CN116161058A

CN116161058A - Vehicle control method, electronic equipment and vehicle

Info

Publication number: CN116161058A
Application number: CN202310316507.7A
Authority: CN
Inventors: 房波
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2023-03-28
Filing date: 2023-03-28
Publication date: 2023-05-26

Abstract

The application provides a vehicle control method, electronic equipment and a vehicle, and the method and the electronic equipment are used for judging whether the current state of the vehicle meets the power-on condition of a high-voltage system or not in response to receiving a vehicle searching instruction sent by a user terminal. And controlling the whole vehicle high-voltage system to be electrified in response to the current state of the vehicle meeting the high-voltage system electrifying condition, so as to ensure that the vehicle is electrified successfully. Judging whether the current state of the vehicle meets driving conditions, responding to the fact that the current state of the vehicle meets the driving conditions, determining a target gear according to the current position of the vehicle and a target driving path, and sending the target gear to a gear controller so as to switch the current gear of the vehicle to the target gear, and making sufficient preparation for the vehicle to drive. And the whole vehicle controller forwards the current target torque to the motor control system to control the vehicle to automatically drive to the user, so that the problem that the user is inconvenient to search the vehicle or the time for searching the vehicle is long is solved, and the vehicle searching experience of the user is improved.

Description

Vehicle control method, electronic equipment and vehicle

Technical Field

The present disclosure relates to the field of vehicle control technologies, and in particular, to a vehicle control method, an electronic device, and a vehicle.

Background

At present, along with the large-scale increase of vehicles, the area of a public parking lot is gradually increased, so that a user can park conveniently. However, when a user gets a car, the parking position of the car is often forgotten, resulting in an increase in the time to find the car. Although the vehicle position can be inquired through positioning navigation, the user needs a certain time to walk nearby the vehicle according to the navigation route, and inconvenience is brought to the user.

Disclosure of Invention

In view of the above, the present application is directed to a vehicle control method, an electronic device and a vehicle, so as to solve the problem that a user is inconvenient to search for a vehicle or the time for searching for a vehicle is too long.

In view of the above object, a first aspect of the present application provides a vehicle control method including:

responding to a vehicle searching instruction sent by a user through a user terminal and forwarded by a vehicle-mounted terminal, and judging whether the current state of the vehicle meets the power-on condition of a high-voltage system or not;

controlling the whole vehicle high-voltage system to be electrified in response to the current state of the vehicle meeting the high-voltage system electrifying condition;

judging whether the current state of a vehicle meets driving conditions, determining a target gear according to the current position of the vehicle and a target driving path in response to the current state of the vehicle meeting the driving conditions, and sending the target gear to a gear controller so as to switch the current gear of the vehicle to the target gear, wherein the current position and the target driving path are obtained through an intelligent driving system, and the target driving path is a path from the current position to the position where the user is located;

and forwarding the current target torque to a motor control system so that the motor control system outputs the current target torque to control the vehicle to drive to the user according to the target driving path, wherein the current target torque is obtained through an intelligent driving system.

Optionally, the determining whether the current state of the vehicle meets the power-on condition of the high-voltage system includes:

acquiring a state signal of a high-voltage system of the vehicle;

if the state signal of the high-voltage system does not belong to the fault signal, determining that the current state of the vehicle meets the power-on condition of the high-voltage system, wherein the high-voltage system at least comprises a battery control system, a motor control system and a direct current converter DCDC.

Optionally, the determining whether the current state of the vehicle meets the driving condition includes:

acquiring a state signal of a driving system of a vehicle;

if the state signal of the driving system of the vehicle does not belong to the fault signal and the virtual brake pedal signal exists, determining that the current state of the vehicle meets the driving condition, wherein the driving system at least comprises a gear control system and a motor control system.

Optionally, before forwarding the current target torque to the motor control system, the method further includes:

and adjusting the current target torque according to a preset rule, so that the current speed of the vehicle is smaller than a preset speed threshold value after the motor control system outputs the adjusted current target torque.

A second aspect of the present application provides a vehicle control method, including:

receiving a vehicle searching instruction which is forwarded by a vehicle-mounted terminal and sent by a user through the user terminal, wherein the vehicle searching instruction carries user position information;

acquiring current running data of a vehicle and current position and environment position information of the vehicle sent by a vehicle positioning system in real time;

determining a target driving path according to the user position information, the current position of the vehicle and the environment position information, and determining a current target torque according to current driving data of the vehicle, wherein the target driving path is a path from the current position of the vehicle to the user position, and the current target torque is a torque which is required to be output currently by the vehicle;

and sending the target driving path and the current target torque to a whole vehicle controller.

Optionally, the vehicle positioning system includes at least one of a radar positioning system and a GPS.

Optionally, the method further comprises:

determining a target distance between the user and the vehicle according to the user position information and the current position of the vehicle; and determining the current target torque to be zero in response to the target distance being less than a preset distance threshold.

Optionally, the method further comprises: and in response to receiving a stop seeking command sent by a user through the user terminal and forwarded by the vehicle terminal, determining the current target torque to be zero.

A third aspect of the present application also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable by the processor, the processor implementing the method as described above when executing the computer program.

A fourth aspect of the present application also provides a vehicle comprising an electronic device as described in the third aspect.

From the above, it can be seen that, according to the vehicle control method, the electronic device and the vehicle provided by the application, before the high-voltage system is powered on, whether the current state of the vehicle meets the high-voltage system power-on condition is judged in response to receiving the vehicle searching instruction sent by the user through the user terminal and forwarded by the vehicle-mounted terminal, so that the fault of the high-voltage system can be found in time. And controlling the whole vehicle high-voltage system to be electrified in response to the current state of the vehicle meeting the high-voltage system electrifying condition, so as to ensure that the vehicle is electrified successfully. Before controlling the vehicle to run, judging whether the current state of the vehicle meets the running condition or not, and timely finding out the fault of a running system. And determining a target gear according to the current position of the vehicle and a target running path and sending the target gear to a gear controller in response to the current state of the vehicle meeting the running condition so as to switch the current gear of the vehicle to the target gear, thereby providing sufficient preparation for running of the vehicle. The current position and the target driving path are obtained through an intelligent driving system, and the target driving path is a path from the current position to the position where the user is located. The intelligent driving system calculates the current position and the target driving path, sends the current position and the target driving path to the whole vehicle controller, and assists in controlling the vehicle to automatically drive. The intelligent driving system can also calculate the current target torque, send the current target torque to the whole vehicle controller, and then forward the current target torque to the motor control system by the whole vehicle controller, so that the motor control system outputs the current target torque, and the vehicle is controlled to automatically drive to the user, so that the problem that the user is inconvenient to search the vehicle or the time for searching the vehicle is long is solved, and the vehicle searching experience of the user is improved.

Drawings

In order to more clearly illustrate the technical solutions of the present application or related art, the drawings that are required to be used in the description of the embodiments or related art will be briefly described below, and it is apparent that the drawings in the following description are only embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort to those of ordinary skill in the art.

FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present application;

FIG. 2 is a flow chart of a vehicle control method according to another embodiment of the present application;

fig. 3 is a schematic structural view of a vehicle control apparatus according to an embodiment of the present application;

fig. 4 is a schematic structural view of a vehicle control apparatus according to another embodiment of the present application;

fig. 5 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present application.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail below with reference to the accompanying drawings.

It should be noted that unless otherwise defined, technical or scientific terms used in the embodiments of the present application should be given the ordinary meaning as understood by one of ordinary skill in the art to which the present application belongs. The terms "first," "second," and the like, as used in embodiments of the present application, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.

As described in the background art, in a large parking lot or a complex parking environment, a user forgets a parking position of a vehicle, which may cause inconvenient vehicle searching. Or, the problem of inconvenient vehicle searching exists when the user carries a large number of articles. Although the user can determine the position of the vehicle through the mobile terminal by means of the navigation system and find the vehicle according to the planned path, if the parking area is too large, the user still needs to take a certain time to reach the vehicle parking position, so that the user has poor experience of finding the vehicle. In view of this, the present application provides a vehicle control method, so that a vehicle is driven to the vicinity of a user through automatic driving, the time for the user to search for a vehicle is reduced, and the user experience is improved.

Embodiments of the present application are described in detail below with reference to the accompanying drawings.

The application provides a vehicle control method, which is applied to a whole vehicle controller, and referring to fig. 1, the method comprises the following steps:

and 102, in response to receiving a vehicle searching instruction sent by a user through the user terminal and forwarded by the vehicle-mounted terminal, judging whether the current state of the vehicle meets the power-on condition of the high-voltage system.

Specifically, the user issues a vehicle searching instruction to the vehicle-mounted terminal through the user terminal, and the vehicle-mounted terminal can be a remote information processor T-BOX, and the user terminal can be an intelligent key or a mobile terminal (for example, mobile devices such as a mobile phone and a tablet). After receiving the vehicle searching command, the vehicle-mounted terminal wakes up the whole vehicle network through the controller local area network CAN (Controller Area Network), the CAN bus comprises a CAN controller and a CAN transceiver, the CAN transceiver CAN convert data provided by the CAN controller into an electric signal, and then the electric signal is sent out through the data bus, and other vehicle-mounted devices CAN receive the electric signal. After the whole vehicle wakes up, the vehicle-mounted terminal sends a vehicle searching instruction to the whole vehicle controller VCU (Vehicle Control Unit), and the automatic driving function of the vehicle can be started only after the whole vehicle high-voltage system is electrified, so that the VCU needs to judge whether the current state of the vehicle meets the high-voltage system electrifying condition after receiving the vehicle searching instruction.

And 104, controlling the whole vehicle high-voltage system to be powered on in response to the current state of the vehicle meeting the high-voltage system power-on condition. The VCU judges whether the high-voltage system meets the power-on condition by acquiring a state signal sent by the high-voltage system, and if so, the VCU controls the battery management system to provide electric energy so as to power on the high-voltage system. If the fault is not satisfied, the fault source can be timely checked, and the fault source is fed back to the user terminal through the vehicle-mounted terminal, so that the user can timely know the vehicle condition. The high voltage system refers to an in-vehicle device that requires high voltage power at the time of operation, such as a battery management system, a motor management system, and the like.

And 106, judging whether the current state of the vehicle meets driving conditions, determining a target gear according to the current position of the vehicle and a target driving path in response to the current state of the vehicle meeting the driving conditions, and sending the target gear to a gear controller so as to switch the current gear of the vehicle to the target gear, wherein the current position and the target driving path are obtained through an intelligent driving system, and the target driving path is a path from the current position to the position where the user is located.

Specifically, after the high-voltage system is powered on, whether the current vehicle meets driving conditions is determined, if not, the fact that the driving system fails is indicated, the failure problem of the driving system can be timely checked, and the failure problem is fed back to the user terminal through the vehicle-mounted terminal, so that the user can know the vehicle condition timely. If so, a further determination of the target gear of the vehicle, which may be, for example, a forward gear or a reverse gear, is required and a successful upshift is made so that the vehicle may be smoothly started into an automatic driving mode. And if the direction of the head of the current vehicle is inconsistent with the direction of the target running path, the target gear is a reverse gear, the direction of the head of the vehicle is adjusted to be consistent with the direction of the target running path, and then the vehicle is controlled to run along the target running path. When the target gear is determined, the current position of the vehicle and the target running path are required to be determined together based on the current position of the vehicle and the target running path, the current position of the vehicle and the target running path are obtained through an intelligent driving system, the intelligent driving system calculates and determines the current position of the vehicle and plans the target running path through position information acquired by a positioning system, and the target running path is the path which the vehicle passes through when reaching the position of the user from the current position.

And step 108, forwarding the current target torque to a motor control system so that the motor control system outputs the current target torque to control the vehicle to drive to the user according to the target driving path, wherein the current target torque is obtained through an intelligent driving system.

Specifically, after receiving the current target torque calculated by the intelligent driving system, the vehicle controller sends the current target torque to the motor control system, the motor control system outputs the current target torque, and the vehicle is started to start an automatic driving mode so as to control the vehicle to drive to the user according to the target driving path, wherein the current target torque is obtained by the intelligent driving system, and the intelligent driving system calculates the current target torque based on the current driving data of the vehicle and sends the current target torque to the vehicle controller. It should be noted that, the intelligent driving system calculates the current target torque in real time, and the current target torque may be changed in real time during the automatic driving of the vehicle, where the change depends on the current running state of the vehicle, the current position, and the obstacle in the target running path.

Based on the above steps 102 to 108, it can be seen that, in the vehicle control method provided in this embodiment, in response to receiving the vehicle searching command sent by the user through the user terminal and forwarded by the vehicle-mounted terminal, before the high voltage system is powered on, whether the current state of the vehicle meets the high voltage system power on condition is determined, so that the fault of the high voltage system can be found in time. And controlling the whole vehicle high-voltage system to be electrified in response to the current state of the vehicle meeting the high-voltage system electrifying condition, so as to ensure that the vehicle is electrified successfully. Before controlling the vehicle to run, judging whether the current state of the vehicle meets the running condition or not, and timely finding out the fault of a running system. And determining a target gear according to the current position of the vehicle and a target running path and sending the target gear to a gear controller in response to the current state of the vehicle meeting the running condition so as to switch the current gear of the vehicle to the target gear, thereby providing sufficient preparation for running of the vehicle. The current position and the target driving path are obtained through an intelligent driving system, and the target driving path is a path from the current position to the position where the user is located. The intelligent driving system calculates the current position and the target driving path, sends the current position and the target driving path to the whole vehicle controller, and assists in controlling the vehicle to automatically drive. The intelligent driving system can also calculate the current target torque, send the current target torque to the whole vehicle controller, and then forward the current target torque to the motor control system by the whole vehicle controller, so that the motor control system outputs the current target torque, and the vehicle is controlled to automatically drive to the user, so that the problem that the user is inconvenient to search the vehicle or the time for searching the vehicle is long is solved, and the vehicle searching experience of the user is improved.

In some embodiments, the step 102 includes: acquiring a state signal of a high-voltage system of the vehicle; and if the state signal of the high-voltage system does not belong to the fault signal, determining that the current state of the vehicle meets the power-on condition of the high-voltage system.

Specifically, each high-voltage system has a corresponding controller, and the controller includes a state machine, and the state machine can realize switching of multiple states, such as a charging state, a discharging state and the like. Correspondingly, each state corresponds to a state signal, and when the state is a fault state, the corresponding state signal is also a fault signal. The whole vehicle controller acquires state information of a plurality of high-voltage systems, and if at least one fault signal exists, the current state of the vehicle does not meet the power-on condition of the high-voltage systems. If all the state signals do not belong to the fault signals, the current state of the vehicle meets the power-on condition of the high-voltage system. In the implementation, the vehicle controller at least needs to acquire state signals of a battery control system, a motor control system and DCDC, the battery control system can provide energy sources for the vehicle, the motor control system can provide power sources for the vehicle, and the DCDC can convert high-voltage electric energy of the power battery into low-voltage electric energy for low-voltage loads.

In some embodiments, step 106 comprises: acquiring a state signal of a driving system of a vehicle; and if the state signal of the driving system of the vehicle does not belong to the fault signal and the virtual brake pedal signal exists, determining that the current state of the vehicle meets the driving condition.

As in the previous embodiment, each driving system also has a corresponding controller, and the vehicle controller receives a status signal of each driving system, and if at least one fault signal is present, the current status of the vehicle does not meet the driving condition. If no fault signal exists and a virtual brake pedal signal exists, it is determined that the current state of the vehicle satisfies the driving condition. The virtual brake pedal signal is a preset virtual signal in the vehicle-mounted network, and can be received by the vehicle controller as one of the necessary driving conditions after receiving a vehicle searching command issued by a user. The virtual brake pedal signal is set to further ensure driving safety, and the gear controller can be controlled to be in gear after the vehicle controller recognizes the virtual brake pedal signal, so that the vehicle can normally run.

In some embodiments, before forwarding the current target torque to the motor control system, the method further comprises: and adjusting the current target torque based on a preset vehicle speed threshold value.

Specifically, in the automatic driving process of the whole vehicle, the vehicle speed needs to be controlled within a certain range to ensure the driving safety. After receiving the current target torque sent by the intelligent driving system, the whole vehicle controller needs to adjust the current target torque if the vehicle speed generated after the motor outputs the current target torque exceeds the preset vehicle speed threshold value. In addition, the current target torque can be adjusted by comprehensively considering the current states of the battery system, the motor system and the like, so that the current target torque is more suitable for the running state of the current vehicle.

The application also provides a vehicle control method applied to an intelligent driving system, referring to fig. 2, comprising the following steps:

step 202, receiving a vehicle searching instruction which is forwarded by the vehicle-mounted terminal and sent by a user through the user terminal, wherein the vehicle searching instruction carries user position information.

Specifically, the user issues a vehicle searching instruction to the vehicle-mounted terminal through the user terminal, and the vehicle-mounted terminal can be a remote information processor T-BOX, and the user terminal can be an intelligent key or a mobile terminal (for example, mobile devices such as a mobile phone and a tablet). After receiving the vehicle searching command, the vehicle-mounted terminal wakes up the whole vehicle network through the controller local area network CAN (Controller Area Network), the CAN bus comprises a CAN controller and a CAN transceiver, the CAN transceiver CAN convert data provided by the CAN controller into an electric signal, and then the electric signal is sent out through the data bus, and other vehicle-mounted devices CAN receive the electric signal. After the whole vehicle wakes up, the vehicle-mounted terminal sends a vehicle searching instruction to the intelligent driving system, and the intelligent driving system reads the user position information in the vehicle searching instruction, so that the automatic driving path can be planned conveniently.

And 204, acquiring current running data of the vehicle and current position and environment position information of the vehicle sent by a vehicle positioning system in real time. The vehicle positioning system can track and position the vehicle and can also receive a high-precision map of the surrounding environment obtained through satellite positioning. The intelligent driving system can better assist the vehicle to realize automatic driving by acquiring the current position and the driving data of the vehicle and a high-precision map in real time, and adjust the driving route, the speed and the like of the vehicle in real time according to the surrounding environment so that the vehicle can smoothly reach the position of the user.

And 206, determining a target driving path according to the user position information, the current position of the vehicle and the environment position information, and determining a current target torque according to the current driving data of the vehicle, wherein the target driving path is a path from the current position of the vehicle to the user position, and the current target torque is a torque which is required to be output currently by the vehicle.

The intelligent driving system can plan a target driving path according to the position information of the user, the current position of the vehicle and the surrounding environment information, and a reasonable driving path is made, wherein the target driving path is an optimized path which can avoid known obstacles and has a short distance.

The intelligent driving system can determine the current target torque according to the current driving data of the vehicle, the torque is related to the data such as the transmission ratio, the tire rolling radius, the vehicle speed and the acceleration of the vehicle, the current target torque can be calculated according to the current acquired driving data and the vehicle information, the current target torque is provided for the whole vehicle controller, and the current target torque is sent to the motor control system through the whole vehicle controller so that the motor outputs the current target torque. The calculation method of the torque is known to those skilled in the art from the present disclosure and will not be described in detail herein.

And step 208, the target driving path and the current target torque are sent to a whole vehicle controller.

And sending the target driving path and the current target torque obtained by calculation in the steps to a whole vehicle controller, and enabling the whole vehicle controller to start automatic driving of the vehicle by controlling a motor control system, a battery management system and the like, and driving the vehicle to a user according to the target driving path.

Based on the above steps 202 to 208, after receiving the vehicle searching command, the intelligent driving system obtains the running data, the current position and the environmental position information of the vehicle in real time, calculates the target running path and the current target torque, and sends the target running path and the current target torque to the whole vehicle controller to assist the vehicle to complete the automatic driving process of searching the vehicle owner, thereby improving the experience of the user.

In some embodiments, the vehicle positioning system includes at least one of a radar positioning system and a GPS.

Specifically, the radar positioning system collects surrounding environmental information by radar devices installed in various directions of the vehicle, including but not limited to millimeter wave radar or laser radar. More detailed environmental information in a local area, or temporarily present obstacles, such as other vehicles or pedestrians, can be acquired by the radar positioning system as compared to the global positioning system GPS (Global Positioning System). The GPS can acquire environmental information in a larger range around the vehicle, and provides accurate geographic position, vehicle speed and accurate time information. In a specific implementation process, a radar positioning system and a GPS can be combined to provide positioning service for the vehicle, so that a more reasonable running path is planned.

In some embodiments, determining a target distance between the user and the vehicle from the user location information and a current location of the vehicle; and determining the current target torque to be zero in response to the target distance being less than a preset distance threshold.

Specifically, when the vehicle is traveling near the user, the user may be parked waiting for getting on the vehicle. When the intelligent driving system recognizes that the target distance between the current position of the vehicle and the position of the user is smaller than the preset distance threshold, the vehicle can be considered to be driven to the vicinity of the user, the target torque at the moment is set to be zero and is sent to the whole vehicle controller, the whole vehicle controller sends a command carrying zero torque to the motor control system so that the output torque of the motor is zero, and after the traction force provided for the vehicle disappears, the vehicle stops driving, and more humanized and intelligent vehicle searching service is provided for the user.

In some embodiments, the current target torque is determined to be zero in response to receiving a stop seeking command sent by a user through the user terminal forwarded by the vehicle terminal.

Before the vehicle of the foregoing embodiment is automatically stopped, if the user has seen the vehicle, a stop-seeking instruction may be issued through the user terminal. After the vehicle terminal receives the command of stopping searching for the vehicle and forwards the command to the intelligent driving terminal, the intelligent driving terminal sets the target torque at the moment to be zero and sends the target torque to the whole vehicle controller, and the whole vehicle controller sends the command carrying the zero torque to the motor control system so that the output torque of the motor is zero, and after the traction force provided for the vehicle disappears, the vehicle stops running. Through the scheme of the embodiment and the embodiment, the vehicle can be automatically parked when the vehicle runs near the user, and the vehicle can be parked at any time according to the vehicle-searching stopping instruction issued by the user, so that more convenient vehicle-searching service is provided for the user.

It should be noted that, after the vehicle is stopped, if the user does not get on the vehicle within a period of time, the whole vehicle controller may control the vehicle high-voltage system to power down so as to save the energy consumption of the vehicle. When the user gets on the vehicle, the whole vehicle controller controls the high-voltage system of the vehicle to be electrified again, and the user waits for departure at any time.

It should be noted that, the method of the embodiments of the present application may be performed by a single device, for example, a computer or a server. The method of the embodiment can also be applied to a distributed scene, and is completed by mutually matching a plurality of devices. In the case of such a distributed scenario, one of the devices may perform only one or more steps of the methods of embodiments of the present application, and the devices may interact with each other to complete the methods.

It should be noted that some embodiments of the present application are described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments described above and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Based on the same inventive concept, the application also provides a vehicle control device corresponding to the method of any embodiment.

Referring to fig. 3, the vehicle control apparatus includes:

a first judging module 302, configured to respond to receiving a vehicle searching instruction sent by a user through a user terminal and forwarded by the vehicle-mounted terminal, and judge whether the current state of the vehicle meets the power-on condition of the high-voltage system;

a power-up module 304 configured to control a whole vehicle high-voltage system to power up in response to a current state of the vehicle satisfying the high-voltage system power-up condition;

a second judging module 306 configured to judge whether a current state of a vehicle satisfies a driving condition, determine a target gear according to a current position of the vehicle and a target driving path in response to the current state of the vehicle satisfying the driving condition, and send the target gear to a gear controller to switch the current gear of the vehicle to the target gear, wherein the current position and the target driving path are obtained through an intelligent driving system, and the target driving path is a path from the current position to a position where the user is located;

a control module 308 configured to forward a current target torque to a motor control system to cause the motor control system to output the current target torque to control the vehicle to travel to the user according to the target travel path, wherein the current target torque is obtained by an intelligent driving system.

In some embodiments, the first determining module 302 is further configured to obtain a status signal of a high voltage system of the vehicle; and if the state signal of the high-voltage system does not belong to the fault signal, determining that the current state of the vehicle meets the power-on condition of the high-voltage system.

In some embodiments, the second determining module 306 is further configured to obtain a status signal of a driving system of the vehicle;

and if the state signal of the driving system of the vehicle does not belong to the fault signal and the virtual brake pedal signal exists, determining that the current state of the vehicle meets the driving condition.

In some embodiments, prior to forwarding the current target torque to the motor control system, an adjustment module is further included that is configured to adjust the current target torque based on a preset vehicle speed threshold.

Based on the same inventive concept, the application also provides another vehicle control device corresponding to the method of any embodiment.

Referring to fig. 4, the vehicle control apparatus includes:

a receiving module 402, configured to receive a vehicle searching command sent by a user through a user terminal and forwarded by the vehicle-mounted terminal, where the vehicle searching command carries user position information;

an acquisition module 404 configured to acquire current running data of the vehicle and current position and environmental position information of the vehicle transmitted by the vehicle positioning system in real time;

a first determining module 406 configured to determine a target driving path according to the user position information, the current position of the vehicle, and the environmental position information, and determine a current target torque according to current driving data of the vehicle, where the target driving path is a path from the current position of the vehicle to the user position, and the current target torque is a torque that the vehicle currently needs to output;

the sending module 408 is configured to send the target driving path and the current target torque to the vehicle controller.

In some embodiments, the vehicle positioning system includes at least one of a radar positioning system and a GPS positioning system.

In some embodiments, the system further comprises a second determination module configured to determine a target distance between the user and the vehicle based on the user location information and a current location of the vehicle;

and determining the current target torque to be zero in response to the target distance being less than a preset distance threshold.

In some embodiments, the second determining module is further configured to determine the current target torque as zero in response to receiving a stop-seeking command sent by a user through the user terminal forwarded by the vehicle terminal.

For convenience of description, the above devices are described as being functionally divided into various modules, respectively. Of course, the functions of each module may be implemented in the same piece or pieces of software and/or hardware when implementing the present application.

The device of the foregoing embodiment is configured to implement the corresponding vehicle control method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which is not described herein.

Based on the same inventive concept, the application also provides an electronic device corresponding to the method of any embodiment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor implements the method of any embodiment when executing the program.

Fig. 5 shows a more specific hardware architecture of an electronic device according to this embodiment, where the device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 implement communication connections therebetween within the device via a bus 1050.

The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit ), microprocessor, application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, etc. for executing relevant programs to implement the technical solutions provided in the embodiments of the present disclosure.

The Memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory ), static storage device, dynamic storage device, or the like. Memory 1020 may store an operating system and other application programs, and when the embodiments of the present specification are implemented in software or firmware, the associated program code is stored in memory 1020 and executed by processor 1010.

The input/output interface 1030 is used to connect with an input/output module for inputting and outputting information. The input/output module may be configured as a component in a device (not shown) or may be external to the device to provide corresponding functionality. Wherein the input devices may include a keyboard, mouse, touch screen, microphone, various types of sensors, etc., and the output devices may include a display, speaker, vibrator, indicator lights, etc.

Communication interface 1040 is used to connect communication modules (not shown) to enable communication interactions of the present device with other devices. The communication module may implement communication through a wired manner (such as USB, network cable, etc.), or may implement communication through a wireless manner (such as mobile network, WIFI, bluetooth, etc.).

Bus 1050 includes a path for transferring information between components of the device (e.g., processor 1010, memory 1020, input/output interface 1030, and communication interface 1040).

It should be noted that although the above-described device only shows processor 1010, memory 1020, input/output interface 1030, communication interface 1040, and bus 1050, in an implementation, the device may include other components necessary to achieve proper operation. Furthermore, it will be understood by those skilled in the art that the above-described apparatus may include only the components necessary to implement the embodiments of the present description, and not all the components shown in the drawings.

The electronic device of the foregoing embodiment is configured to implement the corresponding vehicle control method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which is not described herein.

Based on the same inventive concept, corresponding to any of the above-described embodiment methods, the present application also provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the vehicle control method according to any of the above-described embodiments.

The computer readable media of the present embodiments, including both permanent and non-permanent, removable and non-removable media, may be used to implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device.

The storage medium of the above embodiment stores computer instructions for causing the computer to execute the vehicle control method according to any one of the above embodiments, and has the advantages of the corresponding method embodiments, which are not described herein.

Those of ordinary skill in the art will appreciate that: the discussion of any of the embodiments above is merely exemplary and is not intended to suggest that the scope of the application (including the claims) is limited to these examples; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the present application, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of brevity.

Additionally, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown within the provided figures, in order to simplify the illustration and discussion, and so as not to obscure the embodiments of the present application. Furthermore, the devices may be shown in block diagram form in order to avoid obscuring the embodiments of the present application, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform on which the embodiments of the present application are to be implemented (i.e., such specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the application, it should be apparent to one skilled in the art that embodiments of the application can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative in nature and not as restrictive.

While the present application has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of those embodiments will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

The present embodiments are intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Accordingly, any omissions, modifications, equivalents, improvements and/or the like which are within the spirit and principles of the embodiments are intended to be included within the scope of the present application.

Claims

1. A vehicle control method characterized by comprising:

2. The method of claim 1, wherein determining whether the current state of the vehicle satisfies a high voltage system power-up condition comprises:

acquiring a state signal of a high-voltage system of the vehicle;

and if the state signal of the high-voltage system does not belong to the fault signal, determining that the current state of the vehicle meets the power-on condition of the high-voltage system.

3. The method of claim 1, wherein determining whether the current state of the vehicle satisfies a driving condition comprises:

acquiring a state signal of a driving system of a vehicle;

4. The method of claim 1, wherein prior to forwarding the current target torque to the motor control system, the method further comprises:

and adjusting the current target torque based on a preset vehicle speed threshold value.

5. A vehicle control method characterized by comprising:

6. The method of claim 5, wherein the vehicle positioning system comprises at least one of a radar positioning system and a GPS.

7. The method of claim 5, wherein the method further comprises:

determining a target distance between the user and the vehicle according to the user position information and the current position of the vehicle;

8. The method of claim 5, wherein the method further comprises:

and in response to receiving a stop seeking command sent by a user through the user terminal and forwarded by the vehicle terminal, determining the current target torque to be zero.

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any one of claims 1 to 4 or 5 to 8 when the program is executed.

10. A vehicle comprising the electronic device of claim 9.