. For example, assuming the vehicle's body lights can display three colors: yellow, red, and white, yellow indicates a moderate collision risk, red indicates a high collision risk, and white indicates a low collision risk.

[0263] As an example, assume that when the vehicle processor determines that the distance between the vehicle and the obstacle is less than a first distance threshold, the vehicle body light is controlled to display red.

[0264] Optionally, assuming that there is a collision risk directly in front of the vehicle and the distance between the vehicle and the obstacle is less than a first distance threshold, the vehicle's body lights may change from (a) in Figure 18 to (b) in Figure 18, where the shaded portion may indicate that the body lights display red.

[0265] Assume that when the vehicle processor determines that the distance between the vehicle and the obstacle is greater than the first distance threshold and less than the second distance threshold, the vehicle body light is controlled to display yellow.

[0266] Optionally, assuming that there is a collision risk directly in front of the vehicle and the distance between the vehicle and the obstacle is greater than the first distance threshold and less than the second distance threshold, the vehicle's body lights can change from (a) in Figure 19 to (b) in Figure 19, where the shaded part can indicate that the body lights are yellow.

[0267] Assume that when the vehicle processor determines that the distance between the vehicle and the obstacle is greater than the second distance threshold, the vehicle body lights are controlled to display white.

[0268] Optionally, assuming that there is a collision risk directly in front of the vehicle and the distance between the vehicle and the obstacle is greater than the first distance threshold and less than the second distance threshold, the vehicle's body lights can change from (a) in Figure 20 to (b) in Figure 20, where the shaded part can indicate that the body lights display white.

[0269] In this example, the first distance threshold and the second distance threshold may be set in advance, and the first distance threshold is smaller than the second distance threshold.

[0270] In this method, the method for the vehicle processor to control the vehicle body lights can refer to the aforementioned embodiment and will not be repeated here.

[0271] In this method, users can quickly and intuitively determine the risk level of a vehicle collision based on the color displayed by the headlights, and adjust the vehicle's position based on the risk level of a vehicle collision to avoid the area where the vehicle is about to travel, which helps to avoid the occurrence of unsafe factors.

[0272] Optionally, the first information may be output in other ways, such as a vehicle projection light displaying a lighting effect indicating that the vehicle is at risk of collision, or a voice playback method.

[0273] In the technical solution of the present application, the vehicle processor can also obtain the connection status between the vehicle and the terminal device, and control the vehicle's lights to output the connection status between the vehicle and the terminal device.

[0274] The connection status between the vehicle and the terminal device includes the status of the vehicle and the terminal device during the connection process, the status of the vehicle and the terminal device being successfully connected, and the status of the vehicle and the terminal device waiting for the automatic parking instruction after the connection is successfully made.

[0275] In this method, the vehicle processor can obtain the connection status between the vehicle and the terminal device from the vehicle's communication module. The connection status between the vehicle and the terminal device can be output through the vehicle body light.

[0276] In this method, the status of the vehicle and the terminal device during the connection process can be output through the vehicle body lights.

[0277] For example, when the vehicle processor determines that the vehicle and the terminal device are in the process of connecting, it controls the vehicle lights to output the eighth state, and the eighth state includes the vehicle body lights lighting up in sequence.

[0278] In conjunction with Figure 5, assuming that the vehicle includes eight body lights, the deployment order of these eight body lights in the vehicle is: body light 1, body light 3, body light 5, body light 7, body light 8, body light 6, body light 4 and body light 2, then the lighting order of these eight body lights can be as shown in (a) in Figure 21 or (b) in Figure 21.

[0279] In (a) of FIG. 21 , the lighting order of the body lights is: body light 1 → body light 3 → body light 5 → body light 7 → body light 8 → body light 6 → body light 4 → body light 2 .

[0280] In (b) of FIG. 21 , the lighting order of the body lights is: body light 2 → body light 4 → body light 6 → body light 8 → body light 7 → body light 5 → body light 3 → body light 1 .

[0281] In some examples, when the vehicle processor determines that the vehicle and the terminal device are in the process of connecting, it can output a seventh instruction to the vehicle body light, indicating that the vehicle and the terminal device are in the process of connecting. Accordingly, after receiving the seventh instruction, the vehicle body light can output a corresponding status.

[0282] For example, when the vehicle processor determines that the vehicle and the terminal device are in the process of connecting, the seventh instruction may indicate that the vehicle and the terminal device are in the process of connecting. After receiving the seventh instruction, the vehicle body lights light up in sequence.

[0283] In other examples, the vehicle processor may further store the output state of the vehicle body light corresponding to the vehicle and the terminal device during the connection process. In this example, the seventh instruction may indicate the output state of the vehicle body light.

[0284] For example, when the vehicle processor determines that the vehicle is in the process of connecting with the terminal device, the seventh instruction can instruct the vehicle body lights to output the eighth state. Accordingly, after receiving the seventh instruction, the vehicle body lights light up in sequence.

[0285] Optionally, when the vehicle is in the process of connecting with the terminal device, the vehicle's body lights may be lit up in sequence more than once.

[0286] Optionally, the status of the vehicle and the terminal device during the connection process can also be output in other ways, such as by displaying the vehicle's projection lights or playing voice messages.

[0287] In this method, the vehicle and the terminal device can output a successful connection status through the vehicle body light.

[0288] For example, after determining that the vehicle is successfully connected to the terminal device, the vehicle processor may control the vehicle's lights to output a ninth state, which may include all body lights being lit.

[0289] At this point, the vehicle's body lights can change from (a) in Figure 22 to (b) in Figure 22. Figure 22 (a) illustrates an example of the body lights being lit sequentially. Figure 22 (b) illustrates all body lights being lit, with the shaded area indicating that the body lights are lit.

[0290] In some examples, when the vehicle processor determines that the vehicle is successfully connected to the terminal device, it can output an eighth instruction to the vehicle body light, indicating that the vehicle is successfully connected to the terminal device. Accordingly, after receiving the eighth instruction, the vehicle body light can output a corresponding status.

[0291] For example, when the vehicle processor determines that the vehicle is successfully connected to the terminal device, the eighth instruction may indicate that the vehicle is successfully connected to the terminal device. After receiving the eighth instruction, all the vehicle body lights light up.

[0292] In other examples, the vehicle processor may further store the output state of the vehicle body light corresponding to when the vehicle is successfully connected to the terminal device. In this example, the eighth instruction may indicate the output state of the vehicle body light.

[0293] For example, when the vehicle processor determines that the vehicle is successfully connected to the terminal device, the eighth instruction can instruct the vehicle body lights to output the ninth state. Accordingly, after receiving the eighth instruction, all the vehicle body lights light up.

[0294] Optionally, the status of successful connection between the vehicle and the terminal device can be output in other ways, such as by vehicle projection light display, voice playback, etc.

[0295] In this method, the state of the vehicle waiting for the automatic parking instruction can be output through the vehicle body lights.

[0296] For example, when the vehicle processor determines that the vehicle is waiting for an automatic parking instruction, it can control the vehicle's lights to output a tenth state, which can include flashing body lights on the side of the vehicle.

[0297] 5 , assuming that the vehicle includes eight body lights, wherein body lights 3 to 6 are located on the sides of the vehicle, when body lights 3 to 6 flash, it indicates that the vehicle is waiting for an automatic parking instruction.

[0298] At this time, the vehicle's body lights may first change from (a) in FIG. 23 to (b) in FIG. 23 , and then present a state of repeatedly changing between (b) in FIG. 23 and (c) in FIG. 23 , where the shaded portion indicates that the vehicle body lights are on.

[0299] Optionally, the body lights of the vehicle may first change from (a) in FIG. 23 to (c) in FIG. 23 , and then present a state of repeatedly changing between (c) in FIG. 23 and (b) in FIG. 23 .

[0300] In some examples, when the vehicle processor determines that the vehicle is waiting for an automatic parking command, a ninth instruction may be output to the vehicle body light, indicating that the vehicle is waiting for an automatic parking command. Accordingly, after receiving the ninth instruction, the vehicle body light outputs a corresponding state.

[0301] For example, when the vehicle processor determines that the vehicle is waiting for an automatic parking instruction, the ninth instruction may instruct the vehicle to wait for the automatic parking instruction. The vehicle body light located on the side of the vehicle may receive the ninth instruction and flash.

[0302] In other examples, the vehicle processor may further store the output state of the vehicle body lights corresponding to when the vehicle is waiting for an automatic parking instruction. In this example, the ninth instruction may indicate the output state of the vehicle body lights.

[0303] For example, when the vehicle processor determines that the vehicle is waiting for an automatic parking instruction, the ninth instruction may instruct the vehicle body lights to output the tenth state. Accordingly, after the vehicle body lights receive the ninth instruction, the vehicle body lights on the side of the vehicle begin to flash.

[0304] Optionally, the status of the vehicle waiting for the automatic parking command can be output in other ways, such as by displaying the vehicle's projection lights or by playing voice messages.

[0305] Compared with the existing technology, users do not need to check the connection status between the vehicle and the terminal device through the terminal device. They can quickly and intuitively determine the connection status between the vehicle and the terminal through the car lights, which is conducive to improving the user experience.

[0306] Optionally, after the vehicle receives the automatic parking command, it can output second information through the vehicle's lights, and the second information is used to indicate that the vehicle has received the automatic parking command.

[0307] For example, after determining that the vehicle has received an automatic parking command, the vehicle processor may control the vehicle's lights to output an eleventh state, where the vehicle's side lights stop flashing. The vehicle's side lights stopping flashing may be understood as the vehicle's side lights stopping illuminating.

[0308] Referring to Figure 5 , assuming a vehicle has eight body lights, with body lights 3 through 6 located on the side of the vehicle, when body lights 3 through 6 stop flashing, it indicates that the vehicle has received the automatic parking command. At this point, the vehicle's body lights may change from (a) in Figure 24 to (b). Figure 24 (a) shows the body lights on the side of the vehicle flashing, and the shaded area indicates that the body lights are illuminated.

[0309] In some examples, when the vehicle processor determines that the vehicle has received an automatic parking command, it may output a tenth instruction to the vehicle body light, indicating that the vehicle has received the automatic parking command. Accordingly, after receiving the tenth instruction, the vehicle body light outputs a corresponding state.

[0310] For example, when the vehicle processor determines that the vehicle has received an automatic parking instruction, the tenth instruction may indicate that the vehicle has received an automatic parking instruction. The body light located on the side of the vehicle may receive the tenth instruction and stop flashing.

[0311] In other examples, the vehicle processor may further store the output state of the vehicle body lights corresponding to when the vehicle receives the automatic parking instruction. In this way, the tenth instruction may indicate the output state of the vehicle body lights.

[0312] For example, when the vehicle processor determines that the vehicle has received an automatic parking instruction, the tenth instruction may instruct the vehicle body light to output an eleventh state. Accordingly, after the vehicle body light receives the tenth instruction, the vehicle body light on the side of the vehicle stops flashing.

[0313] Optionally, the second information may be output in other ways, such as by displaying the information through a vehicle projection light or by playing a voice message.

[0314] In this method, users can quickly and intuitively determine whether the vehicle has received an automatic parking instruction through the vehicle lights, which is conducive to improving user experience.

[0315] It will be understood that the output state of the vehicle lights in this application is merely a simple example and does not limit the scope of this application.

[0316] Optionally, the solution of the present application can be applied not only to the scenario of automatic parking of vehicles, but also to other scenarios of automatic driving.

[0317] FIG25 is a schematic diagram of a vehicle control device according to an embodiment of the present application. As shown in FIG25 , a vehicle control device 2500 may include an acquisition module 2501 and a processing module 2502 .

[0318] As an example, the vehicle control device 2500 may be used to implement the method of the embodiment shown in Figure 4 , wherein the acquisition module 2501 may be used to execute S401 , and the processing module 2502 may be used to execute S402 .

[0319] FIG26 is a schematic diagram of a vehicle control device provided in another embodiment of the present application. As shown in FIG26 , vehicle control device 2600 includes a processor 2601 and an interface circuit 2602. Processor 2601 and interface circuit 2602 are coupled to each other. It will be appreciated that interface circuit 2602 may be a transceiver or an input / output interface. Optionally, vehicle control device 2600 may further include a memory 2604 for storing instructions executed by processor 2601, input data required by processor 2601 to execute instructions, or data generated after processor 2601 executes instructions.

[0320] As an example, the processor 2601 may be used to implement the functions of the processing module 2502 , and the interface circuit 2602 may be used to implement the functions of the acquisition module 2501 .

[0321] In this example, the vehicle control device 2600 may be a vehicle processor or a chip used in a vehicle processor.

[0322] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an erasable programmable read-only memory, an electrically erasable programmable read-only memory, a register, a hard disk, a mobile hard disk, a CD-ROM or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a network device or a terminal device. Of course, the processor and the storage medium can also be present in a network device or a terminal device as discrete components.

[0323] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are performed in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, or other programmable device. The computer program or instructions may be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions may be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; an optical medium, such as a digital video disk; or a semiconductor medium, such as a solid-state drive.

[0324] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0325] It is understood that the various numbers used in the embodiments of this application are merely for ease of description and are not intended to limit the scope of the embodiments of this application. The order of the sequence numbers of the above-mentioned processes does not necessarily imply a specific order of execution; the order of execution of the processes should be determined by their functions and inherent logic.

Claims

1. A vehicle control method, characterized in that: The method comprises: When the vehicle is in the automatic parking state, the vehicle's lights are controlled to output the vehicle's operating status, and the vehicle's operating status includes one or more of the following states: the vehicle's running direction, the vehicle's parking progress, the vehicle's paused state, and the vehicle's parking completion state.

2. The method according to claim 1, characterized in that The controlling the vehicle lights to output the running direction of the vehicle includes: When the vehicle is moving forward, controlling the vehicle lights to output a first state, wherein the first state includes the vehicle body lights lighting up in sequence from the front lights to the rear lights; When the vehicle is moving in a reverse direction, controlling the vehicle lights to output a second state, wherein the second state includes the vehicle body lights lighting up in sequence from the rear lights to the front lights; When the vehicle is turning left, controlling the headlights of the vehicle to output a third state, wherein the third state includes lighting the headlights on the left half of the vehicle; When the vehicle turns right, the headlights of the vehicle are controlled to output a fourth state, wherein the fourth state includes the headlights on the right half of the vehicle being illuminated.

3. The method according to claim 2, characterized in that The controlling the vehicle lights to output the running direction of the vehicle includes: The projection lamp of the vehicle is controlled to output the running direction of the vehicle.

4. The method according to claim 3, characterized in that The first state further includes the direction of the arrow projected on the ground by the projection light in the vehicle being forward; The second state further includes the direction of the arrow projected on the ground by the projection light in the vehicle being backward; The third state further includes the direction of light projected onto the ground by the projection lamp in the vehicle being curved to the left; The fourth state further includes that the direction of light projected onto the ground by the projection lamp in the vehicle is curved to the right.

5. The method according to any one of claims 1 to 4, characterized in that The controlling the vehicle lights to output the parking progress of the vehicle includes: The number of illuminated body lights in the vehicle is controlled to output the parking progress of the vehicle.

6. The method according to any one of claims 1 to 5, characterized in that The controlling the vehicle lights to output the pause state of the vehicle includes: When the vehicle is in a paused state, the vehicle lights are controlled to output a fifth state, wherein the fifth state includes the vehicle body lights entering a breathing flashing state.

7. The method according to any one of claims 1 to 6, characterized in that The controlling the vehicle lights to output the status of the vehicle completing parking includes: After the vehicle completes parking, the vehicle lights are controlled to output a sixth state, wherein the sixth state includes the vehicle body lights flashing three times and then stopping.

8. The method according to any one of claims 1 to 7, characterized in that The method further comprises: determining whether the vehicle has a collision risk; In a case where it is determined that the vehicle is at risk of collision, headlights of the vehicle are controlled to output first information, where the first information indicates that the vehicle is at risk of collision.

9. The method according to claim 8, characterized in that The first information further indicates a position of the vehicle where there is a risk of collision.

10. The method according to claim 8 or 9, characterized in that The first information further indicates a risk level of a collision of the vehicle. The closer the distance between the vehicle and the obstacle, the higher the risk of the vehicle collision.

11. The method according to any one of claims 1 to 10, characterized in that The method further comprises: Acquiring a connection status between the vehicle and the terminal, the connection status between the vehicle and the terminal including a status of the vehicle and the terminal being in the process of being connected, a status of the vehicle and the terminal being successfully connected, and a status of the vehicle and the terminal being waiting for an automatic parking instruction after being successfully connected; Control the vehicle's lights to output the connection status between the vehicle and the terminal.

12. The method according to any one of claims 1 to 11, characterized in that The method further comprises: receiving an automatic parking instruction, wherein the automatic parking instruction is used to instruct the vehicle to start parking; The vehicle lights are controlled to output second information, where the second information indicates that the vehicle has received the automatic parking instruction.

13. A vehicle control device, characterized in that: The method comprises functional modules for implementing the method according to any one of claims 1 to 12.

14. A vehicle control device, characterized in that: include: memory and processor; The memory is used to store program instructions; The processor is configured to execute program instructions in the memory to implement the method according to any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a program code for computer execution, wherein the program code includes instructions for implementing the method according to any one of claims 1 to 12.

16. A computer program product, characterized in that The computer program product comprises instructions for implementing the method according to any one of claims 1 to 12.

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