Vehicle control method, display method, and related apparatuses

Abstract

A vehicle control method, a display method, and related apparatuses, which are applied to the technical field of vehicle control. The vehicle control method comprises: in a process in which a first vehicle travels according to a first parking route, on the basis of road condition information of an environment in which the first vehicle is located, determining that a first road section of the first parking route is blocked; generating a second parking route on the basis of the road condition information; and, on the basis of the second parking route, controlling the first vehicle to park in a target parking space. The second parking route does not pass through the first road section. In view of the problem of a low success rate of valet parking in a valet parking scenario, the present method can control a vehicle to automatically attempt to switch routes to a destination so as to prevent the vehicle from being stuck in one place, thereby increasing the success rate of valet parking, reducing the probability of take-over by a user, and improving the experience of unmanned valet parking for the user.

Description

Vehicle control methods, display methods and related devices

[0001] This application claims priority to Chinese Patent Application No. 202411982455.8, filed on December 27, 2024, entitled "Vehicle Control Method, Display Method and Related Device", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of vehicle control technology, and in particular to a vehicle control method, display method and related device. Background Technology

[0003] Parking difficulties are a common challenge facing urban transportation today, especially in busy commercial and residential areas. Drivers often spend a significant amount of time searching for suitable parking spaces, and traditional manual parking methods are no longer adequate for the needs of modern life. With the development of intelligent assisted driving technology, valet parking technology enables vehicles to autonomously search, select, and complete the parking process within parking lots, eliminating the need for drivers to operate the vehicle themselves, thus providing consumers with a more convenient and efficient parking experience.

[0004] However, in practical applications, temporary traffic control or illegal parking may frequently cause road blockages that prevent vehicles from passing, resulting in a low success rate for valet parking. Summary of the Invention

[0005] This application provides a vehicle control method, display method, and related device that can control a vehicle to automatically attempt to switch routes to its destination, avoiding being stuck in place and improving the success rate of valet parking.

[0006] In a first aspect, embodiments of this application provide a vehicle control method applied to a first vehicle. The method includes: during the first vehicle's travel along a first parking route, determining, based on road condition information of the environment in which the first vehicle is located, that a first segment of the first parking route is congested; generating a second parking route based on the road condition information; and controlling the first vehicle to park in a target parking space based on the second parking route. The second parking route does not pass through the first segment.

[0007] This application provides a vehicle control method. If, during the first vehicle's journey along a first parking route, a blockage is detected in the first segment of that route, the method can replan the route based on road condition information, generate a second parking route, and control the first vehicle to bypass the first segment and successfully park in the target space. Current parking lot environments are often complex, with narrow passages and less traffic regulation compared to road conditions. Temporary traffic control or illegal parking can frequently cause road congestion, preventing vehicles from passing and resulting in a low success rate for valet parking. To address this low success rate issue in valet parking scenarios, the vehicle control method in this application allows the vehicle to automatically attempt to switch routes to the destination, avoiding being stuck in place. This improves the success rate of valet parking, reduces the probability of user intervention, and enhances the user experience of unmanned valet parking.

[0008] In one possible implementation, the parking spaces for the second parking route are the same as those for the first parking route.

[0009] In this embodiment, the parking spaces for the second parking route are the same as those for the first parking route. This can be understood as the destination of the replanned route being the same as the destination of the initially planned route. In this case, the congestion on the first road segment only prevents vehicles from parking in the spaces the user desires according to the first parking route; vehicles can still park in the spaces the user desires according to the second parking route.

[0010] Optionally, the parking spaces for the second parking route can be different from those for the first parking route. This can be understood as the destination of the replanned route being different from the destination of the initially planned route. In this case, the congestion on the first road segment not only prevents the vehicle from parking in the space the user desires according to the first parking route, but also prevents the vehicle from parking in the space the user desires according to any other parking route. In this situation, the user can be notified to reselect the desired parking space, and a parking route can be generated based on the user's reselected desired parking space. The first vehicle can then be controlled to park in the new parking space according to this parking route. Alternatively, the first vehicle can be controlled to automatically park in a parking space that is close to the space the user desires. Or, the first vehicle can be controlled to automatically park in a parking space preset by the user. This preset parking space can be a parking space close to the parking lot entrance / exit, elevator shaft, stairwell, etc. This embodiment of the application does not impose any restrictions on this.

[0011] In one possible implementation, the determination that a first segment of the first parking route is congested based on the road condition information of the environment in which the first vehicle is located can be achieved in ways including but not limited to the following: determining that a first segment is congested when the first segment meets a first condition. The first condition includes: the duration for which a first obstacle exists on the first segment exceeds a first threshold, and the distance between the first obstacle and the drivable boundary of the first segment is less than a second threshold; or, there is a no-passage sign on the first segment.

[0012] In this embodiment, a method is provided to identify a road that is completely blocked and impassable. When a road segment meets the first condition mentioned above, the road segment is identified as completely blocked and impassable, thereby triggering parking route replanning and controlling the vehicle to automatically attempt to switch routes to the destination.

[0013] In one possible implementation, controlling the first vehicle to park in the target parking space can be achieved in ways including but not limited to the following: Under a second condition, controlling the first vehicle to park in the target parking space according to a second parking route. The second condition includes: the distance between the rear axle center of the first vehicle and a first point on the second parking route is less than a third threshold, and the angle between the front orientation of the first vehicle and the tangent direction of the first point is less than a fourth threshold. The first point is the point on the second parking route closest to the rear axle center of the first vehicle.

[0014] In this embodiment, a method is provided to identify whether the current position of a vehicle can directly enter the cruise state. When the first vehicle meets the second condition mentioned above, it is identified that the current position of the first vehicle can directly enter the cruise state, and the first vehicle is controlled to cruise and park into the target parking space according to the re-planned second parking route.

[0015] In one possible implementation, the vehicle control method described above may also include, but is not limited to, the following steps: if the second condition is not met, controlling and adjusting the body posture of the first vehicle until the first vehicle meets the second condition.

[0016] In this embodiment, a method is provided to identify whether the current position of the first vehicle can directly enter the cruise state. When the first vehicle does not meet the above-mentioned second condition, it is identified that the current position of the first vehicle cannot directly enter the cruise state. It is necessary to control and adjust the body posture of the first vehicle until the first vehicle meets the above-mentioned second condition, and then control the first vehicle to cruise and park into the target parking space according to the re-planned second parking route.

[0017] In one possible implementation, the second parking route includes one or more of the following information: the navigation route of the first vehicle, the movement trajectory of the first vehicle, the gear information of the first vehicle, and the vehicle body posture information of the first vehicle.

[0018] In this embodiment, the second parking route may include, but is not limited to, any one or more of the above-mentioned information, and this application embodiment does not impose any limitations on this. Optionally, the second parking route may include the navigation route of the first vehicle. Optionally, the second parking route may include the navigation route of the first vehicle and the movement trajectory of the first vehicle. The movement trajectory of the first vehicle may include the complete movement trajectory involved in adjusting the vehicle's body posture, and may also include vehicle posture information such as gear position information and vehicle heading. This application embodiment does not impose any limitations on this.

[0019] In one possible implementation, the vehicle control method described above may also include, but is not limited to, the following steps: controlling the display device to display any one or more of the following: a first parking route, a second parking route, a location where a first road segment is blocked, a first vehicle being parked, and images and / or videos corresponding to road condition information.

[0020] In this embodiment, the display device can also be controlled to display relevant information about the first vehicle during the valet parking process. This information may include, but is not limited to, any one or more of the above-mentioned information; this application embodiment does not impose any limitations on this. Optionally, the display device may include, but is not limited to, a vehicle infotainment screen, a mobile phone, a tablet computer, a wearable device, or other terminals. Optionally, the above information may be presented to the user in the form of text, voice, images, video, etc., via pop-ups or icons; this application embodiment does not impose any limitations on this. Optionally, the reasons for the vehicle replanning its parking route, the vehicle's current driving status, the vehicle's gear information, the interaction information between the vehicle and obstacles, etc., may all be presented to the user; this application embodiment does not impose any limitations on this.

[0021] In one possible implementation, the vehicle control method described above may also include, but is not limited to, the following steps: updating the map information corresponding to the location where there is a blockage in the first road segment.

[0022] In this embodiment, a self-map update method is provided. When a blockage is detected in the first road segment, the blockage location can be recorded in the map. This allows the initial route planning for subsequent valet parking tasks to avoid the blockage location, improving the efficiency of valet parking task completion and thus enhancing the user experience.

[0023] In one possible implementation, the vehicle control method described above may also include, but is not limited to, the following steps: uploading map information corresponding to the second parking route and / or the first road segment to the cloud, wherein the map information includes at least one of the following: the location of the blockage in the first road segment, and images and / or videos of the blockage in the first road segment.

[0024] In this embodiment, a method for crowdsourced mapping update is provided. After updating the blocking location, the updated map can be uploaded to the cloud. If the cloud confirms that the update is a long-term real-world change, such as long-term road construction blocking or permanent road reconstruction blocking, the updated map can replace the original cloud map. This allows other vehicles to avoid the blocking location when entering the road segment for valet parking for the first time, improving the efficiency of valet parking tasks and thus enhancing the user experience.

[0025] Secondly, embodiments of this application provide a display method applied to a display device. The method includes: displaying a first vehicle or its corresponding icon traveling along a first parking route, and displaying a blockage in a first segment of the first parking route; displaying a second parking route, and displaying the first vehicle or its corresponding icon parking in a target parking space along the second parking route. The second parking route is generated based on road condition information of the environment where the first vehicle is located, and does not pass through the first segment.

[0026] This application embodiment provides a display method. During the process of a first vehicle traveling along a first parking route, the display device shows the first vehicle or its corresponding icon traveling along the first parking route. If a first segment of the first parking route is blocked and impassable, the display device displays that the first segment of the first parking route is blocked. If a second parking route is generated based on traffic information and a new route is planned, the display device displays the second parking route. During the process of the first vehicle successfully parking in the target space by following the second parking route and bypassing the first segment, the display device displays that the first vehicle or its corresponding icon has parked in the target space based on the second parking route. Current parking lot environments are very complex, often with narrow passages and less traffic rule constraint compared to road driving environments. Temporary traffic control or illegal parking can frequently cause road congestion, preventing vehicles from passing, thus resulting in a low success rate for valet parking. To address the issue of low success rates in valet parking scenarios, the display method described in this application can show the user the entire process of the vehicle automatically attempting to switch routes to its destination. This can improve the success rate of valet parking, reduce the probability of user intervention, and enhance the user's experience with unmanned valet parking.

[0027] Optionally, the aforementioned display device may include, but is not limited to, in-vehicle infotainment screens, mobile phones, tablets, wearable devices, and other terminals; this application embodiment does not impose any restrictions on this.

[0028] Optionally, the above-mentioned display content can be presented to the user in the form of text, voice, images, videos, etc., in the form of pop-ups or icons, and this application embodiment does not limit this.

[0029] In one possible implementation, the above display method may also include, but is not limited to, the following steps: displaying a first prompt message, the first prompt message being used to prompt the user to select a parking route for the first vehicle.

[0030] In this embodiment, the user can be prompted to select a parking route for the first vehicle by displaying a first prompt message. The first vehicle can then perform valet parking according to the parking route selected by the user, thereby increasing the success rate of valet parking, reducing the probability of user takeover, and improving the user's experience with unmanned valet parking.

[0031] In one possible implementation, the above display method may further include, but is not limited to, the following steps: in response to a first operation by the user, displaying that the parking route of the first vehicle has been adjusted to a second parking route, and sending first information, the first information being used to instruct the user to select the second parking route. The first operation includes selecting the second parking route.

[0032] In this embodiment, when the user selects the second parking route, the display device shows that the parking route of the first vehicle has been adjusted to the second parking route, and sends the first information to the first vehicle or the cloud to inform the first vehicle or the cloud that the user has selected the second parking route. As a result, the first vehicle can perform valet parking according to the second parking route selected by the user, which improves the success rate of valet parking, reduces the probability of user takeover, and improves the user's experience of unmanned valet parking.

[0033] In one possible implementation, the above display method may also include, but is not limited to, the following steps: displaying a second prompt message, the second prompt message being used to prompt the user to select a parking space for the first vehicle.

[0034] In this embodiment, the user can be prompted to select a parking space for the first vehicle by displaying a second prompt message. The first vehicle can then plan and generate a parking route based on the selected parking space and perform valet parking according to the parking route, thereby increasing the success rate of valet parking, reducing the probability of user takeover, and improving the user's experience with unmanned valet parking.

[0035] In one possible implementation, the above display method may further include, but is not limited to, the following steps: in response to a second operation by the user, displaying the parking space of the first vehicle as the target parking space, and sending second information, the second information being used to instruct the user to select the target parking space. The second operation includes: selecting the target parking space.

[0036] In this embodiment, when a user selects a target parking space, the display device shows the parking space of the first vehicle as the target parking space and sends a second message to the first vehicle or the cloud, informing the first vehicle or the cloud that the parking space selected by the user is the target parking space. Thus, the first vehicle can plan and generate a parking route based on the target parking space selected by the user, and perform valet parking according to the parking route, thereby improving the success rate of valet parking, reducing the probability of user takeover, and improving the user's experience of unmanned valet parking.

[0037] In one possible implementation, the parking spaces for the second parking route are the same as those for the first parking route.

[0038] In this embodiment, the parking spaces for the second parking route are the same as those for the first parking route. This can be understood as the destination of the replanned route being the same as the destination of the initially planned route. In this case, the congestion on the first road segment only prevents vehicles from parking in the spaces the user desires according to the first parking route; vehicles can still park in the spaces the user desires according to the second parking route.

[0039] In one possible implementation, the parking spaces in the second parking route are different from those in the first parking route. The display method may also include, but is not limited to, the following steps: displaying a third prompt message to indicate that the parking space for the first vehicle has been changed to the target parking space.

[0040] In this embodiment, the parking space for the second parking route may be different from that for the first parking route. This can be understood as the destination of the replanned route being different from the destination of the initially planned route. In this case, the congestion on the first road segment not only prevents the vehicle from parking in the user's desired space according to the first parking route, but also prevents the vehicle from parking in the user's desired space according to any other parking route. At this time, the user can be notified to reselect their desired parking space, and a parking route can be generated based on the user's reselected desired space. The first vehicle can then be controlled to park in the new parking space according to this parking route. Alternatively, the first vehicle can be controlled to automatically park in a parking space close to the user's desired space, or it can be controlled to automatically park in a pre-set parking space. This pre-set parking space can be a parking space close to the parking lot entrance / exit, elevator shaft, stairwell, etc. This embodiment does not impose any limitations on this. In this situation, a third prompt message can be displayed to inform the user that the parking space for the first vehicle has been changed to the target parking space, so that the user can know the parking location of the first vehicle in a timely manner, thus improving the user's experience with unmanned valet parking.

[0041] In one possible implementation, the second parking route includes one or more of the following information: the navigation route of the first vehicle, the movement trajectory of the first vehicle, the gear information of the first vehicle, and the vehicle body posture information of the first vehicle.

[0042] In this embodiment, the second parking route may include, but is not limited to, any one or more of the above-mentioned information, and this application embodiment does not impose any limitations on this. Optionally, the second parking route may include the navigation route of the first vehicle. Optionally, the second parking route may include the navigation route of the first vehicle and the movement trajectory of the first vehicle. The movement trajectory of the first vehicle may include the complete movement trajectory involved in adjusting the vehicle's body posture, and may also include vehicle posture information such as gear position information and vehicle heading. This application embodiment does not impose any limitations on this.

[0043] In one possible implementation, the above display method may also include, but is not limited to, the following steps: displaying one or more of the following: the first vehicle is in a parked state, and images and / or videos corresponding to road condition information.

[0044] In this embodiment, the display device can also display relevant information about the first vehicle during the valet parking process, specifically including but not limited to any one or more of the above-mentioned information; this application embodiment does not impose any limitations on this. Optionally, the display device can include, but is not limited to, a vehicle infotainment screen, a mobile phone, a tablet computer, a wearable device, or other terminals. Optionally, the above information can be presented to the user in the form of text, voice, images, video, etc., via pop-ups or icons; this application embodiment does not impose any limitations on this. Optionally, the reasons for the vehicle replanning the parking route, the vehicle's current driving status, the vehicle's gear information, the interaction information between the vehicle and obstacles, etc., can all be presented to the user; this application embodiment does not impose any limitations on this.

[0045] Thirdly, embodiments of this application provide a vehicle control device, which includes a unit for performing the method as described in any of the first aspects.

[0046] In one possible design, the device includes:

[0047] The processing unit is used to determine, based on the road condition information of the environment in which the first vehicle is located, that there is a blockage in the first segment of the first parking route while the first vehicle is traveling along the first parking route.

[0048] The processing unit is also used to generate a second parking route based on road condition information; wherein the second parking route does not pass through the first road segment.

[0049] The processing unit is also used to control the first vehicle to park in the target parking space based on the second parking route.

[0050] In one possible implementation, the device further includes a communication unit.

[0051] The processing unit is also used to obtain road condition information of the environment in which the first vehicle is located through the communication unit.

[0052] Regarding the processing unit and communication unit described in the third aspect and any possible implementation, the steps performed thereon can be referred to the corresponding implementations in the first aspect.

[0053] For the technical effects of the third aspect and any possible implementation, please refer to the description of the technical effects corresponding to the first aspect and the corresponding implementation.

[0054] Optionally, in the vehicle control device described in the third aspect above and any possible embodiment:

[0055] In one implementation, the vehicle control device is a vehicle control equipment. When the vehicle control device is a vehicle control equipment, the communication unit can be a transceiver or an input / output interface; the processing unit can be at least one processor. Optionally, the transceiver can be a transceiver circuit. Optionally, the input / output interface can be an input / output circuit.

[0056] In another implementation, the vehicle control device is a chip (system) or circuit used in vehicle control equipment. When the vehicle control device is a chip (system) or circuit used in vehicle control equipment, the communication unit can be a communication interface (input / output interface), interface circuit, output circuit, input circuit, pin, or related circuit on the chip (system) or circuit; the processing unit can be at least one processor, processing circuit, or logic circuit.

[0057] Fourthly, embodiments of this application provide a display device including a unit for performing the method as described in any of the second aspects.

[0058] In one possible design, the device includes:

[0059] The display unit is used to display the first vehicle or the icon corresponding to the first vehicle traveling based on the first parking route.

[0060] The display unit is also used to display that there is a blockage in the first segment of the first parking route.

[0061] The display unit is also used to display a second parking route, which is generated based on the road condition information of the environment where the first vehicle is located. The second parking route does not pass through the first road segment.

[0062] The display unit is also used to display the first vehicle or the icon corresponding to the first vehicle parking in the target parking space based on the second parking route.

[0063] In one possible implementation, the device further includes a communication unit.

[0064] The display unit is also used to obtain the first parking route and the second parking route through the communication unit.

[0065] Regarding the display unit and communication unit described in the fourth aspect and any possible implementation, the steps performed thereon can be referred to the corresponding implementation in the second aspect.

[0066] Regarding the technical effects of the fourth aspect and any possible implementation, refer to the description of the technical effects corresponding to the second aspect and the corresponding implementation.

[0067] Optionally, in the display device described in the fourth aspect above and any possible embodiment:

[0068] In one implementation, the display device is a display apparatus. When the display device is a display apparatus, the communication unit can be a transceiver or an input / output interface; the display unit can be at least one display. Optionally, the transceiver can be a transceiver circuit. Optionally, the input / output interface can be an input / output circuit.

[0069] In another implementation, the display device is a chip (system) or circuit used in a display device. When the display device is a chip (system) or circuit used in a display device, the communication unit can be a communication interface (input / output interface), interface circuit, output circuit, input circuit, pin, or related circuit on the chip (system) or circuit; the display unit can be at least one display, display circuit, or logic circuit.

[0070] Fifthly, embodiments of this application provide a vehicle control device including a processor. The processor is coupled to a memory and can be used to execute instructions in the memory to implement the methods described in the first aspect and any of the possible implementations. Optionally, the vehicle control device further includes a memory. Optionally, the vehicle control device further includes a communication interface, and the processor is coupled to the communication interface.

[0071] Sixthly, embodiments of this application provide a display device including a display. The display is coupled to a memory and can be used to execute instructions in the memory to implement the methods described in the second aspect and any of the possible implementations. Optionally, the display device further includes a memory. Optionally, the display device further includes a communication interface, and the display is coupled to the communication interface.

[0072] In a seventh aspect, embodiments of this application provide a chip, including: logic circuitry and a communication interface. The communication interface is used to receive or transmit information; the logic circuitry is used to receive or transmit information through the communication interface, causing the chip to execute the methods of any one of the first to second aspects and any possible implementations described above.

[0073] Eighthly, embodiments of this application provide a computer-readable storage medium for storing a computer program (also referred to as code or instructions); when the computer program is run on a computer, the methods of any of the first to second aspects and any of the possible implementations described above are implemented.

[0074] Ninthly, embodiments of this application provide a computer program product, the computer program product comprising: a computer program (also referred to as code or instructions); and, when the computer program is run, causing a computer to perform the method of any one of the first to second aspects and any possible implementation thereof.

[0075] In a tenth aspect, embodiments of this application provide a vehicle, the vehicle including at least one vehicle control device as described in the third aspect, or a display device as described in the fourth aspect, or a vehicle control device as described in the fifth aspect, or a display device as described in the sixth aspect, or a chip as described in the seventh aspect.

[0076] Among them, "vehicle" is a vehicle in a broad sense, which can be means of transportation, such as commercial vehicles, passenger cars, trains, etc.; industrial vehicles (such as forklifts, trailers, tractors, etc.); engineering vehicles (such as excavators, bulldozers, cranes, etc.); robots, etc.

[0077] Optionally, the vehicle is used to implement the method described in any of the first to second aspects and any possible implementation.

[0078] In the eleventh aspect, embodiments of this application provide a mobile terminal, which includes at least one display device as described in the fourth aspect, or the display device as described in the sixth aspect, or the chip as described in the seventh aspect.

[0079] In a twelfth aspect, embodiments of this application provide a vehicle control system, which includes a first vehicle and a first display device, wherein the first vehicle is used to perform the methods described in the first aspect and any possible implementation thereof, and the first display device is used to perform the methods described in the second aspect and any possible implementation thereof.

[0080] Furthermore, in the process of performing the methods described in any of the first to second aspects and any possible embodiments described above, the processes related to sending and / or receiving information in the above methods can be understood as the process of the processor outputting information, and / or the process of the processor receiving input information. When outputting information, the processor can output the information to a transceiver (or communication interface, or transmitting module) so that the transceiver can transmit it. After the information is output by the processor, it may need to undergo other processing before reaching the transceiver. Similarly, when the processor receives input information, the transceiver (or communication interface, or transmitting module) receives the information and inputs it to the processor. Furthermore, after the transceiver receives the information, the information may need to undergo other processing before being input to the processor.

[0081] Based on the above principles, for example, the information sent mentioned in the aforementioned method can be understood as information output by the processor. Similarly, the information received can be understood as information received by the processor from input.

[0082] Optionally, unless otherwise specified, or unless they contradict their actual function or internal logic in the relevant description, the operations of the processor, such as transmitting, sending, and receiving, can be more generally understood as processor output and receiving, input, and other operations.

[0083] Optionally, in the process of performing the methods described in any of the first to second aspects and any possible embodiments above, the processor may be a processor specifically designed to perform these methods, or it may be a processor that performs these methods by executing computer instructions stored in memory, such as a general-purpose processor. The memory may be a non-transitory memory, such as read-only memory (ROM), which may be integrated with the processor on the same chip or disposed on separate chips. This application does not limit the type of memory or the arrangement of the memory and processor.

[0084] In one possible implementation, at least one of the aforementioned memories is located outside the device.

[0085] In yet another possible implementation, at least one of the aforementioned memories is located within the device.

[0086] In another possible implementation, a portion of the memory of the at least one memory is located inside the device, while another portion is located outside the device.

[0087] In this application, the processor and memory may also be integrated into a single device, that is, the processor and memory can be integrated together. Attached Figure Description

[0088] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0089] Figure 1 is a schematic diagram of a scenario of unmanned valet parking provided in an embodiment of this application;

[0090] Figure 2 is a schematic diagram of the architecture of a vehicle control system provided in an embodiment of this application;

[0091] Figure 3 is a schematic flowchart of a vehicle control method provided in an embodiment of this application;

[0092] Figure 4 is a flowchart illustrating another vehicle control method provided in an embodiment of this application;

[0093] Figure 5 is a flowchart illustrating another vehicle control method provided in an embodiment of this application;

[0094] Figure 6 is a schematic diagram of a scenario of unmanned valet parking provided in an embodiment of this application;

[0095] Figure 7 is a flowchart illustrating another vehicle control method provided in an embodiment of this application;

[0096] Figure 8 is a flowchart illustrating a display method provided in an embodiment of this application;

[0097] Figure 9 is a structural schematic diagram of a vehicle control device provided in an embodiment of this application;

[0098] Figure 10 is a schematic diagram of a display device provided in an embodiment of this application;

[0099] Figure 11 is a schematic diagram of the structure of an electronic device provided in an embodiment of this application;

[0100] Figure 12 is a schematic diagram of the structure of a chip provided in an embodiment of this application. Detailed Implementation

[0101] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described below with reference to the accompanying drawings.

[0102] The terms "first" and "second," etc., used in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0103] The term "embodiment" as used herein means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that, unless otherwise specified or logically conflicting, the terminology and / or descriptions between the various embodiments of this application are consistent and can be mutually referenced, and technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0104] It should be understood that in this application, "at least one (item)" means one or more, "more than one" means two or more, "at least two (items)" means two or three or more, and "and / or" is used to describe the relationship between related objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0105] It should be noted that, in this application, "instruction" can include direct instruction, indirect instruction, explicit instruction, and implicit instruction. When describing a certain instruction information for the purpose of instructing A, it can be understood that the instruction information carries A, directly instructs A, or indirectly instructs A.

[0106] In this application, the information indicated by the instruction information is called the information to be instructed. In specific implementations, there are many ways to indicate the information to be instructed, such as, but not limited to, directly indicating the information to be instructed, such as the information to be instructed itself or its index. It can also indirectly indicate the information to be instructed by indicating other information, where there is a correlation between the other information and the information to be instructed. It can also indicate only a part of the information to be instructed, while the other parts are known or pre-agreed upon. For example, the instruction of specific information can be achieved by using a pre-agreed (e.g., protocol-defined) arrangement of various information, thereby reducing instruction overhead to some extent. The information to be instructed can be sent as a whole or divided into multiple sub-information units, and the sending period and / or timing of these sub-information units can be the same or different. This application does not limit the specific sending method. The sending period and / or timing of these sub-information units can be predefined, for example, according to a protocol, or configured by the transmitting device by sending configuration information to the receiving device.

[0107] It should be noted that in this application, "send" can be understood as "output" and "receive" can be understood as "input". "Send information to A", where "to A" simply indicates the direction of information transmission, and A is the destination, does not limit "send information to A" to a direct transmission over the air interface. "Send information to A" includes sending information directly to A, as well as sending information indirectly to A through a transmitter. Therefore, "send information to A" can also be understood as "outputting information destined for A". Similarly, "receive information from A" indicates that the source of the information is A, including receiving information directly from A, as well as receiving information indirectly from A through a receiver. Therefore, "receive information from A" can also be understood as "inputting information from A".

[0108] This application provides a vehicle control method, a display method, and related devices, applied in the field of vehicle control technology, such as vehicle control and parking display in unmanned valet parking scenarios. To better understand the technical solution of this application, the relevant terms and concepts that may be involved in the embodiments of this application are introduced below.

[0109] Parking difficulties are a common challenge facing urban transportation today, especially in busy commercial and residential areas. Drivers often spend a significant amount of time searching for suitable parking spaces, and traditional manual parking methods are no longer adequate for the needs of modern life. With the development of intelligent assisted driving technology, valet parking technology enables vehicles to autonomously search, select, and complete the parking process within parking lots, eliminating the need for drivers to operate the vehicle themselves, thus providing consumers with a more convenient and efficient parking experience.

[0110] Unmanned valet parking is a vehicle control technology that allows a vehicle to automatically find and park in a parking space after the driver gets out, or allows the vehicle to automatically park in a parking space designated by the driver after the driver gets out, and can be controlled and monitored through mobile phone and other terminal applications.

[0111] The unmanned valet parking function mainly uses high-precision maps, multiple sensors, and cloud collaboration to enable vehicles to complete parking tasks autonomously without a driver.

[0112] High-precision maps provide detailed parking information, helping vehicles accurately identify parking spaces. Sensors, including high-definition cameras, ultrasonic radar, millimeter-wave radar, and lidar, are used to perceive the surrounding environment in real time and adjust the parking path. Cloud collaboration is used when a vehicle approaches the parking lot; the cloud quickly downloads the parking lot's map information. Optionally, the cloud can also download pre-stored parking path information from the entrance to certain parking spaces. Based on the downloaded information, parking path planning can be achieved at a "millisecond" speed.

[0113] However, in practical applications, temporary traffic control or illegal parking may frequently cause road blockages that prevent vehicles from passing, resulting in a low success rate for unmanned valet parking.

[0114] For details, please refer to Figure 1, which is a schematic diagram of an unmanned valet parking scenario provided by an embodiment of this application.

[0115] As shown in Figure 1, in the scenario of unmanned valet parking, vehicle A generates parking route 1 based on its current position and the predetermined parking space a, and drives according to the instructions of parking route 1.

[0116] However, during the parking process of vehicle A, a traffic accident such as a collision between vehicle C and vehicle B, which was parking in parking space b, caused vehicles D, E, F, G, and H to be blocked and stopped at the one-way intersection, resulting in a scenario where vehicle A's parking route was completely blocked and could not pass.

[0117] In this situation, vehicle A is unable to continue along the original parking route 1. It may be stuck in place, waiting for the congestion ahead to clear before continuing to park along parking route 1. Alternatively, it may automatically exit the valet parking function after a certain waiting time and send a notification requesting the driver to take over, resulting in the failure of valet parking and affecting the user experience.

[0118] In view of this, this application provides a vehicle control system and proposes a vehicle control method and a display method based on the architecture of the vehicle control system. These methods are applied in the field of vehicle control technology, such as vehicle control and parking display in unmanned valet parking scenarios. When encountering temporary traffic control or illegal parking that causes road congestion and prevents the vehicle from passing, the vehicle can be controlled to automatically attempt to switch routes to the destination, avoiding being stuck in place and improving the success rate of valet parking.

[0119] Please refer to Figure 2, which is a schematic diagram of the architecture of a vehicle control system provided in an embodiment of this application.

[0120] As shown in Figure 2, the architecture of this vehicle control system mainly includes, but is not limited to, sensors, computing platform, actuators, and display modules.

[0121] Among them, the sensors are responsible for collecting environmental information, vehicle motion status, chassis information, etc.

[0122] The internal architecture of the computing platform may include, but is not limited to, a perception module, a planning and decision-making module, and a control module. The perception module is primarily responsible for processing environmental information collected by sensors, building a world model of roads, obstacles, etc., for downstream modules. The planning and decision-making module processes the environmental information, makes behavioral decisions, and generates the desired trajectory. This module can also be used to regenerate the desired trajectory if the road along the desired trajectory is blocked, thus bypassing the obstruction. The control module calculates the corresponding control variables based on the desired trajectory and outputs them to the actuators to control the vehicle to park according to the desired trajectory.

[0123] The display module is used to display the vehicle's parking information during the parking process, and optionally, it can also enable user interaction with the vehicle.

[0124] Based on the above vehicle control system, the following vehicle parking process can be implemented:

[0125] Once the vehicle's valet parking function is activated, a parking route is generated based on the target parking space specified by the user. Alternatively, the user can directly specify the parking route. The vehicle cruises to the target parking space according to the parking route and begins parking when it arrives near the target parking space. Once the vehicle is parked in the target parking space, the valet parking task ends.

[0126] Optionally, if the road ahead becomes blocked and impassable while the vehicle is cruising along the parking route to the target parking space, the vehicle can regenerate the parking route based on the road conditions, or notify the user to select a new target parking space or parking route. The vehicle can then bypass the blocked road and cruise to the target parking space along the new parking route, completing the unmanned valet parking task.

[0127] The current parking lot environment is very complex, with narrow passages and less traffic rule constraints compared to the road driving environment. Temporary traffic control or illegal parking may frequently cause road blockages, preventing vehicles from passing through, which in turn leads to a low success rate for valet parking.

[0128] To address the issue of low success rates in valet parking scenarios, the vehicle control system in this embodiment can automatically attempt to switch routes to the destination, avoiding being stuck in place. This improves the success rate of valet parking, reduces the probability of user intervention, and enhances the user's experience with unmanned valet parking.

[0129] Please refer to Figure 3, which is a flowchart illustrating a vehicle control method provided in an embodiment of this application. This vehicle control method is applied in the field of vehicle control technology, including but not limited to vehicle control in unmanned valet parking scenarios.

[0130] Specifically, the vehicle control method is applied to a first vehicle, and the vehicle control method includes, but is not limited to, the following steps:

[0131] S301: During the process of the first vehicle traveling along the first parking route, the vehicle control device determines, based on the road condition information of the environment in which the first vehicle is located, that there is a blockage in the first section of the first parking route.

[0132] It is understood that the vehicle control device in this application embodiment may be a device equipped with a processor / chip that can execute computer execution instructions, or it may be a processor / chip that can execute computer execution instructions. Optionally, the vehicle control device may be an electronic device, or a processor / chip within an electronic device, or it may be the computing platform shown in Figure 2 above, used to execute the vehicle control method in this application embodiment, which can control the vehicle to automatically attempt to switch routes to the destination, avoid being stuck in place, and improve the success rate of valet parking.

[0133] Optionally, the vehicle control device and vehicle control method in the embodiments of this application can be applied to, but are not limited to, vehicle systems. The vehicle equipped with the vehicle system is an intelligent driving vehicle and can be replaced by a terminal device. The terminal device can be, but is not limited to, vehicles such as commercial vehicles, passenger cars, trains, industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), robots, etc. The embodiments of this application do not specifically limit this.

[0134] Optionally, the vehicle control device in this application embodiment can be deployed on the vehicle, where the vehicle generates a parking route and performs corresponding vehicle control operations according to the parking route. Alternatively, it can be deployed in the cloud, where the cloud generates a parking route and then sends the parking route to the vehicle, which then performs corresponding vehicle control operations according to the parking route. This application embodiment does not impose any restrictions on this.

[0135] The scenario where the first road segment is blocked can be understood as a scenario where the first road segment is completely blocked and the first vehicle cannot pass.

[0136] Optionally, the road condition information of the environment in which the first vehicle is located may include, but is not limited to: road boundaries, lane lines, road signs, road guide lines, static obstacles, dynamic obstacles, traffic light information of the road segment where the first vehicle is located, map information of the road segment where the first vehicle is located, historical traffic flow information of the road segment where the first vehicle is located, etc., and this application embodiment does not limit this.

[0137] S302: The vehicle control unit generates a second parking route based on road condition information.

[0138] The second parking route does not pass through the first section.

[0139] It is understandable that the second parking route passes through different sections of road than the first parking route, but the parking spaces they enter can be the same or different. Specifically, the following situations can be explained.

[0140] Scenario 1:

[0141] The parking spaces for the second parking route are the same as those for the first parking route.

[0142] This scenario can be understood as the destination of the replanned route being the same as the destination of the initially planned route.

[0143] In this situation, the blockage in the first section only prevents vehicles from parking in the desired space according to the first parking route. Vehicles can still park in the desired space according to the second parking route.

[0144] Scenario 2:

[0145] The parking spaces for the second parking route can be different from those for the first parking route.

[0146] This second scenario can be understood as the destination of the replanned route being different from the destination of the initially planned route.

[0147] In this second scenario, the congestion on the first road section not only prevents vehicles from parking in the desired space using the first parking route, but also prevents them from parking in the desired space using any other parking route.

[0148] Optionally, the vehicle control device can notify the user to reselect the desired parking space, generate a parking route based on the user's reselection, and control the first vehicle to drive along the parking route and park in the new parking space.

[0149] Optionally, the vehicle control device can also control the first vehicle to automatically park in a parking space that is close to the parking space desired by the user.

[0150] Optionally, the vehicle control device can also control the first vehicle to automatically park in a user-preset parking space. The preset parking space can be a parking space that is close to the parking lot entrance / exit, elevator shaft, stairwell, etc. This application embodiment does not limit this.

[0151] S303: The vehicle control device controls the first vehicle to park in the target parking space based on the second parking route.

[0152] Understandably, if the first segment of the first parking route is blocked and impassable while the first vehicle is traveling along the first parking route, the route can be replanned based on the traffic information to generate a second parking route. The first vehicle can then be controlled to bypass the first segment by following the second parking route and successfully park in the target parking space.

[0153] The current parking lot environment is very complex, with narrow passages and less traffic rule constraints compared to the road driving environment. Temporary traffic control or illegal parking may frequently cause road blockages, preventing vehicles from passing through, which in turn leads to a low success rate for valet parking.

[0154] To address the issue of low success rates in valet parking scenarios, the vehicle control method described in this application can automatically attempt to switch routes to the destination, avoiding being stuck in place. This improves the success rate of valet parking, reduces the probability of user intervention, and enhances the user's experience with unmanned valet parking.

[0155] Please refer to Figure 4 for details. Figure 4 is a flowchart illustrating another vehicle control method provided in an embodiment of this application. This vehicle control method is applied in the field of vehicle control technology, including but not limited to vehicle control in unmanned valet parking scenarios.

[0156] It is understood that the steps in the embodiments of this application can be regarded as reasonable modifications or supplements to the embodiments in FIG3 above; or, it is understood that the vehicle control method in the embodiments of this application can also be regarded as an embodiment that can be executed independently, and this application does not limit it.

[0157] It is understood that the vehicle control device involved in the vehicle control method provided in this application embodiment can be referred to the relevant description of the vehicle control device involved in the vehicle control method shown in Figure 3 above, and will not be repeated here.

[0158] As shown in Figure 4, the unmanned valet parking task begins. The user can specify a target parking space, and the vehicle control device calculates the route to generate a parking line. The vehicle then cruises to the target parking space according to the route. During the journey, the vehicle control device also needs to determine if the road is congested. If there is no congestion, the vehicle control device continues driving along the planned parking line. Once the vehicle reaches the target parking space, it begins parking. After the vehicle is parked in the target parking space, the unmanned valet parking task ends.

[0159] If the road is blocked and impassable, the vehicle control unit adds a prohibition point to the current parking route, indicating that the location is impassable, and replans the parking route. If the route calculation fails during replanning, the vehicle control unit pulls the vehicle to the side of the road and notifies the user to take over. If the route calculation succeeds, a new target route is generated, and the vehicle adjusts its position to the target route and continues driving along it. The vehicle arrives at the target parking space and begins parking. Once the vehicle is parked in the target parking space, the valet parking task ends. If adjusting the vehicle's position to the target route fails (due to limitations in the vehicle's movement capabilities), the vehicle pulls to the side of the road and the user is notified to take over.

[0160] The vehicle control method in this application embodiment can control the vehicle to automatically attempt to switch routes to the destination, avoiding being stuck in place, thereby improving the success rate of valet parking and reducing the probability of user takeover, thus improving the user's experience with unmanned valet parking.

[0161] In one possible embodiment, the determination of a blockage in the first segment of the first parking route based on road condition information of the environment where the first vehicle is located in step S301 can be achieved in ways including but not limited to the following:

[0162] If the first road segment meets the first condition, it is determined that there is a blockage in the first road segment.

[0163] The first condition includes: the duration of the presence of the first obstacle on the first road segment exceeds a first threshold, and the distance between the first obstacle and the drivable boundary of the first road segment is less than a second threshold; or, there is a no-passage sign on the first road segment.

[0164] Understandably, when a road segment meets the first condition mentioned above, it is identified that the road segment is completely blocked and cannot be passed, thereby triggering parking route replanning and controlling the vehicle to automatically attempt to switch routes to the destination.

[0165] Optionally, the first threshold and the second threshold are not fixed values, and can be adjusted according to different parking scenarios. This application embodiment does not limit this.

[0166] Please refer to Figure 5 for details. Figure 5 is a flowchart illustrating another vehicle control method provided in an embodiment of this application. This vehicle control method is applied in the field of vehicle control technology, including but not limited to vehicle control in unmanned valet parking scenarios.

[0167] It is understood that the steps in the embodiments of this application can be regarded as reasonable modifications or supplements to the embodiments in Figures 3 and 4 above; or, it is understood that the vehicle control method in the embodiments of this application can also be regarded as an embodiment that can be executed independently, and this application does not limit it.

[0168] It is understood that the vehicle control device involved in the vehicle control method provided in this application embodiment can be referred to the relevant description of the vehicle control device involved in the vehicle control method shown in Figure 3 above, and will not be repeated here.

[0169] As shown in Figure 5, the vehicle control device performs route planning based on the positioning map and road condition information, generating a parking route from the starting point to the target location (target parking space). Furthermore, while controlling the vehicle to travel along this parking route, the vehicle control device also determines whether there are any obstacles requiring yielding within the ROI of the parking route. If there are no obstacles requiring yielding within the ROI of the parking route, the vehicle continues to travel along the parking route, and the device continuously checks whether there are any obstacles requiring yielding within the ROI of the parking route.

[0170] If there are obstacles requiring yielding within the ROI of the parking route (e.g., accident vehicles blocking the road, temporary obstacles such as traffic cones, water-filled barriers, or fences blocking the road), the drivable boundary of the road is extracted. It is then determined whether there is sufficient space between the obstacle and the drivable boundary for the vehicle to pass. For example, the space on both sides of the obstacle from the drivable boundary is calculated. If the space on both sides is less than a threshold (e.g., the vehicle width plus 0.3m), passage is impossible; if it is greater than the threshold, passage is possible. If passage is impossible, it is further determined whether the vehicle has been stuck for more than a time threshold. If it has exceeded the time threshold (e.g., 5 seconds), the vehicle control device sends a recalculation command, re-plans the route based on the positioning map and road condition information, generates a new parking route, and controls the vehicle to drive along the new parking route. If it is determined that there is sufficient space between the obstacle and the drivable boundary for the vehicle to pass, it indicates that the road condition is not completely blocked. The vehicle control device can then control the vehicle to continue driving along the original parking route, controlling the vehicle to slowly pass through the space between the obstacle and the drivable boundary at a low speed for other processing such as getting out of trouble.

[0171] The vehicle control method in this application embodiment can accurately identify whether there is a road blockage, and when there is a road blockage, it can control the vehicle to automatically attempt to switch routes to the destination to avoid being stuck in place. This can improve the success rate of valet parking and reduce the probability of user takeover, thereby improving the user's experience with unmanned valet parking.

[0172] In one possible embodiment, controlling the first vehicle to park in the target parking space in step S303 above can be achieved in ways including but not limited to the following:

[0173] If the second condition is met, control the first vehicle to park in the target parking space according to the second parking route.

[0174] The second condition includes: the distance between the rear axle center of the first vehicle and the first point of the second parking route is less than a third threshold, and the angle between the front orientation of the first vehicle and the tangent direction of the first point is less than a fourth threshold. The first point is the point on the second parking route that is closest to the rear axle center of the first vehicle.

[0175] Understandably, when the first vehicle meets the second condition mentioned above, recognizing the current position of the first vehicle can directly enter the cruise state, controlling the first vehicle to cruise and park in the target parking space according to the re-planned second parking route.

[0176] Optionally, if the second condition is not met, the body posture of the first vehicle is controlled and adjusted until the second condition is met.

[0177] Understandably, when the first vehicle does not meet the second condition mentioned above, the current position of the first vehicle cannot be directly entered into cruise mode. It is necessary to control and adjust the body posture of the first vehicle until the first vehicle meets the second condition mentioned above, and then control the first vehicle to cruise and park into the target parking space according to the re-planned second parking route.

[0178] Optionally, the third and fourth thresholds mentioned above are not fixed values, and can be adjusted according to different parking scenarios. This application embodiment does not impose any restrictions on this.

[0179] Optionally, the aforementioned first parking route and / or second parking route includes one or more of the following information:

[0180] The navigation route of the first vehicle, the movement trajectory of the first vehicle, the gear information of the first vehicle, and the body posture information of the first vehicle.

[0181] It is understood that the second parking route may include, but is not limited to, any one or more of the above information, and the embodiments of this application do not impose any restrictions on this.

[0182] Optionally, when the second condition is met, the first vehicle can directly enter cruise mode in its current position, and the second parking route can include the navigation route of the first vehicle.

[0183] Optionally, when the second condition is not met, the first vehicle cannot directly enter the cruise state in its current position and needs to control and adjust the body posture of the first vehicle until the first vehicle meets the above-mentioned second condition before entering the cruise state. The second parking route may include the navigation route of the first vehicle and the movement trajectory of the first vehicle. The movement trajectory of the first vehicle may include the complete movement trajectory involved in adjusting the body posture of the first vehicle, and may also include the gear information, the direction of the vehicle's front, and other body posture information. This application embodiment does not limit this.

[0184] For details, please refer to Figure 6, which is a schematic diagram of an unmanned valet parking scenario provided by an embodiment of this application.

[0185] As shown in Figure 6, in the scenario of unmanned valet parking, vehicle A generates parking route 1 based on its current position and the predetermined parking space a, and drives according to the instructions of parking route 1.

[0186] However, during the parking process of vehicle A, a traffic accident such as a collision between vehicle C and vehicle B, which was parking in parking space b, caused vehicles D, E, F, G, and H to be blocked and stopped at the one-way intersection, resulting in a scenario where vehicle A's parking route was completely blocked and could not pass.

[0187] In this situation, vehicle A is unable to continue along the original parking route 1. It may be stuck in place, waiting for the congestion ahead to clear before continuing to park along parking route 1. Alternatively, it may automatically exit the valet parking function after a certain waiting time and send a notification requesting the driver to take over, resulting in the failure of valet parking and affecting the user experience.

[0188] At this point, a new parking route 2 can be generated using the vehicle control method described above. If the second condition is met (for example, the vehicle is located at position X in Figure 6), the first vehicle (vehicle A in Figure 6) can directly enter the cruise state in its current position and control the first vehicle to cruise and park into the target parking space according to the re-planned second parking route.

[0189] On the other hand, if the vehicle's perception capabilities or other factors limit its ability to proceed, causing it to only detect a road blockage at position Y in Figure 6, then a new parking route 2 is generated using the vehicle control method described above. If the first vehicle does not meet the second condition mentioned above, meaning that the first vehicle cannot directly enter the cruise state from its current position, it is necessary to control and adjust the body posture of the first vehicle (reversing or turning around) to bring the first vehicle back to the parking route 2 until the first vehicle meets the second condition mentioned above and then enters the cruise state. The first vehicle is then controlled to cruise and park in the target parking space according to the re-planned second parking route.

[0190] In one possible embodiment, the vehicle control method described above may also include, but is not limited to, the following steps:

[0191] Update the map information corresponding to the locations where there is congestion in the first road segment.

[0192] Understandably, when a blockage is detected in the first road segment, the location of the blockage can be recorded on the map. This allows the initial route planning for subsequent valet parking tasks to avoid the blockage, improving the efficiency of valet parking tasks and thus enhancing the user experience.

[0193] In one possible embodiment, the vehicle control method described above may also include, but is not limited to, the following steps:

[0194] Upload the map information corresponding to the second parking route and / or the first road segment to the cloud.

[0195] The map information includes, but is not limited to, at least one of the following: the location of the first road segment where there is a blockage, and images and / or videos of the first road segment where there is a blockage. This application embodiment does not impose any restrictions on this.

[0196] Understandably, after updating the congestion location, the updated map can be uploaded to the cloud. If the cloud confirms that the update is a long-term reality change, such as long-term road construction causing congestion or permanent road reconstruction, the updated map can replace the original cloud map. This allows other vehicles to avoid the congestion location when entering the road segment for valet parking for the first time, improving the efficiency of valet parking tasks and thus enhancing the user experience.

[0197] Please refer to Figure 7 for details. Figure 7 is a flowchart illustrating another vehicle control method provided in an embodiment of this application. This vehicle control method is applied in the field of vehicle control technology, including but not limited to vehicle control in unmanned valet parking scenarios.

[0198] It is understood that the steps in the embodiments of this application can be regarded as reasonable modifications or supplements to the embodiments in Figures 3, 4 and 5 above; or, it is understood that the vehicle control method in the embodiments of this application can also be regarded as an embodiment that can be executed independently, and this application does not limit it.

[0199] It is understood that the vehicle control device involved in the vehicle control method provided in this application embodiment can be referred to the relevant description of the vehicle control device involved in the vehicle control method shown in Figure 3 above, and will not be repeated here.

[0200] As shown in Figure 7, the vehicle control device performs route planning and generates a parking route based on the vehicle's location uploaded by the positioning module, the target location specified by the user on the client, and the map sent by the vehicle-side map maintenance module, and controls the vehicle to drive according to the parking route. The vehicle-side map maintenance module automatically downloads the map and sends it to the vehicle after it enters the parking lot fence.

[0201] During the process of controlling the vehicle to travel along the parking route, the vehicle control device also performs route planning based on the recalculation instructions issued by the status detection and autonomous route replanning module, regenerating a new parking route and controlling the vehicle to travel along the new parking route. Specifically, if the status detection and autonomous route replanning module detects a road blockage in the original parking route, it issues a recalculation instruction and uploads the blockage location coordinates to the vehicle-side map maintenance module. The vehicle-side map maintenance module then updates the map and uploads the map changes to the cloud.

[0202] Optionally, if the cloud-based system confirms after review that the map change is a long-term reality change, such as long-term road construction causing congestion or permanent road reconstruction, the updated map can replace the original cloud-based map. This allows other vehicles to avoid the congested areas when entering the parking lot for valet parking for the first time, thus improving the user experience.

[0203] Optionally, when uploading locally updated self-composed maps, the vehicle can also upload photos or videos taken by the vehicle at road congestion locations to the cloud, so that the cloud can review whether they represent long-term real-world changes.

[0204] Optionally, if the updated map avoids congested areas during the initial route planning, the user can be proactively notified on the client to enhance the user's intelligent perception and experience, and improve the efficiency of unmanned valet parking tasks.

[0205] Optionally, if the updated map shows no other feasible routes during the initial route planning, the system can prompt the user to switch to another target parking space, proactively recommend other target parking spaces, or indicate that valet parking is unavailable, thereby reducing the user's waiting time.

[0206] In one possible embodiment, the vehicle control method described above may also include, but is not limited to, the following steps:

[0207] The control display device displays one or more of the following: a first parking route, a second parking route, a location where there is a blockage in the first road segment, a first vehicle in a parking state, and images and / or videos corresponding to the road condition information.

[0208] It is understood that the embodiments of this application can also control the display device to display relevant information of the first vehicle during the valet parking process, which may include, but is not limited to, any one or more of the above information, and the embodiments of this application do not limit this.

[0209] Optionally, the display device may include, but is not limited to, in-vehicle infotainment screens, mobile phones, tablets, wearable devices, and other terminals.

[0210] Optionally, the above information may be presented to the user in the form of text, voice, images, video, etc., in the form of pop-ups or icons, and this application embodiment does not limit this.

[0211] Optionally, the reasons for the vehicle's replanning of the parking route, the vehicle's current driving status, the vehicle's gear information, the interaction information between the vehicle and obstacles, etc., can all be presented to the user, and this application embodiment does not limit this.

[0212] Furthermore, this application also provides a display method, as detailed in Figure 8, which is a flowchart illustrating a display method provided in an embodiment of this application. This display method is applied in the field of vehicle control technology, including but not limited to parking displays for unmanned valet parking scenarios.

[0213] It is understood that the steps in the embodiments of this application can be regarded as reasonable modifications or supplements to the embodiments in Figures 3, 4, 5 and 7 above; or, it is understood that the display methods in the embodiments of this application can also be regarded as embodiments that can be executed independently, and this application does not limit them.

[0214] Specifically, the display method is applied to a first vehicle, and the display method includes, but is not limited to, the following steps:

[0215] S801: The display device displays the first vehicle or the icon corresponding to the first vehicle based on the first parking route.

[0216] It is understood that the display device in this application embodiment may be a display device equipped with a processor / chip that can execute computer execution instructions. Optionally, the display device may be the display module in Figure 2 above, used to execute the display method in this application embodiment, which can improve the success rate of valet parking and enhance the user's experience with unmanned valet parking.

[0217] Optionally, the display device and display method in the embodiments of this application can be applied to, but are not limited to, vehicle systems. The vehicle equipped with the vehicle system is an intelligent driving vehicle and can be replaced by a terminal device. The terminal device can be, but is not limited to, vehicles such as commercial vehicles, passenger cars, trains, industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), robots, etc. The embodiments of this application do not specifically limit this.

[0218] Optionally, the display device in this application embodiment can be deployed on a vehicle, such as a vehicle infotainment screen, or on a terminal such as a mobile phone, tablet computer, or wearable device. This application embodiment does not impose any restrictions on this.

[0219] Understandably, while the first vehicle is traveling along the first parking route, the display device shows the first vehicle or its corresponding icon traveling along the first parking route.

[0220] S802: The display device shows that there is a blockage in the first segment of the first parking route.

[0221] Understandably, if the first segment of the first parking route is blocked and cannot be passed, the display device will show that the first segment of the first parking route is blocked.

[0222] Optionally, the specific implementation method for determining that there is a blockage in the first segment of the first parking route can be found in step S301 above, and will not be repeated here.

[0223] S803: The display device shows the second parking route.

[0224] Understandably, when a second parking route is generated by replanning the route based on road condition information, the display device will show the second parking route.

[0225] Optionally, the specific implementation method for replanning the route based on road condition information to generate the second parking route can be found in step S302 above, and will not be repeated here.

[0226] S804: The display device displays the first vehicle or the icon corresponding to the first vehicle as it parks in the target parking space based on the second parking route.

[0227] Understandably, during the process of the first vehicle successfully parking in the target parking space by following the second parking route around the first section, the display device shows that the first vehicle or the icon corresponding to the first vehicle has parked in the target parking space based on the second parking route.

[0228] Optionally, the specific implementation method of controlling the first vehicle to park in the target parking space based on the second parking route can be referred to step S303 above, and will not be repeated here.

[0229] The current parking lot environment is very complex, with narrow passages and less traffic rule constraints compared to the road driving environment. Temporary traffic control or illegal parking may frequently cause road blockages, preventing vehicles from passing through, which in turn leads to a low success rate for valet parking.

[0230] To address the issue of low success rates in valet parking scenarios, the display method described in this application can show the user the entire process of the vehicle automatically attempting to switch routes to its destination. This can improve the success rate of valet parking, reduce the probability of user intervention, and enhance the user's experience with unmanned valet parking.

[0231] Optionally, the aforementioned display device may include, but is not limited to, in-vehicle infotainment screens, mobile phones, tablets, wearable devices, and other terminals; this application embodiment does not impose any restrictions on this.

[0232] Optionally, the above-mentioned display content can be presented to the user in the form of text, voice, images, videos, etc., in the form of pop-ups or icons, and this application embodiment does not limit this.

[0233] Optionally, the display method in the embodiments of this application can also be described in conjunction with Figure 6 above.

[0234] As shown in Figure 6, the display device shows that the first vehicle or its corresponding icon is traveling based on the first parking route, i.e., the display device shows that vehicle A is traveling based on parking route 1. The display device also shows that the first segment of the first parking route is blocked, i.e., the first segment of parking route 1 (the segment where vehicles D, E, and F are located) is blocked. The display device then displays the second parking route, i.e., parking route 2. Finally, the display device shows that the first vehicle or its corresponding icon is parking in the target parking space based on the second parking route, i.e., the display device shows that vehicle A is parking in parking space a based on parking route 2.

[0235] In one possible embodiment, the display device may show the user either a parking route or a parking space, which can be described in the following ways.

[0236] Scenario 1:

[0237] The display device shows the parking route selected by the user.

[0238] In this case, the display method in the embodiments of this application may also perform the following steps, including but not limited to:

[0239] The display device shows the first prompt message.

[0240] The first prompt message is used to prompt the user to select the parking route for the first vehicle.

[0241] It is understood that this embodiment can prompt the user to select the parking route of the first vehicle by displaying the first prompt information, so that the first vehicle can perform valet parking according to the parking route selected by the user, thereby improving the success rate of valet parking, reducing the probability of user takeover, and improving the user's experience of unmanned valet parking.

[0242] Optionally, the display method may also perform the following steps, including but not limited to:

[0243] In response to the user's first operation, the display device shows that the parking route of the first vehicle has been adjusted to the second parking route and sends the first information.

[0244] The first information is used to instruct the user to select a second parking route, and the first operation includes: selecting a second parking route.

[0245] Understandably, in this embodiment, when the user selects the second parking route, the display device shows that the parking route of the first vehicle has been adjusted to the second parking route, and sends the first information to the first vehicle or the cloud to inform the first vehicle or the cloud that the user has selected the second parking route. Thus, the first vehicle can perform valet parking according to the second parking route selected by the user, thereby improving the success rate of valet parking, reducing the probability of user takeover, and improving the user's experience of unmanned valet parking.

[0246] Scenario 2:

[0247] The display device shows the parking space selected by the user.

[0248] In this second scenario, the display method in this application embodiment may also perform the following steps, including but not limited to:

[0249] The display device shows a second prompt message.

[0250] The second prompt message is used to prompt the user to select the parking space for the first vehicle.

[0251] It is understood that this embodiment can prompt the user to select the parking space for the first vehicle by displaying a second prompt message. The first vehicle can then plan and generate a parking route based on the parking space selected by the user, and perform valet parking according to the parking route, thereby improving the success rate of valet parking, reducing the probability of user takeover, and improving the user's experience of unmanned valet parking.

[0252] Optionally, the display method may also perform the following steps, including but not limited to:

[0253] The display device responds to the user's second operation by displaying the parking space of the first vehicle as the target parking space and sending a second message.

[0254] The second information is used to instruct the user to select a target parking space, and the second operation includes: selecting a target parking space.

[0255] Understandably, in this embodiment, when a user selects a target parking space, the display device shows the parking space of the first vehicle as the target parking space and sends a second message to the first vehicle or the cloud, informing the first vehicle or the cloud that the parking space selected by the user is the target parking space. Thus, the first vehicle can plan and generate a parking route based on the target parking space selected by the user, and perform valet parking according to the parking route, thereby improving the success rate of valet parking, reducing the probability of user takeover, and improving the user's experience with unmanned valet parking.

[0256] In one possible embodiment, the second parking route passes through a different section of road than the first parking route, but the parking spaces they enter can be the same or different. Specifically, the following situations can be described.

[0257] Scenario 1:

[0258] The parking spaces for the second parking route are the same as those for the first parking route.

[0259] This scenario can be understood as the destination of the replanned route being the same as the destination of the initially planned route.

[0260] In this situation, the blockage in the first section only prevents vehicles from parking in the desired space according to the first parking route. Vehicles can still park in the desired space according to the second parking route.

[0261] Scenario 2:

[0262] The parking spaces for the second parking route can be different from those for the first parking route.

[0263] This second scenario can be understood as the destination of the replanned route being different from the destination of the initially planned route.

[0264] In this second scenario, the congestion on the first road section not only prevents vehicles from parking in the desired space using the first parking route, but also prevents them from parking in the desired space using any other parking route.

[0265] Optionally, the vehicle control device can notify the user to reselect the desired parking space, generate a parking route based on the user's reselection, and control the first vehicle to drive along the parking route and park in the new parking space.

[0266] Optionally, the vehicle control device can also control the first vehicle to automatically park in a parking space that is close to the parking space desired by the user.

[0267] Optionally, the vehicle control device can also control the first vehicle to automatically park in a user-preset parking space. The preset parking space can be a parking space that is close to the parking lot entrance / exit, elevator shaft, stairwell, etc. This application embodiment does not limit this.

[0268] Optionally, in this second case, the above display method may also perform the following steps, including but not limited to:

[0269] The display device shows a third prompt message.

[0270] The third notification message is used to indicate that the parking space for the first vehicle has been changed to the target parking space.

[0271] Understandably, displaying a third-party notification message can inform the user that the parking space for the first vehicle has been changed to the target parking space, allowing the user to know the parking location of the first vehicle in a timely manner and improving the user's experience with unmanned valet parking.

[0272] Optionally, the aforementioned first parking route and / or second parking route includes one or more of the following information:

[0273] The navigation route of the first vehicle, the movement trajectory of the first vehicle, the gear information of the first vehicle, and the body posture information of the first vehicle.

[0274] It is understood that the second parking route may include, but is not limited to, any one or more of the above information, and the embodiments of this application do not impose any restrictions on this.

[0275] Optionally, when the second condition is met, the first vehicle can directly enter cruise mode in its current position, and the second parking route can include the navigation route of the first vehicle.

[0276] Optionally, when the second condition is not met, the first vehicle cannot directly enter the cruise state in its current position and needs to control and adjust the body posture of the first vehicle until the first vehicle meets the above-mentioned second condition before entering the cruise state. The second parking route may include the navigation route of the first vehicle and the movement trajectory of the first vehicle. The movement trajectory of the first vehicle may include the complete movement trajectory involved in adjusting the body posture of the first vehicle, and may also include the gear information, the direction of the vehicle's front, and other body posture information. This application embodiment does not limit this.

[0277] Optionally, the above display method may also display one or more of the following:

[0278] The first vehicle is parked, and the corresponding images and / or videos show the road conditions.

[0279] It is understood that the embodiments of this application can also control the display device to display relevant information of the first vehicle during the valet parking process, which may include, but is not limited to, any one or more of the above information, and the embodiments of this application do not limit this.

[0280] Optionally, the display device may include, but is not limited to, in-vehicle infotainment screens, mobile phones, tablets, wearable devices, and other terminals.

[0281] Optionally, the above information may be presented to the user in the form of text, voice, images, video, etc., in the form of pop-ups or icons, and this application embodiment does not limit this.

[0282] Optionally, the reasons for the vehicle's replanning of the parking route, the vehicle's current driving status, the vehicle's gear information, the interaction information between the vehicle and obstacles, etc., can all be presented to the user, and this application embodiment does not limit this.

[0283] Alternatively, the display method in the embodiments of this application can be described in conjunction with Figure 6 above. For details, please refer to the above description, which will not be repeated here.

[0284] The methods of the embodiments of this application have been described in detail above. The following provides an apparatus for implementing any one of the methods in the embodiments of this application. For example, an apparatus is provided that includes a unit (or means) for implementing the steps performed by the device in any of the above methods.

[0285] Please refer to Figure 9, which is a structural schematic diagram of a vehicle control device provided in an embodiment of this application.

[0286] As shown in Figure 9, the vehicle control device 90 may include a communication unit 901 and a processing unit 902. The communication unit 901 and the processing unit 902 may be software, hardware, or a combination of both.

[0287] The communication unit 901 can implement sending and / or receiving functions, and can also be described as a transceiver unit. The communication unit 901 can also be a unit integrating an acquisition unit and a sending unit, wherein the acquisition unit is used to implement the receiving function, and the sending unit is used to implement the sending function. Optionally, the communication unit 901 can be used to receive information sent by other devices, and can also be used to send information to other devices.

[0288] In one possible design, the vehicle control device 90 may correspond to the vehicle control device in the method embodiment shown in FIG3 above. For example, the vehicle control device 90 may be an electronic device or a chip within an electronic device. The vehicle control device 90 may include units for performing the operations performed by the vehicle control device in the method embodiment shown in FIG3 above, and each unit in the vehicle control device 90 is respectively for implementing the operations performed by the vehicle control device in the method embodiment shown in FIG3 above. The descriptions of each unit are as follows:

[0289] The processing unit 902 is used to determine, based on the road condition information of the environment in which the first vehicle is located, that there is a blockage in the first section of the first parking route while the first vehicle is traveling along the first parking route.

[0290] The processing unit 902 is also used to generate a second parking route based on road condition information; wherein the second parking route does not pass through the first road segment.

[0291] The processing unit 902 is also used to control the first vehicle to park in the target parking space based on the second parking route.

[0292] In one possible implementation, the device further includes a communication unit 901.

[0293] The processing unit 902 is also used to obtain road condition information of the environment in which the first vehicle is located through the communication unit 901.

[0294] Regarding the communication unit 901 and processing unit 902 described in this design, the steps they perform can be referred to the implementation method corresponding to the vehicle control device in the method embodiment shown in Figure 3 above.

[0295] Regarding the technical effects of the implementation methods performed by the communication unit 901 and the processing unit 902 described in this design, please refer to the description of the technical effects corresponding to the method embodiment shown in FIG3 above.

[0296] According to embodiments of this application, the various units in the device shown in FIG9 can be individually or entirely merged into one or more other units, or some of the units can be further divided into multiple functionally smaller units. This achieves the same operation without affecting the technical effect of the embodiments of this application. The above units are based on logical function division. In practical applications, the function of one unit can also be implemented by multiple units, or the function of multiple units can be implemented by one unit. In other embodiments of this application, the electronic device may also include other units. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented collaboratively by multiple units.

[0297] It should be noted that the implementation of each unit can also refer to the corresponding description of the method embodiment shown in Figure 3 above.

[0298] In the vehicle control device 90 described in Figure 9, the vehicle can be controlled to automatically attempt to switch routes to the destination, avoiding being stuck in place and improving the success rate of valet parking.

[0299] Please refer to Figure 10, which is a schematic diagram of the structure of a display device provided in an embodiment of this application.

[0300] As shown in Figure 10, the display device 100 may include a communication unit 1001 and a display unit 1002. The communication unit 1001 and the display unit 1002 may be software, hardware, or a combination of software and hardware.

[0301] The communication unit 1001 can implement sending and / or receiving functions, and can also be described as a transceiver unit. The communication unit 1001 can also be a unit integrating an acquisition unit and a sending unit, wherein the acquisition unit is used to implement the receiving function, and the sending unit is used to implement the sending function. Optionally, the communication unit 1001 can be used to receive information sent by other devices, and can also be used to send information to other devices.

[0302] In one possible design, the display device 100 may correspond to the display device in the method embodiment shown in FIG3 above. For example, the display device 100 may be an electronic device or a chip within an electronic device. The display device 100 may include units for performing the operations performed by the display device in the method embodiment shown in FIG3 above, and each unit in the display device 100 is respectively for implementing the operations performed by the display device in the method embodiment shown in FIG3 above. The descriptions of each unit are as follows:

[0303] Display unit 1002 is used to display the first vehicle or the icon corresponding to the first vehicle traveling based on the first parking route.

[0304] The display unit 1002 is also used to display that there is a blockage in the first segment of the first parking route.

[0305] The display unit 1002 is also used to display a second parking route, which is generated based on the road condition information of the environment where the first vehicle is located, and the second parking route does not pass through the first road segment.

[0306] The display unit 1002 is also used to display the first vehicle or the icon corresponding to the first vehicle parking in the target parking space based on the second parking route.

[0307] In one possible implementation, the device further includes a communication unit 1001.

[0308] The display unit 1002 is also used to obtain the first parking route and the second parking route through the communication unit.

[0309] Regarding the communication unit 1001 and display unit 1002 described in this design, the steps performed can be referred to the implementation method corresponding to the display device in the method embodiment shown in FIG3 above.

[0310] Regarding the technical effects of the implementation methods performed by the communication unit 1001 and the display unit 1002 described in this design, please refer to the description of the technical effects corresponding to the method embodiment shown in FIG3 above.

[0311] According to embodiments of this application, the various units in the device shown in FIG10 can be individually or entirely merged into one or more other units, or some of the units can be further divided into multiple functionally smaller units. This achieves the same operation without affecting the technical effect of the embodiments of this application. The above units are based on logical function division. In practical applications, the function of one unit can also be implemented by multiple units, or the function of multiple units can be implemented by one unit. In other embodiments of this application, the electronic device may also include other units. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented collaboratively by multiple units.

[0312] It should be noted that the implementation of each unit can also refer to the corresponding description of the method embodiment shown in Figure 3 above.

[0313] In the display device 100 described in Figure 10, the vehicle can be controlled to automatically attempt to switch routes to the destination, avoiding being stuck in place, improving the success rate of valet parking, and reducing the probability of user takeover, thus improving the user's experience with unmanned valet parking.

[0314] If the vehicle control device 90 mentioned above can be an electronic device, please refer to the structural schematic diagram of the electronic device shown in Figure 11.

[0315] It should be understood that the electronic device 110 shown in FIG11 is only an example. The electronic device in the embodiments of this application may also include other components, or include components with functions similar to the various components in FIG11, or may not be intended to include all the components in FIG11.

[0316] Electronic device 110 includes a transceiver interface 1101 and at least one processor 1102.

[0317] The electronic device 110 can correspond to a vehicle control device. The transceiver interface 1101 is used to transmit and receive signals, and at least one processor 1102 executes program instructions, causing the electronic device 110 to implement the corresponding flow of the method executed by the corresponding device in the above method embodiment.

[0318] In one possible design, the electronic device 110 may correspond to the vehicle control device in the method embodiment shown in FIG3 above. For example, the electronic device 110 may be the vehicle control device itself, or it may be a chip within the vehicle control device. The electronic device 110 may include components for performing the operations performed by the vehicle control device in the above method embodiment, and each component in the electronic device 110 is specifically designed to implement the operations performed by the vehicle control device in the above method embodiment. Specifically, it may be as follows:

[0319] The processor 1102 is used to determine, based on road condition information of the environment in which the first vehicle is located, that there is a blockage in a first segment of the first parking route while the first vehicle is traveling along the first parking route.

[0320] The processor 1102 is also used to generate a second parking route based on traffic information; wherein the second parking route does not pass through the first road segment.

[0321] The processor 1102 is also used to control the first vehicle to park in the target parking space based on the second parking route.

[0322] In one possible implementation, the device further includes a transceiver interface 1101.

[0323] The processor 1102 is also used to obtain road condition information of the environment in which the first vehicle is located through the transceiver interface 1101.

[0324] Regarding the transceiver interface 1101 and at least one processor 1102 described in this design, the steps they perform can be referred to the implementation corresponding to the vehicle control device in the method embodiment shown in FIG3 above.

[0325] For the technical effects of the implementation methods performed by the transceiver interface 1101 and at least one processor 1102 described in this design, please refer to the description of the technical effects corresponding to the method embodiment shown in FIG3 above.

[0326] In the electronic device 110 described in Figure 11, the vehicle can be controlled to automatically attempt to switch routes to the destination, avoiding being stuck in place and improving the success rate of valet parking.

[0327] For cases where the aforementioned vehicle control device 90 can be a chip or a chip system, please refer to the structural schematic diagram of the chip shown in Figure 12.

[0328] As shown in Figure 12, chip 120 includes processor 1201 and interface 1202. The number of processors 1201 can be one or more, and the number of interfaces 1202 can be multiple. It should be noted that the functions of processor 1201 and interface 1202 can be implemented through hardware design, software design, or a combination of both; no restrictions are placed here.

[0329] Optionally, the chip 120 may also include a memory 1203 for storing necessary program instructions and data.

[0330] In this application, processor 1201 can be used to call the implementation program of the vehicle control method provided in one or more embodiments of this application in a vehicle control device from memory 1203, and execute the instructions included in the program. Interface 1202 can be used to output the execution result of processor 1201. In this application, interface 1202 can be specifically used to output various messages or information of processor 1201.

[0331] For the vehicle control method provided by one or more embodiments of this application, please refer to the various embodiments shown in FIG3 above, which will not be repeated here.

[0332] The processor in this application embodiment can be a central processing unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0333] The memory in this application embodiment is used to provide storage space, in which data such as operating system and computer programs can be stored. The memory includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0334] According to the method provided in the embodiments of this application, the embodiments of this application also provide a computer-readable storage medium storing a computer program. When the computer program is run on one or more processors, it can implement the methods shown in Figures 3, 4, 5, 7, and 8.

[0335] According to the method provided in the embodiments of this application, the embodiments of this application also provide a computer program product, which includes a computer program. When the computer program runs on a processor, it can implement the methods shown in Figures 3, 4, 5, 7, and 8.

[0336] This application provides a vehicle that includes at least one vehicle control device 90, or electronic device 110, or chip 120.

[0337] Among them, "vehicle" is a vehicle in a broad sense, which can be means of transportation, such as commercial vehicles, passenger cars, trains, etc.; industrial vehicles (such as forklifts, trailers, tractors, etc.); engineering vehicles (such as excavators, bulldozers, cranes, etc.); robots, etc.

[0338] Alternatively, the vehicle is used to implement the method shown in Figure 3 above.

[0339] This application provides a mobile terminal, which includes at least one display device 100.

[0340] Optionally, the mobile terminal is used to implement the method shown in Figure 8 above.

[0341] This application provides a vehicle control system, which includes a first vehicle and a first display device. The first vehicle is used to execute the method shown in FIG3 above, and the first display device is used to execute the method shown in FIG8 above.

[0342] This application also provides a processing apparatus, including a processor and an interface; the processor is used to execute the method in any of the above method embodiments.

[0343] It should be understood that the above-described processing device can be a chip. The units in the various device embodiments and the electronic devices in the method embodiments correspond completely, with corresponding modules or units executing corresponding steps. For example, the communication unit (transceiver) executes the receiving or sending steps in the method embodiments, while other steps besides sending and receiving can be executed by the processing unit (processor). The specific functions of each unit can be found in the corresponding method embodiments. There can be one or more processors.

[0344] It is understood that in the embodiments of this application, the electronic device may perform some or all of the steps in the embodiments of this application. These steps or operations are merely examples, and the embodiments of this application may also perform other operations or variations thereof. Furthermore, the steps may be performed in different orders as presented in the embodiments of this application, and it is not necessarily necessary to perform all the operations in the embodiments of this application.

[0345] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0346] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0347] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0348] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the contributing part, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0349] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A vehicle control method characterized by, The vehicle control method applied to a first vehicle comprises: In a process that the first vehicle travels according to a first parking route, it is determined that a first section in the first parking route exists congestion based on road condition information of an environment where the first vehicle is located; Based on the road condition information, a second parking route is generated, wherein the second parking route does not pass through the first section; Based on the second parking route, the first vehicle is controlled to park into a target parking space.

2. The vehicle control method according to claim 1, characterized by, The parking space of the second parking route is the same as that of the first parking route.

3. The vehicle control method according to claim 1 or 2, characterized by, The determination that the first section in the first parking route exists congestion based on the road condition information of the environment where the first vehicle is located comprises: In a case that the first section meets a first condition, it is determined that the first section exists congestion; The first condition comprises that a first obstacle exists on the first section for a time period exceeding a first threshold value, and a distance between the first obstacle and a drivable boundary of the first section is less than a second threshold value; or, there is indication information of prohibition of passing on the first section.

4. The vehicle control method according to any one of claims 1 to 3, characterized by, The control of the first vehicle to park into the target parking space comprises: In a case that a second condition is met, the first vehicle is controlled to park into the target parking space according to the second parking route; The second condition comprises that a distance between a rear axle center of the first vehicle and a first point of the second parking route is less than a third threshold value, and an included angle between a heading direction of a vehicle head of the first vehicle and a tangent direction of the first point is less than a fourth threshold value, the first point being a point on the second parking route closest to the rear axle center of the first vehicle.

5. The vehicle control method according to claim 4, characterized by The vehicle control method further comprises: In a case that the second condition is not met, the vehicle body posture of the first vehicle is adjusted until the first vehicle meets the second condition.

6. The vehicle control method according to any one of claims 1 to 5, characterized by, The second parking route comprises any one or more of the following information: A navigation route of the first vehicle, a motion trajectory of the first vehicle, motion gear information of the first vehicle, and vehicle body posture information of the first vehicle.

7. The vehicle control method according to any one of claims 1 to 6, characterized by, The vehicle control method further comprises: A display device is controlled to display any one or more of the following: the first parking route, the second parking route, a position where the first section exists congestion, a parking state of the first vehicle, and an image and / or a video corresponding to the road condition information.

8. The vehicle control method according to any one of claims 1 to 7, characterized by, The vehicle control method further comprises: Map information corresponding to the position where the first section exists congestion is updated.

9. The vehicle control method according to any one of claims 1 to 8, characterized by, The vehicle control method further comprises: The second parking route and / or the map information corresponding to the first section are uploaded to a cloud, and the map information comprises at least one of the following: the position where the first section exists congestion, and an image and / or a video of the first section existing congestion.

10. A display method characterized by comprising: The display method applied to a display device comprises: A first vehicle or an icon corresponding to the first vehicle is displayed to travel based on a first parking route; It is displayed that a first section in the first parking route exists congestion; A second parking route is displayed, the second parking route being generated based on road condition information of an environment where the first vehicle is located, and the second parking route not passing through the first section; displaying an icon corresponding to the first vehicle or the first vehicle based on the second parking route parking target parking space.

11. The display method according to claim 10, wherein The display method further includes: displaying first prompt information, the first prompt information being used to prompt a user to select a parking route of the first vehicle.

12. The display method according to claim 11, wherein The display method further includes: in response to a first operation of the user, displaying that the parking route of the first vehicle is adjusted to the second parking route; wherein the first operation includes: selecting the second parking route; sending first information, the first information being used to indicate that the user selects the second parking route.

13. The display method according to claim 10, wherein The display method further includes: displaying second prompt information, the second prompt information being used to prompt a user to select a parking space of the first vehicle.

14. The display method according to claim 13, wherein The display method further includes: in response to a second operation of the user, displaying that the parking space of the first vehicle is the target parking space; wherein the second operation includes: selecting the target parking space; sending second information, the second information being used to indicate that the user selects the target parking space.

15. The display method according to any one of claims 10 to 14, wherein, The parking space of the second parking route is the same as the parking space of the first parking route.

16. The display method according to any one of claims 10 to 15, wherein, The parking space of the second parking route is different from the parking space of the first parking route; the display method further includes: displaying third prompt information, the third prompt information being used to prompt that the parking space of the first vehicle is changed to the target parking space.

17. The display method according to any one of claims 10 to 16, wherein, The second parking route includes any one or more of the following information: a navigation route of the first vehicle, a motion trajectory of the first vehicle, motion gear information of the first vehicle, and vehicle body posture information of the first vehicle.

18. The display method according to any one of claims 10 to 17, wherein, The display method further includes: displaying any one or more of the following: the first vehicle is in a parking state, and an image and / or a video corresponding to the road condition information.

19. A vehicle control device characterized by comprising: The display method further includes:

20. A vehicle control device characterized by comprising: The display method further includes:

21. A display device comprising: The display method further includes:

22. A display device comprising: The display method further includes:

23. A chip, characterized by The display method further includes: The display method further includes:

24. A terminal, characterized by The display method further includes:

25. A vehicle control system characterized by comprising: The display method further includes:

26. A computer-readable storage medium, characterized in that, The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method further includes: The display method is executed by a computer program. The display method is executed by a computer program. The display method is executed by a computer program.

27. A computer program product, characterised in that, The computer program product comprises a computer program which, when executed, performs the method of any one of claims 1 to 18.

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