CN-122009245-A - Vehicle control method and device and vehicle

CN122009245ACN 122009245 ACN122009245 ACN 122009245ACN-122009245-A

Abstract

The invention discloses a vehicle control method which comprises the steps of obtaining demand information, wherein the demand information comprises parking demand information and calling demand information, the calling demand information comprises preset calling points, obtaining vehicle scene information, generating a global scene model based on the vehicle scene information, wherein the vehicle scene information comprises vehicle state information and vehicle environment information, generating an automatic parking strategy and first path information based on the parking demand information and the global scene model, controlling the vehicle to park autonomously according to the automatic parking strategy, generating a fixed-point calling strategy based on the calling demand information, the first path information and the global scene model, and controlling the vehicle to travel to the preset calling points according to the fixed-point calling strategy. According to the invention, through constructing a global scene model and linkage decision of autonomous parking and fixed-point calling, the flow success rate and response efficiency of parking and calling are improved.

Inventors

TANG MINGQIANG

Assignees

安徽智界新能源汽车有限公司
奇瑞汽车股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260331

Claims (10)

1. A vehicle control method characterized by comprising: acquiring demand information, wherein the demand information comprises parking demand information and calling demand information, and the calling demand information comprises preset calling points; Acquiring vehicle scene information, and generating a global scene model based on the vehicle scene information, wherein the vehicle scene information comprises vehicle state information and vehicle environment information; generating an automatic parking strategy and first path information based on the parking demand information and a global scene model; Controlling the vehicle to park autonomously according to the automatic parking strategy; generating a fixed-point calling strategy based on the calling demand information, the first path information and the global scene model; and controlling the vehicle to travel to a preset calling point according to the fixed-point calling strategy.
2. The vehicle control method of claim 1, wherein the types of global scene models include an open-field autonomous parking scene, a narrow-space autonomous parking scene, an open-road fixed-point call scene, a narrow-channel fixed-point call scene, an emergency response fixed-point call scene, and a parking call switching scene.
3. The vehicle control method according to claim 2, characterized in that the acquiring vehicle scene information, after generating a global scene model based on the vehicle scene information, further comprises: Determining a type of the global scene model; And distributing weight parameters of safety factors, efficiency factors, precision factors and user preference factors according to the type of the global scene model.
4. The vehicle control method according to claim 3, characterized in that the acquiring vehicle scene information, after generating a global scene model based on the vehicle scene information, further comprises: Determining a type of the global scene model; Calculating the actual driving distance between the parking position of the vehicle and the preset calling point; acquiring the remaining endurance mileage of the vehicle based on the vehicle state information; Comparing the actual driving distance with the remaining range of the vehicle; when the actual driving distance is smaller than the remaining driving mileage of the vehicle, distributing weight parameters of a safety factor, an efficiency factor, a precision factor and a user preference factor according to the type of the global scene model; When the actual driving distance is greater than the remaining driving mileage of the vehicle, the weights of the safety factors and the efficiency factors corresponding to the calling scene are adjusted; wherein the security factor includes a path feasibility subfraction.
5. The vehicle control method of claim 3, wherein the generating an automatic parking strategy and first path information based on the parking demand information and a global scene model includes generating an automatic parking strategy and first path information based on the global scene model, the weight parameters, and the parking demand information using an Astar improvement algorithm, the automatic parking strategy including a parking travel path, a parking space position, and the first path information including parking path information and parking environment information.
6. The vehicle control method of claim 3, wherein generating a fixed point call strategy based on the call demand information, the first path information, and the global scene model includes generating a fixed point call strategy based on the global scene model, the first path information, the weight parameters, and the call demand information using Dstar-Lite dynamic path algorithm, the fixed point call strategy including a call travel path, a travel speed, a obstacle avoidance sequence, and stop information.
7. The vehicle control method according to claim 5, characterized in that the controlling the autonomous parking of the vehicle according to the automatic parking strategy includes: Controlling the vehicle to enter a calling standby state based on the weight parameters corresponding to the parking calling switching scene; and identifying a fixed-point calling instruction, and when the fixed-point calling instruction is received, exiting the calling standby state.
8. The vehicle control method according to claim 5, wherein the controlling the vehicle to travel to a preset summons point according to the fixed-point summons strategy includes: controlling the vehicle to run based on the fixed-point calling strategy; Acquiring vehicle driving information and updated calling demand information in real time, wherein the vehicle driving information comprises obstacle information and sensor state information; And adjusting the fixed-point calling strategy based on the vehicle running information, the updated calling demand information and the vehicle scene information, and controlling the vehicle to run to a preset calling point according to the adjusted fixed-point calling strategy.
9. A vehicle control system, characterized by comprising: the information acquisition module is used for acquiring vehicle scene information and demand information, wherein the demand information comprises parking demand information and calling demand information; The decision module is connected with the information acquisition module and is used for generating a global scene model based on the vehicle scene information; the parking planning module is connected with the information acquisition module and the decision module and is used for generating an automatic parking strategy and first path information based on the parking demand information and the global scene model; the calling planning module is connected with the information acquisition module and the parking planning module and is used for generating a fixed-point calling strategy based on the calling demand information, the first path information and the global scene model; The execution control module is connected with the information acquisition module, the parking planning module and the calling planning module, and controls the vehicle to park autonomously according to the automatic parking strategy and controls the vehicle to travel to a preset calling point according to the fixed-point calling strategy.
10. A vehicle comprising a processor and a memory, the memory storing a computer program, the processor being configured to execute the computer program to implement the vehicle control method of any one of claims 1-8.

Description

Vehicle control method and device and vehicle Technical Field The present invention relates to the field of intelligent driving technologies, and in particular, to a vehicle control method and apparatus, and a vehicle. Background Along with the development of intelligent driving technology, autonomous parking and fixed-point calling become the core intelligent function of the vehicle, and the autonomous parking and fixed-point calling two-way service system is formed by the autonomous parking and fixed-point calling, so that the vehicle can automatically park into a target parking space from a user's departure point, and the fixed-point calling can enable the vehicle to automatically travel from the parking space to a user-specified calling point, thereby providing convenient vehicle use experience for the user. In the prior art, independent decision logic is adopted for autonomous parking and fixed-point calling, the problem of decision splitting directly leads to high overall flow interruption rate of parking and calling, instruction response delay is obvious, and the use requirements of users on functional fluency and high efficiency cannot be met. In order to solve the above technical problems, it is needed to propose a decision control scheme integrating autonomous parking and fixed-point calling. Disclosure of Invention The invention provides a vehicle control method, which improves the flow success rate and response efficiency of parking and calling by constructing a global scene model and linkage decision of autonomous parking and fixed-point calling. According to an aspect of the present invention, there is provided a vehicle control method including: acquiring demand information, wherein the demand information comprises parking demand information and calling demand information, and the calling demand information comprises preset calling points; Acquiring vehicle scene information, and generating a global scene model based on the vehicle scene information, wherein the vehicle scene information comprises vehicle state information and vehicle environment information; generating an automatic parking strategy and first path information based on the parking demand information and a global scene model; Controlling the vehicle to park autonomously according to the automatic parking strategy; generating a fixed-point calling strategy based on the calling demand information, the first path information and the global scene model; and controlling the vehicle to travel to a preset calling point according to the fixed-point calling strategy. Optionally, the types of the global scene model comprise an open field autonomous parking scene, a narrow parking space autonomous parking scene, an open road fixed-point calling scene, a narrow channel fixed-point calling scene, an emergency response fixed-point calling scene and a parking calling switching scene. Optionally, the acquiring the vehicle scene information, generating the global scene model based on the vehicle scene information further includes: Determining a type of the global scene model; And distributing weight parameters of safety factors, efficiency factors, precision factors and user preference factors according to the type of the global scene model. Optionally, the acquiring the vehicle scene information, generating the global scene model based on the vehicle scene information further includes: Determining a type of the global scene model; Calculating the actual driving distance between the parking position of the vehicle and the preset calling point; acquiring the remaining endurance mileage of the vehicle based on the vehicle state information; Comparing the actual driving distance with the remaining range of the vehicle; when the actual driving distance is smaller than the remaining driving mileage of the vehicle, distributing weight parameters of a safety factor, an efficiency factor, a precision factor and a user preference factor according to the type of the global scene model; When the actual driving distance is greater than the remaining driving mileage of the vehicle, the weights of the safety factors and the efficiency factors corresponding to the calling scene are adjusted; wherein the security factor includes a path feasibility subfraction. Optionally, the generating the automatic parking strategy and the first path information based on the parking demand information and the global scene model comprises generating the automatic parking strategy and the first path information based on the global scene model, the weight parameter and the parking demand information by adopting an Astar improvement algorithm, wherein the automatic parking strategy comprises a parking driving path and a parking space position, and the first path information comprises parking path information and parking environment information. Optionally, the generating a fixed-point calling strategy based on the calling requirement information, the first path information and t