Vehicle and control method therefor

Abstract

A vehicle and a control method therefor, relating to the technical field of vehicles. When it is determined that a vehicle is in a target area, a communication module of the vehicle can be triggered for scanning, wherein the target area is an area determined by taking the position of a parking lot as the center. Then, if the vehicle scans a signal sent by a target beacon in the parking lot, the vehicle is controlled to travel on the basis of a target traveling direction indicated by the target beacon.

Description

Vehicle and control method thereof

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application number 202410170600.6, filed on February 6, 2024, entitled “Vehicle and Control Method Thereof,” the entire contents of which are incorporated by reference into this disclosure. Technical Field

[0003] The present application relates to the field of vehicle technology, and in particular to a vehicle and a control method thereof. Background Art

[0004] Vehicles can be equipped with satellite positioning components, such as global positioning system (GPS) positioning components. However, the satellite positioning signals of the satellite positioning components are weak in obstructed environments (such as underground parking lots), making it impossible for the satellite positioning components to provide navigation for the vehicle in such obstructed environments. Summary of the Invention

[0005] This application provides a vehicle and a control method thereof, which can solve the problem that the vehicle's satellite positioning component cannot provide navigation for the vehicle in an obstructed environment. The technical solution is as follows:

[0006] In one aspect, a vehicle control method is provided, the method comprising:

[0007] Triggering the vehicle's communication module to scan based on a positional relationship between the vehicle and a target area, the target area being an area centered around the parking lot;

[0008] In the case of scanning a signal sent by a target beacon in the parking lot, determining a target driving direction indicated by the target beacon;

[0009] Control the vehicle to travel in the target driving direction.

[0010] Optionally, the signal sent by the target beacon includes: an identifier of the target beacon; and determining the target driving direction indicated by the target beacon includes:

[0011] The driving direction indicated by the target beacon is determined according to the identifier of the target beacon and the corresponding relationship between the identifier and the driving direction.

[0012] Optionally, a plurality of beacons are arranged in the parking lot along the route that the vehicle needs to travel, and the plurality of beacons include the target beacon; and the method further includes:

[0013] If signals transmitted by at least two beacons are scanned, determining the next beacon of the reference beacon among the at least two beacons as the target beacon;

[0014] The driving direction indicated by the reference beacon is the latest historical driving direction determined during the driving of the vehicle, and the next beacon refers to the next beacon of the reference beacon along the driving direction of the vehicle on the route.

[0015] Optionally, determining a beacon next to a reference beacon among the at least two beacons as the target beacon includes:

[0016] If at least two of the beacons include a next beacon of the reference beacon, determining the next beacon as the target beacon;

[0017] The method further comprises:

[0018] If the at least two beacons do not include the next beacon of the reference beacon, the beacon with the strongest signal strength among the at least two beacons is determined as the target beacon.

[0019] Optionally, before determining the beacon with the strongest signal strength among the at least two beacons as the target beacon, the method further includes:

[0020] The at least two beacons are sorted in order of signal strength.

[0021] Optionally, based on the positional relationship between the vehicle and the target area, triggering the communication module of the vehicle to perform scanning includes:

[0022] obtaining the position of the vehicle;

[0023] If it is determined that the position of the vehicle is within the target area, the communication module of the vehicle is triggered to perform scanning.

[0024] Optionally, the communication module is a Bluetooth communication module;

[0025] The beacon is a Bluetooth beacon.

[0026] In another aspect, a vehicle is provided, comprising: a controller; the controller being configured to:

[0027] Triggering the vehicle's communication module to scan based on a positional relationship between the vehicle and a target area, the target area being an area centered around the parking lot;

[0028] In the case of scanning a signal sent by a target beacon in the parking lot, determining a target driving direction indicated by the target beacon;

[0029] Control the vehicle to travel in the target driving direction.

[0030] Optionally, the signal sent by the target beacon includes: an identifier of the target beacon; and the controller is configured to:

[0031] The driving direction indicated by the target beacon is determined according to the identifier of the target beacon and the corresponding relationship between the identifier and the driving direction.

[0032] On the other hand, a computer-readable storage medium is provided, on which a computer program is stored, characterized in that when the computer program is executed by a processor, the vehicle control method as described in the above aspects is implemented.

[0033] The beneficial effects of the technical solution provided by this application include at least:

[0034] The present application provides a vehicle and a control method thereof. After the vehicle is determined to be within a target area, it can trigger the vehicle's communication module to scan. The target area is an area centered on the location of the parking lot. Then, if the vehicle scans a signal sent by a target beacon in the parking lot, the vehicle is controlled to travel in the target driving direction indicated by the target beacon. Thus, the method provided by the present application can provide the vehicle with a driving direction through interaction between the beacon located in the parking lot and the vehicle, thereby navigating the vehicle in a parking lot with a weak satellite positioning signal.

[0035] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] FIG1 is a flow chart of a vehicle control method provided by an embodiment of the present application;

[0037] FIG2 is a flow chart of another vehicle control method provided by an embodiment of the present application;

[0038] FIG3 is a schematic diagram of a data frame sent by an iBeacon beacon according to an embodiment of the present application;

[0039] FIG4 is a schematic diagram of a route with beacons arranged in a parking lot according to an embodiment of the present application;

[0040] FIG5 is a schematic structural diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0042] The present invention provides a vehicle control method, which is applied to a vehicle, such as a vehicle controller. Referring to FIG1 , the method includes:

[0043] Step 101: Based on the positional relationship between the vehicle and the target area, trigger the communication module of the vehicle to scan.

[0044] The target area is defined by the parking lot as its center. The target area includes only one parking lot. The positional relationship between the vehicle and the target area includes either: the vehicle is located within the target area; or the vehicle is located outside the target area. The parking lot is located in a location with a weak satellite positioning signal. For example, the parking lot may be an underground parking lot.

[0045] In the embodiment of the present application, if the vehicle determines that the vehicle is located within the target area, the vehicle's communication module can be triggered to scan. If the vehicle determines that the vehicle is outside the target area, the operation can be terminated without executing subsequent steps 102 and 103.

[0046] Step 102: When a signal sent by a target beacon in the parking lot is scanned, a target driving direction indicated by the target beacon is determined.

[0047] The target driving direction may be one of the following directions: going straight, turning left, and turning right.

[0048] In an optional implementation, the signal may include a driving direction. After the vehicle scans the signal sent by the target beacon through its communication module, it can directly analyze the signal to obtain the target driving direction indicated by the target beacon.

[0049] In another optional implementation, the signal includes an identifier of a target beacon. After the vehicle, through its communication module, scans the signal transmitted by the target beacon, it can determine the driving direction corresponding to the identifier of the target beacon based on the correspondence between identifiers and driving directions, and use this driving direction to determine the target driving direction indicated by the identifier of the target beacon. This correspondence can be pre-stored by the vehicle.

[0050] Step 103: Control the vehicle to travel in the target direction.

[0051] In an embodiment of the present application, if the vehicle is an autonomous driving vehicle, the vehicle controller can directly control the vehicle to travel in the target driving direction after obtaining the target driving direction.

[0052] If the vehicle is not autonomous, after obtaining the target driving direction, the vehicle may display the target driving direction so that the driver can understand the target driving direction. After the driver understands the target driving direction, he or she may turn the vehicle's steering wheel based on the target driving direction. The vehicle controller may then control the vehicle to follow the target driving direction in response to the driver's steering wheel operation.

[0053] In summary, the embodiment of the present application provides a vehicle control method. After the vehicle is determined to be within a target area, it can trigger the vehicle's communication module to scan. The target area is an area determined with the location of the parking lot as the center. Then, if the vehicle scans the signal sent by the target beacon in the parking lot, the vehicle is controlled to travel in the target driving direction indicated by the target beacon. It can be seen that the method provided by the embodiment of the present application can provide the vehicle with a driving direction through interaction between the beacon located in the parking lot and the vehicle, thereby navigating the vehicle in a parking lot where the satellite positioning signal is weak.

[0054] FIG2 is a flow chart of another vehicle control method provided by an embodiment of the present application, which is applied to a vehicle controller. The method may include:

[0055] Step 201: Obtain the location of the vehicle.

[0056] In an embodiment of the present application, a satellite positioning component may be installed in the vehicle. After the vehicle is started, the vehicle's position can be obtained through the satellite positioning component. It is understood that the vehicle's position can be represented by the vehicle's latitude and longitude coordinates.

[0057] Optionally, the satellite positioning component may include: at least one of a GPS positioning component and a Beidou navigation satellite system (BDS) positioning component.

[0058] Step 202: If it is determined that the vehicle is located within the target area, the communication module of the vehicle is triggered to perform scanning.

[0059] In an embodiment of the present application, multiple beacons are deployed within a parking lot along the desired vehicle route. Each beacon, when activated, periodically transmits a signal. Once a vehicle is located within a target area, it can be determined to be near the parking lot and can then activate its communication module to scan for signals emitted by at least one beacon within the parking lot.

[0060] The target area is an area determined with the parking lot as the center, and the parking lot can be located within this area. Furthermore, the parking lot is a parking lot with a poor satellite positioning component signal, such as an underground parking lot. For example, the target area can be a circular area or a polygonal area determined with the parking lot as the center. The polygonal area can be a square area, a rectangular area, or a regular pentagonal area. The embodiment of the present application does not limit the shape of the area, and only needs to ensure that the target area is centered on the parking lot and can include the parking lot.

[0061] It is understandable that the location of the parking lot may be the center of the parking lot, or may be the location of the entrance to the parking lot. The location of the parking lot may be represented by coordinates.

[0062] The route in the embodiment of the present application may be a route from the entrance of the parking lot to a target location within the parking lot. The target location may be the location of a charging station located within the parking lot. Alternatively, the target location may be the location of a parking space within the parking lot.

[0063] In an embodiment of the present application, a third-party mapping application may be installed in the vehicle, and a target geo-fenced area may be marked on the electronic map of the third-party mapping application. The target geo-fenced area may be marked based on the center position of the target area and the side length of the target area. If the target area is a circular area, the side length is the radius of the target area. If the target area is a square area, the side length is the side length of the square area. If the target area is a rectangular area, the side length includes both the long and short sides of the rectangular area.

[0064] If the third-party map application's backend server determines that the vehicle's current location is within the target geofenced area, it will send a notification to the vehicle indicating that it is within the target geofenced area. Upon receiving this notification, the vehicle can determine that its location is within the target area and then activate the communication module to scan.

[0065] Optionally, the communication module may be a wireless communication module, for example, a Bluetooth communication module, and accordingly, each beacon deployed in the parking lot may be a Bluetooth beacon. Alternatively, the communication module may be a wireless fidelity (Wi-Fi) communication module, and accordingly, each beacon deployed in the parking lot may be a Wi-Fi beacon.

[0066] It is understood that the Bluetooth beacon can be an iBeacon. Compared to traditional Bluetooth base stations, iBeacon beacons consume less power, thus eliminating the need for frequent battery replacement and reducing maintenance costs. Furthermore, iBeacon beacons are also relatively inexpensive to manufacture, thus reducing the cost of vehicle navigation.

[0067] Each beacon deployed in the parking lot can periodically transmit signals after activation. The vehicle can control the communication module to scan once every scanning period. The scanning period can be pre-stored by the vehicle. For example, the scanning period can be 1 second.

[0068] Step 203: When a signal sent by a target beacon in the parking lot is scanned, the target driving direction indicated by the target beacon is determined.

[0069] In an optional implementation, the signal may include a driving direction. After the vehicle scans the signal sent by the target beacon through its communication module, it can directly analyze the signal to obtain the target driving direction indicated by the target beacon.

[0070] In another optional implementation, the signal includes an identifier of the target beacon. After the vehicle, through its communication module, scans the signal transmitted by the target beacon, it can determine the driving direction corresponding to the identifier of the target beacon based on the correspondence between identifiers and driving directions, and use this driving direction to determine the target driving direction indicated by the identifier of the target beacon. This correspondence may be pre-stored by the vehicle. The beacon identifier may be a beacon code or a device serial number.

[0071] In an embodiment of the present application, if the vehicle detects a signal transmitted by only one beacon through the communication module, the beacon can be directly determined as the target beacon. If the vehicle determines that the communication module has scanned signals transmitted by at least two beacons, the beacon next to the reference beacon among the at least two beacons can be determined as the target beacon.

[0072] The driving direction indicated by the reference beacon is the latest historical driving direction determined by the vehicle during the driving process. The next beacon refers to the beacon next to the reference beacon along the driving direction of the vehicle on the route.

[0073] It is understood that the vehicle may determine the most recently used driving direction during driving as the latest historical driving direction and determine the beacon associated with the historical driving direction as the reference beacon. For example, if the vehicle is not an autonomous vehicle, the most recently used driving direction may be the driving direction most recently displayed by the vehicle.

[0074] Alternatively, assuming that the beacon identifier is a beacon code, and that the identifiers of the multiple beacons sequentially arranged along the route from the parking lot entrance to the target location in the parking lot can be sequentially increasing or decreasing, then if the identifiers of the multiple beacons sequentially increase, then the next beacon of the reference beacon may be the beacon indicated by the smallest identifier among the identifiers of the reference beacon whose identifier is greater than that of the reference beacon. If the identifiers of the multiple beacons sequentially decrease, then the next beacon of the reference beacon may be the beacon indicated by the largest identifier among the identifiers of the reference beacon whose identifier is less than that of the reference beacon.

[0075] In the embodiment of the present application, the scanning period of the vehicle's communication module may not overlap with the period of a beacon's transmission signal, resulting in the vehicle not scanning the signal transmitted by the beacon during the scanning period. As a result, if the communication module scans signals transmitted by at least two beacons, the at least two signals may include or exclude the next beacon after the reference beacon.

[0076] At this point, if the vehicle determines that the next beacon after the reference beacon is included among the at least two beacons, that is, the signal transmitted by the next beacon is scanned, the next beacon can be directly determined as the target beacon. If the vehicle determines that the next beacon after the reference beacon is not included among the at least two beacons, that is, the signal transmitted by the next beacon is not scanned, the beacon with the strongest signal strength among the multiple beacons can be determined as the target beacon.

[0077] Since the signal strength is generally proportional to the distance between the beacon and the vehicle, when the vehicle determines the next beacon that does not include the reference beacon among at least two beacons, the beacon closest to the vehicle is determined as the target beacon, which can effectively ensure the accurate driving of the vehicle.

[0078] In an embodiment of the present application, before determining the beacon with the strongest signal strength among at least two beacons as the target beacon, the vehicle can sort the signals sent by the at least two scanned beacons in order of signal strength to determine the beacon with the strongest signal strength from the at least two beacons.

[0079] Alternatively, the vehicle may compare the signal strengths of at least two beacons to determine the beacon having the strongest signal strength from among the at least two beacons.

[0080] In the embodiment of the present application, the beacon can periodically broadcast data frames to transmit signals. Taking the beacon as an iBeacon beacon as an example, the data frame broadcast by the beacon is exemplified as follows:

[0081] Figure 3 is a schematic diagram of the structure of a data frame sent by an iBeacon beacon according to an embodiment of the present application. Referring to Figure 3, the data frame may include: an iBeacon Prefix field, a universally unique identifier (UUID) field, a Major field, a Minor field, and a TX-Power field.

[0082] Among them, the ibeacon Prefix field is used to encapsulate the iBeacon protocol prefix, which is used to distinguish the data frame type. This field can occupy 9 bytes. The UUID field is used to encapsulate the identifier of the beacon manufacturer. The identifier of the manufacturer is used to uniquely identify the manufacturer of the beacon. This field can occupy 16 bytes. The Major field is used to encapsulate the identifier of the parking lot. The identifier of the parking lot is used to uniquely identify the parking lot. This field can occupy 2 bytes. The Minor field is used to encapsulate the identifier of the beacon. This field can occupy 2 bytes. The TX-Power field is used to encapsulate the power of the beacon. This field can occupy 1 byte.

[0083] In an embodiment of the present application, the management platform may send a beacon resource data packet to the vehicle, and the beacon resource data packet may include: the correspondence between the identification of the beacons deployed in each parking lot and the driving direction in multiple parking lots.

[0084] It can be understood that the signal sent by each beacon can also include: parking lot identification, so that vehicles located in the target area can know the identification of the parking lot in the target area, and then based on the identification of the parking lot, the beacon resource data packet determines the correspondence between the identification of the beacon deployed in the parking lot and the driving direction.

[0085] Optionally, after determining that the vehicle is located in the target area, the vehicle can send a data request to the management platform to obtain a beacon resource data packet. Correspondingly, the management platform can respond to the data request and send the beacon resource data packet to the vehicle.

[0086] Step 204: Control the vehicle to travel in the target direction.

[0087] In an embodiment of the present application, if the vehicle is an autonomous driving vehicle, the vehicle controller can directly control the vehicle to travel in the target driving direction after obtaining the target driving direction.

[0088] If the vehicle is not autonomous, after obtaining the target driving direction, the vehicle may display the target driving direction so that the driver can understand the target driving direction. After the driver understands the target driving direction, he or she may turn the vehicle's steering wheel based on the target driving direction. The vehicle controller may then control the vehicle to follow the target driving direction in response to the driver's steering wheel operation.

[0089] It is understood that if the vehicle is not an autonomous vehicle, a prompt component may be installed in the vehicle. After the vehicle determines the target driving direction, the prompt component can be controlled to display the target driving direction.

[0090] Optionally, the prompt component may include: at least one of a display screen and a speaker. The display screen may be a central control screen of the vehicle.

[0091] It is understandable that, while the vehicle is traveling, steps 203 and 204 can be repeatedly executed to obtain the latest target driving direction, and the vehicle can be controlled to travel according to the latest target driving direction until the vehicle reaches the destination.

[0092] Taking the route that a vehicle needs to travel from the entrance of a parking lot to the location of a charging pile in the parking lot as an example, the process of the management platform obtaining the beacon resource data packet mentioned above is explained as follows:

[0093] The staff can pre-install multiple beacons on the road section from the entrance of the parking lot to the location of the charging pile in the parking lot. For example, see Figure 4, where three beacons are installed from the entrance to the location of the charging pile. The identification of the three beacons increases in sequence from the entrance to the location of the charging pile. The staff can then determine the direction of travel that each beacon should indicate for the vehicle as the vehicle drives from the entrance to the location of the charging pile. The staff can then input the identification of the parking lot, the identification of each beacon in the multiple beacons, and the direction of travel that the beacon should indicate into the management platform. Accordingly, the management platform can obtain the corresponding relationship between the identification of the beacons deployed in the parking lot and the direction of travel in response to the input operation of the staff.

[0094] For each of the multiple parking lots, the management platform can obtain the correspondence between the identification of the beacon deployed in the parking lot and the driving direction through the above method, and then obtain the beacon resource data packet.

[0095] As you can understand, beacons are typically installed at intersections on a road. For example, at the intersection shown in Figure 4, a beacon marked 1 is installed. This beacon at the intersection indicates the vehicle's turning direction. This ensures that vehicles can obtain accurate driving directions at intersections, preventing them from entering the wrong route, thereby providing more reliable indoor navigation services.

[0096] In the embodiments of the present application, since the coverage and signal strength of the signals sent by the beacons are limited, after the beacons are installed, the staff needs to test the coverage of the beacons. If the staff determines through testing that the signal coverage of multiple beacons cannot cover the route required by the vehicle, the installation position and / or signal strength of the beacons can be adjusted until the signal coverage of the multiple beacons can cover the route required by the vehicle. In this way, it can be ensured that the multiple beacons can accurately guide the vehicle from the entrance to the target location.

[0097] It is understandable that beacons arranged along a route in the parking lot are used to guide vehicles to travel from the entrance of the parking lot along the route to the target location of the parking lot, but are not used to guide vehicles to travel from the target location to the exit of the parking lot.

[0098] It is understood that the order of the steps of the vehicle control method provided in the embodiments of the present application can be adjusted appropriately, and the number of steps can be increased or decreased accordingly. Any person skilled in the art who can easily conceive of a variation within the technical scope disclosed in this application should be included in the scope of protection of this application, and therefore will not be described in detail.

[0099] In summary, the embodiment of the present application provides a vehicle control method. After the vehicle is determined to be within a target area, it can trigger the vehicle's communication module to scan. The target area is an area determined with the location of the parking lot as the center. Then, if the vehicle scans the signal sent by the target beacon in the parking lot, the vehicle is controlled to travel in the target driving direction indicated by the target beacon. It can be seen that the method provided by the embodiment of the present application can provide the vehicle with a driving direction through interaction between the beacon located in the parking lot and the vehicle, thereby navigating the vehicle in a parking lot where the satellite positioning signal is weak.

[0100] FIG5 is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. Referring to FIG5 , the vehicle 100 includes a controller 110. The controller 110 can be used to:

[0101] Based on the positional relationship between the vehicle and the target area, the vehicle's communication module is triggered to scan. The target area is an area centered on the parking lot.

[0102] When a signal sent by a target beacon in the parking lot is scanned, determining a target driving direction indicated by the target beacon;

[0103] Control the vehicle to travel in the target direction.

[0104] Optionally, the signal sent by the target beacon includes: an identifier of the target beacon. The controller 110 can be used to:

[0105] According to the identification of the target beacon and the corresponding relationship between the identification and the driving direction, the driving direction indicated by the target beacon is determined.

[0106] Optionally, a plurality of beacons are arranged along the route that the vehicle needs to travel in the parking lot, and the plurality of beacons include a target beacon. The controller 110 can also be used to:

[0107] If signals transmitted by at least two beacons are scanned, the next beacon of the reference beacon among the at least two beacons is determined as the target beacon;

[0108] The driving direction indicated by the reference beacon is the latest historical driving direction determined by the vehicle during driving, and the next beacon refers to the next beacon after the reference beacon along the driving direction of the vehicle on the route.

[0109] Optionally, the controller 110 may be configured to:

[0110] If the at least two beacons include the next beacon of the reference beacon, the next beacon is determined as the target beacon.

[0111] The controller 110 may also be used to:

[0112] If the at least two beacons do not include the next beacon of the reference beacon, the beacon with the strongest signal strength among the at least two beacons is determined as the target beacon.

[0113] Optionally, before determining the beacon with the strongest signal strength among the at least two beacons as the target beacon, the controller 110 may further be configured to:

[0114] At least two beacons are sorted in order of signal strength.

[0115] Optionally, the controller 110 may be configured to:

[0116] Get the vehicle's location;

[0117] If the vehicle's position is determined to be within the target area, the vehicle's communication module is triggered to perform a scan.

[0118] Optionally, the communication module is a Bluetooth communication module;

[0119] The beacon is a Bluetooth beacon.

[0120] In summary, the embodiments of the present application provide a vehicle that can trigger the vehicle's communication module to scan based on the vehicle's positional relationship with a target area, where the target area is an area centered on the parking lot. Then, if the vehicle scans a signal sent by a target beacon within the parking lot, the vehicle is controlled to travel in the target direction indicated by the target beacon. In this way, in an obstructed environment, the vehicle controls its travel according to the direction indicated by the beacon, thereby avoiding the problem of poor positioning in an obstructed environment and achieving navigation for the vehicle.

[0121] 5 , the vehicle 100 may further include a memory 130 . The controller 110 and the memory 130 are connected, for example, via a bus 120 .

[0122] The controller 110 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The controller 110 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0123] Bus 120 may include a path for transmitting information between the aforementioned components. Bus 120 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, for example. Bus 120 may be divided into an address bus, a data bus, a control bus, and so on. For ease of illustration, FIG5 shows only a single thick line, but this does not indicate that there is only one bus or only one type of bus.

[0124] The memory 130 is used to store a computer program corresponding to the vehicle control method of the above embodiment of the present application, and the computer program is controlled and executed by the controller 110. The controller 110 is used to execute the computer program stored in the memory 130 to implement the content shown in the above method embodiment.

[0125] The vehicle 100 shown in FIG5 is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0126] The present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the computer program implements the vehicle control method provided in the above method embodiment, such as the method shown in FIG1 or FIG2 .

[0127] It should be noted that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0128] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0129] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0130] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0131] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0132] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for controlling a vehicle, the method comprising: Triggering the vehicle's communication module to scan based on a positional relationship between the vehicle and a target area, the target area being an area centered around the parking lot; In the case of scanning a signal sent by a target beacon in the parking lot, determining a target driving direction indicated by the target beacon; Control the vehicle to travel in the target driving direction.

2. The method according to claim 1, wherein the signal sent by the target beacon comprises: an identifier of the target beacon; Determining the target driving direction indicated by the target beacon includes: The driving direction indicated by the target beacon is determined according to the identifier of the target beacon and the corresponding relationship between the identifier and the driving direction.

3. The method according to claim 1, wherein a plurality of beacons are arranged in the parking lot along the route that the vehicle needs to travel, and the plurality of beacons include the target beacon; the method further comprising: If signals transmitted by at least two beacons are scanned, determining the next beacon of the reference beacon among the at least two beacons as the target beacon; The driving direction indicated by the reference beacon is the latest historical driving direction determined during the driving of the vehicle, and the next beacon refers to the next beacon of the reference beacon along the driving direction of the vehicle on the route.

4. The method according to claim 3, wherein determining the next beacon of the reference beacon among the at least two beacons as the target beacon comprises: If at least two of the beacons include a next beacon of the reference beacon, determining the next beacon as the target beacon; The method further comprises: If the at least two beacons do not include the next beacon of the reference beacon, the beacon with the strongest signal strength among the at least two beacons is determined as the target beacon.

5. The method according to claim 4, before determining the beacon with the strongest signal strength among the at least two beacons as the target beacon, the method further comprises: The at least two beacons are sorted in order of signal strength.

6. The method according to any one of claims 1 to 5, wherein triggering the communication module of the vehicle to scan based on the positional relationship between the vehicle and the target area comprises: obtaining the position of the vehicle; If it is determined that the position of the vehicle is within the target area, the communication module of the vehicle is triggered to perform scanning.

7. The method according to any one of claims 1 to 5, wherein the communication module is a Bluetooth communication module; The beacon is a Bluetooth beacon.

8. A vehicle, comprising: Controller; The controller is used to: Triggering the vehicle's communication module to scan based on a positional relationship between the vehicle and a target area, the target area being an area centered around the parking lot; In the case of scanning a signal sent by a target beacon in the parking lot, determining a target driving direction indicated by the target beacon; Control the vehicle to travel in the target driving direction.

9. The vehicle according to claim 8, wherein the signal transmitted by the target beacon comprises: The identification of the target beacon; the controller is used to: The driving direction indicated by the target beacon is determined according to the identifier of the target beacon and the corresponding relationship between the identifier and the driving direction.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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