CN112046419B - Method and device for controlling a vehicle - Google Patents

Abstract

The present application provides methods and apparatus for controlling a vehicle that may be affected based on fault information for the vehicle. According to the technical scheme, fault information of a first vehicle is obtained, and the fault information indicates a fault of the first vehicle; determining a running parameter of a second vehicle according to the fault information of the first vehicle, wherein the second vehicle is located in the influence range of the fault of the first vehicle; and the second vehicle runs according to the running parameters. According to the technical scheme, the running parameters of the second vehicle are determined according to the fault information of the first vehicle, so that the second vehicle can better avoid the influence of the fault of the first vehicle when running according to the running parameters, and the running safety of the vehicle can be improved.

Description

Method and device for controlling a vehicle

technical field

The present application relates to the field of Internet of Vehicles, and more particularly, to a method and device for controlling a vehicle.

Background technique

With the rapid development of the economy, cars have gradually become a necessity in people's lives. During the use of the car, it is inevitable to break down due to various reasons.

Once a car breaks down during driving, it will not only affect the safety of the broken car, but also affect the driving safety of other cars, for example, it will affect the safety of vehicles traveling on the same road.

The safety of automobiles is closely related to the safety of people's personal property. Therefore, when a car breaks down, how to deal with the failure so as to improve the driving safety of other vehicles is a technical problem that needs to be solved urgently.

Contents of the invention

The present application provides a method and a device for controlling a vehicle, which help to improve the driving safety of the vehicle.

According to the first aspect, there is provided a method for controlling a vehicle, which includes: acquiring fault information of a first vehicle, the fault information indicating a fault of the first vehicle; determining the driving of the second vehicle according to the fault information of the first vehicle parameters, the second vehicle is located within the range of influence of the fault of the first vehicle; and the driving parameters are sent to the second vehicle.

The method determines the driving parameters of the second vehicle according to the failure information of the first vehicle, and sends the driving parameters to the second vehicle, so that the second vehicle can better avoid the failure of the first vehicle when driving according to the driving parameters impact, which can improve the driving safety of the vehicle.

Optionally, the distance between the second vehicle and the first vehicle may be less than or equal to a preset distance threshold, and/or, the second vehicle and the first vehicle may have an associated driving schedule.

Optionally, the failure information may indicate one or more failures of brake failure, cruise control failure, tire blowout, battery temperature higher than a preset temperature threshold, and brake light failure.

Optionally, the fault information includes that when the brakes fail, the second vehicle is located in front of the first vehicle, and the distance between the second vehicle and the first vehicle is less than or equal to a preset first distance threshold, the driving Parameters include: driving lane and/or driving speed.

The fault information includes that when a tire blows out, the second vehicle is located in front left, right in front or right in front of the first vehicle, and the distance to the first vehicle is less than or equal to a preset second distance Threshold, the driving parameters include: driving lane and/or driving speed.

The fault information includes that when the battery temperature is greater than or equal to a preset temperature threshold, the distance between the second vehicle and the first vehicle is less than or equal to a preset third distance threshold, and the driving parameters include: speed and/or direction of travel.

The fault information includes that when the brake light fails, the second vehicle is located behind the first vehicle, and the distance between the second vehicle and the first vehicle is less than or equal to a preset fourth distance threshold, and the driving parameters include: Driving speed.

Optionally, the fault information includes that when the cruise control fails, the second vehicle is located in front of the first vehicle, and the distance between the second vehicle and the first vehicle is less than or equal to a preset fifth distance threshold, so The driving parameters include: driving lane and/or driving speed.

Optionally, the acquiring fault information of the first vehicle may include: receiving fault information from the first vehicle.

For example, the vehicle management center may receive the fault information of the first vehicle from the first vehicle, determine the driving parameters of the second vehicle according to the fault information, and send the driving parameters to the second vehicle.

Optionally, the fault information of the first vehicle may include laser radar failure, wherein the method may further include: receiving distance information between a third vehicle and the first vehicle, and the third vehicle includes the following One or more of the vehicles: the vehicles that are closest to the first vehicle on the front, rear, left, right, left front, right front, left rear and right rear of the first vehicle; The first vehicle sends the distance information, so that the first vehicle determines the distance between the first vehicle and the third vehicle.

For example, when the management center determines that the laser radar failure occurs in the first vehicle, the distance information between the first vehicle and the third vehicle measured by the third vehicle around the first vehicle can be sent to the first vehicle to improve the safety of the first vehicle. driving safety.

Optionally, the method may further include: if the driving state information of the first vehicle is not received within a preset period of time, sending the second A prompt message indicating that the vehicle has broken down, the prompt message indicating that the first vehicle has broken down.

Optionally, the acquiring the fault information of the first vehicle may include: detecting the first vehicle to obtain the fault information of the first vehicle.

For example, after the first vehicle detects its own fault information and determines the driving parameters of the second vehicle that may be affected according to its own fault information, it sends the driving parameters to the second vehicle to improve the driving safety of the second vehicle .

Optionally, when the failure type of the first vehicle includes a laser radar failure, the method may further include: the first vehicle receives distance information between a third vehicle and the first vehicle, and the third vehicle includes One or more of the following vehicles: vehicles in front, behind, left, right, left front, right front, left rear, and right rear of the first vehicle that are closest to the first vehicle; execute according to the distance information At least one of the following behaviors: driving behavior, prompting the distance information.

For example, in the case of a lidar failure in the first vehicle, the distance information between the first vehicle and the surrounding third vehicles is obtained from other vehicles or the management center, and the driving is carried out according to the distance information, thereby improving the safety of the first vehicle. driving safety.

Optionally, the method may further include: sending fault information of the first vehicle to the second vehicle. In this way, the second vehicle can prompt the failure information of the first vehicle, so that the second vehicle or the passengers on the second vehicle know the reason why the second vehicle is running like this.

In a second aspect, a method for controlling a vehicle is provided, the method comprising: the second vehicle acquires fault information of the first vehicle, the fault information indicates a fault of the first vehicle, and the second vehicle is located under the influence of the fault of the first vehicle within the range; the second vehicle determines the driving parameters according to the fault information of the first vehicle; the second vehicle executes driving behaviors according to the driving parameters.

After the second vehicle learns of the failure of the first vehicle from the failure information of the first vehicle, the second vehicle can generate or adjust its own driving parameters for the failure of the first vehicle, and drive according to the driving parameters, thereby improving the performance of the vehicle. driving safety.

The execution subject in this method, that is, the second vehicle, can also be understood as the vehicle-mounted device on the second vehicle.

Optionally, the failure information may indicate one or more failures of brake failure, cruise control failure, tire blowout, battery temperature higher than a preset temperature threshold, and brake light failure.

Optionally, the fault information of the first vehicle includes brake failure (that is, the fault of the first vehicle includes brake failure), and the second vehicle is located in front of the first vehicle, and the distance between the first vehicle and the first vehicle is When less than or equal to the preset first distance threshold, the driving parameters include: driving lane and/or driving speed.

The fault information of the first vehicle includes a puncture (that is, the fault of the first vehicle includes a puncture), the second vehicle is located in the left front, right in front or right in front of the first vehicle, and is identical to the first When the distance between the vehicles is less than or equal to the preset second distance threshold, the driving parameters include: driving lane and/or driving speed.

The fault information of the first vehicle includes: the battery temperature is greater than or equal to a preset temperature threshold (that is, the fault of the first vehicle includes that the battery temperature is greater than or equal to a preset temperature threshold), the second vehicle and the first When the distance between the vehicles is less than or equal to the preset third distance threshold, the driving parameters include: driving speed and/or driving direction.

The failure information of the first vehicle includes failure of brake lights (that is, the failure of the first vehicle includes failure of brake lights), the second vehicle is located behind the first vehicle, and the distance between the first vehicle and the first vehicle is less than or When equal to the preset fourth distance threshold, the driving parameters include: driving speed.

Optionally, the failure information includes cruise control failure (that is, the failure of the first vehicle includes cruise control failure), and the second vehicle is located directly in front of the first vehicle, between the first vehicle and the first vehicle. When the distance is less than or equal to the preset fifth distance threshold, the driving parameters include: driving lane and/or driving speed.

Optionally, the fault information of the first vehicle includes laser radar failure (that is, the fault of the first vehicle includes laser radar failure), and the second vehicle is the front, rear, left, right, The vehicle closest to the first vehicle in the left front, right front, left rear or right rear. Wherein, the method further includes: the second vehicle sends distance information between the second vehicle and the first vehicle to the first vehicle, so that the first vehicle can determine the distance between the first vehicle and the first vehicle. distance from the second vehicle.

Optionally, the method further includes: the second vehicle prompting the fault information of the first vehicle.

Optionally, the second vehicle prompting the fault information of the first vehicle includes: the second vehicle prompting the first vehicle on the windshield display screen of the second vehicle through virtual reality fault information.

Optionally, the second vehicle prompts the fault information of the first vehicle on the windshield display screen of the second vehicle through virtual reality, including: The outline of the first vehicle is displayed on the display screen, and the fault information of the first vehicle is prompted; or the second vehicle circles the first vehicle on the windshield display screen, and prompts the The fault information of the first vehicle; or the second vehicle marks the first vehicle with a preset color on the windshield display screen, and prompts the fault information of the first vehicle; or the second vehicle The vehicle marks the location where the failure of the first vehicle occurs on the windshield display screen, and prompts the failure information of the first vehicle.

In the third aspect, a device for controlling a vehicle is provided. The device may be a vehicle-mounted device, or a chip in the vehicle-mounted device, or the device may be a management center device, or a chip that may be applied in the management center device. The device has the function of realizing the above-mentioned first aspect and various possible implementation manners. This function may be implemented by hardware, or may be implemented by executing corresponding software on the hardware. The hardware or software includes one or more modules or units corresponding to the above functions.

In a possible design, the device may include: a communication unit and a processing unit. The communication unit may be, for example, at least one of a transceiver, a receiver, and a transmitter, and the communication unit may include a radio frequency circuit or an antenna. The processing unit may be a processor. In this design, the device may be a vehicle, a vehicle-mounted device or a management center device.

Optionally, the device may further include a storage unit, which may be, for example, a memory. When included, the storage unit is used to store instructions. The processing unit is connected to the storage unit, and the processing unit can execute instructions stored in the storage unit or instructions from other sources, so that the device executes the method in the above first aspect and various possible implementation manners. The storage unit may be a ROM or other type of static storage device that can store static information and instructions, RAM, etc.

In another possible design, when the device is a chip, the chip may include: a communication unit and a processing unit. The communication unit may be, for example, an input/output interface, a pin, or a circuit on the chip. A processing unit may be, for example, a processor. The processing unit can execute instructions, so that the chip in the vehicle-mounted device or the chip in the management center device executes the method in the above first aspect and any possible implementation manner.

Optionally, the processing unit may execute instructions in the storage unit, and the storage unit may be a storage unit in a chip, such as a register, a cache, and the like. The storage unit can also be located in the vehicle equipment or the management center, but located outside the chip, such as ROM or other types of static storage devices that can store static information and instructions, RAM, etc.

Wherein, the processor mentioned above can be a CPU, a microprocessor, an ASIC, or one or more integrated circuits for controlling the program execution of the method in the first aspect above.

In a fourth aspect, a device for controlling a vehicle is provided, and the device may be a vehicle-mounted device, or a chip that can be applied in the vehicle-mounted device. The device has the function of realizing the above-mentioned second aspect and various possible implementation manners. This function may be implemented by hardware, or may be implemented by executing corresponding software on the hardware. The hardware or software includes one or more units corresponding to the functions described above.

In a possible design, the device may include: a communication unit and a processing unit. The communication unit may be, for example, at least one of a transceiver, a receiver, and a transmitter, and the communication unit may include a radio frequency circuit or an antenna. The processing unit may be a processor. In this design, the device can be an on-board device or a vehicle.

Optionally, the device may further include a storage unit, which may be, for example, a memory. When included, the storage unit is used to store instructions. The processing unit is connected to the storage unit, and the processing unit can execute instructions stored in the storage unit or instructions from other sources, so that the device executes the above-mentioned second aspect and the method in various possible implementation manners. The storage unit may be a ROM or other type of static storage device that can store static information and instructions, RAM, etc.

In another possible design, when the device is a chip, the chip includes: a communication unit and a processing unit. The communication unit may be, for example, an input/output interface, a pin, or a circuit on the chip. A processing unit may be, for example, a processor. The processing unit can execute an instruction, so that the chip in the vehicle-mounted device executes the method in the above second aspect and any possible implementation manner.

Optionally, the processing unit may execute instructions in the storage unit, and the storage unit may be a storage unit in a chip, such as a register, a cache, and the like. The storage unit may also be located in the on-vehicle device but outside the chip, such as ROM or other types of static storage devices that can store static information and instructions, RAM, and the like.

Wherein, the processor mentioned above can be a CPU, a microprocessor, an ASIC, or one or more integrated circuits for controlling the program execution of the methods in the above aspects.

The fifth aspect provides a computer-readable storage medium. Program codes are stored in the computer-readable storage medium. The program code includes instructions for performing the methods in the above aspects.

For example, program code may be stored in the computer-readable medium, and the program code includes instructions for performing the method in the first aspect.

For example, program code may be stored in the computer-readable medium, and the program code includes instructions for performing the method in the second aspect.

In a sixth aspect, the present application provides a computer program product including instructions. When the computer program product is run on the computer, the computer is made to execute the methods in the above aspects.

For example, when the computer program product is executed on a computer, it causes the computer to perform the method in the first aspect.

For example, when the computer program product is executed on a computer, it causes the computer to perform the method in the second aspect.

In a seventh aspect, a transportation system is provided, including any one of the aforementioned devices.

Description of drawings

Fig. 1 is an exemplary system architecture diagram that can apply the method of the embodiment of the present application;

Fig. 2 is an exemplary structural diagram of the management center of the embodiment of the present application;

FIG. 3 is an exemplary structural diagram of a vehicle-mounted device according to an embodiment of the present application;

FIG. 4 is an exemplary flowchart of a method for controlling a vehicle according to an embodiment of the present application;

Fig. 5 is an exemplary flowchart of a method for controlling a vehicle according to another embodiment of the present application;

Fig. 6 is a schematic diagram showing vehicle fault information according to an embodiment of the present application;

Fig. 7 is a schematic diagram showing vehicle fault information according to another embodiment of the present application;

Fig. 8 is a schematic diagram showing vehicle fault information according to another embodiment of the present application;

Fig. 9 is a schematic diagram showing vehicle fault information according to another embodiment of the present application;

Fig. 10 is a schematic diagram showing vehicle fault information according to another embodiment of the present application;

Fig. 11 is a schematic diagram showing vehicle fault information according to another embodiment of the present application;

Fig. 12 is a schematic diagram of displaying vehicle failure information according to another embodiment of the present application;

Fig. 13 is a schematic diagram of displaying vehicle fault information according to another embodiment of the present application;

Fig. 14 is an exemplary structural diagram of a device for controlling a vehicle according to an embodiment of the present application;

Fig. 15 is an exemplary structural diagram of a device for controlling a vehicle according to another embodiment of the present application;

Fig. 16 is an exemplary structural diagram of a device for controlling a vehicle according to another embodiment of the present application;

Fig. 17 is an exemplary structural diagram of a device for controlling a vehicle according to another embodiment of the present application;

Fig. 18 is an example diagram of vehicle orientation according to an embodiment of the present application.

detailed description

The technical solution in this application will be described below with reference to the accompanying drawings.

Fig. 1 is an exemplary system architecture diagram to which the method of the embodiment of the present application can be applied. The system may be a traffic system or may be applied to a traffic system.

For example, the system may be an intelligent transport system (ITS). The ITS can acquire, process and use vehicle information in real time, and provide users with traffic services in an accurate and timely manner.

Core participants of the system may include vehicle management center 110 , vehicle 120 , vehicle 130 , vehicle 140 and vehicle 150 . The vehicle management center 110 may be referred to as the management center 110 for short.

It should be understood that the number of vehicles and management centers in the system is just an example, and the method of the present application does not limit the number of vehicles and management centers. In addition, the system may also include other participants, which is not limited in this application.

The management center 110 may include a vehicle control subsystem and a traffic information subsystem. Among them, the vehicle control subsystem is responsible for safely and efficiently controlling the driving of vehicles, and the traffic information subsystem is responsible for accurate and timely collection, processing and exchange of traffic participant information. The management center may have an integrated host server, and the traffic information subsystem on the host server realizes the information interaction with the vehicle. Alternatively, each subsystem in the management center includes its own information management device, and each information management device realizes the function of the subsystem it belongs to.

Alternatively, the management center 110 may not have the vehicle control capability, and the vehicle 120 and the vehicle 130 only communicate through the management center 110 . In this case, the management center 110 is similar to a mobile phone accessing an operator, and the vehicle is a large mobile terminal. The vehicle accesses 5G, 6G and other operator networks through the management center 110, and can communicate with each other.

Alternatively, the vehicles in the system may communicate directly with each other, for example, the vehicle 120 and the vehicle 130 may communicate directly.

In some possible implementation manners, the system to which the method of the embodiment of the present application can be applied may not have the management center 110 . In this scenario, the vehicles 120 to 150 can directly communicate with each other.

Fig. 2 is a schematic structural diagram of the management center in the embodiment of the present application. The management center 110 includes a sending module 111 , a receiving module 112 , a processing module 113 and a storage module 114 . Wherein, the sending module 111 and the receiving module 112 may be integrated together, called a sending and receiving module.

The storage module 114 stores computer-executable program codes including instructions. The storage module can also store the identification of the vehicle.

The processing module 113 is coupled with the storage module and the transceiver module. When the processing module executes the instruction, the management center 110 is made to execute the method executed by the management center in the embodiment.

The transceiver module receives the request sent by the vehicle and sends information to the vehicle.

The vehicle in the embodiment of the present application may be deployed with on-board equipment. FIG. 3 is a schematic structural diagram of an on-vehicle device in an embodiment of the present application.

The vehicle-mounted device 300 includes: a communication module 310 , a storage module 320 , an input module 330 , an output module 340 , a sensor 350 , a processing module 360 , and a power supply 370 and other components.

The communication module 310 provides a remote communication interface for the whole vehicle. In this application, the vehicle equipment communicates with the management center through the communication module. Alternatively, the on-vehicle device can be connected with other terminals (such as mobile phones) of passengers through the communication module. The communication module may include a satellite dish, a mobile antenna, a satellite communication module and a mobile communication module. The satellite signal module can collect satellite information in real time and analyze the information; the mobile communication module uploads the analyzed position information to the management center through the mobile network.

The storage module 320 can store a correspondence table between traffic services and status information, software programs and modules, and the like. The storage module may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage devices.

The processing module 360 executes various functional applications and data processing of the in-vehicle device by running the software programs and modules stored in the storage module 320 . The processing module is the control center of the on-board equipment, which uses various interfaces and lines to connect various parts of the entire on-board equipment, by running or executing software programs and/or modules stored in the storage module, and calling data stored in the storage module, Executes various functions and processes data of the on-board equipment, thereby performing overall monitoring of the on-board equipment.

The processing module 360 may further include an application processor for processing an operating system, user interface, application programs, and the like. The processing module can be used for information fusion processing and decision-making, such as analyzing the data sent by the sensor, and making decisions on the results obtained from the analysis, such as whether to warn or reduce the speed of the vehicle.

In some vehicle devices, the processing module 360 may include a vehicle controller. The vehicle controller can be the core control component of the vehicle. The vehicle controller needs to complete numerous task coordination when the vehicle is driving. The main tasks include: communication with the subsystems; collecting the driver's operation signals and identifying their intentions; Detect and identify, store fault information, and ensure safe driving of the vehicle. The vehicle controller also includes multiple independent motor control units, and the information exchange between the vehicle controller and the motor control units is carried out through the bus. The vehicle controller is the controller center of the vehicle. Through the controller area network (CAN) bus communication mode, it communicates with signal sensors, active steering controllers, and electric drive controllers to realize signal collection and control. Policy decisions and output of driving signals.

The vehicle controller collects and processes signals from sensors (such as accelerator pedal, brake pedal, etc.); is responsible for the power-on and power-off logic control of its own controller and the power-on and power-off logic control of the motor control unit; torque calculation: driver demand torque calculation, Mechanical braking and electric braking torque distribution, front and rear axle bearing driving/braking torque, four-wheel motor torque distribution; energy optimization management: charging control, power distribution based on motor operating efficiency, braking energy recovery control; vehicle dynamics control : Vehicle state recognition, yaw control, anti-skid control, anti-lock brake control, anti-roll control, active steering control; monitoring and diagnostic functions: bus node transceiver monitoring, sensor failure diagnosis, torque monitoring, central processing unit (CPU) ) Monitoring and diagnosis, fault management, and fault implementation safety measures (such as vehicle deceleration and speed limit processing).

The vehicle controller completes data exchange with other sub-control units such as motor controllers, power management systems and instrument panels through CAN network communication. The motor control unit receives the commands distributed by the vehicle controller through the CAN network, converts the chemical energy of the battery pack into the mechanical energy of the motor, and then transmits the power to the wheels through the transmission system to ensure the driving power of the car. Therefore, if there is an abnormality on the CAN bus, it may be necessary to classify the communication faults between the specific units on the bus.

In some in-vehicle devices, the processing module 360 may include a body controller, which manages modules in the field of vehicle body electronics and supports multiple functions. A typical body control module consists of a microprocessor and is used to control the electronic devices classified as body (electric windows, wipers, side mirrors, etc.) In addition, ports are provided on the body control platform for communication with different body control modules, instrument panels, sensors and actuators, etc.

In some vehicle-mounted devices, the processing module 360 may include an intelligent driving controller for processing data from various sensors.

The input module 330 can be used to receive input numbers or character information, and generate key signal input related to user settings and function control of the vehicle equipment. The input module may include a touch panel as well as other input devices. The touch panel is also called a touch screen, which can collect the touch operation of the user on or near it (for example, the user uses any suitable object or accessory such as a finger or a stylus to operate on or near the touch panel), and Drive the corresponding connection device according to the preset program. In addition to the touch panel, the input module may also include other input devices such as volume control buttons, switch buttons, and the like.

The output module 340 can be used for visual display, voice playback of information input by the user or information provided to the user, and various menus of the vehicle equipment. The output module may include a display panel, and the display panel may be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), a headup display (HUD), or the like. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it sends it to the processing module to determine the type of the touch event, and then the processing module provides corresponding information on the display panel according to the type of the touch event. visual output.

The touch panel and the display panel are used as two independent components to realize the input and input functions of the vehicle equipment. Of course, the touch panel and the display panel can also be integrated to realize the input and output functions of the vehicle equipment.

The vehicle-mounted device may include at least one sensor 350, such as an induction counter, a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, a laser radar, a camera, a millimeter-wave radar, an ultrasonic radar, a speed and an acceleration sensor, and other sensors.

The power supply 370 can be logically connected to the processing module through the power management system, so as to implement functions such as management of charging, discharging, and power consumption management through the power management system. The power management system manages the state of the battery, detects the battery and ensures the safety of the battery. As the management center of the vehicle's power battery, the power management system has all the data of the power system when the vehicle is running.

Fig. 18 is an example diagram of a relative orientation of a vehicle according to an embodiment of the present application. As shown in Figure 18, vehicle 2 is located directly in front of vehicle 1; vehicle 3 is located directly behind vehicle 1; vehicle 4 is located directly to the left of vehicle 1; vehicle 5 is located directly to the right of vehicle 1; vehicle 6 is located to the right of vehicle 1 Left front; vehicle 7 is located in front right of vehicle 1; vehicle 8 is located in rear left of vehicle 1; vehicle 9 is located in rear right of vehicle 1. It should be understood that FIG. 18 is only an example of the relative orientation of the vehicle, and should not limit the orientation in the method of the embodiment of the present application.

Fig. 4 is a schematic flowchart of a method for controlling a vehicle according to an embodiment of the present application. The method shown in FIG. 4 includes S410, S420 and S430. It should be understood that FIG. 4 shows steps or operations of the method, but these steps or operations are only examples, and other operations or variations of the operations in FIG. 4 may also be performed in this embodiment.

The method in this embodiment may be executed by the first vehicle, or may be executed by a device or device other than the first vehicle, for example, may be executed by a management center or a terminal device used by a driver or a passenger on the first vehicle. It should be understood that the execution by the first vehicle mentioned here may also be understood as execution by the vehicle-mounted equipment on the first vehicle. The terminal devices mentioned here may include devices such as smart phones or tablet computers.

S410. Acquire fault information of the first vehicle, where the fault information indicates a fault of the first vehicle.

Wherein, the first vehicle refers to a faulty vehicle, or may be referred to as a faulty vehicle. For example, the first vehicle may be vehicle 120 in the system shown in FIG. 1 .

The failure information of the first vehicle may indicate one or more of the following failures: brake failure, cruise control failure, tire blowout, brake light failure, lidar failure and battery temperature is too high. The battery temperature is too high means that the battery temperature is greater than or equal to a preset temperature threshold.

It should be understood that the above fault information is only an example for better understanding of this embodiment, and the method of this embodiment is not limited to the fault information of the first vehicle.

In this embodiment, after the fault information of the first vehicle is acquired, the scope of influence of the fault of the first vehicle may be determined, so as to determine vehicles that may be affected by the fault. A vehicle that may be affected by a failure of the first vehicle is called a second vehicle, which may also be called an affected vehicle. For example, the second vehicle may be vehicle 130 in the system shown in FIG. 1 .

The influence range of the failure of the first vehicle may refer to a preset range around the first vehicle as the center. Or the vehicle affected by the failure of the first vehicle may have one or more of the following characteristics: having the same schedule as the first vehicle, having the same destination as the first vehicle, and having the same navigation route as the first vehicle.

Vehicles within a preset range around the first vehicle can be determined as second vehicles; or vehicles with at least one of the following characteristics can be determined as second vehicles: have the same schedule as the first vehicle, and have the same schedule as the first vehicle. The vehicle has the same destination and the same navigation route as the first vehicle; or, the influence range of the first vehicle's failure can be determined according to the failure information of the first vehicle, so as to determine the second vehicle.

For example, when the fault information of the first vehicle includes brake failure, the vehicle with the following characteristics can be determined as the second vehicle: it is located directly in front of the first vehicle, and the distance from the first vehicle is less than or equal to the preset first distance threshold.

When the fault information of the first vehicle includes a flat tire, the vehicle with the following characteristics can be determined as the second vehicle: it is located in the left front, right in front or right in front of the first vehicle, and the distance from the first vehicle is less than or equal to The preset second distance threshold.

When the fault information of the first vehicle includes that the battery temperature is too high, the vehicle with the following characteristics may be determined as the second vehicle: the distance to the first vehicle is less than or equal to a preset third distance threshold.

When the failure information of the first vehicle includes failure of the brake lights, the vehicle with the following characteristics can be determined as the second vehicle: it is located directly behind the first vehicle, and the distance to the first vehicle is less than or equal to the preset fourth distance threshold .

For example, when the fault information of the first vehicle includes cruise control failure, the vehicle with the following characteristics can be determined as the second vehicle: it is located directly in front of the first vehicle, and the specific distance between the first vehicle and the first vehicle is less than or equal to the preset second vehicle. Five distance thresholds.

When the failure information of the first vehicle includes the failure of the lidar, one or more vehicles with the following characteristics can be determined as the second vehicle: front, rear, left, right, left front, right front, left rear of the first vehicle and the vehicles closest to the first vehicle on the right rear.

S420. Determine the driving parameters of the second vehicle according to the fault information of the first vehicle, and the second vehicle is located within the range affected by the fault of the first vehicle.

The driving parameters include one or more of the following parameters: position, attitude, speed, acceleration, torque, lane and so on.

It should be understood that the above driving parameters are only examples for better understanding of the embodiments of the present application, and the method in the embodiments of the present application does not limit the driving parameters of the vehicle.

Determining the running parameters of the second vehicle according to the fault information of the first vehicle may be generating the running parameters of the second vehicle according to the fault information of the first vehicle, or adjusting the running parameters of the second vehicle according to the fault information of the first vehicle.

When the fault information of the first vehicle includes brake failure, the driving parameters of the second vehicle determined according to the fault information of the first vehicle may include: driving lane and/or driving speed.

When the fault information of the first vehicle includes failure of the brake lights, the driving parameters of the second vehicle determined according to the fault information of the first vehicle may include: driving speed.

When the fault information of the first vehicle includes a puncture, the driving parameters of the second vehicle determined according to the fault information of the first vehicle may include: lane and/or driving speed.

When the fault information of the first vehicle includes that the battery temperature is too high, the driving parameters of the second vehicle determined according to the fault information of the first vehicle may include: driving speed and/or driving direction.

In this embodiment, the driving lane determined according to the fault information of the first vehicle may include: a lane that enables the second vehicle to avoid the influence of the fault of the first vehicle, and the driving speed determined according to the fault information of the first vehicle may include: The driving speed at which the second vehicle avoids the influence of the failure of the first vehicle, and the driving direction determined according to the failure information of the first vehicle may include: a driving direction that enables the second vehicle to avoid the influence of the failure of the first vehicle.

In this embodiment, if the fault information of the first vehicle includes multiple faults, or the fault information of the first vehicle indicates multiple faults of the first vehicle, the driving parameters of the second vehicle can be determined according to the severity of each fault .

Table 1 is an example of the mapping relationship between the fault of the first vehicle, the severity of the fault, the second vehicle, and the control measures for the second vehicle.

Table 1 The mapping relationship between the fault of the first vehicle, the severity of the fault, the second vehicle and the control measures

For example, when the failure information of the first vehicle includes both brake light failure and tire blowout, then according to the severity of the tire blowout failure is higher than the severity of the brake light failure, the second vehicle and the second vehicle can be determined based on the blowout first. The driving parameters of the vehicle. In some other possible implementation manners, various faults may be integrated to determine the driving parameters of the second vehicle, for example, all vehicles affected by various faults are determined as the second vehicles, and the driving parameters of the second vehicles are determined.

S430. Send the driving parameters to the second vehicle.

In this embodiment, the driving parameters of the second vehicle are determined according to the fault information of the first vehicle, and the driving parameters are sent to the second vehicle. In this way, when the second vehicle drives according to the driving parameters, it is helpful for the second vehicle to avoid The impact of the failure of the first vehicle, thus helping to improve the driving safety of the vehicle.

For example, when the brake failure of the first vehicle occurs, the driving speed of the second vehicle behind the first vehicle can be adjusted so that a safe driving distance is maintained between the second vehicle and the first vehicle, thereby helping to avoid The second vehicle collides with the first vehicle, thereby helping to improve the driving safety of the first vehicle, the second vehicle and surrounding vehicles.

In this embodiment, if the method is performed by the first vehicle, in some possible implementation manners, S410 may include: detecting a fault of the first vehicle, so as to obtain fault information of the first vehicle.

The detection of a fault of the first vehicle by the first vehicle can also be understood as that the on-board equipment of the first vehicle or the detection unit on the first vehicle detects the fault of the first vehicle and determines the fault information of the fault. Some examples of the first vehicle detecting a malfunction of the first vehicle are as follows.

The first vehicle itself detects auxiliary hardware such as brake lights to determine whether the brake lights are out of order. For example, when the vehicle body controller in the processing module of the vehicle-mounted device determines that the brake light is not on, the first vehicle determines that its brake light is out of order.

The first vehicle itself detects the underlying system hardware such as brakes to determine whether the brakes are out of order.

Or, the vehicle controller in the processing module of the on-vehicle device judges whether the brakes are out of order, whether the cruise control is out of order, or whether the tire is blown out, etc. according to the signal from the sensor.

The first vehicle itself detects whether the intelligent automatic driving system is abnormal, such as detecting whether the image subsystem is abnormal, so as to determine whether the laser radar is malfunctioning. The abnormality of the image subsystem includes the abnormality of the lidar and so on. This kind of failure may be caused by the hardware failure of the lidar itself, or the failure of the control system of the smart car.

The first vehicle itself detects whether the bus communication is abnormal, for example, detects whether the bus communication for transmitting driving control instructions between the intelligent driving controller and the vehicle controller is abnormal, so as to determine whether the bus communication is abnormal. Bus communication abnormalities include indication communication abnormalities related to surrounding vehicles, such as brake lights, turn signal instruction display, etc. This type of failure may be caused by the failure of the control system of the smart car.

The first vehicle's own power management system detects whether the battery temperature is too high. This type of failure may cause the control system to crash, or in severe cases, cause the car to spontaneously ignite or explode.

It should be understood that the above-mentioned method for detecting a fault of the first vehicle is just an example for better understanding of this embodiment, and the method of this embodiment is not limited thereto. The first vehicle may also use methods in the prior art to detect faults, which will not be repeated here.

In this embodiment, if the method is executed by a device or device other than the first vehicle, for example, by a management center, in some possible implementation manners, S410 may include: receiving fault information of the first vehicle.

Wherein, receiving the fault information of the first vehicle may include: receiving the fault information of the first vehicle from the first vehicle, and/or receiving the fault information of the first vehicle from a device other than the first vehicle.

For example, after the first vehicle detects the fault information of the first vehicle, it may send the fault information of the first vehicle to the management center. Correspondingly, the management center receives the fault information of the first vehicle from the first vehicle. For the implementation manner of detecting the fault of the first vehicle, reference may be made to the content described above, which will not be repeated here.

In another example, the vehicles around the first vehicle may determine the fault information of the first vehicle, and send the fault information of the first vehicle to the management center. Correspondingly, the management center receives the fault information of the first vehicle from the vehicle.

An example of determining the fault information of the first vehicle by the vehicles around the first vehicle is as follows: the vehicle obtains an image through an image sensor and analyzes the image through a processing module to determine the fault information of the first vehicle.

For example, if the first vehicle has a puncture failure, the surrounding vehicles can acquire images through the image sensor and analyze the images through the processing module to determine that the first vehicle has a puncture failure.

For another example, if there is a red light in front of the vehicle, under normal circumstances, the first vehicle in front of the vehicle should be in a braking state and turn on the brake light, but the vehicle detects that the brake light of the first vehicle is not on, then the vehicle can It is determined that the brake light of the first vehicle is out of order, and the management center sends the failure information of the first vehicle.

For another example, if the vehicle detects that the first vehicle in front is decelerating, but the brake light of the first vehicle is not on, it can be determined that the brake light of the first vehicle is out of order.

Another example for the vehicles around the first vehicle to determine the fault information of the first vehicle is as follows: after the first vehicle detects its own fault information, it can prompt by voice, image or text; After the personnel in the vehicles around the vehicle are informed of the prompt, they can send the failure information of the first vehicle to the management center through smart devices (such as mobile phones or tablet computers).

In this embodiment, optionally, it may also include: if the driving state information of the first vehicle is not received within a preset period of time, it may be determined that the first vehicle has broken down, and further information on the failure of the first vehicle may be reported. Vehicles within the range of influence of the first vehicle send a prompt message that the first vehicle has failed. The driving state information of the first vehicle is used to report to the management center whether it is in a normal driving state.

For example, if the management center does not receive the driving status information of the first vehicle within half an hour, it can send prompt information to vehicles around the first vehicle, the prompt information includes the identification information of the first vehicle, so that these vehicles When the first vehicle is identified, it is known that the first vehicle has a fault, so that the influence of the fault can be avoided.

For example, the communication module of the first vehicle fails and cannot normally communicate with the management center, and the management center fails to receive the driving status information reported by the first vehicle within a preset period of time. Fault.

In this case, the management center may not be able to determine what is wrong with the first vehicle. Therefore, the management center can simply use the position of the first vehicle as the center when the signal from the first vehicle was received last time. All vehicles within the range are determined as the second vehicle (ie, the affected vehicle). Alternatively, the management center may acquire the real-time location of the first vehicle from vehicles around the first vehicle, instead of the location information that should be reported to the management center by the first vehicle.

Since the management center may not be able to determine the fault information of the first vehicle, the management center may only send prompt information that the first vehicle has a fault to the second vehicle.

In this embodiment, optionally, the following step may also be included: sending the failure information of the first vehicle to the second vehicle. That is to say, not only the driving parameters of the second vehicle are determined according to the fault information of the first vehicle, but also the fault information of the first vehicle is notified to the second vehicle. In this way, the second vehicle can further determine whether it needs to drive according to the driving parameter according to the fault information of the first vehicle, combined with its own situation and/or other conditions on the scene; or, when the second vehicle is driving according to the driving parameter, The second vehicle or a person on the second vehicle can learn why the second vehicle is traveling.

In this embodiment, optionally, the first vehicle can determine the fault information of the surrounding vehicles, and notify the management center or other vehicles of the fault information, or prompt the fault information in various possible ways, so that other vehicles or The management center can make corresponding processing according to the fault information, thereby improving the driving safety of the vehicle. For the implementation manner of determining the fault information of the surrounding vehicles by the first vehicle, reference may be made to the foregoing content, which will not be repeated here.

In another embodiment of the present application, the method for controlling a vehicle may include: acquiring fault information of a first vehicle, the fault information indicating a fault of the first vehicle; sending the fault information of the first vehicle to a second vehicle.

The difference between this embodiment and the previous embodiment is that after the execution subject of the method obtains the fault information of the first vehicle, it directly notifies the second vehicle of the fault information of the first vehicle, and the second vehicle Carry out relevant processing on the fault information of a vehicle, thereby improving driving safety.

For example, the second vehicle determines the driving parameters according to the fault information of the first vehicle and drives according to the driving parameters; another example, the second vehicle prompts the driver for the fault information, and the driver drives according to the fault information.

The implementation of each step in this embodiment can refer to the implementation of the relevant steps in the previous embodiment, and all or part of the steps in the previous embodiment can also be applied to the method in this embodiment. Let me repeat.

In another embodiment of the present application, the method for controlling a vehicle may include: the second vehicle receives a driving parameter, the driving parameter is determined according to the fault information of the first vehicle; and the second vehicle runs according to the driving parameter.

In this embodiment, since the driving parameters of the second vehicle are determined according to the fault information of the first vehicle, the second vehicle runs according to the driving parameters, which helps to avoid the influence of the fault of the first vehicle, thereby facilitating To improve driving safety.

For each concept and each step in this embodiment, reference may be made to relevant content in the previous embodiments, and for the sake of brevity, details are not repeated here.

An exemplary flowchart of a method for controlling a vehicle according to another embodiment of the present application is shown in FIG. 5 . The method includes S510, S520 and S530. It should be understood that FIG. 5 shows steps or operations of the method, but these steps or operations are only examples, and this embodiment may also perform other operations or variations of the operations in FIG. 5 .

S510, the second vehicle acquires fault information of the first vehicle, where the fault information indicates a fault of the first vehicle.

An implementation manner of this step may include: receiving fault information of the first vehicle. That is, the first vehicle, other vehicles or other equipment (such as a management center) determine the failure information of the first vehicle, and then the second vehicle receives the failure information of the first vehicle from the first vehicle, other vehicles or other equipment. For this implementation manner, reference may be made to relevant content in the foregoing embodiments, and details are not repeated here.

In another implementation manner of this step, the fault information of the first vehicle may be determined by a device or device on the second vehicle. For example, image information of the first vehicle is acquired; fault information of the first vehicle is determined according to the image information of the first vehicle. For this implementation, reference may be made to the implementation of the first vehicle determining the fault information of surrounding vehicles in the foregoing embodiments, which will not be repeated here.

S520, the second vehicle determines the driving parameters of the second vehicle according to the fault information of the first vehicle.

For this step, reference may be made to S420, which will not be repeated here.

S530, the second vehicle executes a driving behavior according to the driving parameter.

This step can be implemented with reference to the driving mode of the existing self-driving vehicle, and will not be repeated here.

In this embodiment, since the driving parameters of the second vehicle are determined according to the failure information of the first vehicle, it helps the second vehicle to avoid the influence of the failure of the first vehicle, thereby helping to improve driving safety .

It should be understood that this application is introduced as an example in which the second vehicle determines the driving parameters according to the fault information of the first vehicle and executes the driving behavior according to the driving parameters, wherein the second vehicle can also be replaced by the vehicle-mounted equipment on the second vehicle .

Optionally, the method may further include: the second vehicle prompting the fault information of the first vehicle.

In this embodiment, when the second vehicle prompts the failure information of the first vehicle, it may be prompted by voice or visualization, or both voice and visualization. The visualization method may include one or both of a text display method and an image display method.

Visually prompting the fault information of the first vehicle may include one or more of the following methods: displaying the fault information of the first vehicle on the display panel of the second vehicle; prompting the fault information of the first vehicle through the player of the second vehicle Fault information: by means of virtual reality and augmented reality, the fault information of the first vehicle is superimposed on the windshield display of the second vehicle.

When the fault information of the first vehicle is displayed in an image mode, the fault prompt image may be an entire vehicle image of the first vehicle, or only a partial image of the faulty first vehicle.

Not all fault information is applicable to partial images. Usually, only some faults that are easier to see in appearance can be prompted by partial images, such as faults such as brake light failure or blown tires.

When the fault information of the first vehicle is superimposed on the windshield display of the second vehicle, and the fault prompt image is the whole vehicle image of the first vehicle, the specific prompt method includes: displaying the contour line of the first vehicle, as shown in Figure 6 Or as shown in Fig. 7, not only the contour line of the first vehicle is displayed in Fig. 7, but also the fault information of the first vehicle is indicated as brake failure; or, the first vehicle is circled, as shown in Fig. 8, which also proposes The fault information of the first vehicle is insufficient tire pressure; or, the entire vehicle of the first vehicle is covered with colors, as shown in FIG. 9 , wherein the horizontal lines and vertical lines represent different colors.

When the fault information of the first vehicle is displayed superimposed on the windshield display of the second vehicle, and the fault prompt image is a partial image of the fault of the first vehicle, a specific example is shown in FIG. 10 or FIG. 11 . In Figure 10, the black frame is used to prompt the brake light failure, and in Figure 11, the black frame is used to prompt insufficient tire pressure.

An example of prompting the fault information of the first vehicle on the display panel of the second vehicle is shown in FIG. 12 . As shown in FIG. 12 , the grid circle represents the second vehicle, and the vehicle directly in front of it is the first vehicle. On the display panel of the second vehicle, the fault information of the first vehicle "failure of front brake light" is displayed. Alternatively, as shown in FIG. 13 , a simulation prototype of the vehicle may be displayed on the display panel.

In a scenario where the first vehicle and the second vehicle travel together, in a possible implementation manner of this embodiment, the second vehicle may be designated by a user (eg, a passenger) of the first vehicle.

For example, the input device of the vehicle-mounted equipment of the first vehicle may receive the identification of the accompanying vehicle input by the user (passenger), and the vehicle-mounted equipment reports the identification of the accompanying vehicle input by the user to the management center through the communication module. Wherein, the accompanying vehicle is the second vehicle, that is, the vehicle affected by the failure of the first vehicle.

The user inputs the identification of the accompanying vehicle, or the input device of the vehicle-mounted device receives the identification of the accompanying vehicle, which can be realized in at least the following two ways.

In the first way, the user can manually input the identification of the vehicle. In this way, when a fault prompt is performed, the fault of the vehicle can be prompted through the sign. For example, it prompts that "the tire of your companion vehicle (identification xxxx) has blown out".

In the second method, the operating system or instant messaging tool application (such as WeChat) on the terminal device used by the user (passenger) can bind the relationship between the person and the vehicle, and the terminal device will pass the identification of the designated vehicle through the terminal device. The communication module of the vehicle sends it to the vehicle-mounted device, and then the vehicle-mounted device reports it to the management center, or the terminal device directly reports the designated vehicle identification to the management center.

For example, if a friend in the WeChat address book is bound to the friend's car, the user can select a friend in WeChat to complete the designation of the accompanying vehicle; or, if the contact in the mobile phone address book is bound to the corresponding car, then the user can Select a contact in the mobile phone address book to complete the designation of the accompanying vehicle.

In the second way, when the fault is prompted, the specific person can be directly prompted, for example, "your friend A's car has a flat tire".

In this embodiment, it may further include: obtaining the fault information of the third vehicle; sending the fault information of the third vehicle to the vehicle management center or the fourth vehicle, and the fourth vehicle is located within the range affected by the fault of the third vehicle. An example of the third vehicle is the vehicle 140 shown in FIG. 1 , and an example of the fourth vehicle is the vehicle 150 shown in FIG. 1 .

Wherein, the implementation manner of acquiring the fault information of the third vehicle may refer to the implementation manner of the first vehicle determining the fault information of surrounding vehicles in the foregoing embodiment, and details are not repeated here.

In another embodiment of the present application, the method for controlling a vehicle may include: acquiring fault information of the first vehicle, the fault information indicating a fault of the first vehicle; prompting the fault information of the first vehicle.

Wherein, for obtaining the fault information of the first vehicle, reference may be made to S510 , and for prompting the fault information of the first vehicle, reference may be made to relevant content in the embodiment shown in FIG. 5 , which will not be repeated here.

The method in this embodiment may be executed by the second vehicle affected by the failure of the first vehicle or the on-board device of the second vehicle, or may be executed by the terminal device used by the driver or passengers on the second vehicle. The second vehicle is located within the fault-affected range of the first vehicle.

In this embodiment, prompting the failure information of the first vehicle helps the driver of the second vehicle to avoid the influence of the failure of the first vehicle, thereby helping to improve driving safety.

In various embodiments of the present application, different vehicles can be identified through the identification of the vehicle. In a possible implementation manner, each vehicle may have its own permanent identification, so as to facilitate identification of the vehicle.

The permanent identification may refer to the permanent identification marked on the vehicle by the manufacturer when the vehicle leaves the factory. The permanent identification will not change during the life cycle of the vehicle, and it is globally unique, that is to say, the permanent identification only represents this vehicle globally.

There are many identification methods for the permanent identification. For example, it can be marked with information such as country-region-factory date-manufacturer-batch-random code. Here, the form of the permanent identification is just an example, and the specific marking method is not limited, as long as the vehicle can be uniquely marked.

After the permanent identification of the vehicle is determined, it can be associated with the static state information of the vehicle and stored on a service platform, and the relevant static state information of the vehicle can be queried based on the permanent identification through the service platform.

It can be understood that the specific examples in the embodiments of the present application are only for helping those skilled in the art to better understand the embodiments of the present application, rather than limiting the scope of the embodiments of the present application.

It should also be understood that the sequence numbers of the above processes do not mean the order of execution, and the execution order of each process should be determined by its functions and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

It should also be understood that "first", "second", "third" and "fourth" in the method of the present application are only for better distinguishing vehicles or information, and should not limit the technical solution of the present application.

It should also be understood that in this embodiment of the present application, "preset" and "predefined" can be stored in the device (for example, vehicle equipment, vehicle or management center) in advance corresponding codes, tables or other information that can be used to indicate implementation, the present application does not limit the specific implementation.

It should also be understood that in each embodiment of the present application, if there is no special explanation and logical conflict, the terms and/or descriptions between different embodiments are consistent and can be referred to each other, and the technical features in different embodiments New embodiments can be formed by combining them according to their inherent logical relationships.

It should also be understood that the embodiments of the present application may divide the functional modules of the on-vehicle device, the vehicle or the management center according to the above method examples. For example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software function modules. It should be noted that the division of modules in the embodiment of the present application is schematic, and is only a logical function division, and there may be other division methods in actual implementation. In the following, the description will be made by taking the division of each functional module corresponding to each function as an example.

The device provided by the embodiment of the present application will be described in detail below with reference to FIG. 14 to FIG. 17 . It should be understood that the descriptions of the device embodiments correspond to the descriptions of the method embodiments. Therefore, for details that are not described in detail, reference may be made to the method embodiments above. For brevity, details are not repeated here.

Fig. 14 shows a schematic structural diagram of an apparatus 1400 for controlling a vehicle according to an embodiment of the present application. It should be understood that the apparatus 1400 may correspond to the executing subject of the method in the embodiment shown in FIG. Any function of the subject. The apparatus 1400 includes: a communication unit 1410 and a processing unit 1420 .

It should be noted that the communication unit in the embodiment of the present application may also be referred to as a transceiver unit (module), and the processing unit may be referred to as a processing module.

The processing unit 1420 is configured to acquire fault information of the first vehicle, where the fault information indicates a fault of the first vehicle.

The processing unit 1420 is further configured to determine the driving parameters of the second vehicle according to the fault information of the first vehicle, and the second vehicle is located within the range affected by the fault of the first vehicle.

The communication unit 1410 is used for sending the driving parameters to the second vehicle.

Optionally, the distance between the second vehicle and the first vehicle is less than or equal to a preset distance threshold, and/or, the second vehicle has an associated driving schedule with the first vehicle.

Optionally, the failure information includes one or more of brake failure, cruise control failure, tire blowout, battery temperature higher than a preset temperature threshold, and brake light failure.

Optionally, the fault information includes that when the brakes fail, the second vehicle is located in front of the first vehicle, and the distance between the second vehicle and the first vehicle is less than or equal to a preset first distance threshold, the driving Parameters include: driving lane and/or driving speed.

The fault information includes that when a tire blows out, the second vehicle is located in front left, right in front or right in front of the first vehicle, and the distance to the first vehicle is less than or equal to a preset second distance Threshold, the driving parameters include: driving lane and/or driving speed.

The fault information includes that when the battery temperature is greater than or equal to a preset temperature threshold, the distance between the second vehicle and the first vehicle is less than or equal to a preset third distance threshold, and the driving parameters include: speed and/or direction of travel.

The fault information includes that when the brake light fails, the second vehicle is located behind the first vehicle, and the distance between the second vehicle and the first vehicle is less than or equal to a preset fourth distance threshold, and the driving parameters include: Driving speed.

Optionally, the fault information includes that when the cruise control fails, the second vehicle is located in front of the first vehicle, and the distance between the second vehicle and the first vehicle is less than or equal to a preset fifth distance threshold, so The driving parameters include: driving lane and/or driving speed.

Optionally, the communication unit is further configured to receive fault information from the first vehicle.

Optionally, the failure information of the first vehicle may include failure of the laser radar. Wherein, the communication unit is further configured to: receive distance information between a third vehicle and the first vehicle, and the third vehicle includes one or more of the following vehicles: front, rear, and left of the first vehicle , right, left front, right front, left rear, and right rear respectively closest to the first vehicle; sending the distance information to the first vehicle.

Optionally, the communication unit is further configured to: if the driving state information of the first vehicle is not received within a preset period of time, send prompt information to vehicles within the fault-affected range of the first vehicle, The prompt information indicates that a failure has occurred on the first vehicle.

Optionally, the failure information of the first vehicle may include failure of the laser radar. Wherein, the communication unit is further configured to: receive distance information between a third vehicle and the first vehicle, and the third vehicle includes one or more of the following vehicles: front, rear, and left of the first vehicle , right, left front, right front, left rear, and right rear are the vehicles closest to the first vehicle respectively.

Optionally, the processing unit is specifically configured to: detect a fault of the first vehicle, and obtain fault information of the first vehicle.

Optionally, the processing unit is further configured to: send fault information of the first vehicle to the second vehicle.

FIG. 15 shows an apparatus 1500 for controlling a vehicle provided by an embodiment of the present application. The apparatus 1500 may be the execution body of the method in FIG. 4 , for example, the first vehicle, the vehicle-mounted equipment on the first vehicle, or the management center. The apparatus may include a processor 1510 and a transceiver 1530 .

The transceiver may include a transmitter and/or a receiver. Optionally, the apparatus may further include a memory 1520, and the processor 1510, the transceiver 1530, and the memory 1520 communicate with each other through an internal connection path. The relevant functions implemented by the processing unit 1420 in FIG. 14 may be implemented by the processor 1510 , and the related functions implemented by the communication unit 1410 may be implemented by the processor 1510 controlling the transceiver 1530 .

Optionally, the processor 1510 may include one or more processors, for example, one or more CPUs. In the case where the processor is one CPU, the CPU may be a single-core CPU or a multi-core CPU.

The transceiver 1530 is used to transmit and receive data and/or signals, and to receive data and/or signals. The transceiver may include a transmitter for transmitting data and/or signals and a receiver for receiving data and/or signals.

The memory 1520 is used to store program codes and data, and may be an independent device or integrated in the processor 1510 .

Specifically, the processor 1510 is configured to control the transceiver to perform information transmission with other devices or devices. For details, refer to the description in the method embodiments, and details are not repeated here.

In a specific implementation, as an example, the apparatus 1500 may further include an output device and an input device. Output devices are in communication with processor 1510 and can display information in a variety of ways. For example, the output device may be a liquid crystal display (liquid crystal display, LCD), a light emitting diode (light emitting diode, LED) display device, a cathode ray tube (cathode ray tube, CRT) display device, or a projector (projector), etc. . The input device is in communication with the processor 1510 and can receive user input in a variety of ways. For example, the input device may be a keyboard, a touch screen device, or a sensing device, among others.

It will be appreciated that Fig. 15 only shows a simplified design of the means for controlling the vehicle. In practical applications, the device can also include other necessary components, including but not limited to any number of transceivers, processors, controllers, memories, etc., and all devices that can implement the application are within the protection scope of the application within.

In a possible design, the device for controlling the vehicle may be a chip, for example, a chip that may be used in a vehicle, an on-board device or a vehicle management center, to implement related functions of the processor 1510 . The chip can be a field programmable gate array for realizing related functions, an application-specific integrated chip, a system chip, a central processing unit, a network processor, a digital signal processing circuit, a microcontroller, or a programmable controller or other integrated chips. The chip may optionally include one or more memories for storing program codes, which enable the processor to implement corresponding functions when the codes are executed.

The embodiment of the present application also provides a device, and the device may be a circuit. The apparatus may be used to execute the actions performed by the execution subject in the method embodiment shown in FIG. 4 .

Fig. 16 shows a schematic structural diagram of an apparatus 1600 for controlling a vehicle according to an embodiment of the present application. It should be understood that the apparatus 1600 may correspond to the execution subject of the method in the embodiment shown in FIG. Function. The apparatus 1600 includes: a communication unit 1610 and a processing unit 1620 .

It should be noted that the communication unit in the embodiment of the present application may also be referred to as a transceiver unit (module), and the processing unit may be referred to as a processing module.

The communication unit is used for: acquiring fault information of the first vehicle, where the fault information indicates a fault of the first vehicle.

The processing unit is used for determining driving parameters of the second vehicle according to the fault information of the first vehicle, and performing driving behavior according to the driving parameters.

Optionally, the failure information includes one or more of brake failure, cruise control failure, tire blowout, battery temperature higher than a preset temperature threshold, and brake light failure.

Wherein, the fault information of the first vehicle includes brake failure, and when the distance between the second vehicle and the first vehicle is less than or equal to the preset first distance threshold, the second vehicle is located in front of the first vehicle, and the The driving parameters include: driving lane and/or driving speed.

The failure information of the first vehicle includes a puncture, the second vehicle is located in the left front, right in front or right in front of the first vehicle, and the distance between the first vehicle and the first vehicle is less than or equal to a preset When the second distance threshold is reached, the driving parameters include: driving lane and/or driving speed.

The fault information of the first vehicle includes: when the battery temperature is greater than or equal to a preset temperature threshold, and when the distance between the second vehicle and the first vehicle is less than or equal to a preset third distance threshold, the The driving parameters include: driving speed and/or driving direction.

The fault information of the first vehicle includes failure of the brake lights, and when the second vehicle is located behind the first vehicle and the distance between the first vehicle and the first vehicle is less than or equal to a preset fourth distance threshold, the The driving parameters include: driving speed.

The fault information of the first vehicle includes cruise control failure, and when the second vehicle is located in front of the first vehicle and the distance from the first vehicle is less than or equal to a preset fifth distance threshold, the The driving parameters include: driving lane and/or driving speed.

Optionally, the fault information of the first vehicle includes a laser radar failure, and the second vehicle is the front, rear, left, right, left front, right front, left rear or right rear of the first vehicle. The first vehicle is the closest vehicle. Wherein, the method further includes: sending distance information between the second vehicle and the first vehicle to the first vehicle.

Optionally, the processing unit is further configured to: prompt the fault information of the first vehicle.

Optionally, the processing unit is further configured to: prompt the failure information of the first vehicle on the windshield display screen of the second vehicle through virtual reality.

Optionally, the processing unit is further configured to: display the outline of the first vehicle on the windshield display screen, and prompt the fault information of the first vehicle; or display on the windshield display screen Circle the first vehicle on the screen, and prompt the fault information of the first vehicle; or mark the first vehicle with a preset color on the windshield display screen, and prompt the fault information of the first vehicle Fault information; or mark the fault location of the first vehicle on the windshield display screen, and prompt the fault information of the first vehicle.

FIG. 17 shows an apparatus 1700 provided by an embodiment of the present application. The apparatus 1700 may be an execution body of the method described in FIG. 5 , for example, a second vehicle or an on-vehicle device on the second vehicle. The apparatus may include a processor 1710 and a transceiver 1730 . The transceiver may include a transmitter and/or a receiver. Optionally, the apparatus may further include a memory 1720, and the processor 1710, the transceiver 1730, and the memory 1720 communicate with each other through an internal connection path. The relevant functions implemented by the processing module 1620 in FIG. 16 may be implemented by the processor 1710 , and the related functions implemented by the transceiver module 1610 may be implemented by the processor 1710 controlling the transceiver 1730 .

Optionally, the processor 1710 may include one or more processors, for example, one or more CPUs. In the case where the processor is one CPU, the CPU may be a single-core CPU or a multi-core CPU.

The transceiver 1730 is used to transmit and receive data and/or signals, and to receive data and/or signals. The transceiver may include a transmitter for transmitting data and/or signals and a receiver for receiving data and/or signals.

The memory 1720 is used to store program codes and data, and can be a separate device or integrated in the processor 1710 .

Specifically, the processor 1710 is configured to control the transceiver to perform information transmission with the first vehicle, the vehicle-mounted equipment on the first vehicle, or the vehicle management center. For details, refer to the description in the method embodiments, and details are not repeated here.

In a specific implementation, as an example, the apparatus 1700 may further include an output device and an input device. Output devices are in communication with processor 1710 and can display information in a variety of ways. For example, the output device can be LCD, LED display device, CRT display device, or projector, etc. The input device is in communication with the processor 1710 and can receive user input in a variety of ways. For example, the input device may be a keyboard, a touch screen device, or a sensing device, among others.

It can be understood that Fig. 17 only shows a simplified design of the communication device. In practical applications, the device can also include other necessary components, including but not limited to any number of transceivers, processors, controllers, memories, etc., and all devices that can implement the method in Figure 5 of this application are in Within the protection scope of this application.

In a possible design, the device that can realize the method in FIG. 5 of the present application can be a chip, for example, it can be a chip that can be used in the second vehicle or an on-vehicle device on the second vehicle, and is used to implement the processor 1710. related functions. The chip can be a field programmable gate array for realizing relevant functions, an application-specific integrated chip, a system chip, a central processing unit, a network processor, a digital signal processing circuit, a microcontroller, or a programmable controller or other integrated chips. The chip may optionally include one or more memories for storing program codes, which enable the processor to implement corresponding functions when the codes are executed.

The embodiment of the present application also provides a device, and the device may be a circuit. The apparatus may be used to perform actions performed by the second vehicle in the method embodiment in FIG. 5 .

The embodiment of the present application also provides a computer-readable medium, on which a computer program is stored, and when the computer program is executed by a computer, the method in any one of the above method embodiments is implemented.

The embodiment of the present application also provides a computer program product, which implements the method in any one of the above method embodiments when the computer program product is executed by a computer.

In the above embodiments, all or part of them may be implemented by software, hardware, firmware or any combination thereof. When implemented using software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on the computer, the processes or functions according to the embodiments of the present application will be generated in whole or in part. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website, computer, server or data center Transmission to another website site, computer, server or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server or a data center integrated with one or more available media. The available medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a high-density digital video disc (digital video disc, DVD)), or a semiconductor medium (for example, a solid state disk (solid state disk, SSD)) etc.

It should be understood that the processor may be an integrated circuit chip, which has a signal processing capability. In the implementation process, each step of the above-mentioned method embodiments may be completed by an integrated logic circuit of hardware in a processor or instructions in the form of software. The aforementioned processor may be a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other available Program logic devices, discrete gate or transistor logic devices, discrete hardware components. Various methods, steps, and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register. The storage medium is located in the memory, and the processor reads the information in the memory, and completes the steps of the above method in combination with its hardware.

It can be understood that the memory in the embodiments of the present application may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. Among them, the non-volatile memory can be read-only memory (read-only memory, ROM), programmable read-only memory (programmable ROM, PROM), erasable programmable read-only memory (erasable PROM, EPROM), electrically programmable Erases programmable read-only memory (electrically EPROM, EEPROM) or flash memory. Volatile memory can be random access memory (RAM), which acts as external cache memory. By way of illustration and not limitation, many forms of RAM are available, such as static random access memory (static RAM, SRAM), dynamic random access memory (dynamic RAM, DRAM), synchronous dynamic random access memory (synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (synchronous link DRAM, SLDRAM ) and direct memory bus random access memory (direct rambus RAM, DR RAM).

In this application, "at least one" means one or more, and "multiple" means two or more. "And/or" describes the association relationship of associated objects, indicating that there may be three types of relationships, for example, A and/or B, which can mean: A exists alone, A and B exist simultaneously, and B exists alone, where A, B can be singular or plural. The character "/" generally indicates that the contextual objects are an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one item (piece) of a, b, or c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, c can be single or multiple .

It should be understood that reference throughout the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the present application. Thus, appearances of "in one embodiment" or "in an embodiment" in various places throughout the specification are not necessarily referring to the same embodiment. Furthermore, the particular features, structures or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the order of execution, and the execution order of the processes should be determined by their functions and internal logic, and should not be used in the embodiments of the present application. The implementation process constitutes any limitation.

The terms "component", "module", "system" and the like are used in this specification to refer to a computer-related entity, hardware, firmware, a combination of hardware and software, software, or software in execution. For example, a component may be, but is not limited to being, a process running on a processor, a processor, an object, an executable, a thread of execution, a program, and/or a computer. By way of illustration, both an application running on a computing device and the computing device can be components. One or more components can reside within a process and/or thread of execution and a component can be localized on one computer and/or distributed between two or more computers. In addition, these components can execute from various computer readable media having various data structures stored thereon. A component may, for example, be based on a signal having one or more packets of data (e.g., data from two components interacting with another component between a local system, a distributed system, and/or a network, such as the Internet via a signal interacting with other systems). Communicate through local and/or remote processes.

It should also be understood that the first, second and various numbers mentioned herein are only for convenience of description, and are not used to limit the scope of the embodiments of the present application.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.

The above is only a specific implementation of the application, but the scope of protection of the application is not limited thereto. Anyone familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the application. Should be covered within the protection scope of this application. Therefore, the protection scope of the present application should be determined by the protection scope of the claims.

Claims (24)

1. A method of controlling a vehicle, comprising:

the method comprises the steps of obtaining fault information of a first vehicle, wherein the fault information indicates multiple faults of the first vehicle, and the multiple faults comprise any multiple faults of brake failure, constant-speed cruise failure, laser radar failure, tire burst, battery temperature higher than a preset temperature threshold value and brake lamp failure;

determining driving parameters of a second vehicle according to the severity of each fault in the fault information of the first vehicle, wherein the second vehicle is located in the influence range of the fault of the first vehicle, the severity of the brake failure, the cruise control failure, the tire burst and the battery temperature which are higher than a preset temperature threshold value is high, and the severity of the brake lamp failure and the laser radar failure is low;

transmitting the driving parameters to the second vehicle.

2. The method according to claim 1, wherein the fault information includes that when a brake fails, the second vehicle is located directly in front of the first vehicle, and a distance between the second vehicle and the first vehicle is less than or equal to a preset first distance threshold, and the driving parameters include: lane of travel and/or speed of travel.

3. The method according to claim 1 or 2, wherein the fault information includes that when a tire is burst, the second vehicle is positioned at the front left, right or front right of the first vehicle, and the distance between the second vehicle and the first vehicle is less than or equal to a preset second distance threshold, and the running parameters include: lane of travel and/or speed of travel.

4. The method according to claim 1 or 2, wherein the fault information includes that a distance between the second vehicle and the first vehicle is less than or equal to a preset third distance threshold when a battery temperature is greater than or equal to a preset temperature threshold, and the driving parameters include: speed of travel and/or direction of travel.

5. The method according to claim 1 or 2, wherein the fault information includes that when a brake lamp fails, the second vehicle is located directly behind the first vehicle, and the distance between the second vehicle and the first vehicle is less than or equal to a preset fourth distance threshold, and the driving parameters include: and (4) the running speed.

6. The method according to claim 1 or 2, wherein the fault information includes that the distance between the second vehicle and the first vehicle is smaller than or equal to a preset fifth distance threshold value when the constant-speed cruise fails, and the running parameters include: lane of travel and/or speed of travel.

7. The method of claim 1 or 2, wherein the fault information of the first vehicle comprises a lidar failure, wherein the method further comprises:

receiving distance information between a third vehicle and the first vehicle, the third vehicle including one or more of: the vehicle which is closest to the first vehicle is arranged in front of, behind, on the left of, on the right of, on the front left of, on the front right of, on the rear left of and on the rear right of the first vehicle respectively;

transmitting the distance information to the first vehicle to facilitate the first vehicle determining a distance between the first vehicle and the third vehicle.

8. The method according to claim 1 or 2, characterized in that the method further comprises:

and if the running state information of the first vehicle is not received within the preset time, sending prompt information to the vehicles within the influence range of the fault of the first vehicle, wherein the prompt information indicates that the first vehicle is in fault.

9. The method according to claim 1 or 2, characterized in that the method further comprises:

transmitting failure information of the first vehicle to the second vehicle.

10. A method of controlling a vehicle, comprising:

the method comprises the steps that a second vehicle acquires fault information of a first vehicle, wherein the fault information indicates multiple faults of the first vehicle, the multiple faults include any multiple faults of brake failure, cruise control failure, laser radar failure, tire burst, battery temperature higher than a preset temperature threshold value and brake lamp failure, and the second vehicle is located in an influence range of the faults of the first vehicle;

the second vehicle determines the running parameters of the second vehicle according to the severity of each fault in the fault information of the first vehicle, wherein the severity of the brake failure, the constant-speed cruise failure, the tire burst and the battery temperature which are higher than a preset temperature threshold value is high, and the severity of the brake lamp failure and the laser radar failure is low;

the second vehicle executes a driving behavior according to the driving parameter.

11. The method according to claim 10, wherein the fault information of the first vehicle comprises a brake failure, and when the distance between the second vehicle and the first vehicle is smaller than or equal to a preset first distance threshold value, the driving parameters comprise: driving lane and/or driving speed.

12. The method according to claim 10 or 11, wherein the failure information of the first vehicle includes a tire burst, the second vehicle is located at the front left, right or front right of the first vehicle, and when the distance from the first vehicle is less than or equal to a preset second distance threshold, the driving parameter includes: lane of travel and/or speed of travel.

13. The method according to claim 10 or 11, characterized in that the fault information of the first vehicle comprises: when the battery temperature is greater than or equal to a preset temperature threshold value and the distance between the second vehicle and the first vehicle is less than or equal to a preset third distance threshold value, the driving parameters include: speed of travel and/or direction of travel.

14. The method according to claim 10 or 11, wherein the fault information of the first vehicle comprises a brake light failure, and when the second vehicle is located behind the first vehicle and the distance from the first vehicle is less than or equal to a preset fourth distance threshold, the driving parameters comprise: and (4) the running speed.

15. The method according to claim 10 or 11, wherein the fault information includes a cruise control failure, and when the second vehicle is located directly in front of the first vehicle and the distance from the first vehicle is less than or equal to a preset fifth distance threshold, the driving parameters include: driving lane and/or driving speed.

16. The method according to any one of claims 10 or 11, wherein the fault information of the first vehicle comprises a lidar failure, and the second vehicle is a vehicle that is closest to the first vehicle in front of, behind, to the left, to the right, to the front left, to the front right, to the rear left, or to the rear right of the first vehicle;

wherein the method further comprises: the second vehicle sends distance information between the second vehicle and the first vehicle to facilitate the first vehicle in determining a distance between the first vehicle and the second vehicle.

17. The method according to any one of claims 10 or 11, further comprising:

and the second vehicle prompts the fault information of the first vehicle.

18. The method of claim 17, wherein the second vehicle is indicative of a fault of the first vehicle, comprising:

and the second vehicle prompts the fault information of the first vehicle on a windshield display screen of the second vehicle in a virtual reality mode.

19. The method of claim 18, wherein the second vehicle is configured to prompt the fault information of the first vehicle on a windshield display screen of the second vehicle by way of virtual reality, comprising:

the second vehicle displays the outline of the first vehicle on the windshield display screen and prompts fault information of the first vehicle; or

The second vehicle circles the first vehicle on the windshield display screen and prompts fault information of the first vehicle; or

The second vehicle marks the first vehicle with a preset color on the windshield display screen and prompts fault information of the first vehicle; or

And the second vehicle marks the fault part of the first vehicle on the windshield display screen and prompts fault information of the first vehicle.

20. An apparatus for controlling a vehicle, comprising means for performing the method of any one of claims 1 to 19.

21. An apparatus for controlling a vehicle, comprising a processor for executing a program in a memory to implement a method as claimed in any one of claims 1 to 19.

22. An apparatus for controlling a vehicle, characterized by comprising: a processor and a transceiver;

the processor is configured to execute a computer program stored in the memory to cause the apparatus to perform the method of any one of claims 1 to 19.

23. A processor, comprising: at least one circuit configured to perform the method of any one of claims 1-19.

24. A computer-readable storage medium comprising a program or instructions for performing the method of any one of claims 1 to 19 when the program or instructions are run on a computer.

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