Vehicle control method, electronic device, storage medium and vehicle

Abstract

A vehicle control method, an electronic device, a storage medium, and a vehicle. The method comprises: on the basis of a parking instruction, controlling a vehicle to enter a parking space corresponding to a parking space frame, wherein the parking space frame is located in a rotation control interface, the rotation control interface further comprises a vehicle indicator used for representing the current position of the vehicle and a rotation boundary line, and the rotation boundary line is used for representing a spatial range expected to be occupied by the vehicle during rotation. The vehicle indicator and the rotation boundary line displayed in the rotation control interface help a user intuitively understand and operate a rotation function of the vehicle, thereby providing the user with more intelligent and convenient parking experience.

Description

A vehicle control method, electronic device, storage medium, and vehicle

[0001] This application claims priority to Chinese patent application No. 202510381405.2, filed on March 26, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of vehicle braking technology, and more particularly to a vehicle control method, electronic equipment, storage medium, and vehicle. Background Technology

[0003] With the acceleration of urbanization, urban roads are becoming increasingly narrow, while the number of vehicles continues to rise, making parking problems increasingly prominent. Especially in bustling commercial areas, residential areas, and around schools, the scarcity of parking spaces and limited road space make parking a serious issue. Particularly in certain driving scenarios, such as making right-angle turns on narrow roads, U-turns, and parking in underground garages, drivers need advanced skills to control the vehicle, and understeering or confined spaces can easily lead to parking difficulties.

[0004] Therefore, improving the convenience of parking for users has become an urgent technical problem to be solved. Summary of the Invention

[0005] This disclosure provides a vehicle control method, electronic device, storage medium, and vehicle for improving the convenience of parking for users, thereby enhancing the user's experience of using the vehicle.

[0006] To achieve the above objectives, the present disclosure adopts the following technical solution:

[0007] Firstly, a vehicle control method is provided, including: controlling a vehicle to drive into a parking space corresponding to a parking space frame based on a parking instruction; the parking space frame is located in a rotation control interface, which also includes a vehicle identifier for indicating the current position of the vehicle and a rotation boundary line, the rotation boundary line being used to indicate the space range that the vehicle is expected to occupy during rotation.

[0008] The vehicle control method provided in this disclosure displays a vehicle identifier and a rotation boundary line in a rotation control interface to indicate the vehicle's current position. The rotation boundary line indicates the space range that the vehicle is expected to occupy during rotation. It is understood that the rotation control interface allows users to perform vehicle rotation operations. The vehicle identifier and rotation boundary line displayed in the interface intuitively and effectively help users understand and operate the vehicle's rotation function, facilitating accurate judgment of the space occupied by the vehicle during rotation.

[0009] Since users typically have parking needs when using the rotary control interface, the rotary control interface in this disclosure also displays the parking space frame, allowing users to intuitively see the relative position between the vehicle and the parking space, making it easier to determine whether the vehicle can be parked smoothly. Therefore, when the vehicle control device receives a parking command, it controls the vehicle to drive into the parking space corresponding to the parking space frame. In this way, users do not need to manually control the vehicle to perform a rotation operation when parking; the vehicle can be automatically parked, providing a more intelligent and convenient parking experience, thereby increasing user satisfaction and trust in the vehicle.

[0010] In some embodiments, the rotation control interface is also used to display a panoramic image of the exterior of the vehicle; the method further includes: when a parking space is identified around the vehicle, displaying the parking space frame corresponding to the parking space on the panoramic image based on the location information of the identified parking space.

[0011] In some embodiments, when a parking space is identified based on a panoramic image, the method further includes: outputting a first prompt message, the first prompt message being used to prompt the user to confirm whether to park in the identified parking space.

[0012] In some embodiments, the method further includes: displaying a parking space frame in a rotation control interface in response to receiving an instruction to add a parking space.

[0013] In some embodiments, the method further includes at least one of the following: adjusting the display position of the parking space frame based on the movement operation in response to a user's movement operation on the parking space frame; and controlling the parking space frame to rotate based on the rotation operation in response to a user's rotation operation on the parking space frame.

[0014] In some embodiments, a parking instruction is triggered by one or more of the following methods: receiving a voice instruction indicating the start of parking; detecting a touch operation on a start parking button or control; or receiving a start parking instruction sent by a remote control device.

[0015] In some embodiments, the method further includes: displaying the driving trajectory of the vehicle from its current position into the parking space corresponding to the parking space frame in the rotation control interface.

[0016] In some embodiments, the method further includes: displaying a rotation control interface in response to a rotation control command; the triggering conditions for the rotation control command include any of the following: the rotation control control or button is triggered; a voice command related to rotation control is received; or a rotation control command is received from a terminal device.

[0017] In some embodiments, the location of the rotary control or button may include one or more of the following: steering wheel, center console, display, terminal device.

[0018] In some embodiments, the rotation control interface uses the target rotation center of the selected vehicle as the interface center.

[0019] In some embodiments, the method further includes: determining a target rotation center of the vehicle in a rotation control interface in response to a selection instruction for the rotation center.

[0020] In some embodiments, the rotation control interface further includes an angle selection control for selecting the rotation direction and rotation angle of the vehicle.

[0021] In some embodiments, the angle selection control is an angle selection lever, and the method further includes:

[0022] In response to the user's tossing operation of the angle selection lever, the rotation direction of the vehicle is determined based on the direction in which the angle selection lever is tossed, and the rotation angle of the vehicle is determined based on the position of the angle selection lever after the tossing operation.

[0023] In some embodiments, one end of the angle selection lever is located at the center point of the area surrounded by the rotation boundary line, and the other end is used to rotate around the center point based on the user's toggle operation.

[0024] In some embodiments, the dimensions of the parking space frame are matched to the dimensions of the vehicle.

[0025] In some embodiments, the method further includes: in response to receiving a rotation confirmation operation, controlling the vehicle to perform a rotation operation based on a set target rotation center, rotation direction, and rotation angle.

[0026] In some embodiments, in response to receiving a rotation confirmation operation, controlling the vehicle to perform a rotation operation based on a set target rotation center, rotation direction, and rotation angle includes: in response to receiving a rotation confirmation operation, controlling the vehicle to perform a rotation operation based on a set target rotation center, rotation direction, and rotation angle, provided that the vehicle meets the preconditions for movement.

[0027] In some embodiments, the preconditions for movement include at least one of the following: the door is closed, the seat belt is engaged, and the vehicle is stationary.

[0028] In some embodiments, the method further includes: when the vehicle does not meet the preconditions for motion, outputting a second prompt message, the second prompt message being used to prompt the user to perform an adjustment operation, the adjustment operation being related to the preconditions for motion that the vehicle does not meet.

[0029] In some embodiments, the method further includes: outputting a rotation execution interface during the vehicle's rotation operation; the rotation execution interface includes at least one of the following: current rotation angle, target rotation angle, vehicle identifier, panoramic image, angle selection control, and stop control; the angle selection control moves closer to the vehicle identifier based on the vehicle's rotation operation during the rotation; the stop control is used to stop the current rotation operation.

[0030] In some embodiments, the method further includes: identifying obstacle information around the vehicle.

[0031] In some embodiments, the method further includes: outputting a third prompt message when the distance between the obstacle information and the vehicle is less than a first distance threshold; the third prompt message is used to prompt the user that an obstacle exists.

[0032] In some embodiments, the method further includes: controlling the vehicle to stop moving when the vehicle meets preset stopping conditions; the preset stopping conditions include one or more of the following: the distance between the vehicle and the obstacle information around the vehicle is less than a second distance threshold; the vehicle does not meet the preconditions for movement; the vehicle drives into the parking space corresponding to the parking space frame.

[0033] In some embodiments, the method further includes: outputting a fourth prompt message when the vehicle meets a preset stopping condition, the fourth prompt message corresponding to the preset stopping condition met by the vehicle.

[0034] In a second aspect, an electronic device is provided, including a processor and a memory, the processor being connected to the memory, the memory storing computer instructions, which, when executed on the electronic device, cause the electronic device to perform the method provided in the first aspect and its possible implementations.

[0035] Thirdly, a computer-readable storage medium is provided that stores computer-executable instructions, which, when executed on a computer, cause the computer to perform the methods provided in the first aspect and its possible implementations.

[0036] Fourthly, a vehicle is provided, including the electronic equipment provided in the second aspect, or the computer-readable storage medium provided in the third aspect.

[0037] Fifthly, a computer program product is provided, comprising instructions, wherein when the instructions are executed on a computer, the computer performs the method provided by the first aspect and its possible implementations.

[0038] The technical effects of any of the implementation methods in the second to fifth aspects mentioned above can be found in the technical effects of the corresponding implementation methods in the first aspect, and will not be repeated here. Attached Figure Description

[0039] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1A is a structural schematic diagram of a vehicle according to some embodiments;

[0041] Figure 1B is a block diagram of a vehicle according to some embodiments;

[0042] Figure 2 is a schematic diagram of a rotation control interface according to some embodiments;

[0043] Figure 3 is a schematic diagram of a rotation control interface according to some embodiments;

[0044] Figure 4 is a flowchart of a vehicle control method according to some embodiments;

[0045] Figure 5 is a schematic diagram of a rotation control interface according to some embodiments;

[0046] Figure 6 is a schematic diagram of a rotation control interface according to some embodiments;

[0047] Figure 7 is a schematic diagram of a rotation control interface according to some embodiments;

[0048] Figure 8A is a control flowchart of a vehicle control device according to some embodiments;

[0049] Figure 8B is a schematic diagram of a rotation control interface according to some embodiments;

[0050] Figure 9 is a schematic diagram of a rotation execution interface according to some embodiments;

[0051] Figure 10 is a schematic diagram of the control flow of a vehicle control device according to some embodiments;

[0052] Figure 11 is a schematic diagram of the control flow of a vehicle control device according to some embodiments;

[0053] Figure 12 is a block diagram of an electronic device according to some embodiments. Detailed Implementation

[0054] The technical solutions in the embodiments of this disclosure will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments provided in this disclosure are within the scope of protection of this disclosure.

[0055] In the embodiments of this disclosure, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0056] In embodiments of this disclosure, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0057] "A and / or B" includes the following three combinations: A only, B only, and a combination of A and B.

[0058] With the acceleration of urbanization, urban roads are becoming increasingly narrow, while the number of vehicles continues to increase, making parking problems increasingly prominent. Especially in bustling commercial areas, residential areas, and around schools, the scarcity of parking spaces and limited road space are causing headaches for many drivers.

[0059] The challenges of parking are particularly pronounced for long-wheelbase mid-to-large-sized luxury sedans and sport utility vehicles (SUVs) in urban environments. Their longer length often requires more space to park, increasing the difficulty of parking and potentially leading to traffic congestion and safety hazards.

[0060] Based on this, this disclosure provides a vehicle control method that displays a vehicle identifier and a rotation boundary line in a rotation control interface to indicate the vehicle's current position. The rotation boundary line indicates the space range that the vehicle is expected to occupy during rotation. It is understood that the rotation control interface allows users to perform vehicle rotation operations. The vehicle identifier and rotation boundary line displayed in the interface intuitively and effectively help users understand and operate the vehicle's rotation function, facilitating accurate judgment of the space occupied by the vehicle during rotation.

[0061] Since users typically have parking needs when using the rotary control interface, some solutions in this disclosure also use the rotary control interface to display the parking space frame, allowing users to intuitively see the relative position between the vehicle and the parking space, making it easier to determine whether the vehicle can be parked smoothly. Therefore, when the vehicle control device receives a parking command, it controls the vehicle to drive into the parking space corresponding to the parking space frame. This eliminates the need for users to manually rotate the vehicle during parking, allowing it to park automatically. This provides users with a more intelligent and convenient parking experience, increasing their satisfaction and trust in the vehicle.

[0062] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0063] As shown in Figures 1A and 1B, the vehicle 100 includes a vehicle control device 101 and multiple wheels 102. The multiple wheels 102 can be distributed on both sides along the direction of travel of the vehicle, i.e., left wheels and right wheels. Alternatively, the multiple wheels can be divided into left front wheels, right front wheels, left rear wheels, and right rear wheels, etc.

[0064] In some embodiments of this disclosure, the vehicle 100 is configured with multiple drive motors, enabling multiple wheels to independently control their driving force. In addition to independent motor drive, the vehicle also needs to have the ability to independently steer the rear wheels (or even all four wheels).

[0065] In other words, the vehicle needs a powertrain architecture with multiple independently driven motors and independent rear-wheel steering to enable it to rotate around a fixed point in place, thus achieving on-the-spot turning or U-turns. This greatly improves the vehicle's maneuverability in narrow spaces and the ease of parking. For example, braking one front wheel can be applied to make that wheel the center of rotation, while the other front wheel is allowed to rotate freely, and the two rear wheels rotate in opposite directions, causing the vehicle to rotate around the center at a certain angle, achieving turning or U-turns.

[0066] For example, the vehicle 100 provided in some embodiments of this disclosure can be a distributed three-motor vehicle or a four-wheel independently driven vehicle, and this disclosure does not limit it.

[0067] Distributed three-motor vehicles refer to electric vehicles that use three motors to drive the three wheels of the vehicle (usually two rear wheels and one front wheel, or two front wheels and one rear wheel). Such vehicles can achieve precise tire adhesion distribution by individually adjusting the magnitude and direction of the driving torque corresponding to each wheel through the motor, thereby realizing the rotational movement of the vehicle.

[0068] Four-wheel independent drive vehicles are electric vehicles where each wheel is equipped with an independent motor or drive unit. These vehicles achieve precise torque distribution in all directions, enabling them to rotate or steer in place.

[0069] The vehicle control device 101 is a module with data processing and control capabilities. It processes relevant data from the vehicle 100 and controls the vehicle 100 to perform related functions. As one possible implementation, the vehicle control device 101 can be a physical device, such as including one or more of the following modules: a central processing unit (CPU), a microprocessor unit (MPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), and / or an electronic control unit (ECU). As another possible implementation, the vehicle control device 101 can be a software module, such as a virtual machine, software, program code, or a container.

[0070] It is understood that the vehicle shown in Figure 1A does not constitute a limitation of this disclosure. In practical applications, a vehicle may include more or fewer components, such as parking buttons, a steering wheel, a power steering system, etc., and this disclosure does not impose any limitations on this.

[0071] It should be noted that this disclosure does not restrict the entity that performs the vehicle control method; in practical applications, it can be determined according to the requirements.

[0072] In some embodiments, the vehicle control methods provided in this disclosure are applied to the vehicle control device 101 of the vehicle shown in FIG1B. The vehicle 100 also includes a display device, through which the vehicle control device 101 displays a rotation control interface, so that the driver can control the vehicle to perform rotation operations based on the rotation control interface.

[0073] In other embodiments, the vehicle control methods provided in some embodiments of this disclosure are applied to vehicle control devices, which may be electronic devices such as terminal devices, personal computers (PCs), laptops, mobile devices, tablet computers, and laptops. This disclosure does not limit the form of the vehicle control device. Alternatively, the vehicle control methods provided in some embodiments of this disclosure may also be applied to a single server or a server cluster consisting of multiple servers. In some implementations, the server cluster may be a distributed cluster server. This disclosure does not impose any limitations in this regard.

[0074] Taking vehicle control equipment as an example, the rotation control interface can be displayed on the driver's terminal device. In this way, the driver can control the vehicle to perform rotation operations through the rotation control interface displayed on the terminal device.

[0075] In some embodiments of this disclosure, for ease of description, the vehicle control method is applied to the vehicle control device 101 of the vehicle shown in FIG1B as an example for illustration.

[0076] In some embodiments, due to parking, obstacle avoidance, or other driving tasks, the user needs to control the vehicle to perform a rotation operation. When the user needs to control the vehicle to perform a rotation operation, a rotation control command needs to be triggered. After receiving the rotation control command, the vehicle control device 101 displays a rotation control interface for the user to use.

[0077] As a feasible implementation, some embodiments of this disclosure provide a vehicle control method including: displaying a rotation control interface in response to a rotation control command. It is understood that the aforementioned rotation control command can be an instruction to trigger the vehicle to perform a rotation operation in real time, or an instruction to trigger the vehicle to prepare to perform a rotation operation.

[0078] The triggering conditions for rotation control commands include any of the following: the rotation control control or button is triggered; a voice command related to rotation control is received; or a rotation control command is received from the terminal device. The location of the rotation control control or button includes one or more of the following: steering wheel, center console, display, or terminal device.

[0079] In other words, users can trigger the rotation control command through buttons on the center console or steering wheel inside the vehicle, or through the rotation control controls on the touchscreen. The design of the rotation control controls or buttons is usually intuitive and easy to understand; users can activate the rotation control function with just a light press.

[0080] With the continuous development of voice recognition technology, more and more vehicles are beginning to support voice control functions. Users can trigger rotation control commands through voice commands (such as "start rotating" or "rotate to the right"), achieving a more convenient and natural interactive experience.

[0081] For example, when a user is outside the vehicle, they may want to control the vehicle's rotation via an external terminal device (such as a smartphone, smartwatch, etc.). Through the connection between the vehicle and the terminal device (such as Bluetooth, Wireless Fidelity, Wi-Fi, etc.), the user can remotely send rotation control commands to the vehicle to achieve remote control functionality.

[0082] In some embodiments, the rotation control interface typically includes the following key elements: vehicle identification and rotation boundary lines.

[0083] Vehicle identification marks indicate the vehicle's current position. In practical applications, various display methods can be used, such as the top-down view of the vehicle model shown in Figure 2. As shown in Figure 2, the rotation boundary line indicates the space the vehicle is expected to occupy during rotation. In other words, the rotation boundary line can show the space the vehicle may occupy during rotation, preventing collisions and exceeding limits.

[0084] Understandably, compared to side-view or front-view perspectives, top-down perspectives offer a more comprehensive spatial perception, reducing misunderstandings caused by perspective limitations. In other words, a vehicle model viewed from above not only accurately displays the vehicle's current position but also, in conjunction with environmental information, displays the vehicle's orientation and dimensions in real time, helping users understand the vehicle's status. This perspective allows drivers or systems to more easily determine the vehicle's relationship to its surroundings. Therefore, displaying a vehicle model in a top-down perspective in the rotation control interface facilitates user control of the vehicle's rotation.

[0085] The rotation boundary line indicates the space occupied by a vehicle during rotation; that is, the outer boundary line of the space the vehicle is expected to occupy during rotation. Therefore, the rotation boundary line can help the driver or system determine whether there is sufficient space for rotation and can also provide early warning of potential collision risks, thereby improving parking or handling safety.

[0086] As a feasible implementation, as shown in Figure 2, the rotation control interface can also be used to display a panoramic image of the vehicle's exterior. That is, the rotation control interface can use a panoramic image of the vehicle's exterior as its background. The panoramic image provides a 360-degree view of the vehicle's exterior, allowing users to visually see all sides of the vehicle and its surroundings on the rotation control interface. By displaying the panoramic image, the rotation control interface can simulate a realistic external environment, making users feel as if they are actually around the vehicle. This immersive experience helps users better understand and feel the vehicle's rotation and observe the surrounding environment during the rotation.

[0087] To enhance the flexibility and adaptability of user control in performing vehicle rotation operations, users can select the vehicle's rotation center in the rotation control interface. That is, as a feasible implementation, some embodiments of this disclosure provide a vehicle control method that further includes: determining the vehicle's target rotation center in the rotation control interface in response to a selection command for the rotation center.

[0088] It is understood that a vehicle may have multiple centers of rotation that can be selected by the user. These centers of rotation may include the vehicle's wheels (such as the left front wheel and the right front wheel), as well as the vehicle's center of gravity or other preset points within the vehicle. This disclosure does not limit this.

[0089] As one feasible implementation, the rotation control interface can include a rotation center selection control, allowing the user to select the point around which the vehicle will rotate. When the user clicks the rotation center selection control on the interface, a mouse click event listener function can be implemented. Thus, when the user clicks the target point on the interface, the vehicle control device 101 can record the position of that point as the target rotation center. Alternatively, each trigger count can correspond to a rotation center, thereby determining the target rotation center based on the number of trigger counts of the rotation center selection control. This disclosure does not limit the implementation method of the rotation center selection control.

[0090] As a feasible implementation, as shown in Figure 2, the rotation control interface uses the target rotation center of the selected vehicle as the interface center. It can be understood that the target rotation center can be actively selected by the user according to actual needs, or it can be the system's default rotation center initially. By placing the target rotation center at the center of the interface, it means that in terms of interface layout, the target rotation center will be at the visual focal point of the interface, allowing the user to intuitively see the dynamic process of the vehicle rotating around this point. This greatly reduces the difficulty for users to understand the rotation operation. Furthermore, users do not need to search for or confirm the position of the rotation center on the interface, because the target rotation center is always located at the center. This allows users to focus more on selecting the rotation direction and angle, improving the convenience of operation.

[0091] As shown in Figures 2 and 3, when the user switches the target rotation center from the left front wheel to the right front wheel, the center of the rotation control interface is simultaneously adjusted to the right front wheel of the vehicle.

[0092] As a feasible implementation method, the rotation control interface also includes an angle selection control, which is used to select the rotation direction and rotation angle of the vehicle.

[0093] It is understandable that in practical applications, the angle selection control can be displayed in a variety of ways, such as an angle selection lever or an angle selection knob, and this disclosure does not impose any restrictions on this.

[0094] The angle selection control is an important element of the rotation control interface. Users can set the rotation angle and direction by sliding or dragging the angle selection control. In other words, the angle selection control allows users to select the vehicle's rotation direction and angle. By adjusting the position or direction of the angle selection control, users can easily specify how many degrees the vehicle should rotate left or right. Thus, the vehicle control device 101 can respond to the user's dragging operation on the angle selection control to determine the vehicle's rotation direction and angle.

[0095] As a feasible implementation method, as shown in Figure 2, the angle selection control is an angle selection lever. One end of the angle selection lever is located at the center point of the area surrounded by the rotation boundary line, and the other end is used to rotate around the center point based on the user's toggle operation.

[0096] As a feasible implementation, some embodiments of the present disclosure provide a vehicle control method that further includes: responding to a user's tossing operation of an angle selection lever, determining the vehicle's rotation direction based on the direction in which the angle selection lever is tossed, and determining the vehicle's rotation angle based on the position of the angle selection lever after the tossing operation.

[0097] As shown in Figure 2, one end of the angle selection lever is fixed at the center point of the area surrounded by the rotation boundary line. This center point serves as both the reference point for rotation and the axis of rotation for the lever. The other end of the lever is movable, allowing the user to input rotation commands by moving it. The user moves the other end of the lever with their finger or other tools, causing it to rotate around the center point. The vehicle control device 101 can detect changes in the lever's position in real time and respond to the user's movements. Based on the direction the lever is moved (clockwise or counterclockwise), the vehicle's rotation direction can be determined. The angle between the lever's position after being moved and its initial position (as shown in Figure 2, the vehicle's location) is the angle the vehicle should rotate, enabling the vehicle to rotate according to the user's intention.

[0098] It is understood that this disclosure does not limit the content of the rotation control interface. As one implementation, as shown in Figure 2, the rotation control interface may also include a start control. When the start control is triggered, the vehicle begins to perform the rotation operation. As another implementation, as shown in Figure 2, the rotation control interface may also include an exit control. When the exit control is triggered, the vehicle exits the rotation control interface.

[0099] In some embodiments, since users typically trigger the rotation control interface only when they have a parking need, parking space frames can also be displayed in the rotation control interface to facilitate parking for users. This allows users to intuitively see the relative positional relationship between the vehicle and the parking space, making it easier to determine whether the vehicle can be parked successfully in the parking space.

[0100] Understandably, a parking space frame refers to a rectangular or polygonal box representing the location of a target parking space in the rotation control interface. The parking space frame indicates the target location where the vehicle should be parked. By comparing the parking space frame with the vehicle marker and rotation boundary lines, the driver or system can more accurately determine whether the vehicle can be successfully parked. Understandably, since the primary function of the rotation control interface is to control vehicle rotation, the parking space frame is only displayed under certain conditions (such as in parking scenarios) to meet the user's parking needs.

[0101] Users can manually add parking space frames on the rotating control interface, or the vehicle control device can automatically recognize and display the parking space frames on the rotating control interface. The following describes how to display parking space frames on the rotating control interface.

[0102] Method 1: In response to receiving the instruction to add a parking space, display the parking space frame in the rotation control interface.

[0103] It is understood that this disclosure does not restrict the triggering method of the instruction to add a parking space. As one implementation, as shown in Figure 2, the rotation control interface may include a control for adding a parking space; when this control is triggered, it is determined that an instruction to add a parking space has been received. As another implementation, it is possible to determine whether an instruction to add a parking space has been received by recognizing voice commands.

[0104] After receiving the instruction to add a parking space, the parking space frame is displayed on the rotating control interface, so that when users have parking needs, they can observe the parking space frame, vehicle icons, etc. on the rotating control interface to determine whether the vehicle can be successfully parked in the parking space corresponding to the parking space frame.

[0105] Understandably, after the "Add Parking Space" control is triggered, it may not be able to identify a parking space around the vehicle. In this case, the parking space frame can be displayed on the panoramic image of the rotating control interface. Users can manually drag and rotate the parking space frame to the target location as their parking spot. In other words, if the identified parking space is not accurate enough, or if no parking space can be identified, users can manually adjust the parking space frame using the control elements on the interface to ensure that the parking space frame matches the actual situation.

[0106] As a feasible implementation, the method provided in some embodiments of this disclosure also satisfies at least one of the following: adjusting the display position of the parking space frame based on the movement operation in response to a user's movement operation on the parking space frame; and controlling the parking space frame to rotate based on the rotation operation in response to a user's rotation operation on the parking space frame.

[0107] In other words, the parking space frame supports at least one of the following operations: rotation and movement. Users can move the parking space frame via a touchscreen, mouse, gesture recognition, or other input devices. The vehicle control unit detects the user's movement in real time and updates the display position of the parking space frame on the screen in real time according to the direction and distance of the operation to reflect the user's movement.

[0108] Furthermore, users can rotate the parking space frame using rotation gestures, dragging specific control points, or using other rotation controls. The vehicle control unit calculates the rotation angle of the parking space frame based on the user's rotation operation and updates the display of the parking space frame accordingly. To provide a smoother user experience, the system can add rotation animation effects to make the rotation of the parking space frame look more natural.

[0109] As a feasible implementation, the rotation control interface also includes an editing control corresponding to the parking space frame. The editing control includes at least one of the following: a movement control and a rotation control. The movement control is used to adjust the position of the parking space frame in the rotation control interface, and the rotation control is used to rotate the parking space frame.

[0110] Understandably, editing controls are the core elements of the rotation control interface, providing users with a means to interact with the parking space frame. Editing controls include move controls and rotate controls, which are used to adjust the position and rotation angle of the parking space frame, respectively.

[0111] Motion controls allow users to drag parking space frames within the rotation control interface to adjust their position. This is very useful for fine-tuning the alignment between the parking space frame and the actual parking space. It is understood that motion controls may take many forms, such as drag bars, virtual joysticks, or simply clicking and dragging interface elements. Users can operate these controls by touching the screen (on touchscreen devices) or using physical controllers (such as buttons on a steering wheel), and this disclosure is not limited to this.

[0112] One implementation approach is to highlight the parking space frame or display a drag indicator when a user clicks or activates the movement control, indicating that the user can drag the frame. The user can then adjust the position of the parking space frame by dragging.

[0113] Rotation controls allow users to rotate the parking space frame to match the orientation of the actual parking space. This is particularly useful for handling angled or irregularly shaped parking spaces. Rotation controls may appear as a rotary wheel, slider, or virtual knob. Users can adjust the rotation angle of the parking space frame by rotating these controls.

[0114] As one implementation, when a user clicks or activates the rotation control, a rotation indicator or angle dial can be displayed to help the user precisely control the rotation angle. The user can then adjust the orientation of the parking space frame by rotating it.

[0115] Understandably, to help users better observe the location of the parking space corresponding to the parking space frame, the background of the rotation control interface can be set to a panoramic image of the vehicle. However, panoramic images may be distorted due to factors such as camera angle, lens distortion, and image stitching algorithms. Therefore, to ensure the accuracy and reliability of parking assistance, the size of the parking space frame needs to match the size of the vehicle.

[0116] As one implementation method, when displaying parking space frames, the size and position of the frames need to be dynamically adjusted based on the real-time location and dimensions of the vehicle. This ensures that the parking space frames always match the vehicle dimensions. Furthermore, adjustments to the parking space frames are also necessary based on distortions in the image to ensure that the parking space area corresponding to the frame matches the vehicle dimensions.

[0117] In other words, the position and size of the parking space frame will be updated in real time as the vehicle's real-time location changes, ensuring that users always see the latest and most accurate information. Furthermore, to highlight the parking space frame, specific colors, lines, or animation effects may be used to make it more eye-catching in the panoramic image.

[0118] Method Two: When a parking space is detected around the vehicle, the corresponding parking space frame is displayed on the rotating control interface based on the location information of the detected parking space frame. Vehicles are typically equipped with various sensors, such as ultrasonic sensors, radar sensors, and cameras, which can perceive the environmental information around the vehicle in real time. Through image processing algorithms and machine learning technology, the vehicle control device can analyze the data collected by the sensors and identify potential parking spaces. Once a parking space is detected, the vehicle control device generates a corresponding parking space frame on the panoramic image based on the actual location and size of the parking space, allowing the user to view the positional relationship between the parking space and the vehicle based on the panoramic image and the parking space frame.

[0119] As one implementation, some embodiments of the present disclosure provide a vehicle control method that further includes: outputting a first prompt message, the first prompt message being used to prompt the user to confirm whether the vehicle has parked in the identified parking space.

[0120] Once a parking space is successfully identified, the vehicle control device will immediately generate a first prompt message to ask the user to confirm whether to park in the identified space. For example, as shown in Figure 5, when a parking space is identified, the parking space frame (bold frame in Figure 5) and the first prompt message can be displayed on the rotating control interface. As shown in Figure 5, the first prompt message can be: "Parking space identified, click 'Start' to park."

[0121] It is understood that the initial prompt information can be output to the user in various ways, including but not limited to vehicle displays, voice prompts, head-up displays, etc. In actual application, it can be set according to the vehicle design and user preferences, and this disclosure does not impose any restrictions on it.

[0122] When the rotating control interface includes a parking space frame, if the user needs to drive the vehicle into the parking space corresponding to the parking space frame, one way to achieve this is to observe the parking space frame displayed in the rotating control interface, determine the position and distance of the target parking space, and then drive the vehicle to gradually approach and park in the parking space according to the interface instructions or their own judgment.

[0123] As one implementation method, users can trigger a parking command to allow the vehicle to automatically plan a path and avoid obstacles to park in the corresponding parking space. This method not only reduces the driver's workload but also improves parking accuracy and safety.

[0124] Please refer to Figure 4. Some embodiments of the vehicle control method provided in this disclosure include the following steps S101.

[0125] S101. Based on parking instructions, control the vehicle to drive into the parking space corresponding to the parking space frame.

[0126] It is understood that this disclosure does not restrict the triggering method of the parking command. The parking command can be triggered in any one or more of the following ways: receiving a voice command indicating the start of parking; detecting a touch operation on the start parking button or control; receiving a start parking command sent by a remote control device.

[0127] As one implementation method, users can trigger parking commands by speaking preset voice commands (such as "start parking" or "parking mode"). This method is suitable for use when users' hands are busy or when they need to quickly activate the parking function, improving the convenience of operation.

[0128] As one implementation method, parking buttons or controls are integrated into the vehicle's touchscreen, physical buttons, or controls, such as the "Start" button shown in Figure 5. Users can trigger parking commands by touching the parking button on the screen or pressing the physical button. It can be seen that this method provides an intuitive interactive experience, allowing users to clearly see and confirm their actions.

[0129] As one implementation method, the rotary control interface can be displayed on the user's remote control device (such as the user's terminal device). The user can click the corresponding button or enter a command, and the system will receive the signal and activate the parking function. This method is suitable for use when the user is far from the vehicle, so that the vehicle can automatically adjust to the optimal parking position.

[0130] Upon receiving a parking instruction, the vehicle can automatically plan a path to avoid obstacles and park in the parking space corresponding to the parking space frame. As a feasible implementation method, controlling the vehicle to enter the parking space corresponding to the parking space frame includes: planning the vehicle's driving trajectory based on the vehicle's current position and the parking space corresponding to the frame; and controlling the vehicle to enter the parking space based on the driving trajectory.

[0131] Understandably, the driving trajectory determined based on the relative positional relationship between the vehicle and the parking space can include at least one of a straight trajectory and a rotating trajectory. Controlling the vehicle to enter the parking space can also include two parts: longitudinal control and lateral control. Longitudinal control is responsible for controlling the vehicle's speed and acceleration / deceleration. Lateral control is responsible for controlling the vehicle's steering and rotation.

[0132] In practical applications, appropriate throttle or braking commands can be calculated based on the planned trajectory and the vehicle's current state to ensure the vehicle can safely and smoothly follow the planned path. Furthermore, appropriate steering or rotation commands can be calculated based on the vehicle's current position, attitude, and the planned trajectory to ensure the vehicle accurately travels along the planned path.

[0133] As a feasible implementation, some embodiments of the vehicle control method provided in this disclosure further include: displaying the driving trajectory of the vehicle from its current position into the parking space corresponding to the parking space frame in the rotation control interface.

[0134] It's worth noting that when a parking space frame is present in the rotary control interface, the driving trajectory will be displayed regardless of whether the user selects automatic parking. If the user selects manual parking, the displayed trajectory allows the driver to visually see the vehicle's path, especially helpful in complex parking environments. This helps the driver better understand how the vehicle should move to park. Thus, the driver no longer needs to rely on traditional rearview or side mirrors to observe the vehicle's surroundings; instead, they can use the driving trajectory on the rotary control interface to assist with parking. This reduces driver eye movement and makes the parking process more convenient.

[0135] If a user inputs a parking command to control the vehicle to park automatically, the real-time display of the driving trajectory allows the user to see the vehicle move along the expected path, which enhances the user's trust in the automatic parking system. Users can intuitively understand how the vehicle works, thus allowing the vehicle to complete the parking task autonomously with greater confidence.

[0136] For example, please refer to Figure 6. When the vehicle has partially entered the parking space and only needs to rotate the vehicle body to complete parking, the corresponding driving trajectory of the vehicle can only include the rotation trajectory. The vehicle control device can automatically calculate the rotation angle and preset the angle setting (as shown by the arrow in Figure 6). At this time, clicking the start button will control the vehicle to drive into the parking space.

[0137] For example, as shown in Figure 7, if the distance between the vehicle and the parking space is far, the vehicle control device needs to plan and display the driving path so that after the user clicks the start button, it can control the vehicle to drive in a straight line or rotate according to the driving path so that the vehicle can drive into the parking space.

[0138] As can be seen from S101 above, some embodiments of the vehicle control method provided in this disclosure display a vehicle identifier and a rotation boundary line in the rotation control interface to indicate the vehicle's current position. The rotation boundary line indicates the space range that the vehicle is expected to occupy during rotation. It is understood that the rotation control interface allows users to perform vehicle rotation operations. The vehicle identifier and rotation boundary line displayed in the rotation control interface can intuitively and effectively help users understand and operate the vehicle's rotation function, facilitating accurate judgment of the space occupied by the vehicle during rotation.

[0139] Since users typically have parking needs when using the rotary control interface, some solutions in this disclosure also use the rotary control interface to display the parking space frame, allowing users to intuitively see the relative position between the vehicle and the parking space, making it easier to determine whether the vehicle can be parked smoothly. Therefore, when the vehicle control device receives a parking command, it controls the vehicle to drive into the parking space corresponding to the parking space frame. This eliminates the need for users to manually rotate the vehicle during parking, allowing it to park automatically, thus improving convenience and providing users with a more intelligent and convenient parking experience, thereby increasing satisfaction and trust in the vehicle.

[0140] In some embodiments, when using the parking control interface, users may not only want the vehicle to park, but also to adjust the vehicle's orientation, avoid obstacles, or conduct specific driving demonstrations. Based on this, users can precisely set the vehicle's target rotation center, rotation direction, and rotation angle using the rotation control interface to control the vehicle to perform rotation operations.

[0141] As a feasible implementation, some embodiments of the present disclosure provide a vehicle control method that further includes: in response to receiving a rotation confirmation operation, controlling the vehicle to perform a rotation operation based on a set target rotation center, rotation direction, and rotation angle.

[0142] It is understood that this disclosure does not restrict the rotation confirmation operation. As one implementation method, when the start button is triggered in the rotation control interface shown in Figure 2, it is determined that the rotation confirmation operation has been received. At this time, the vehicle can be controlled to perform the rotation operation based on the target rotation center, rotation direction and rotation angle set by the user in the rotation control interface.

[0143] As one implementation method, users can control the vehicle to perform rotation operations via voice. For example, a user can output the voice command: "Rotate 90 degrees clockwise around the left front wheel." After recognizing the voice command, the vehicle control unit can output the feedback message: "Okay, about to rotate 90 degrees clockwise around the left front wheel," thereby controlling the vehicle to begin the rotation operation.

[0144] It should be noted that, as one implementation method, before users can output control commands via voice, they need to activate the voice control program by saying a wake-up word (such as "Hello, Xiaodi" or a user-defined wake-up word) or selecting the voice control button, and then control the vehicle to perform the corresponding operation by saying the voice command.

[0145] As a feasible implementation method, in order to ensure accuracy and safety during the rotation operation, referring to Figure 8A, the above-mentioned response to receiving the rotation confirmation operation, controlling the vehicle to perform the rotation operation based on the set target rotation center, rotation direction and rotation angle, includes the following steps S10 to S30.

[0146] S10. In response to receiving a rotation confirmation operation, determine whether the vehicle meets the motion prerequisites.

[0147] As one implementation method, the preconditions for motion may include at least one of the following: the door is closed, the seat belt is engaged, and the vehicle is stationary.

[0148] Understandably, closing the car doors effectively prevents passengers from accidentally falling out or being thrown out of the vehicle while it is in motion, thus protecting their lives. Furthermore, properly closed doors help maintain vehicle stability and prevent shaking or unusual noises caused by doors not being fully closed.

[0149] Seat belts are one of the most basic safety devices in a vehicle. They effectively restrain passengers' bodies in the event of a collision or emergency braking, preventing injuries caused by inertia. During vehicle operation, seat belts significantly reduce the risk of injury to passengers from collisions, including reducing head, neck, and chest injuries, thus ensuring driving safety.

[0150] Performing rotation operations while the vehicle is stationary ensures accuracy and safety, preventing accidents caused by misoperation during driving.

[0151] S20. When the vehicle meets the preconditions for movement, control the vehicle to perform a rotation operation based on the set target rotation center, rotation direction and rotation angle.

[0152] With the vehicle meeting the preconditions for movement, the closed doors and engaged seatbelts provide basic protection for passengers, reducing the risk of injury from unexpected situations that may occur during vehicle movement. Furthermore, the stationary state of the vehicle provides the driver with ample time and space to accurately execute the rotation maneuver, avoiding safety hazards caused by improper operation. Therefore, the vehicle can be considered to be in a relatively safe state, and the rotation maneuver can begin.

[0153] As a feasible implementation, some embodiments of the vehicle control method provided in this disclosure further include:

[0154] S30. If the vehicle does not meet the prerequisites for movement, output a second prompt message.

[0155] The second prompt message is used to prompt the user to perform an adjustment operation, which is related to the vehicle's failure to meet the preconditions for movement.

[0156] If the vehicle does not meet the prerequisites for movement, the vehicle control device can output a second prompt message. The second prompt message is used to inform the user that the current vehicle status does not meet the requirements for performing the rotation operation, and guides the user to meet the prerequisites for movement one by one, thereby enhancing the user's safety awareness and ensuring that the operation is carried out under safe conditions, thus avoiding potential risks.

[0157] For example, the content of the second prompt message may include: "Please note that the door is not fully closed. Please check and ensure that all doors are securely locked before trying again," or "The seatbelt is not engaged. For your safety, please fasten the seatbelts of the driver and all passengers before performing the rotation operation." It is understood that this disclosure does not limit the way the second prompt message is output. One implementation method is to display the above-mentioned second prompt message on the vehicle's central control display screen or instrument panel, ensuring that the user can clearly see it. Another implementation method is to play a voice prompt through the vehicle's audio system, informing the user of the current vehicle status and the necessary actions. Yet another implementation method is to provide tactile feedback through seat vibration or steering wheel vibration to attract the user's attention.

[0158] For example, as shown in Figure 8B, when the vehicle door is open, a pop-up message "The door is open. Please close the door before activating" can be displayed in the rotary control interface to prompt the user to close the door.

[0159] It should be noted that this embodiment is only an example of determining whether the vehicle meets the preconditions for movement before the rotation operation. However, in actual application, before the vehicle starts to move (such as performing an automatic parking operation or the user driving the vehicle), it can first determine whether the vehicle meets the preconditions for movement. If the preconditions for movement are met, the vehicle movement can be controlled to ensure the safety of the vehicle and the user.

[0160] It can be seen that by ensuring that the preconditions for movement, such as doors being closed, seat belts being fastened, and the vehicle being stationary, injuries to passengers caused by accidental falls or being thrown out of the vehicle during travel can be effectively prevented. Furthermore, performing a rotation operation while the vehicle is stationary allows the driver ample time and space to execute the operation accurately, avoiding potential accident risks caused by improper operation during travel.

[0161] In some embodiments, during the vehicle's rotation operation, the rotation execution interface can be used to display the process in real time, allowing users to observe the vehicle's current status and the progress of the rotation operation.

[0162] As a feasible implementation method, the approach also includes displaying a rotation execution interface during the vehicle's rotation operation.

[0163] The rotation execution interface includes at least one of the following: current rotation angle, target rotation angle, vehicle, panoramic image, angle selection control, and stop control.

[0164] Understandably, the current rotation angle is used to represent the angle by which the vehicle has rotated from its stationary position to its current position, usually expressed in degrees or as a percentage. This helps the user understand how much the vehicle has rotated and whether it is close to the target angle.

[0165] The target rotation angle is the target rotation angle set by the user. It is used to provide the user with a clear rotation target, making it easier for the user to judge whether the rotation operation is completed.

[0166] The interface displays the vehicle model in 3D or 2D and dynamically updates the model's posture based on the actual rotation angle. This provides users with intuitive visual feedback, helping them better understand the vehicle's rotation status.

[0167] The interface displays an image of the environment surrounding the vehicle. This helps users determine whether the rotation operation will cause interference or collision with the surrounding environment.

[0168] When users set the rotation angle and rotation direction, they can adjust them by sliding or dragging the angle selection control. During the vehicle's rotation operation, the angle selection control can be moved closer to the vehicle logo based on the vehicle's rotation operation.

[0169] In other words, the rotation angle of the angle selection control remains synchronized with the vehicle's current rotation angle during the rotation process. As one implementation method, to enhance the user experience, a visual guide line or arrow can be added between the angle selection control and the vehicle icon to clearly indicate how the angle selection control affects the vehicle's rotation.

[0170] One approach is to place the vehicle identifier (such as a vehicle model) at the center of the interface and ensure it remains stationary throughout the rotation, while the panoramic view covers the area surrounding the vehicle identifier. As the vehicle rotates, the position of the vehicle identifier remains unchanged, while the panoramic view and angle selection controls rotate with the vehicle, allowing the rotation execution interface to simulate the vehicle's rotation effect in a real-world environment.

[0171] The stop control allows users to immediately stop the rotation operation when needed, providing an emergency braking mechanism to ensure a rapid response in case of unexpected situations.

[0172] For example, please refer to Figure 9. The rotation execution interface can display the vehicle's current rotation angle and target rotation angle (as shown in Figure 9, "Target angle: 90°, Current angle: 30°"), as well as the vehicle model, angle selection control, rotation boundary line, stop control, etc.

[0173] In some embodiments, during the process of a vehicle performing a rotation or parking operation, there may be obstacles around the vehicle. To ensure the safety of the vehicle, obstacles around the vehicle can be identified and corresponding warnings can be issued to prompt the user to avoid a collision.

[0174] As a feasible implementation, some embodiments of the vehicle control method provided in this disclosure further include: identifying obstacle information around the vehicle.

[0175] Vehicles can use multiple sensors, such as ultrasonic radar, millimeter-wave radar, lidar, and cameras, to collect data about their surroundings in real time. They can then use algorithms to process and analyze the collected data to obtain information about obstacles around the vehicle.

[0176] After obtaining obstacle information around the vehicle, obstacle collision warnings can be issued based on the relationship between the obstacle and the vehicle. As a feasible implementation, some embodiments of this disclosure provide a vehicle control method that further includes: outputting a third prompt message when the distance between the obstacle and the vehicle is lower than a first distance threshold. The third prompt message is used to alert the user of the presence of an obstacle.

[0177] It is understood that the first distance threshold is preset, but in practical applications, it can be set according to requirements, and this disclosure does not impose any restrictions on it. For example, as a feasible implementation, the first distance threshold can be 30 cm.

[0178] When the distance between the detected obstacle and the vehicle is lower than a preset first distance threshold, a third prompt message is output to warn the driver or passengers of potential danger.

[0179] As a feasible approach, in order to improve the reception rate of information, third-party prompt information can be output in various ways, such as sound, vision (e.g., warning icons or text on the display screen), and touch (e.g., seat vibration).

[0180] As a feasible approach, the urgency of the third-party prompt can be determined based on the distance and speed of the obstacle, meaning the third-party prompt can convey different levels of urgency. For example, the volume of the third-party prompt can be determined based on the distance between the obstacle and the vehicle; when the distance is very close, the volume of the third-party prompt can be increased, or seat vibration can be added to attract the user's attention.

[0181] As a feasible implementation, if a rotation or parking operation is being performed and the display interface is showing a panoramic image of the vehicle, warning information can be displayed on the display interface based on the position of obstacles in the panoramic image.

[0182] For example, please refer to Figure 9. If an obstacle is detected during the vehicle's rotation operation, a third prompt message can be displayed at the location corresponding to the obstacle to remind the user to pay attention to the obstacle and avoid a collision.

[0183] As can be seen, when the distance between the obstacle and the vehicle is below the first distance threshold, the third warning message can immediately alert the driver, giving them sufficient time to react, such as slowing down or swerving, to avoid a collision. With this early warning, drivers can more carefully control the vehicle's movement, thus ensuring the safety of both the user and the vehicle.

[0184] In some embodiments, in order to better protect the safety of the vehicle and its passengers, safety checks can be performed on the vehicle during its movement, and the vehicle can be stopped when certain conditions are met.

[0185] As a feasible implementation, some embodiments of the vehicle control method provided in this disclosure further include: controlling the vehicle to stop moving when the vehicle meets preset stopping conditions.

[0186] The preset stopping conditions include one or more of the following: the distance between the vehicle and the obstacles around the vehicle is less than the second distance threshold; the vehicle does not meet the preconditions for movement; the vehicle enters the parking space corresponding to the parking space frame.

[0187] In other words, as a means of implementation, when the distance between the vehicle and an obstacle in front of it is lower than a preset second distance threshold, the vehicle should automatically stop to avoid a collision.

[0188] It should be noted that the second distance threshold can be preset. In practical applications, it can be set according to needs or dynamically adjusted based on factors such as current vehicle speed, obstacle position, road conditions, and weather conditions. This disclosure does not impose any restrictions on this. For example, when the vehicle speed is higher than 50 km / h, if the obstacle is directly in front of the vehicle and the road conditions are good, the second distance threshold can be set to 10 m. If the vehicle speed decreases or the type of obstacle changes (such as from a static obstacle to a dynamic obstacle), the second distance threshold should also be adjusted accordingly.

[0189] As one implementation method, the second distance threshold is less than or equal to the first distance threshold. That is, when the distance between the obstacle and the vehicle is lower than the first distance threshold, a third prompt message is first output to prompt the user to avoid the obstacle. When the distance between the obstacle and the vehicle continues to shorten until it is lower than the second distance threshold, the vehicle is controlled to stop moving to avoid a collision with the obstacle.

[0190] As a means of implementation, in order to ensure the safety of the vehicle and its passengers, it is necessary to stop moving quickly regardless of the vehicle's operating status if the vehicle does not meet the preconditions for movement, in order to prevent accidents.

[0191] As one implementation method, when a vehicle enters the parking space corresponding to the parking space frame, it indicates that the vehicle has arrived at its destination, and at this time the vehicle can be controlled to stop moving.

[0192] It is understood that in practical applications, preset stopping conditions may include more conditions, such as: the vehicle speed exceeds the preset safe speed range, the vehicle acceleration is abnormal, certain key systems of the vehicle (such as the braking system, steering system, etc.) malfunction, the emergency stop button inside the vehicle is triggered, a stop command is received, severe weather conditions (such as heavy rain, heavy snow, etc.), poor road conditions (such as severe water accumulation, collapse, etc.), etc. This disclosure does not limit the preset stopping conditions.

[0193] As a feasible implementation method, the approach further includes: outputting a fourth prompt message when the vehicle meets preset stopping conditions. The fourth prompt message corresponds to the preset stopping conditions met by the vehicle.

[0194] When the vehicle detects that a preset stopping condition has been met, the vehicle control device can output a corresponding prompt message. These prompt messages are intended to remind the driver to pay attention to the current situation and take necessary measures (such as slowing down, avoiding obstacles, stopping to check, etc.).

[0195] Understandably, different prompts should be designed for different preset stopping conditions to ensure the accuracy and relevance of the information. For example, for obstacle detection, the prompt should include the type and distance of the obstacle; for system malfunctions, a description of the malfunction and possible solutions should be provided.

[0196] For example, if the vehicle meets the preset stopping condition that the distance between the vehicle and obstacles around it is less than a second distance threshold, a preset voice prompt, such as "Obstacle ahead, please be careful," can be played through the vehicle's audio system. If the vehicle meets the preset stopping condition that is a vehicle malfunction, a corresponding warning icon or text message, such as a red stop sign, an exclamation mark, or a malfunction description, can be displayed on the vehicle's internal display screen.

[0197] In some embodiments, referring to FIG10, when the user needs to control the vehicle to perform a rotation operation, the vehicle control device realizes the vehicle rotation operation through the following steps S11 to S165.

[0198] S11, Receive rotation control command.

[0199] S12, Output rotation control interface.

[0200] The rotation control interface includes: a panoramic image, a user-selectable rotation center, angle rotation controls, and a start button. The angle selection controls are used to choose the rotation angle and direction. Users can set the target rotation center, target rotation angle, and rotation direction based on the rotation control interface.

[0201] S13. In response to the start button being triggered, check whether the preconditions for the exercise are met.

[0202] If satisfied, execute S141; if not satisfied, execute S142.

[0203] S141. Control the vehicle to start rotating and display the rotation execution interface.

[0204] The rotation execution interface includes: panoramic image, vehicle rotation status, and stop button.

[0205] S142. Output a prompt message to remind the user to adjust the vehicle status.

[0206] S15. Are any obstacles detected around the vehicle?

[0207] If yes, you can choose to execute S161 or S162 depending on the distance between the obstacle and the vehicle; otherwise, execute S163.

[0208] S161. If the obstacle is outside the rotation boundary line, output a warning message.

[0209] S162. If the obstacle is within the rotation boundary line, stop the rotation operation and output the message "Rotation operation has been terminated".

[0210] S163. Check whether the preset stop conditions are met.

[0211] If yes, proceed to S164; otherwise, proceed to S165.

[0212] S164. Output the message "Rotation operation has been terminated" and explain the reason for termination.

[0213] S165. Control the vehicle to continue rotating until the target rotation angle set by the user is reached.

[0214] In other embodiments, when a user performs a parking operation based on a rotary control interface, as shown in Figure 11, the vehicle control device performs the parking operation of the vehicle through the following steps S21 to S285.

[0215] S21, Receive rotation control command.

[0216] S22, Output rotation control interface.

[0217] The rotation control interface may include: a panoramic image, a parking space addition control, a rotation center selectable by the user, an angle rotation control, and a start button.

[0218] S23. Determine if a parking space has been detected.

[0219] If yes, execute S241; otherwise, execute S242.

[0220] S241, Prompt: "Parking space detected. Click to start parking."

[0221] S242. The user clicks to add a parking space control and drags and rotates the parking space frame to the parking space.

[0222] S25. The start button is triggered, and it is checked whether the preconditions for the exercise are met.

[0223] If satisfied, execute S261; if not satisfied, execute S262.

[0224] S261, Control the vehicle to start automatic parking.

[0225] Understandably, when a vehicle is automatically parking, the planned parking trajectory can include a straight trajectory and a rotational trajectory. When the vehicle begins to move along the rotational trajectory, a rotation execution interface can be displayed so that the user can check the vehicle's rotation status.

[0226] S262. Output a prompt message to remind the user to adjust the vehicle status.

[0227] S27. Are any obstacles detected around the vehicle?

[0228] If yes, you can choose to execute S281 or S282 depending on the distance between the obstacle and the vehicle; otherwise, execute S283.

[0229] S281. If the obstacle is outside the rotation boundary line, output a warning message.

[0230] S282. If the obstacle is within the rotation boundary line, stop the parking operation and output the message "Automatic parking has been terminated".

[0231] S283. Check if a preset stop condition exists.

[0232] If yes, execute S284; otherwise, execute S285.

[0233] S284. Output the message "Automatic parking has been terminated" and explain the reason for termination.

[0234] S285. Control the vehicle to continue performing automatic parking operations until it reaches the parking space corresponding to the parking space frame.

[0235] Some embodiments of this disclosure also provide a vehicle control device, including: a controller, which controls a vehicle to drive into a parking space corresponding to a parking space frame based on a parking instruction; the parking space frame is located in a rotation control interface, which also includes a vehicle identifier for indicating the current position of the vehicle and a rotation boundary line for indicating the space range that the vehicle is expected to occupy during rotation.

[0236] In some embodiments, the rotation control interface is also used to display a panoramic image of the exterior of the vehicle; the vehicle control device further includes: a display component, used to display the parking space frame corresponding to the parking space on the panoramic image based on the location information of the identified parking space when a parking space is identified around the vehicle.

[0237] In some embodiments, when a parking space is identified based on a panoramic image, the vehicle control device further includes an output component for outputting a first prompt message, which prompts the user to confirm whether to park in the identified parking space.

[0238] In some embodiments, the vehicle control device further includes a display component for displaying a parking space frame in a rotation control interface in response to receiving an instruction to add a parking space.

[0239] In some embodiments, the controller is further configured to: adjust the display position of the parking space frame based on the movement operation in response to a user's movement operation on the parking space frame; and control the parking space frame to rotate based on the rotation operation in response to a user's rotation operation on the parking space frame.

[0240] In some embodiments, a parking instruction is triggered by one or more of the following methods: receiving a voice instruction indicating the start of parking; detecting a touch operation on a start parking button or control; or receiving a start parking instruction sent by a remote control device.

[0241] In some embodiments, the vehicle control device further includes a display component for displaying, in a rotating control interface, the driving trajectory of the vehicle from its current position into the parking space corresponding to the parking space frame.

[0242] In some embodiments, the vehicle control device further includes: a display component for displaying a rotation control interface in response to a rotation control command; the triggering conditions for the rotation control command include any of the following: the rotation control control or button is triggered; a voice command related to rotation control is received; or a rotation control command is received from a terminal device.

[0243] In some embodiments, the location of the rotary control or button may include one or more of the following: steering wheel, center console, display, terminal device.

[0244] In some embodiments, the rotation control interface uses the target rotation center of the selected vehicle as the interface center.

[0245] In some embodiments, the vehicle control device further includes a determining component, which determines a target rotation center of the vehicle in a rotation control interface in response to a selection command for a rotation center.

[0246] In some embodiments, the rotation control interface further includes an angle selection control for selecting the rotation direction and rotation angle of the vehicle.

[0247] In some embodiments, the angle selection control is an angle selection lever, and the vehicle control device further includes: a determining component, which is configured to respond to a user's tossing operation of the angle selection lever, determine the rotation direction of the vehicle based on the direction in which the angle selection lever is tossed, and determine the rotation angle of the vehicle based on the position of the angle selection lever after the tossing operation.

[0248] In some embodiments, one end of the angle selection lever is located at the center point of the area surrounded by the rotation boundary line, and the other end is used to rotate around the center point based on the user's toggle operation.

[0249] In some embodiments, the dimensions of the parking space frame are matched to the dimensions of the vehicle.

[0250] In some embodiments, the controller is also configured to, in response to receiving a rotation confirmation operation, control the vehicle to perform a rotation operation based on a set target rotation center, rotation direction, and rotation angle.

[0251] In some embodiments, the controller may be used to control the vehicle to perform a rotation operation based on a set target rotation center, rotation direction, and rotation angle, in response to receiving a rotation confirmation operation and provided that the vehicle meets the motion preconditions.

[0252] In some embodiments, the preconditions for movement include at least one of the following: the door is closed, the seat belt is engaged, and the vehicle is stationary.

[0253] In some embodiments, the vehicle control device further includes an output component for outputting a second prompt message when the vehicle does not meet the preconditions for motion. The second prompt message prompts the user to perform an adjustment operation related to the preconditions for motion that the vehicle does not meet.

[0254] In some embodiments, the vehicle control device further includes: an output component, which is used to output a rotation execution interface during the rotation operation of the vehicle; the rotation execution interface includes at least one of the following: current rotation angle, target rotation angle, vehicle identifier, panoramic image, angle selection control, and stop control; the angle selection control moves closer to the vehicle identifier during the rotation operation; the stop control is used to stop the current rotation operation.

[0255] In some embodiments, the vehicle control device further includes an identification component for identifying obstacle information around the vehicle.

[0256] In some embodiments, the vehicle control device further includes an output component, which is configured to output a third prompt message when the distance between the obstacle information and the vehicle is less than a first distance threshold; the third prompt message is used to prompt the user that an obstacle exists.

[0257] In some embodiments, the controller is further configured to control the vehicle to stop moving when the vehicle meets preset stopping conditions; the preset stopping conditions include one or more of the following: the distance between the vehicle and the obstacle information around the vehicle is less than a second distance threshold; the vehicle does not meet the preconditions for movement; the vehicle drives into the parking space corresponding to the parking space frame.

[0258] In some embodiments, the vehicle control device further includes an output component, which is configured to output a fourth prompt message when the vehicle meets a preset stopping condition, the fourth prompt message corresponding to the preset stopping condition met by the vehicle.

[0259] As shown in Figure 12, the electronic device 130 includes, but is not limited to, a processor 1301 and a memory 1302.

[0260] The aforementioned memory 1302 is used to store the executable instructions of the aforementioned processor 1301. It is understood that the aforementioned processor 1301 is configured to execute instructions to implement the vehicle control method in the above embodiments.

[0261] Processor 1301 is the control center of the electronic device. It connects various parts of the electronic device via various interfaces and lines. By running or executing software programs and / or modules stored in memory 1302, and by calling data stored in memory 1302, it performs various functions and processes data, thereby controlling the electronic device as a whole. Processor 1301 may include one or more processing modules. For example, processor 1301 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into processor 1301.

[0262] The memory 1302 can be used to store software programs and various data. The memory 1302 may primarily include a program storage area and a data storage area. The program storage area may store the operating system, application programs required by at least one functional module (such as acquisition components, determination components, processing components, etc.), etc. Furthermore, the memory 1302 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0263] Some embodiments of this disclosure also provide a vehicle 100, including the above-described electronic device 130 or vehicle control device 101.

[0264] In some embodiments, this disclosure also provides a computer program product including a computer program that, when executed by a device, causes the device to perform the methods described above.

[0265] In this way, the computer program in the computer program product can be customized according to the needs and operating conditions of the equipment, realizing personalized control methods and improving the adaptability and flexibility of equipment control.

[0266] In addition, computer program products can be executed on different devices or systems, achieving cross-platform applicability, providing a unified control method for different types of devices, and improving system integration and interoperability.

[0267] Although embodiments of this disclosure have been described in conjunction with specific features and examples, it is apparent that various modifications and combinations can be made thereto without departing from the spirit and scope of this disclosure. Accordingly, this specification and accompanying drawings are merely exemplary illustrations of this disclosure as defined by the appended claims and are to be considered as covering any and all modifications, variations, combinations, or equivalents within the scope of this disclosure. Clearly, those skilled in the art can make various alterations and modifications to this disclosure without departing from its spirit and scope. Thus, if such modifications and modifications of this disclosure fall within the scope of the claims of this disclosure and their equivalents, this disclosure is also intended to include such modifications and modifications.

[0268] The above are merely specific embodiments of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A vehicle control method, comprising: Based on the parking command, control the vehicle to drive into the parking space corresponding to the parking space frame; The parking space frame is located in the rotation control interface, which also includes a vehicle identifier and a rotation boundary line to indicate the current position of the vehicle. The rotation boundary line is used to indicate the space range that the vehicle is expected to occupy during rotation.

2. The method according to claim 1, wherein, The rotation control interface is also used to display a panoramic image of the vehicle's exterior; the method further includes: When a parking space is identified around the vehicle, the parking space frame corresponding to the identified parking space is displayed on the panoramic image based on the location information of the identified parking space.

3. The method according to claim 2, wherein, When a parking space is identified based on the panoramic image, the method further includes: Output a first prompt message, which is used to prompt the user to confirm whether the parking space has been identified.

4. The method according to any one of claims 1-3, further comprising: In response to receiving a command to add a parking space, the parking space frame is displayed in the rotation control interface.

5. The method according to any one of claims 1-4, further comprising at least one of the following: In response to a user's movement operation on the parking space frame, the display position of the parking space frame is adjusted based on the movement operation; and, In response to a user's rotation operation on the parking space frame, the parking space frame is controlled to rotate based on the rotation operation.

6. The method according to any one of claims 1-5, wherein, The parking instruction is triggered by any one or more of the following methods: Received a voice command indicating the start of parking; Touch operation on the start parking button or control was detected; Received a parking start command from the remote control device.

7. The method according to any one of claims 1-6, further comprising: The rotation control interface displays the driving trajectory of the vehicle as it moves from its current position into the parking space corresponding to the parking space frame.

8. The method according to any one of claims 1-7, further comprising: In response to a rotation control command, the rotation control interface is displayed; the triggering conditions for the rotation control command include any of the following: The rotation control or button is triggered; Received voice commands related to rotation control; The rotation control command sent by the terminal device has been received.

9. The method according to claim 8, wherein, The location of the rotary control or button includes one or more of the following: steering wheel, central control area, display, terminal device.

10. The method according to any one of claims 1-9, wherein, The rotation control interface uses the target rotation center of the selected vehicle as the interface center.

11. The method according to any one of claims 1-10, further comprising: In response to a command to select a rotation center, the target rotation center of the vehicle is determined in the rotation control interface.

12. The method according to any one of claims 1-11, wherein, The rotation control interface also includes an angle selection control, which is used to select the rotation direction and rotation angle of the vehicle.

13. The method according to claim 12, wherein, The angle selection control is an angle selection lever, and the method further includes: In response to a user's tossing operation of the angle selection lever, the rotation direction of the vehicle is determined based on the direction in which the angle selection lever is tossed, and the rotation angle of the vehicle is determined based on the position of the angle selection lever after the tossing operation.

14. The method according to claim 13, wherein, One end of the angle selection lever is located at the center point of the area surrounded by the rotation boundary line, and the other end is used to rotate around the center point based on the user's toggle operation.

15. The method according to any one of claims 1-14, wherein, The dimensions of the parking space frame are matched to the dimensions of the vehicle.

16. The method according to any one of claims 1-15, further comprising: In response to receiving a rotation confirmation operation, the vehicle is controlled to perform a rotation operation based on the set target rotation center, rotation direction, and rotation angle.

17. The method according to claim 16, wherein, The step of responding to receiving a rotation confirmation operation and controlling the vehicle to perform a rotation operation based on a set target rotation center, rotation direction, and rotation angle includes: In response to receiving a rotation confirmation operation, if the vehicle meets the preconditions for movement, the vehicle is controlled to perform a rotation operation based on the set target rotation center, rotation direction and rotation angle.

18. The method according to claim 17, wherein, The prerequisites for movement include at least one of the following: the door is closed, the seat belt is engaged, and the vehicle is stationary.

19. The method according to claim 17 or 18, further comprising: If the vehicle does not meet the preconditions for movement, a second prompt message is output. The second prompt message is used to prompt the user to perform an adjustment operation, which is related to the preconditions for movement that the vehicle does not meet.

20. The method according to any one of claims 16-19, further comprising: During the vehicle's rotation operation, a rotation execution interface is output; the rotation execution interface includes at least one of the following: current rotation angle, target rotation angle, vehicle identification, panoramic image, angle selection control, and stop control; The angle selection control moves closer to the vehicle identifier during rotation based on the vehicle's rotation operation; the stop control is used to stop the current rotation operation.

21. The method according to any one of claims 1-20, further comprising: Identify obstacle information around the vehicle.

22. The method of claim 21, further comprising: When the distance between the obstacle and the vehicle is lower than a first distance threshold, a third prompt message is output; The third prompt message is used to alert the user to the presence of an obstacle.

23. The method according to any one of claims 1-22, further comprising: When the vehicle meets the preset stopping conditions, control the vehicle to stop moving; The preset stop conditions include one or more of the following: The distance between the obstacles around the vehicle and the vehicle is less than a second distance threshold; The vehicle does not meet the prerequisites for motion. The vehicle drives into the parking space corresponding to the parking space frame.

24. The method of claim 23, further comprising: When the vehicle meets the preset stopping conditions, a fourth prompt message is output, which corresponds to the preset stopping conditions met by the vehicle.

25. An electronic device comprising a processor and a memory, the processor being connected to the memory, the memory storing computer instructions that, when executed on the electronic device, cause the electronic device to perform the method according to any one of claims 1-24.

26. A computer-readable storage medium, wherein, The computer-readable storage medium stores computer-executable instructions that, when executed on a computer, cause the computer to perform the method according to any one of claims 1-24.

27. A vehicle comprising the electronic device of claim 25, or the computer-readable storage medium of claim 26.

28. A computer program product comprising instructions, wherein, When the instructions are executed on a computer, the computer performs the method according to any one of claims 1-24.

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