WO2018171506A1 - 一种车辆控制方法、装置及存储介质 - Google Patents

一种车辆控制方法、装置及存储介质 Download PDF

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Publication number
WO2018171506A1
WO2018171506A1 PCT/CN2018/079149 CN2018079149W WO2018171506A1 WO 2018171506 A1 WO2018171506 A1 WO 2018171506A1 CN 2018079149 W CN2018079149 W CN 2018079149W WO 2018171506 A1 WO2018171506 A1 WO 2018171506A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
berth
feature
idle
mode
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/079149
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English (en)
French (fr)
Inventor
揭宗昌
陈梦麟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tencent Technology Shenzhen Co Ltd
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Tencent Technology Shenzhen Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tencent Technology Shenzhen Co Ltd filed Critical Tencent Technology Shenzhen Co Ltd
Priority to EP18770324.4A priority Critical patent/EP3604068B1/en
Priority to JP2019549464A priority patent/JP7118493B2/ja
Priority to KR1020197018151A priority patent/KR20190085545A/ko
Publication of WO2018171506A1 publication Critical patent/WO2018171506A1/zh
Priority to US16/436,589 priority patent/US11225246B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
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    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
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    • G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space

Definitions

  • the present application relates to the field of communications technologies, and in particular, to a vehicle control method, apparatus, and storage medium.
  • the driver In daily life, there is usually a situation where the vehicle berth is not enough for the open parking lot on the ground. Therefore, the driver usually stops the vehicle temporarily waiting for the parking space near the berth. During the waiting process, the driver cannot predict the waiting time, so it can only After parking the vehicle, leave the vehicle. Since the vehicle is parked in the pause position, it is inevitable that some vehicles will not be able to leave or pass through the berth of the vehicle.
  • the embodiment of the present application provides a vehicle control scheme, in which the vehicle can automatically switch between the temporary parking mode and the fully automatic driving mode, which not only can automatically control the driving of the vehicle, but also save power consumption.
  • a vehicle control method applied to a vehicle control apparatus comprising: activating a temporary parking mode of a first vehicle, wherein the engine of the first vehicle is in a sleep state in the temporary parking mode a mode, the detecting sensor of the first vehicle is in an open mode; when a triggering feature within the first vehicle preset range is acquired by the detecting sensor, a fully-automatic driving mode of the first vehicle is activated; In the fully automatic driving mode, the engine is activated to move the first vehicle.
  • a vehicle control apparatus includes: a processor and a memory; wherein the memory stores computer readable instructions that enable the processor to: initiate a temporary parking mode of the first vehicle, In the temporary parking mode, the engine of the first vehicle is in a sleep mode, the detection sensor of the first vehicle is in an on mode; when a trigger feature in the first vehicle preset range is acquired by the detection sensor Activating a fully-automatic driving mode of the first vehicle; in the fully-automatic driving mode, activating an engine to move the first vehicle.
  • a non-volatile storage medium storing one or more programs, the one or more programs comprising instructions that, when executed by a vehicle control device, cause the vehicle
  • the control device executes the instructions of any of the vehicle control methods of the present application.
  • the vehicle control scheme according to the present application can automatically switch between the temporary parking mode and the fully automatic driving mode, which not only can automatically control the vehicle movement, but also save power consumption.
  • FIG. 1A shows a schematic diagram of an application scenario according to some embodiments of the present application
  • FIG. 1B is a flowchart of a vehicle control method according to an embodiment of the present application.
  • FIG. 2 is a flowchart of another vehicle control method according to an embodiment of the present application.
  • FIG. 3 is a flowchart of still another vehicle control method according to an embodiment of the present application.
  • FIG. 5 is a flowchart of still another vehicle control method according to an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of an active mobility module according to an embodiment of the present application.
  • FIG. 7b is a schematic structural diagram of another activation mobile module according to an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of another vehicle control apparatus according to an embodiment of the present disclosure.
  • FIG. 9 is a schematic structural diagram of still another vehicle control apparatus according to an embodiment of the present application.
  • FIG. 1A shows a schematic diagram of an application scenario in accordance with some embodiments of the present application.
  • the vehicle 110 in the application scenario may include a vehicle control device 111.
  • the vehicle control device 111 may be a variety of in-vehicle smart devices such as a driving computer or a detachable mobile device built in the vehicle 110, which is not limited in this application.
  • the vehicle control device 111 can communicate with the server 120 via the network 130.
  • the vehicle control device 111 can acquire content such as route plan from the server 120.
  • FIG. 1B is a flowchart of a vehicle control method according to an embodiment of the present application.
  • the manner shown in FIG. 1B can be performed, for example, in the vehicle control device 111.
  • the method can include the following steps:
  • S100 Start a temporary parking mode of the first vehicle.
  • the engine of the first vehicle is in a sleep mode
  • the detection sensor of the first vehicle is in an on mode to detect whether a trigger feature is present within a preset range of the first vehicle.
  • the triggering feature is used to trigger a fully automatic driving mode of the first vehicle.
  • the first vehicle may be any motor vehicle, and when the first vehicle stops, the temporary parking mode of the first vehicle may be activated.
  • the first vehicle is parked at a first pause position of the parking lot to activate a temporary parking mode of the first vehicle. Because of the pause position, the first vehicle will inevitably block other vehicles.
  • the first vehicle can solve this problem by flexibly switching between the temporary parking mode and the fully automatic driving mode.
  • the engine of the first vehicle is in a sleep mode while the detection sensor of the first vehicle is in an on mode.
  • Detection sensors include, but are not limited to, infrared sensors, radars, cameras, and the like.
  • the first vehicle is parked in a first pause position of the parking lot.
  • the car park can be an open parking lot on the ground.
  • the first vehicle may temporarily stop at the parking space near the occupied vehicle berth (ie, the pause position of the embodiment of the present application).
  • the first vehicle is parked in a first pause position of the parking lot. Since the stopping time is relatively short, the first vehicle can temporarily stop at the first pause position for easy access, so as to avoid docking at the vehicle berth and difficult to drive out of the vehicle berth.
  • the first vehicle When the first vehicle is parked in the first pause position, the first vehicle turns on the temporary parking mode after the driver leaves.
  • the temporary parking mode in order to ensure the endurance ability and reduce the energy consumption of the first vehicle, the engine of the first vehicle is in the sleep mode, and only the detection sensor (such as an infrared sensor) is turned on.
  • step S101 When the triggering feature in the first vehicle preset range is acquired by the detecting sensor, the fully-driving mode of the first vehicle is started.
  • step S101 can start the fully automatic driving mode by activating the fully automatic driving system.
  • the triggering feature includes any one or more of the following features:
  • the second vehicle in the embodiment of the present application is any vehicle other than the first vehicle.
  • the first vehicle starts the temporary parking mode, and detects whether there is a trigger feature in the first vehicle preset range by using the detection sensor of the first vehicle.
  • the preset range may be the maximum range that the detection sensor can detect.
  • the triggering feature may include, but is not limited to, an activation feature of the second vehicle within the preset range of the first vehicle periphery, an operational characteristic of the second vehicle, and a flashing feature, biometric, etc. of the second vehicle, The following describes the detection methods of the above trigger features separately.
  • the detection feature of the activation feature of the second vehicle within the first vehicle preset range may be that the change in heat within the preset range is detected by the infrared sensor of the first vehicle. When the engine of the vehicle starts, it emits a certain amount of heat. When the infrared sensor of the first vehicle detects a change in heat, it indicates that there is an activation feature of the second vehicle.
  • the detection feature of the activation feature of the second vehicle within the first vehicle preset range may be that the first vehicle may detect the activation feature of the second vehicle by the sound detection sensor. For example, if the sound detecting sensor detects the starting sound characteristic of the automobile, it is determined that there is a starting feature of the second vehicle.
  • the detecting manner of the running characteristic of the second vehicle that is getting closer to the distance between the first vehicle within the first vehicle preset range may be that the preset range is detected by the radar of the first vehicle and the camera. Whether there is an operational characteristic of the second vehicle that is getting closer to the first vehicle. For example, the first vehicle detects that there is an obstacle closer to the first vehicle through the radar, and further, the first vehicle takes a picture in real time through the camera, and analyzes the picture to obtain the obstacle as a vehicle.
  • the first vehicle may initiate the leveling of the sensor.
  • the trigger feature is, for example, an operational feature or a biometric feature of the second vehicle that is gradually approaching the distance from the first vehicle within the preset range, but is not limited thereto.
  • the plurality of detection sensors of the present application may include a first detection sensor and a second detection sensor.
  • the first detecting sensor may include, for example, one or more of an infrared sensor, a radar sensor, a sound sensor, and a light sensor.
  • the second sensor may include, for example, a camera, but is not limited thereto.
  • step S100 may first activate the first detection sensor. In other words, step S100 turns off the second detecting sensor.
  • step S101 can detect whether an object is close to the first vehicle by the first detecting sensor.
  • step S101 may activate the second detecting sensor.
  • step S101 can determine whether the object is a vehicle or a person by the second detecting sensor.
  • step S101 determines, by the second detecting sensor, whether there are operating features or biometrics of the second vehicle that are gradually approaching within the preset range.
  • the fully automatic driving mode of the first vehicle is initiated when it is determined that the operational feature or biometric meets the triggering feature.
  • step S101 can save energy consumption of the first vehicle (eg, electric energy, etc.) by means of hierarchically starting the detection sensor.
  • the method for detecting the flashing feature of the second vehicle in the preset range may be: collecting the image information of the current environment in real time through the camera of the first vehicle, and analyzing the image information to obtain the flashing of the second vehicle in the preset range. feature.
  • the flashing feature can be used to describe the flash mode of the second vehicle.
  • the range of the flash mode may include, for example, a double flash, a left turn flash, a right turn flash, and the like.
  • the first vehicle can estimate the moving path of the second vehicle according to the flash mode.
  • the first vehicle can be evaded according to the estimated movement path. For example, the first vehicle can move ahead according to the estimated movement path.
  • detection sensors of the embodiments of the present application include, but are not limited to, the above-exemplified sensors.
  • the trigger feature is used to trigger the first vehicle to initiate a fully automatic driving mode.
  • the engine of the first vehicle is in an active mode.
  • the first vehicle in the fully-automatic driving mode can rely on artificial intelligence, visual computing, radar, monitoring devices and global positioning system to cooperate, and can automatically and safely operate the first vehicle without any human active operation.
  • the fully automatic driving mode may be the fully automatic driving mode of the L4.
  • L4 is the fourth level of the Auto Carriage Technology Classification by the New Car Assessment Program (NHTSA) and the Society of Automotive Engineers (SAE), which is fully automated.
  • NHSA New Car Assessment Program
  • SAE Society of Automotive Engineers
  • the first vehicle may be switched from the temporary parking mode to the fully automatic driving mode.
  • step S102 In the fully automatic driving mode, activate the engine to move the first vehicle.
  • step S102 may initiate a fully automatic driving mode of the first vehicle. For example, when it is detected that another second vehicle approaches or has a second vehicle activated, the automatic driving mode is immediately entered; for example, when another second vehicle flash is detected, the fully automatic driving mode is immediately entered.
  • the first vehicle may also detect the presence of a biological proximity by an infrared sensor, and if a biological proximity is detected, activate the camera for identification. If there is a human approach (such as the presence of a facial feature), the prompt message is output immediately.
  • the prompt information is used to prompt the user that the first vehicle can move. However, it needs to be indicated by the flashing lights of other vehicles, so that other users can indicate the avoidance to the first vehicle through the flashing lights of the vehicle if they need to drive through.
  • the camera of the first vehicle detects that the user enters the car, and may also automatically enter the fully automatic driving mode, or the first vehicle waits for the flashing indication of the other vehicle to enter the fully automatic driving mode.
  • the first vehicle activates the fully automatic driving mode and moves the first vehicle based on the fully automatic driving mode. For example, if the first vehicle detects that other second vehicles are getting closer or closer to other nearby vehicles, the first vehicle immediately enters the fully automatic driving mode.
  • the first vehicle can invoke the camera to scan the scene environment through the fully automatic driving system, for example, using the camera to take a real-time photograph, and perform image analysis on the photographed image to determine whether the first vehicle blocks the travel path of the second vehicle of the other party.
  • the first vehicle may call the radar to measure the width of the idle position around the first vehicle, and determine whether the first vehicle is clogging the travel path of the second vehicle according to the width of the second vehicle and the width of the idle position around the first vehicle.
  • the first vehicle blocks the travel path of the second vehicle, the first vehicle is moved, thereby finding another pause position. If it is detected that the first vehicle does not block the traveling path of the second vehicle of the other party, the movement avoidance may be performed according to the second vehicle flashing feature of the other party until the second vehicle of the other party leaves the preset range that the first vehicle can perceive.
  • the temporary parking mode is entered again.
  • the first vehicle only needs to turn on the detection sensor, and the engine of the first vehicle is in the sleep mode, which can save the power consumption of the first vehicle.
  • the first vehicle moves to a paused position in the ground open parking lot.
  • the first vehicle can detect whether there is an idle vehicle berth within the preset range by the camera in the fully automatic driving mode. Specifically, the first vehicle captures an image in a preset range of the first vehicle through the camera, and analyzes the image to determine whether there is a feature of the free vehicle berth in the image, such as the feature of the idle vehicle berth is formed by lines Rectangular box.
  • the first vehicle can automatically plan a path into the free vehicle berth and enter the free vehicle berth through the path. If the first vehicle finally enters the normal vehicle berth, the entire parking process is completed. At this time, the vehicle control device 111 can transmit the final parking position to the target user through the automatic driving system, and the target user can be the driver of the first vehicle.
  • the automatic driving system can immediately send an alarm message to the target user for emergency processing.
  • the vehicle can automatically switch between the temporary parking mode and the fully automatic driving mode, which not only can automatically control the vehicle movement, but also save power consumption.
  • FIG. 2 is a flowchart of another vehicle control method according to an embodiment of the present application.
  • the method shown in FIG. 2 can be performed, for example, in the vehicle control device 111.
  • the vehicle control method of the embodiment of the present application includes the following steps:
  • the parking lot may be an open parking lot on the ground.
  • the camera on the first vehicle detects the current environment to determine whether there is an idle vehicle berth.
  • the first vehicle may capture an image of the current environment through the camera, and analyze the image of the current environment to determine whether the current environment has characteristics of free vehicle berths, for example, features of the idle vehicle berth include pre-planned vehicles.
  • the shape characteristics of the berth such as a rectangular frame planned by a white line, determine the presence of an idle vehicle berth if there is a feature of an idle vehicle berth. Further, it is also possible to detect whether there is an obstacle on the free vehicle berth by the radar of the first vehicle.
  • the first vehicle detects that there is no free vehicle berth in the parking lot, that is, there is no feature of the idle vehicle berth in the current environment.
  • the first vehicle acquires at least one idle location of the parking lot by analyzing an image of the current environment captured by the camera, and the idle location may be a location other than the vehicle berth in the parking lot.
  • the first vehicle measures the size of the idle position by a radar or a camera, such as analyzing an image of the idle position captured by the camera, and the size of the idle position can be calculated.
  • the first vehicle may select a first pause position from among the at least one idle position sought according to the size of the first vehicle (such as the length and width of the first vehicle), a selection criterion of the first pause position It may be that after the first pause position stops at the first vehicle, other vehicles can still pass by the first vehicle, that is, the distance between the first vehicle and the other parking vehicles is reserved to be sufficiently wide, such as greater than a preset threshold.
  • the temporary parking mode of the first vehicle is started.
  • the engine of the first vehicle is in a sleep mode, and the detection sensor of the first vehicle is in an on mode.
  • steps S203 to S205 of the embodiment of the present application refer to the steps S100 to S102 of the embodiment of FIG. 1B, and details are not described herein again.
  • the vehicle can automatically switch between the temporary parking mode and the fully automatic driving mode, which not only can automatically control the driving of the vehicle, but also save power consumption.
  • FIG. 3 is a flowchart of still another vehicle control method according to an embodiment of the present application.
  • the method illustrated in FIG. 3, for example, which may be performed in the vehicle control device 111, may include the following steps:
  • steps S300 to S301 of the embodiment of the present application refer to the steps S100 to S101 of the embodiment of FIG. 1B, and details are not described herein again.
  • the detection sensor when the first vehicle stops at the first pause position, the detection sensor may be periodically turned on to detect whether the triggering feature exists in the current environment. If there is a launch feature of the second vehicle in the current environment, then control initiates the fully automatic driving mode of the first vehicle.
  • the activation feature may be acquired by a sound detecting sensor. For example, when the sound detecting sensor captures the sound feature of the vehicle start, step S302 determines that there is a launch feature of the second vehicle in the current environment.
  • the activation feature may also be obtained by detecting heat by an infrared sensor.
  • the triggering feature present in the current environment is an operating characteristic of the second vehicle that is closer to the distance between the first vehicle, then controlling the automatic driving mode of the first vehicle to be turned on. It should be noted that the distance between the second vehicle and the first vehicle can be detected by the camera or radar of the first vehicle.
  • the first vehicle may photograph the current environment image through the camera, and analyze the environment image to determine whether the second vehicle exists. Further, the first vehicle detects whether the road width around the first vehicle is sufficient for the second vehicle to pass through the radar, and if the second vehicle passes, the first vehicle is determined to be on the travel path of the second vehicle.
  • the first vehicle may determine the size of the second vehicle by using an image of the second vehicle photographed by the camera. In addition, the first vehicle may determine the width of the road on which the first vehicle is currently traveling through a radar or a camera.
  • S304 Determine a second pause position according to a size of the second vehicle and a width of the traveling road, wherein stopping the first vehicle in the second pause position does not block the second vehicle from passing the Driving the road.
  • the first vehicle may determine the second pause position according to the size of the second vehicle and the width of the current traveling road.
  • the current road has a width of 8 meters and the second vehicle has a width of 5 meters.
  • the width of the road occupied by the second pause position that the first vehicle can select should be at least less than or equal to 2.5 meters, since at least a spacing of 0.5 meters is required to facilitate the passage of the second vehicle.
  • the first vehicle moves the first vehicle from the first pause position to the second pause position based on the fully automatic driving mode.
  • the vehicle can automatically switch between the temporary parking mode and the fully automatic driving mode, which not only can automatically control the vehicle movement, but also save power consumption.
  • FIG. 4 is a flowchart of still another vehicle control method according to an embodiment of the present application; and the method shown in FIG. 4 can be executed, for example, in the vehicle control device 111.
  • the method can include the following steps:
  • steps S400 to S401 of the embodiment of the present application refer to the steps S100 to S101 of the embodiment of FIG. 1B, and details are not described herein again.
  • S402. Activate an engine to identify a flashing feature of the second vehicle based on the fully automatic driving mode of the first vehicle.
  • the first vehicle control when it is detected that the trigger feature in the current environment includes the flash feature of the second vehicle, the first vehicle control turns on the fully automatic driving mode.
  • the flashing feature of the second vehicle can be detected by the camera of the first vehicle.
  • the camera captures an image within a preset range and analyzes the image to determine if there is a flash feature of the second vehicle.
  • the flashing feature of the second vehicle may indicate that the second vehicle needs to pass the perimeter of the first vehicle, the first vehicle automatically identifies the flashing feature and moves according to the flashing feature, eg, the flashing feature indicates that the second vehicle requires Turning right, the first vehicle can measure whether the width of the right traveling road is sufficient for the second vehicle to turn right.
  • FIG. 5 is a schematic flowchart diagram of still another vehicle control method according to an embodiment of the present application.
  • the method shown in FIG. 5 can be performed, for example, in the vehicle control device 111.
  • the vehicle control method of the embodiment of the present application includes the following steps:
  • steps S500-S502 of the embodiment of the present application refer to the steps S100-S102 of the embodiment of FIG. 1B, and details are not described herein again.
  • the first vehicle when the first vehicle is in the fully-automatic driving mode, the first vehicle may further detect whether there is an idle vehicle berth in the parking lot. For example, the first vehicle can capture an image of the current environment through the camera, and analyze the image to determine whether there is a feature of the free vehicle berth in the current environment. If there are features of idle vehicle berths, then there are free vehicle berths.
  • the first vehicle can scan the surrounding environment for free vehicle berths while driving through the fully automatic driving system.
  • the path of the first vehicle's current location to the idle vehicle berth may be planned by the automatic driving system.
  • the first vehicle may send an identification of the free vehicle berth and the location of the first vehicle to the server 120, and the server 120 plans a path for the first vehicle to arrive at the free vehicle berth.
  • the free vehicle berth may be entered according to the route.
  • the automatic driving system transmits the position of the idle vehicle berth to the target user.
  • the target user may be a user bound to the first vehicle, such as a mobile terminal of the driver of the first vehicle, in such a manner that the driver can be made aware of the specific location of the first vehicle.
  • the first vehicle's automatic driving system and all of the detection sensors are turned off.
  • the first vehicle when the first vehicle detects that there is still no idle vehicle berth, it switches from the fully automatic driving mode to the temporary parking mode again, that is, starts the temporary parking mode of the first vehicle again, and simultaneously opens the first vehicle.
  • the detection sensor continues to detect if there is a trigger feature in the current environment.
  • FIG. 6 is a schematic structural diagram of a vehicle control device according to an embodiment of the present disclosure. As shown in the figure, a vehicle control device according to an embodiment of the present application includes:
  • a first starting module 10 configured to start a temporary parking mode of the first vehicle, in the temporary parking mode, the engine of the first vehicle is in a sleep mode, and the detection sensor of the first vehicle is in an open mode;
  • the first obtaining module 11 is configured to acquire a trigger feature in the first vehicle preset range, where the trigger feature is used to trigger the first vehicle to start a fully automatic driving mode;
  • the triggering feature includes any one or more of the following features:
  • the second vehicle in the embodiment of the present application is any vehicle other than the first vehicle.
  • the mobile module 12 is activated for activating the engine, in which the first vehicle is moved.
  • the activation mobile module 12 includes a first activation unit 120, a detection unit 121, an acquisition unit 122, a determination unit 123, and a first mobile unit 124;
  • the detecting unit 121 is configured to detect, according to the fully-automatic driving mode of the first vehicle, whether the first vehicle is on a driving path of the second vehicle;
  • the acquiring unit 122 is configured to acquire a size of the second vehicle and a width of the first vehicle and a current traveling road if the first vehicle is on a traveling path of the second vehicle;
  • a determining unit 123 configured to determine a second pause position according to a size of the second vehicle and a width of the traveling road, wherein the stopping of the first vehicle in the second pause position does not block the second Passing the vehicle through the road;
  • the first moving unit 124 is configured to move the first vehicle to a second pause position.
  • the activation mobile module includes a second activation unit 125, an identification unit 126, and a second mobile unit 127;
  • a second activation unit 125 for activating the engine
  • the identifying unit 126 is configured to identify a flashing feature of the second vehicle based on the fully-automatic driving mode of the first vehicle;
  • the second moving unit 127 is configured to move the first vehicle according to the flashing feature of the second vehicle to avoid the second vehicle.
  • FIG. 8 is a schematic structural diagram of another vehicle control apparatus according to an embodiment of the present application.
  • the vehicle control apparatus of the embodiment of the present application includes a first startup module 20, a first acquisition module 21, and an activation movement. Module 22;
  • the vehicle control device of the embodiment of the present application may further include a first detecting module 23, a second acquiring module 24, and a selecting module 25;
  • the first detecting module 23 is configured to detect, when the first vehicle arrives at the parking lot, whether the parking lot has an idle vehicle berth;
  • the second obtaining module 24 is configured to acquire an idle location of the parking lot if the parking lot does not have an idle vehicle berth;
  • the selection module 25 is configured to select a first pause position to be docked from the idle positions according to the size of the first vehicle.
  • the vehicle control apparatus of the embodiment of the present application may further include a second detecting module 26, a planning module 27, and a second starting module 28;
  • a second detecting module 26 configured to detect, according to the fully-automatic driving mode of the first vehicle, whether the parking lot has an idle vehicle berth;
  • a planning module 27 if there is an idle vehicle berth, planning a path of the current location of the first vehicle to the idle vehicle berth, and controlling the first vehicle to enter the idle according to the path Vehicle berth
  • the second starting module 28 is configured to activate the temporary parking mode of the first vehicle if there is no idle vehicle berth.
  • the vehicle control apparatus 1000 may include at least one processor 1001, such as a CPU, at least one network interface 1004, a user interface 1003, a memory 1005, and at least one communication bus 1002.
  • the communication bus 1002 is used to implement connection communication between these components.
  • the user can communicate with the vehicle control device by calling the user interface 1003, which can include a button, a touch screen, and the like.
  • the network interface 1004 can include a standard wired interface, a wireless interface (such as a WI-FI interface).
  • the memory 1005 may be a high speed RAM memory or a non-volatile memory such as at least one disk memory.
  • the memory 1005 may also be at least one storage device located remotely from the aforementioned processor 1001. As shown in FIG. 8, an operating system, a network communication module, a user interface module, and a data processing application may be included in the memory 1005 as a computer storage medium.
  • the processor 1001 can be used to call a data processing application stored in the memory 1005, and specifically perform the following operations:
  • the detection sensor of the first vehicle is in an on mode to detect a preset range of the first vehicle Whether there is a trigger feature inside;
  • the engine is activated to move the first vehicle.
  • a first pause position of the stop is selected from the idle positions according to the size of the first vehicle.
  • the triggering feature includes any one or more of the following features:
  • the performing, in the fully-automatic driving mode, moving the first vehicle specifically includes:
  • moving the first vehicle includes:
  • the vehicle control device 1000 may also perform the following operations:
  • the temporary parking mode of the first vehicle is initiated if there are no free vehicle berths.

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Abstract

一种车辆控制方法、装置及存储介质，其中车辆控制方法包括：启动第一车辆的暂时停泊模式，在所述暂时停泊模式下，所述第一车辆的发动机处于休眠模式，所述第一车辆的检测传感器处于开启模式；当获取所述第一车辆预设范围内的触发特征时，启动所述第一车辆的全自动驾驶模式；在所述全自动驾驶模式下，激活发动机，移动所述第一车辆。

Description

一种车辆控制方法、装置及存储介质
本申请要求于2017年03月21日提交中国专利局、申请号为201710168826.2、发明名称为“一种车辆控制方法及装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及通信技术领域，具体涉及一种车辆控制方法、装置及存储介质。
背景技术
在日常生活中，地面开放停车场通常会存在车辆泊位不够用的情况，所以司机通常会让车辆暂时停在车辆泊位附近等候车位，在等候过程中，司机无法预料等待的时间，因此也只能停靠车辆后，离开车辆。由于车辆是停靠在暂停位置，难免会造成部分车辆无法从车辆泊位驶离或通过。
发明内容
本申请实施例提供一种车辆控制方案，车辆可以自动在暂时停泊模式和全自动驾驶模式之间切换，不仅可以自动控制车辆驾驶，还节省功耗。
根据本申请一个方面，提供一种车辆控制方法，应用于车辆控制装置，所述方法包括：启动第一车辆的暂时停泊模式，在所述暂时停泊模式下，所述第一车辆的发动机处于休眠模式，所述第一车辆的检测传感器处于开启模式；当通过所述检测传感器获取到所述第一车辆预设范围内的触发特征时，启动所述第一车辆的全自动驾驶模式；在所述全自动驾驶模式下，激活发动机，移动所述第一车辆。
根据本申请另一个方面，提供一种车辆控制装置，包括：处理器和存储器；所述存储器中存储有计算机可读指令，可以使所述处理器：启动第一车辆的暂时停泊模式，在所述暂时停泊模式下，所述第一车辆的发动机处于休眠模式，所述第一车辆的检测传感器处于开启模式；当通过所述检测传感器获取到所述 第一车辆预设范围内的触发特征时，启动所述第一车辆的全自动驾驶模式；在所述全自动驾驶模式下，激活发动机，移动所述第一车辆。
根据本申请另一个方面，提供一种非易失性存储介质，存储有一个或多个程序，所述一个或多个程序包括指令，所述指令当由车辆控制设备执行时，使得所述车辆控制设备执行本申请任一项车辆控制方法的指令。
综上，根据本申请的车辆控制方案可以自动在暂时停泊模式和全自动驾驶模式之间切换，不仅可以自动控制车辆移动，还节省功耗。
附图简要说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1A示出了根据本申请一些实施例的应用场景的示意图；
图1B为本申请实施例提供的一种车辆控制方法的流程图；
图2为本申请实施例提供的另一种车辆控制方法的流程图；
图3为本申请实施例提供的又一种车辆控制方法的流程图；
图4为本申请实施例提供的又一种车辆控制方法的流程图；
图5为本申请实施例提供的又一种车辆控制方法的流程图；
图6为本申请实施例提供的一种车辆控制装置的结构示意图；
图7a是本申请实施例提供的一种激活移动模块的结构示意图；
图7b是本申请实施例提供的另一种激活移动模块的结构示意图；
图8为本申请实施例提供的另一种车辆控制装置的结构示意图；
图9为本申请实施例提供的又一种车辆控制装置的结构示意图。
实施本申请的方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是 全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
图1A示出了根据本申请一些实施例的应用场景的示意图。如图1A所示，应用场景中车辆110可以包括车辆控制装置111。车辆控制装置111可以是车辆110内置的行车电脑或可拆卸的移动设备等各种车载智能设备，本申请对此不做限制。车辆控制装置111可以通过网络130与服务器120通信。例如，车辆控制装置111可以从服务器120获取路线规划等内容。
下面将结合附图1B对本申请实施例提供的车辆控制方法进行详细介绍。
请参照图1B，为本申请实施例提供的一种车辆控制方法的流程图.图1B所示方式例如可以在车辆控制装置111中执行。该方法可包括以下步骤：
S100，启动第一车辆的暂时停泊模式。在所述暂时停泊模式下，该第一车辆的发动机处于休眠模式，第一车辆的检测传感器处于开启模式,以便检测所述第一车辆的预设范围内是否存在触发特征。这里，触发特征用于触发第一车辆的全自动驾驶模式。
本申请实施例中，第一车辆可以是任意机动车，当第一车辆停车时，可以启动该第一车辆的暂时停泊模式。第一车辆停靠在停车场的第一暂停位置，启动该第一车辆的暂时停泊模式。由于处于暂停位置，第一车辆难免会挡住其他车辆。第一车辆可以通过在暂时停泊模式和全自动驾驶模式之间灵活切换来解决此问题。
在暂时停泊模式下，第一车辆的发动机处于休眠模式，同时该第一车辆的检测传感器处于开启模式。检测传感器包括但不限于红外传感器、雷达以及摄像头等等。
在一个实施例中，第一车辆停在停车场的第一暂停位置。该停车场可以是地面开放停车场。在地面开放停车场存在车辆泊位不够用的情况时，第一车辆可以暂时停在已占用的车辆泊位的附近(即本申请实施例的暂停位置)等候车位。在一个实施例中，第一车辆停在停车场的第一暂停位置。由于停靠时间比较短，第一车辆可以暂时停靠在方便进出的第一暂停位置，以避免停靠在车辆泊位而难以驶出车辆泊位。
当第一车辆停在第一暂停位置时，司机离开后，第一车辆开启暂时停泊模 式。在暂时停泊模式下，为保证续航能力，降低第一车辆的能耗，该第一车辆的发动机处于休眠模式，仅仅开启检测传感器(比如红外传感器)等。
S101，当通过检测传感器获取到第一车辆预设范围内的触发特征时，启动所述第一车辆的全自动驾驶模式。这里，步骤S101可以通过启动全自动驾驶系统而启动全自动驾驶模式。
所述触发特征包括以下特征中的任意一种或者多种：
所述预设范围内第二车辆的启动特征；
所述预设范围内与所述第一车辆之间的距离靠近的第二车辆的运行特征；
所述预设范围内第二车辆的闪灯特征。
需要说明的是，本申请实施例的第二车辆是除第一车辆外的任意车辆。
本申请实施例中，第一车辆启动暂时停泊模式，并且通过该第一车辆的检测传感器检测该第一车辆预设范围内是否存在触发特征。该预设范围可以是检测传感器所能够检测到的最大范围。
在一些实施例中，触发特征可以包括但不限于：该第一车辆周边预设范围内的第二车辆的启动特征、第二车辆的运行特征以及第二车辆的闪灯特征、生物特征等等，下面分别对上述各个触发特征的检测方式进行举例说明。
在一个实施例中，对于第一车辆预设范围内第二车辆的启动特征的检测方式可以是，通过第一车辆的红外传感器检测预设范围内的热量变化。车辆的发动机启动时，会散发出一定的热量。当第一车辆的红外传感器检测到热量变化，则表明存在第二车辆的启动特征。在另一个实施例中，对于第一车辆预设范围内第二车辆的启动特征的检测方式可以是：第一车辆可以通过声音检测传感器检测第二车辆的启动特征。比如，声音检测传感器检测到汽车的启动声音特征，则确定存在第二车辆的启动特征。
在一个实施例中，对于第一车辆预设范围内与第一车辆之间距离越来越近的第二车辆的运行特征的检测方式可以是，通过第一车辆的雷达以及摄像头检测预设范围内是否存在距离该第一车辆越来越近的第二车辆的运行特征。比如，第一车辆通过雷达检测到存在距离该第一车辆越来越近的障碍物，进一步，第一车辆通过摄像头实时拍摄图片，并对图片进行分析出来，获得该障碍物为车辆。
在一个实施例中，为了检测触发特征，第一车辆可以对检测传感器进行分级启动。触发特征例如是预设范围内与第一车辆的距离逐渐靠近的第二车辆的运行特征或者生物特征，但不限于此。具体而言，本申请的多个检测传感器可以包括第一检测传感器和第二检测传感器。这里，第一检测传感器例如可以包括红外传感器、雷达传感器、声音传感器、光感传感器中一个或多个。第二传感器例如可以包括摄像头，但不限于此。在第一车辆处于暂时停泊模式下，步骤S100可以首先启动第一检测传感器。换言之，步骤S100关闭第二检测传感器。这样，步骤S101可以通过第一检测传感器检测是否有物体靠近第一车辆。当检测到有物体靠近第一车辆时，步骤S101可以启动第二检测传感器。这样，步骤S101可以通过第二检测传感器确定物体是否为车辆或者人员。换言之，步骤S101通过第二检测传感器确定在预设范围内是否有逐渐靠近的第二车辆的运行特征或者生物特征。当确定运行特征或生物特征符合所述触发特征时，启动所述第一车辆的全自动驾驶模式。综上，步骤S101通过分级启动检测传感器的方式可以节省第一车辆的能耗(例如电能等等)
对于预设范围内第二车辆的闪灯特征的检测方式可以是，通过第一车辆的摄像头实时采集当前环境的图像信息，并对图像信息进行分析，获取预设范围内第二车辆的闪灯特征。在一个实施例中，闪灯特征可以用于描述第二车辆的闪灯模式。闪灯模式的范围例如可以包括：双闪、左转闪灯和右转闪灯等等。这样，第一车辆可以根据闪灯模式预估第二车辆的移动路径。这样，第一车辆可以根据预估的移动路径进行避让。例如，第一车辆可以根据预估的移动路径进行提前移动。
需要说明的是，本申请实施例的检测传感器包括但不限于上述举例的传感器。
触发特征用于触发第一车辆启动全自动驾驶模式。在全自动驾驶模式下，第一车辆的发动机处于激活模式。处于全自动驾驶模式下的第一车辆，可以依靠人工智能、视觉计算、雷达、监控装置和全球定位系统协同合作，可以在没有任何人类主动操作下，自动安全地操作该第一车辆。
在一个实施例中，全自动驾驶模式可以是L4的全自动驾驶模式。L4即是美国高速公路安全管理局(New Car Assessment Program，NHTSA)和美国汽 车工程师学会(Society of Automotive Engineers，SAE)对自动驾驶技术分级的第4级，即全自动化驾驶。在该分级下的车辆由无人驾驶系统完成所有的驾驶操作，并且这种全自动驾驶能在所有的道路和环境条件下适用。
当第一车辆的检测传感器检测到的触发特征，第一车辆可以由暂时停泊模式切换至全自动驾驶模式。
S102，在全自动驾驶模式下，激活发动机，移动第一车辆。在一个实施例中，若检测传感器检测到第一车辆预设范围内存在触发特征，步骤S102可以启动第一车辆的全自动驾驶模式。比如，在检测到其他第二车辆接近或附近有第二车辆启动时，立即进入全自动驾驶模式；又比如，在检测到其他第二车辆闪灯时，立即进入全自动驾驶模式。
在一个实施例中，第一车辆还可以通过红外传感器检测是否存在生物接近，若检测到生物接近时，启动摄像头进行识别。若是有人类靠近(比如存在人脸特征)，立即语音输出提示信息。该提示信息用于提示用户该第一车辆可以移动。但是需要通过其他车辆的闪灯指示，这样其他用户如果需要开车经过，则可以通过车辆的闪灯向该第一车辆指示避让。进一步，第一车辆的摄像头检测到用户进入汽车，也可以自动进入全自动驾驶模式，或者，该第一车辆等待其他车辆的闪灯指示，再进入全自动驾驶模式。
第一车辆启动全自动驾驶模式，并基于该全自动驾驶模式，移动该第一车辆。比如，第一车辆检测到其他第二车辆越来越近或附近有其他第二车辆启动，则该第一车辆立即进入全自动驾驶模式。第一车辆可以通过全自动驾驶系统调用摄像头扫描现场环境，比如使用摄像头进行实时拍照，并对拍照的图像进行图像分析，确定该第一车辆是否堵塞对方第二车辆的行驶路径。例如，第一车辆可以调用雷达测量该第一车辆周围空闲位置的宽度，并根据第二车辆的宽度和第一车辆周围空闲位置的宽度，确定该第一车辆是否堵塞第二车辆的行驶路径。
若第一车辆堵塞第二车辆的行驶路径，则移动第一车辆，从而另寻暂停位置。如果检测到第一车辆没有堵塞对方第二车辆的行驶路径，则可以根据对方第二车辆闪灯特征，进行移动避让，直到对方第二车辆离开第一车辆能够感知的预设范围。
进一步，随后一段时间(比如10s或20s)内若未检测到其他车辆或生物进入预设范围，则再次进入暂时停泊模式。在暂时停泊模式下，第一车辆只需要开启检测传感器，第一车辆的发动机处于休眠模式，这样可以节省第一车辆的功耗。
在一个实施例中，第一车辆移动到地面开放停车场的暂停位置。在第一车辆再次进入暂时停泊模式之前，第一车辆在全自动驾驶模式下，可以通过摄像头检测预设范围内是否存在空闲的车辆泊位。具体而言，第一车辆通过摄像头拍摄第一车辆预设范围内的图像，并对图像进行分析，确定该图像中是否存在空闲的车辆泊位的特征，比如空闲的车辆泊位的特征是通过线条组成的矩形框。
如果存在空闲的车辆泊位，第一车辆可以自动规划驶入该空闲的车辆泊位的路径，并通过该路径驶入空闲的车辆泊位。若第一车辆最终驶入正常的车辆泊位后，则完成整个泊车过程。此时车辆控制装置111可以通过自动驾驶系统给目标用户发送最终停泊位置，目标用户可以是该第一车辆的驾驶员。
若第一车辆在动态停泊的过程中和机动车或生物发生碰撞等异常，自动驾驶系统可以立刻向目标用户发送报警信息，以便进行紧急处理。
本申请实施例中，通过图1B的方式，车辆可以自动在暂时停泊模式和全自动驾驶模式之间切换，不仅可以自动控制车辆移动，还节省功耗。
请参照图2，为本申请实施例提供的另一种车辆控制方法的流程图。图2所示方法例如可以在车辆控制装置111中执行。如图2所示，本申请实施例的车辆控制方法包括以下步骤：
S200，当第一车辆到达停车场时，检测所述停车场是否存在空闲的车辆泊位；
本申请实施例中，停车场可以是地面开放停车场，当第一车辆到达地面开放停车场后，利用第一车辆上的摄像头检测当前环境，判断是否存在空闲的车辆泊位。具体，第一车辆可以通过摄像头拍摄当前环境的图像，并对该当前环境的图像进行分析，判断该当前环境是否存在空闲的车辆泊位的特征，比如，空闲的车辆泊位的特征包括预先规划的车辆泊位的形状特征，比如是通过白色线规划的矩形框，若存在空闲的车辆泊位的特征，则确定存在空闲的车辆泊位。进一步，还可以通过第一车辆的雷达检测空闲的车辆泊位上是否存在障碍物。
S201，若所述停车场不存在空闲的车辆泊位，获取所述停车场的空闲位置；
S202，根据所述第一车辆的大小，从所述空闲位置中选择停靠的第一暂停位置。
本申请实施例中，若第一车辆检测到停车场不存在空闲的车辆泊位，即当前环境不存在空闲的车辆泊位的特征。第一车辆通过分析摄像头拍摄的当前环境的图像，获取到停车场的至少一个空闲位置，空闲位置可以是停车场中除车辆泊位外的位置。
进一步，第一车辆通过雷达或者摄像头测量所述空闲位置的大小，比如分析摄像头拍摄的空闲位置的图像，可以计算出该空闲位置的大小。在一个实施例中，第一车辆可以根据第一车辆的大小(比如第一车辆的长和宽)，从所寻找的至少一个空闲位置中选择第一暂停位置，该第一暂停位置的选择准则可以是该第一暂停位置停靠该第一车辆后，其他车辆仍然可以从该第一车辆旁边通过，即预留该第一车辆与其他停靠车辆之间的间距足够宽，比如大于预设阈值。
S203，当第一车辆停在停车场的第一暂停位置时，启动第一车辆的暂时停泊模。在所述暂时停泊模式下，所述第一车辆的发动机处于休眠模式，第一车辆的检测传感器处于开启模式。
S204，当通过检测传感器获取第一车辆预设范围内的触发特征时，启动第一车辆的全自动驾驶模式。
S205，在全自动驾驶模式下，激活发动机，移动所述第一车辆。
本申请实施例步骤S203～S205请参照图1B的实施例步骤S100～S102，在此不再赘述。
通过图2所示的方法，车辆可以自动在暂时停泊模式和全自动驾驶模式之间切换，不仅可以自动控制车辆驾驶，还节省功耗。
请参照图3，为本申请实施例提供的又一种车辆控制方法的流程图。图3所示方法例如可以在车辆控制装置111中执行该方法可包括以下步骤：
S300，当第一车辆停在停车场的第一暂停位置时，启动所述第一车辆的暂时停泊模式，在所述暂时停泊模式下，所述第一车辆的发动机处于休眠模式，所述第一车辆的检测传感器处于开启模式。
S301，当通过检测传感器获取所述第一车辆预设范围内的触发特征，启动 所述第一车辆的全自动驾驶模式。
本申请实施例步骤S300～S301请参照图1B的实施例步骤S100～S101，在此不再赘述。
S302，当检测到第二车辆的启动特征，或者检测到与所述第一车辆之间的距离越来越近的第二车辆的运行特征等触发特征时，启动全自动驾驶模式，并检测所述第一车辆是否在所述第二车辆的行驶路径上。
本申请实施例中，当第一车辆停在第一暂停位置时，可以定时开启检测传感器检测当前环境是否存在触发特征。若当前环境中存在第二车辆的启动特征，则控制开启第一车辆的全自动驾驶模式。需要说明的是，启动特征可以是通过声音检测传感器获取。比如，当声音检测传感器捕获到机动车启动的声音特征时，步骤S302确定当前环境中存在第二车辆的启动特征。另外，启动特征也可以是通过红外传感器通过检测热量的方式获取。
若当前环境中存在的触发特征为与所述第一车辆之间的距离越来越近的第二车辆的运行特征，则控制开启第一车辆的全自动驾驶模式。需要说明的是，可以通过第一车辆的摄像头或者雷达检测第二车辆是否与第一车辆之间的距离越来越近。
基于所述第一车辆的全自动驾驶模式，判断所述第一车辆是否在所述第二车辆的行驶路径上。具体地，第一车辆可以通过摄像头拍摄当前环境图像，并对环境图像进行分析，判断是否存在第二车辆。进一步，第一车辆通过雷达检测该第一车辆周围的道路宽度是否足够第二车辆通过，若不足够第二车辆通过，则确定第一车辆在第二车辆的行驶路径上。
S303，若所述第一车辆在所述第二车辆的行驶路径上，则获取所述第二车辆的大小以及所述第一车辆与当前所在行驶道路的宽度。
在本申请实施例中，若第一车辆在第二车辆的行驶路径上，第一车辆可以通过摄像头拍摄的第二车辆的图像确定该第二车辆的大小。另外，第一车辆可以通过雷达或者摄像头确定第一车辆当前所在行驶道路的宽度。
S304，根据所述第二车辆的大小以及所述行驶道路的宽度，确定第二暂停位置，其中，所述第一车辆停在所述第二暂停位置不会阻挡所述第二车辆通过所述行驶道路。
S305，将所述第一车辆移动至所述第二暂停位置。
在本申请实施例中，第一车辆根据第二车辆的大小以及当前行驶道路的宽度，可以确定第二暂停位置。比如，当前行驶道路的宽度为8米，第二车辆的宽度为5米。为了保证第二车辆的通过，第一车辆可以选择的第二暂停位置所占据行驶道路的宽度至少应该小于或者等于2.5米，因为需要至少预留0.5米的间距便于第二车辆通过。
第一车辆基于全自动驾驶模式将第一车辆从第一暂停位置移动到第二暂停位置。
通过图3所示的方法，车辆可以自动在暂时停泊模式和全自动驾驶模式之间切换，不仅可以自动控制车辆移动，还节省功耗。
请参照图4，为本申请实施例提供的又一种车辆控制方法的流程图；图4所示方法例如可以在车辆控制装置111中执行。该方法可包括以下步骤：
S400，启动第一车辆的暂时停泊模式，在所述暂时停泊模式下，所述第一车辆的发动机处于休眠模式，所述第一车辆的检测传感器处于开启模式；
S401，当通过检测传感器获取到所述第一车辆预设范围内的触发特征时，启动第一车辆的全自动驾驶模式。
本申请实施例步骤S400～S401请参照图1B的实施例步骤S100～S101，在此不再赘述。
S402，激活发动机，基于第一车辆的所述全自动驾驶模式，识别所述第二车辆的闪灯特征。
S403，根据所述第二车辆的闪灯特征，移动所述第一车辆，以避让第二车辆。
在本申请实施例中，在检测到当前环境中的触发特征包含第二车辆的闪灯特征，第一车辆控制开启全自动驾驶模式。需要说明的是，该第二车辆的闪灯特征可以由第一车辆的摄像头进行检测。比如，摄像头拍摄预设范围内的图像，并对图像进行分析，确定是否存在第二车辆的闪灯特征。
第二车辆的闪灯特征可以表明第二车辆需要经过该第一车辆的周边，第一车辆自动识别该闪灯特征，并根据闪灯特征进行移动，比如，该闪灯特征表示第二车辆需要右拐，则第一车辆可以测量右边的行驶道路的宽度是否足够第二 车辆右拐通过。
请参照图5，为本申请实施例提供的又一种车辆控制方法的流程示意图。图5所示方法例如可以在车辆控制装置111中执行。如图5所示，本申请实施例的车辆控制方法包括以下步骤：
S500，启动第一车辆的暂时停泊模式，在所述暂时停泊模式下，所述第一车辆的发动机处于休眠模式，所述第一车辆的检测传感器处于开启模式，以便检测所述第一车辆的预设范围内是否存在触发特征。
S501，当获取所述第一车辆预设范围内的触发特征时，启动第一车辆的全自动驾驶模式。
S502，在全自动驾驶模式下，激活发动机，移动第一车辆。
本申请实施例步骤S500～S502请参照图1B的实施例步骤S100～S102，在此不再赘述。
S503，基于所述第一车辆的所述全自动驾驶模式，检测所述停车场是否存在空闲的车辆泊位。
本申请实施例中，当第一车辆处于全自动驾驶模式时，第一车辆可以进一步检测停车场是否存在空闲的车辆泊位。比如，第一车辆可以通过摄像头拍摄当前环境的图像，并对图像进行分析，判断当前环境是否存在空闲的车辆泊位的特征。如果存在空闲的车辆泊位的特征，则说明存在空闲的车辆泊位。
需要说明的是，第一车辆可以通过全自动驾驶系统，一边行驶一边扫描周边环境是否存在空闲的车辆泊位。
S504，若存在空闲的车辆泊位，规划所述第一车辆的当前位置到达所述空闲的车辆泊位的路径，并根据所述路径，控制所述第一车辆驶入所述空闲的车辆泊位。
本申请实施例中，若检测到存在空闲的车辆泊位，则可以通过自动驾驶系统规划第一车辆的当前位置到达该空闲的车辆泊位的路径。在一个实施例中，第一车辆可以将空闲的车辆泊位的标识以及第一车辆的位置发送至服务器120，由服务器120规划该第一车辆到达空闲的车辆泊位的路径。当第一车辆获取到从该第一车辆的当前位置到达空闲的车辆泊位的路径后，可以根据该路径，驶入该空闲的车辆泊位。
当第一车辆驶入空闲的车辆泊位后，此时自动驾驶系统将空闲的车辆泊位的位置发送至目标用户。该目标用户可以是与第一车辆绑定的用户，比如该第一车辆的司机的移动终端，通过这种方式可以方便司机知道第一车辆的具体位置。
当第一车辆停靠入空闲的车辆泊位后，关闭第一车辆的自动驾驶系统以及所有检测传感器。
S505，若不存在空闲的车辆泊位，启动所述第一车辆的所述暂时停泊模式。
本申请实施例中，当第一车辆检测到仍然不存在空闲的车辆泊位，则再次从全自动驾驶模式切换至暂时停泊模式，即再次启动第一车辆的暂时停泊模式，同时打开第一车辆的检测传感器继续检测当前环境是否存在触发特征。
请参照图6，为本申请实施例提供的一种车辆控制装置的结构示意图，如图所示，本申请实施例的车辆控制装置包括：
第一启动模块10，用于启动第一车辆的暂时停泊模式，在所述暂时停泊模式下，所述第一车辆的发动机处于休眠模式，所述第一车辆的检测传感器处于开启模式；
第一获取模块11，用于获取所述第一车辆预设范围内的触发特征，所述触发特征用于触发所述第一车辆启动全自动驾驶模式；
所述触发特征包括以下特征中的任意一种或者多种：
所述预设范围内第二车辆的启动特征；
所述预设范围内与所述第一车辆之间的距离越来越近的第二车辆的运行特征；
所述预设范围内第二车辆的闪灯特征。
需要说明的是，本申请实施例的第二车辆是除第一车辆外的任意车辆。
激活移动模块12，用于激活发动机，在所述全自动驾驶模式下，移动所述第一车辆。
若所述触发特征包含所述第二车辆的启动特征，或者所述触发特征包含与所述第一车辆之间的距离越来越近的第二车辆的运行特征；如图7a所示，所述激活移动模块12包括第一激活单元120、检测单元121、获取单元122、确定单元123以及第一移动单元124；
第一激活单元120，用于激活发动机；
检测单元121，用于基于所述第一车辆的所述全自动驾驶模式，检测所述第一车辆是否在所述第二车辆的行驶路径上；
获取单元122，用于若所述第一车辆在所述第二车辆的行驶路径上，则获取所述第二车辆的大小以及所述第一车辆与当前所在行驶道路的宽度；
确定单元123，用于根据所述第二车辆的大小以及所述行驶道路的宽度，确定第二暂停位置，其中，所述第一车辆停在所述第二暂停位置不会阻挡所述第二车辆通过所述行驶道路；
第一移动单元124，用于将所述第一车辆移动至第二暂停位置。
若所述触发特征包含所述第二车辆的闪灯特征；如图7b所示，所述激活移动模块包括第二激活单元125、识别单元126以及第二移动单元127；
第二激活单元125，用于激活发动机；
识别单元126，用于基于所述第一车辆的所述全自动驾驶模式，识别所述第二车辆的闪灯特征；
第二移动单元127，用于根据所述第二车辆的闪灯特征，移动所述第一车辆，以避让所述第二车辆。
请参照图8，为本申请实施例提供的另一种车辆控制装置的结构示意图，如图所示，本申请实施例的车辆控制装置包括第一启动模块20、第一获取模块21以及激活移动模块22；
如图8所示，本申请实施例的车辆控制装置还可以包括第一检测模块23、第二获取模块24以及选择模块25；
第一检测模块23，用于当第一车辆到达停车场时，检测所述停车场是否存在空闲的车辆泊位；
第二获取模块24，用于若所述停车场不存在空闲的车辆泊位，获取所述停车场的空闲位置；
选择模块25，用于根据所述第一车辆的大小，从所述空闲位置中选择停靠的第一暂停位置。
如图8所示，本申请实施例的车辆控制装置还可以包括第二检测模块26、规划模块27以及第二启动模块28；
第二检测模块26，用于基于所述第一车辆的所述全自动驾驶模式，检测所述停车场是否存在空闲的车辆泊位；
规划模块27，用于若存在空闲的车辆泊位，规划所述第一车辆的当前位置到达所述空闲的车辆泊位的路径，并根据所述路径，控制所述第一车辆驶入所述空闲的车辆泊位；
第二启动模块28，用于若不存在空闲的车辆泊位，启动所述第一车辆的所述暂时停泊模式。
请参照图9，为本申请实施例提供了又一种车辆控制装置的结构示意图。如图9所示，所述车辆控制装置1000可以包括：至少一个处理器1001，例如CPU，至少一个网络接口1004，用户接口1003，存储器1005，至少一个通信总线1002。其中，通信总线1002用于实现这些组件之间的连接通信。其中，用户可以通过调用用户接口1003实现与车辆控制装置的通信，可选用户接口1003可以包括按键、触摸屏等等。网络接口1004可以包括标准的有线接口、无线接口(如WI-FI接口)。存储器1005可以是高速RAM存储器，也可以是非不稳定的存储器(non-volatile memory)，例如至少一个磁盘存储器。存储器1005还可以是至少一个位于远离前述处理器1001的存储装置。如图8所示，作为一种计算机存储介质的存储器1005中可以包括操作系统、网络通信模块、用户接口模块以及数据处理应用程序。
在图9所示的车辆控装置1000中，处理器1001可以用于调用存储器1005中存储的数据处理应用程序，并具体执行以下操作：
启动第一车辆的暂时停泊模式，在所述暂时停泊模式下，所述第一车辆的发动机处于休眠模式，所述第一车辆的检测传感器处于开启模式以便检测所述第一车辆的预设范围内是否存在触发特征；
当获取所述第一车辆预设范围内的触发特征时，启动第一车辆的全自动驾驶模式；
在所述全自动驾驶模式下，激活发动机，移动所述第一车辆。
在执行启动第一车辆的暂时停泊模式之前，还可以执行以下操作：
当第一车辆到达停车场时，检测所述停车场是否存在空闲的车辆泊位；
若所述停车场不存在空闲的车辆泊位，获取所述停车场的空闲位置；
根据所述第一车辆的大小，从所述空闲位置中选择停靠的第一暂停位置。
所述触发特征包括以下特征中的任意一种或者多种：
所述预设范围内第二车辆的启动特征；
所述预设范围内与所述第一车辆之间的距离越来越近的第二车辆的运行特征；
所述预设范围内第二车辆的闪灯特征。
所述执行在所述全自动驾驶模式下，移动所述第一车辆，具体包括：
基于所述第一车辆的所述全自动驾驶模式，检测所述第一车辆是否在所述第二车辆的行驶路径上；
若所述第一车辆在所述第二车辆的行驶路径上，则获取所述第二车辆的大小以及所述第一车辆与当前所在行驶道路的宽度；
根据所述第二车辆的大小以及所述行驶道路的宽度，确定第二暂停位置，其中，所述第一车辆停在所述第二暂停位置不会阻挡所述第二车辆通过所述行驶道路；
将所述第一车辆移动至所述第二暂停位置。
若所述触发特征包含所述第二车辆的闪灯特征；所述在所述全自动驾驶模式下，移动所述第一车辆，具体包括：
基于所述第一车辆的所述全自动驾驶模式，识别所述第二车辆的闪灯特征；
根据所述第二车辆的闪灯特征，移动所述第一车辆，以避让所述第二车辆。
在执行启动所述第一车辆的所述全自动驾驶模式之后，车辆控装置1000还可以执行以下操作：
基于所述第一车辆的所述全自动驾驶模式，检测所述停车场是否存在空闲的车辆泊位；
若存在空闲的车辆泊位，规划所述第一车辆的当前位置到达所述空闲的车辆泊位的路径，并根据所述路径，控制所述第一车辆驶入所述空闲的车辆泊位；
若不存在空闲的车辆泊位，启动所述第一车辆的所述暂时停泊模式。
本申请尽管结合具体特征及其实施例对本申请进行了描述，显而易见的，在不脱离本申请的精神和范围的情况下，可对其进行各种修改和组合。相应地，本说明书和附图仅仅是所附权利要求所界定的本申请的示例性说明，且视为已 覆盖本申请范围内的任意和所有修改、变化、组合或等同物。显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的精神和范围。这样，倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。

Claims (31)

  1. 一种车辆控制方法，应用于车辆控制装置，所述方法包括：
    启动第一车辆的暂时停泊模式，在所述暂时停泊模式下，所述第一车辆的发动机处于休眠模式，所述第一车辆的检测传感器处于开启模式；
    当通过所述检测传感器获取到所述第一车辆预设范围内的触发特征时，启动所述第一车辆的全自动驾驶模式；
    在所述全自动驾驶模式下，激活发动机，移动所述第一车辆。
  2. 如权利要求1所述的方法，进一步包括：
    当第一车辆到达停车场时，检测所述停车场是否存在空闲的车辆泊位；
    当检测到所述停车场不存在空闲的车辆泊位时，获取所述停车场的空闲位置；
    根据所述第一车辆的大小，从所述空闲位置中选择停靠的第一暂停位置，移动所述第一车辆到所述第一暂停位置以便执行所述启动第一车辆的所述暂时停泊模式的操作。
  3. 如权利要求1所述的方法，其中，所述触发特征包括以下特征中的任意一种或者多种：
    所述预设范围内第二车辆的启动特征；
    所述预设范围内与所述第一车辆的距离逐渐靠近的第二车辆的运行特征；
    所述预设范围内第二车辆的闪灯特征。
  4. 如权利要求1所述的方法，其中，所述移动所述第一车辆，包括：
    检测所述第一车辆是否在第二车辆的行驶路径上；
    当检测到所述第一车辆在所述第二车辆的行驶路径上时，获取所述第二车辆的大小以及所述第一车辆与当前所在行驶道路的宽度；
    根据所述第二车辆的大小以及所述行驶道路的宽度，确定第二暂停位置，所述第二暂停位置容纳所述第一车辆并使所述第一车辆不会阻挡所述第二车辆通过所述行驶道路；
    将所述第一车辆移动至所述第二暂停位置。
  5. 如权利要求1所述的方法，其中，所述触发特征包含第二车辆的闪灯特征；所述移动所述第一车辆，包括：
    根据所述闪灯特征预估所述第二车辆的移动路径；
    根据所述移动路径移动所述第一车辆，以避让所述第二车辆。
  6. 如权利要求1所述的方法，进一步包括：
    检测所述停车场是否存在空闲的车辆泊位；
    当检测到存在空闲的车辆泊位时，规划所述第一车辆的当前位置到达所述空闲的车辆泊位的路径；
    根据所述路径，控制所述第一车辆驶入所述空闲的车辆泊位；
    当检测到不存在空闲的车辆泊位时，启动所述第一车辆的所述暂时停泊模式。
  7. 如权利要求1所述的方法，进一步包括：
    通过所述第一车辆的检测传感器检测到有人员靠近时，输出语音提示信息，所述语音提示信息用于提示所述第一车辆能够移动避让。
  8. 如权利要求4所述的方法，其中，所述检测所述第一车辆是否在第二车辆的行驶路径上，包括：
    通过摄像头拍摄图像；
    对所拍摄的图像进行分析，并确定所述第一车辆是否堵塞所述第二车辆的行使路径。
  9. 如权利要求8所述的方法，其中，所述确定所述第一车辆是否堵塞所述第二车辆的行驶路径，包括：
    通过雷达测量所述第一车辆周围空闲位置的宽度；
    根据第二车辆的宽度和第一车辆周围空闲位置的宽度，确定该第一车辆是否堵塞第二车辆的行驶路径。
  10. 如权利要求6所述的方法，其中，所述检测所述停车场是否存在空闲的车辆泊位，包括：
    通过摄像头拍摄当前环境的图像；
    对该当前环境的图像进行分析，确定该当前环境是否存在空闲的车辆泊位的特征。
  11. 如权利要求10所述的方法，其中，所述检测所述停车场是否存在空闲的车辆泊位，还包括：
    当确定存在所述空闲的车辆泊位的特征时，通过雷达检测所述空闲的车辆泊位是否存在障碍物。
  12. 如权利要求10所述的方法，其中，所述当前环境的图像包括所述停车场出口的图像；所述对该当前环境的图像进行分析，确定该当前环境是否存在空闲的车辆泊位的特征，包括：
    对所述停车场出口的图像进行分析，以便确定是否有车辆离开所述停车场；
    当确定有车辆离开所述停车场时，确定所述当前环境存在空闲的车辆泊位的特征。
  13. 如权利要求6所述的方法，其中，所述规划所述第一车辆的当前位置到达所述空闲的车辆泊位的路径，包括：
    将空闲的车辆泊位的标识以及第一车辆的位置发送至服务器，以便服务器规划该第一车辆到达空闲的车辆泊位的路径；
    从所述服务器获取所述路径。
  14. 如权利要求1所述的方法，
    其中，所述启动所述第一车辆的暂时停泊模式，包括：关闭所述第一车辆的多个检测传感器中的第二检测传感器，处于开启模式的所述检测传感器为所述多个检测传感器中的第一检测传感器；
    启动所述第一车辆的全自动驾驶模式，包括：
    当通过所述第一检测传感器检测到有物体靠近所述第一车辆时，启动所述第二检测传感器；
    通过所述第二检测传感器获取所述物体的运行特征或者生物特征；
    当确定所述物体的运行特征或者生物特征符合所述触发特征时，启动所述第一车辆的全自动驾驶模式。
  15. 如权利要求1所述的方法，进一步包括：
    当检测到所述第一车辆发生碰撞情况时，向与所述第一车辆关联的终端设备发送对碰撞情况的通知消息。
  16. 一种车辆控制装置，包括：处理器和存储器；所述存储器中存储有计算机可读指令，可以使所述处理器：
    启动第一车辆的暂时停泊模式，在所述暂时停泊模式下，所述第一车辆的 发动机处于休眠模式，所述第一车辆的检测传感器处于开启模式；
    当通过所述检测传感器获取到所述第一车辆预设范围内的触发特征时，启动所述第一车辆的全自动驾驶模式；
    在所述全自动驾驶模式下，激活发动机，移动所述第一车辆。
  17. 如权利要求16所述的装置，其中，所述处理器进一步执行所述计算机可读指令，用于：
    当第一车辆到达停车场时，检测所述停车场是否存在空闲的车辆泊位；
    当检测到所述停车场不存在空闲的车辆泊位时，获取所述停车场的空闲位置；
    根据所述第一车辆的大小，从所述空闲位置中选择停靠的第一暂停位置，移动所述第一车辆到所述第一暂停位置以便执行所述启动第一车辆的所述暂时停泊模式的操作。
  18. 如权利要求16所述的装置，其中，所述触发特征包括以下特征中的任意一种或者多种：
    所述预设范围内第二车辆的启动特征；
    所述预设范围内与所述第一车辆的距离逐渐靠近的第二车辆的运行特征；
    所述预设范围内第二车辆的闪灯特征。
  19. 如权利要求16所述的装置，其中，所述处理器进一步执行所述计算机可读指令，用于：
    检测所述第一车辆是否在第二车辆的行驶路径上；
    当检测到所述第一车辆在所述第二车辆的行驶路径上时，获取所述第二车辆的大小以及所述第一车辆与当前所在行驶道路的宽度；
    根据所述第二车辆的大小以及所述行驶道路的宽度，确定第二暂停位置，所述第二暂停位置容纳所述第一车辆并使所述第一车辆不会阻挡所述第二车辆通过所述行驶道路；
    将所述第一车辆移动至所述第二暂停位置。
  20. 如权利要求16所述的装置，其中，所述处理器进一步执行所述计算机可读指令，用于：
    根据所述闪灯特征预估所述第二车辆的移动路径；
    根据所述移动路径移动所述第一车辆，以避让所述第二车辆。
  21. 如权利要求16所述的装置，其中，所述处理器进一步执行所述计算机可读指令，用于：
    检测所述停车场是否存在空闲的车辆泊位；
    当检测到存在空闲的车辆泊位时，规划所述第一车辆的当前位置到达所述空闲的车辆泊位的路径；
    根据所述路径，控制所述第一车辆驶入所述空闲的车辆泊位；
    当检测到不存在空闲的车辆泊位时，启动所述第一车辆的所述暂时停泊模式。
  22. 如权利要求16所述的装置，其中，所述处理器进一步执行所述计算机可读指令，用于：
    通过所述第一车辆的检测传感器检测到有人员靠近时，输出语音提示信息，所述语音提示信息用于提示所述第一车辆能够移动避让。
  23. 如权利要求19所述的装置，其中，所述处理器进一步执行所述计算机可读指令，用于：
    通过摄像头拍摄图像；
    对所拍摄的图像进行分析，并确定所述第一车辆是否堵塞所述第二车辆的行使路径。
  24. 如权利要求23所述的装置，其中，所述处理器进一步执行所述计算机可读指令，用于：
    通过雷达测量所述第一车辆周围空闲位置的宽度；
    根据第二车辆的宽度和第一车辆周围空闲位置的宽度，确定该第一车辆是否堵塞第二车辆的行驶路径。
  25. 如权利要求21所述的装置，其中，所述处理器进一步执行所述计算机可读指令，用于：
    通过摄像头拍摄当前环境的图像；
    对该当前环境的图像进行分析，确定该当前环境是否存在空闲的车辆泊位的特征。
  26. 如权利要求25所述的装置，其中，所述处理器进一步执行所述计算机 可读指令，用于：
    当确定存在所述空闲的车辆泊位的特征时，通过雷达检测所述空闲的车辆泊位是否存在障碍物。
  27. 如权利要求25所述的装置，其中，所述当前环境的图像包括所述停车场出口的图像；所述处理器进一步执行所述计算机可读指令，用于：
    对所述停车场出口的图像进行分析，以便确定是否有车辆离开所述停车场；
    当确定有车辆离开所述停车场时，确定所述当前环境存在空闲的车辆泊位的特征。
  28. 如权利要求21所述的装置，其中，所述处理器进一步执行所述计算机可读指令，用于：
    将空闲的车辆泊位的标识以及第一车辆的位置发送至服务器，以便服务器规划该第一车辆到达空闲的车辆泊位的路径；
    从所述服务器获取所述路径。
  29. 如权利要求16所述的装置，其中，所述处理器进一步执行所述计算机可读指令，用于：
    关闭所述第一车辆的多个检测传感器中的第二检测传感器，处于开启模式的所述检测传感器为所述多个检测传感器中的第一检测传感器；
    通过所述第一检测传感器检测到有物体靠近所述第一车辆时，启动所述第二检测传感器；
    通过所述第二检测传感器获取所述物体的运行特征或者生物特征；
    当确定所述物体的运行特征或者生物特征符合所述触发特征时，启动所述第一车辆的全自动驾驶模式。
  30. 如权利要求16所述的装置，其中所述处理器进一步执行所述计算机可读指令，用于：
    当检测到所述第一车辆发生碰撞情况时，向与所述第一车辆关联的终端设备发送对碰撞情况的通知消息。
  31. 一种非易失性存储介质，存储有一个或多个程序，所述一个或多个程序包括指令，所述指令当由车辆控制装置执行时，使得所述车辆控制装置执行权利要求1-15中任一项所述方法的指令。
PCT/CN2018/079149 2017-03-21 2018-03-15 一种车辆控制方法、装置及存储介质 Ceased WO2018171506A1 (zh)

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JP2022181254A (ja) * 2021-05-26 2022-12-08 トヨタ自動車株式会社 リモート駐車装置
JP7663022B2 (ja) 2021-05-26 2025-04-16 トヨタ自動車株式会社 リモート駐車装置

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CN110949392B (zh) 2021-04-30
EP3604068A1 (en) 2020-02-05
CN108297870B (zh) 2020-01-14
US11225246B2 (en) 2022-01-18
EP3604068B1 (en) 2022-05-04
US20190308616A1 (en) 2019-10-10
JP2020511353A (ja) 2020-04-16
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