Vehicle control method, vehicle, and storage medium

Abstract

The present invention discloses a vehicle control method, a vehicle, and a storage medium. The method comprises: obtaining current scene information monitored by a detection module on the vehicle, obtaining first motion information of a risk target corresponding to the vehicle's driving path detected by a target device based on V2X communication, wherein the target device is a device other than the vehicle equipped with a V2X function, and the risk target is a target not equipped with the V2X function; predicting the motion trajectory of the risk target based on the first motion information and the current scene information; determining a risk identification result based on the motion trajectory, and controlling the vehicle operation based on the risk identification result, wherein the risk identification result includes whether the vehicle has a collision risk. The present invention aims to improve the accuracy of vehicle collision risk identification to improve vehicle driving safety.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle control method, a vehicle, and a storage medium. Background Art

[0002] With the continuous development of technology, the functions of vehicles are becoming increasingly diverse. Some vehicles are equipped with V2X capabilities, which enable the exchange of information between the vehicle and other V2X devices in the driving scene. Based on V2X information, the vehicle can receive the driving status of other V2X-equipped vehicles to avoid collisions.

[0003] However, the general scene factors during vehicle driving are complex, and many vehicles are not equipped with V2X functions. The vehicle can only determine the status of the vehicle equipped with V2X through the V2X information it receives, but cannot effectively detect the movement of vehicles or pedestrians that are not equipped with V2X functions. This makes it impossible for the vehicle to accurately judge its collision risk, affecting the safety of vehicle driving. Summary of the Invention

[0004] The main purpose of the present invention is to provide a vehicle control method, a vehicle and a storage medium, aiming to improve the accuracy of vehicle collision risk identification and thus improve vehicle driving safety.

[0005] To achieve the above object, the present invention provides a vehicle control method, which includes the following steps:

[0006] obtaining current scene information monitored by a detection module on the vehicle, and obtaining, based on V2X communication, first motion information of a risk target corresponding to the vehicle's travel path detected by a target device, where the target device is a device other than the vehicle equipped with a V2X function, and the risk target is a target not equipped with the V2X function;

[0007] predicting a motion trajectory of the risk target based on the first motion information and the current scene information;

[0008] A risk identification result is determined according to the motion trajectory, and the operation of the vehicle is controlled according to the risk identification result, wherein the risk identification result includes whether the vehicle has a collision risk.

[0009] Optionally, the risk target is a moving target not equipped with the V2X function in a dangerous area on the driving path, and the step of predicting the movement trajectory of the risk target based on the first movement information and the current scene information includes:

[0010] When the current scene information does not contain the second motion information of the risk target, predicting the motion trajectory according to the first motion information;

[0011] When the second motion information of the risk target exists in the current scene information, the motion trajectory is predicted according to the first motion information and the second motion information.

[0012] Optionally, the step of predicting the motion trajectory according to the first motion information and the second motion information includes:

[0013] Acquiring status information, wherein the status information represents visibility of an environment in which the vehicle is located;

[0014] determining, according to the state information, a first weight corresponding to the first motion information and a second weight corresponding to the second motion information;

[0015] The motion trajectory is predicted according to the first motion information and the corresponding first weight, and the second motion information and the corresponding second weight.

[0016] Optionally, the detection module includes a camera, the status information includes weather status information, and the step of predicting the motion trajectory based on the first motion information and the corresponding first weight, and the second motion information and the corresponding second weight includes:

[0017] determining, based on the weather status information, the clarity of an image of a target location captured by the camera, the target location being spaced a preset distance from the vehicle;

[0018] When the image clarity is less than or equal to a first preset threshold, determining a first preset value as the first weight, determining a second preset value as the second weight, and the first preset value is greater than the second preset value;

[0019] When the image clarity is greater than or equal to a second preset threshold, determining a third preset value to be the first weight, determining a fourth preset value to be the second weight, and the third preset value to be less than the fourth preset value;

[0020] When the image clarity is greater than the first preset threshold and less than the second preset threshold, determining the first weight and the second weight according to a first difference between the second preset threshold and the first preset threshold, and a second difference between the image clarity and the first preset threshold;

[0021] The first preset threshold is smaller than the second preset threshold.

[0022] Optionally, the risk target is a moving target not equipped with the V2X function in a dangerous area on the driving path, and the step of obtaining current scene information monitored by a detection module on the vehicle includes:

[0023] Obtaining a historical trajectory of the risk target before a current moment, where the historical trajectory is determined based on detection data of the risk target by the target device received through the V2X communication before the current moment;

[0024] Determining the location information of the risk target based on the historical trajectory;

[0025] The detection module is controlled to track the risk target according to the positioning information, and the current scene information monitored by the detection module is obtained.

[0026] Optionally, before the step of obtaining the historical trajectory of the risk target before the current moment, the step further includes:

[0027] When the detection module fails to detect the target scene information corresponding to the dangerous area, periodically obtaining third motion information of the risk target in the dangerous area detected by the target device;

[0028] The historical trajectory is determined according to the third motion information.

[0029] Optionally, the target device includes a first device and a second device, and the step of periodically acquiring the third motion information of the risk target in the dangerous area detected by the target device includes:

[0030] Establishing a blockchain using at least two V2X devices within a first preset range as blockchain nodes, where the first preset range includes a set of locations within the danger zone and whose distance from the danger zone is less than or equal to a set distance;

[0031] periodically obtaining the third motion information detected by a first device among the at least two V2X devices, and saving the obtained third motion information to the blockchain node corresponding to the first device;

[0032] When the first device does not detect the scene information of the dangerous area, identifying a V2X device that detects the scene information of the dangerous area among the at least two V2X devices as the second device;

[0033] Saving all third motion information in the blockchain node corresponding to the first device to the blockchain node corresponding to the second device;

[0034] Periodically obtain the third motion information detected by the second device, and save the obtained third motion information to the blockchain node corresponding to the second device.

[0035] Optionally, the risk target is a moving target in a dangerous area on the driving path that is not equipped with the V2X function. After the step of obtaining the current scene information monitored by the detection module on the vehicle, the step further includes:

[0036] When the vehicle searches for the target device, performing the step of acquiring, based on V2X communication, first motion information of the risk target corresponding to the driving path of the vehicle detected by the target device;

[0037] When the vehicle fails to search for the target device, obtaining current driving characteristic information of the vehicle;

[0038] Outputting prompt information according to the driving characteristic information.

[0039] Optionally, the step of outputting prompt information according to the driving characteristic information includes:

[0040] When the driving characteristic information indicates that the vehicle has a reverse overtaking demand, obtaining a straight distance on the road the vehicle is currently traveling;

[0041] When the straight distance is greater than a target distance threshold, outputting a first prompt message, wherein the first prompt message indicates that overtaking is allowed;

[0042] When the straight distance is less than or equal to the target distance threshold, a second prompt message is output, where the second prompt message indicates that overtaking is not allowed.

[0043] Optionally, the step of outputting prompt information according to the driving characteristic information includes:

[0044] When the driving characteristic information indicates that the vehicle is on a curve and has a lane change requirement, outputting a third prompt information, wherein the third prompt information indicates that lane change is not recommended; and / or,

[0045] When the driving characteristic information indicates that the vehicle is at an intersection and the speed of the vehicle is greater than a set speed, a fourth prompt message is output, where the fourth prompt message is a horn or a prompt to slow down the vehicle to below the set speed.

[0046] Optionally, the target device includes a plurality of V2X devices, and the step of obtaining, based on V2X communication, first motion information of a risk target corresponding to the driving path of the vehicle detected by the target device includes:

[0047] acquiring, based on the V2X communication, first motion information corresponding to all the risk targets detected by the plurality of V2X devices;

[0048] The step of predicting the motion trajectory of the risk target according to the first motion information and the current scene information includes:

[0049] Determining, based on the plurality of first motion information and the current scene information, the risk target that meets a set condition among all the risk targets as a dangerous target, and determining the trajectory of the dangerous target as the motion trajectory;

[0050] The set conditions include that the risk target is not sensed by the detection module and the distance between the risk target and the predicted driving path of the vehicle is less than a set distance.

[0051] Optionally, the step of determining a risk identification result according to the motion trajectory and controlling the operation of the vehicle according to the risk identification result includes:

[0052] When the motion direction corresponding to the motion trajectory is toward the predicted driving path and the angle between the motion trajectory and the predicted driving path is less than a preset angle, it is determined that the vehicle has a collision risk and the vehicle is controlled to perform an anti-collision operation.

[0053] Optionally, the step of controlling the vehicle to perform a collision avoidance operation includes:

[0054] Determining an estimated collision time between the vehicle and the dangerous target based on the motion trajectory and the predicted driving path;

[0055] The terminal in the vehicle is controlled to output fifth prompt information according to the expected collision time.

[0056] Optionally, the step of controlling the vehicle to perform a collision avoidance operation includes:

[0057] Obtaining the current speed of the vehicle;

[0058] When the vehicle speed is greater than a preset speed, controlling the vehicle to decelerate to below the preset speed and controlling the vehicle to sound a horn;

[0059] When the vehicle speed is less than or equal to the preset speed, the terminal in the vehicle is controlled to output a sixth prompt message, where the sixth prompt message is used to prompt the existence of the dangerous target.

[0060] Optionally, while or after the step of controlling the vehicle to perform the collision avoidance operation is performed, the step further includes:

[0061] The vehicle is controlled to send a collision warning instruction and the positioning information of the dangerous target to a cloud server based on V2X communication, so that the cloud server sends the collision warning instruction to the mobile terminal of the dangerous target according to the positioning information.

[0062] Optionally, the target device includes a motor vehicle equipped with a V2X function other than the vehicle and / or a road test device equipped with a V2X function other than the vehicle.

[0063] In addition, in order to achieve the above-mentioned purpose, the present application also proposes a vehicle, comprising:

[0064] A detection module, the detection module is used to detect current scene information in the vehicle driving scene;

[0065] a communication module, configured to establish V2X communication between the vehicle and an external device;

[0066] A control device, wherein the detection module and the communication module are both connected to the control device, and the control device includes: a memory, a processor, and a vehicle control program stored in the memory and executable on the processor, wherein the vehicle control program implements the steps of the vehicle control method as described in any one of the above items when executed by the processor.

[0067] In addition, in order to achieve the above-mentioned purpose, the present application also proposes a storage medium, on which a vehicle control program is stored. When the vehicle control program is executed by a processor, the steps of the vehicle control method as described in any one of the above items are implemented.

[0068] The present invention proposes a vehicle control method that combines current scene information detected by a detection module on the vehicle with motion information of risk targets without V2X functionality corresponding to the driving path obtained from other V2X devices based on V2X communication to predict the motion trajectory of the risk targets. Based on the motion trajectory, the method identifies whether the vehicle has a collision risk and controls the vehicle operation based on the identification result. In this way, even if there are other targets without V2X functionality in the vehicle driving scene, even if the detection module cannot detect them within the coverage range, the information can still be obtained by obtaining detection information from other devices equipped with V2X functionality. Based on this, it is beneficial to accurately identify the collision risk brought by targets without V2X functionality during vehicle driving, thereby effectively improving the accuracy of vehicle collision risk identification and improving vehicle driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 A schematic diagram of the hardware structure involved in the operation of a vehicle according to an embodiment of the present invention;

[0070] Figure 2 A schematic flow chart of an embodiment of a vehicle control method of the present invention;

[0071] Figure 3 A schematic flow chart of another embodiment of a vehicle control method according to the present invention;

[0072] Figure 4 A schematic flow chart of another embodiment of a vehicle control method of the present invention;

[0073] Figure 5 A flow chart of another embodiment of a vehicle control method according to the present invention;

[0074] Figure 6 This is a flow chart of another embodiment of the vehicle control method of the present invention;

[0075] Figure 7 FIG. 4 is a flow chart of yet another embodiment of a vehicle control method according to the present invention.

[0076] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0077] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0078] An embodiment of the present invention provides a vehicle. The vehicle can be a traditional fuel-powered vehicle or a new energy vehicle, and can be equipped with a vehicle-to-everything (V2X) function. The V2X function is a vehicle-to-everything (V2X) function that allows the vehicle to exchange information with the outside world.

[0079] In an embodiment of the present invention, a vehicle includes a control device 1, a detection module 2, and a communication module 3. The detection module 2 is used to detect current scene information in the vehicle's driving scene; the communication module 3 is used to establish V2X communication between the vehicle and an external device; and both the detection module 2 and the communication module 3 are connected to the control device 1.

[0080] In this embodiment, the detection module 2 includes a radar (such as a laser radar, a millimeter wave radar and / or an ultrasonic radar, etc.) and a camera. In other embodiments, the detection module 2 may also include other more or fewer arbitrary perception modules for detecting scene information.

[0081] In this embodiment, the communication module 3 includes an LTE wireless module or a 5G wireless module. In other embodiments, the communication module 3 may also include any device for establishing a V2X communication connection with other devices equipped with V2X functions.

[0082] In the embodiment of the present invention, referring to Figure 1 The vehicle control device 1 includes a processor 1001 (e.g., a CPU), a memory 1002, a timer 1003, and the like. The various components of the control device 1 are connected via a communication bus. The memory 1002 can be a high-speed RAM memory or a non-volatile memory such as a disk drive. Alternatively, the memory 1002 can be a storage device independent of the processor 1001.

[0083] Those skilled in the art will understand that Figure 1The device structure shown in the figure does not constitute a limitation of the device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0084] like Figure 1 As shown, the memory 1002 as a storage medium may include a vehicle control program. Figure 1 In the device shown, the processor 1001 can be used to call the vehicle control program stored in the memory 1002 and execute the relevant steps of the vehicle control method in the following embodiments.

[0085] An embodiment of the present invention further provides a vehicle control method, which is applied to the above-mentioned vehicle.

[0086] Reference Figure 2 , an embodiment of the vehicle control method of the present application is proposed. In this embodiment, the vehicle control method includes:

[0087] Step S10: obtaining current scene information monitored by a detection module on the vehicle, and obtaining first motion information of a risk target corresponding to the driving path of the vehicle detected by a target device based on V2X communication, wherein the target device is a device other than the vehicle equipped with the V2X function, and the risk target is a target not equipped with the V2X function;

[0088] In this embodiment, the detection module includes a radar and a camera.

[0089] Specifically, the data currently detected by the detection module is obtained, and the motion feature information and / or type information of the moving target in the data are identified as the current scene information. The current scene information may include motion information corresponding to the risk target or motion information excluding the risk target.

[0090] In this embodiment, the target device includes a motor vehicle equipped with a V2X function other than the vehicle and / or a road test device equipped with a V2X function other than the vehicle.

[0091] Risk targets are specifically targets that are predicted to have a collision risk with the vehicle based on map data or the scene the vehicle is in. Risk targets may include motor vehicles, non-motor vehicles, and / or pedestrians.

[0092] While driving, the vehicle searches for V2X-enabled devices within a preset distance based on the network. Once a V2X device is found, a V2X communication connection is established with the device. One or more of the V2X devices establishing a V2X communication connection with the vehicle may be considered the target device.

[0093] The first motion information herein may include information detected at the current moment and / or information detected within a preset time period before the current moment. The first motion information is specifically determined by the target device based on data detected by a perception module on the target device (e.g., the distance and / or direction of the risk target relative to the target device).

[0094] The first motion information may include the movement trajectory, movement speed and / or movement direction of the risk target.

[0095] Furthermore, step S10 may be performed when the vehicle is in a moving state.

[0096] Step S20: predicting the motion trajectory of the risk target based on the first motion information and the current scene information;

[0097] The motion trajectory is specifically the movement path of the risk target determined at the current moment within a preset time period after the current moment.

[0098] Different first motion information and different current scene information may correspond to different motion trajectories. Specifically, the second motion information corresponding to the risk target in the current scene information may be determined, and the motion trajectory of the risk target may be predicted by combining the first motion information and the second motion information. Alternatively, the current scene information (e.g., obstacle information and / or traffic light information ahead of the vehicle's travel path) may be determined to establish a correspondence between the first motion information and the motion trajectory, and the motion trajectory corresponding to the current first motion information may be determined based on the correspondence.

[0099] When there is more than one risk target, the motion trajectory of each risk target can be predicted using the first motion information and the current scene information. Alternatively, when there is more than one risk target, a risk target that meets preset conditions can be predicted as a dangerous target, and the motion trajectory of the dangerous target can be predicted using the first motion information and the current scene information. The collision risk corresponding to the dangerous target is higher than that of other risk targets that do not meet the preset conditions.

[0100] Step S30 , determining a risk identification result based on the motion trajectory, and controlling the operation of the vehicle based on the risk identification result, wherein the risk identification result includes whether the vehicle has a collision risk.

[0101] Specifically, if the motion trajectory is moving toward the vehicle's path, a collision risk can be determined; if the motion trajectory is moving away from the vehicle's path, no collision risk can be determined. If the motion trajectory intersects the vehicle's path at a certain point in the future, a collision risk can be determined; if the motion trajectory does not intersect the vehicle's path at any point in the future, no collision risk can be determined.

[0102] Different risk identification results can correspond to different vehicle operating modes. Specifically, if the risk identification result indicates that the vehicle is at risk of collision, the vehicle can be controlled to slow down and / or a corresponding prompt message can be output. If the risk identification result indicates that the vehicle is not at risk of collision, the vehicle can be controlled to maintain its current operating state.

[0103] An embodiment of the present invention proposes a vehicle control method that combines current scene information detected by a detection module on the vehicle with motion information of risky targets without V2X functionality corresponding to the driving path obtained from other V2X devices based on V2X communication to predict the motion trajectory of the risky targets. Based on the motion trajectory, the method identifies whether the vehicle is at risk of collision and controls vehicle operation based on the identification result. In this way, even if there are other targets without V2X functionality in the vehicle driving scene, even if the detection module cannot detect them within its coverage range, the method can still obtain the information detected by other V2X-equipped devices. Based on this, the method is conducive to accurately identifying the collision risks posed by targets without V2X functionality during vehicle driving, thereby effectively improving the accuracy of vehicle collision risk identification and enhancing vehicle driving safety.

[0104] Furthermore, based on the above embodiment, another embodiment of the vehicle control method of the present application is proposed. In this embodiment, the risk target is a moving target that is not equipped with the V2X function in the dangerous area on the driving path. The dangerous area here is specifically an area where the probability of a vehicle collision accident is greater than a preset value. The dangerous area can be obtained by obtaining the data recorded in the vehicle navigation and the road test device in the vehicle driving area. The moving target may include pedestrians, non-motor vehicles or motor vehicles, etc. Figure 3 , the step S20 includes:

[0105] Step S21: when the current scene information does not contain the second motion information of the risk target, predicting the motion trajectory according to the first motion information;

[0106] The second motion information includes current moving speed, current moving direction, current acceleration, and the like.

[0107] The first motion information includes a historical motion trajectory, a current moving speed, a current moving direction, etc. The motion trajectory is calculated based on the historical motion trajectory, the current moving speed, and the current moving direction.

[0108] Step S22: When the current scene information contains the second motion information of the risk target, predict the motion trajectory according to the first motion information and the second motion information.

[0109] Specifically, a first trajectory may be determined based on the first motion information, a second trajectory may be determined based on the second motion information, and the first and second trajectories may be fitted to obtain the motion trajectory. Alternatively, comprehensive motion information of the risk target may be determined based on the first and second motion information, and the motion trajectory may be calculated based on the comprehensive motion information.

[0110] In this embodiment, when the onboard detection module fails to detect motion information of a risk target, the first motion information alone is used to predict the motion trajectory. This allows the vehicle to effectively identify the collision risk between the vehicle and the risk target based on motion information detected by other V2X devices, even when the onboard detection module is unable to perceive the risk target through its onboard detection module. This effectively improves the accuracy of vehicle collision risk identification. When the onboard detection module detects motion information of a risk target, the motion information of the risk target detected by both the onboard detection module and other V2X devices is combined and applied to the motion trajectory prediction, thereby improving the accuracy of motion trajectory prediction and further improving the accuracy of vehicle collision risk identification.

[0111] Further, based on the above embodiment, in one embodiment, the step of predicting the motion trajectory according to the first motion information and the second motion information includes:

[0112] Step S221, obtaining status information, wherein the status information represents the visibility of the environment in which the vehicle is located;

[0113] In this embodiment, the status information includes weather status information. In other embodiments, the status information may also include the clarity of the image captured by the camera in the detection module.

[0114] When the status information includes weather information, the weather information of the area where the vehicle is located can be obtained through network acquisition. When the status information includes the above-mentioned image clarity, the clarity can be obtained by analyzing the image captured by the camera.

[0115] Step S222, determining a first weight corresponding to the first motion information and a second weight corresponding to the second motion information according to the state information;

[0116] Different state information corresponds to different first and second weights. Specifically, a correspondence between the state information, the first weight, and the second weight can be pre-established. This correspondence also includes a mapping relationship, a calculation relationship, etc. Based on this correspondence, the first and second weights corresponding to the current state information can be determined. Specifically, a combination of preset values ​​corresponding to the state information in the mapping relationship can be determined as the corresponding first and second weights, respectively; or, the first and second weights can be calculated by substituting the state information into a preset formula.

[0117] In this embodiment, the first weight and the second weight are both weight coefficients less than 1, and the sum of the first weight and the second weight is 1. In other embodiments, the sum of the first weight and the second weight may also be greater than 1 or less than 1.

[0118] Step S223 : predicting the motion trajectory according to the first motion information and the corresponding first weight, and the second motion information and the corresponding second weight.

[0119] Specifically, the first motion information and the second motion information may be weighted averaged according to the first weight and the second weight to obtain the comprehensive motion information of the risk target, and the motion trajectory may be predicted according to the comprehensive motion information.

[0120] Alternatively, a first trajectory of the risk target may be predicted based on the first motion information, a second trajectory of the risk target may be predicted based on the second motion information, and the motion trajectory here may be obtained by weighted fitting the first trajectory and the second trajectory based on the first weight and the second weight.

[0121] In this embodiment, the visibility of the vehicle's environment represented by the status information is used to determine the weights of the motion information detected by the on-board detection module and the external V2X device respectively. The motion trajectory is predicted based on the determined weights by combining the two motion information. This is beneficial to improving the accuracy of the predicted motion trajectory, thereby effectively improving the accuracy of the vehicle's collision risk identification.

[0122] In other embodiments, the first weight and the second weight may also be preset fixed values.

[0123] Furthermore, in this embodiment, the detection module includes a camera, the status information includes weather status information, and step S223 includes:

[0124] determining, based on the weather status information, the clarity of an image of a target location captured by the camera, the target location being spaced a preset distance from the vehicle;

[0125] When the image clarity is less than or equal to a first preset threshold, determining a first preset value as the first weight, determining a second preset value as the second weight, and the first preset value is greater than the second preset value;

[0126] When the image clarity is greater than or equal to a second preset threshold, determining a third preset value to be the first weight, determining a fourth preset value to be the second weight, and the third preset value to be less than the fourth preset value;

[0127] When the image clarity is greater than the first preset threshold and less than the second preset threshold, determining the first weight and the second weight according to a first difference between the second preset threshold and the first preset threshold, and a second difference between the image clarity and the first preset threshold;

[0128] The first preset threshold is smaller than the second preset threshold.

[0129] The correspondence between weather status information and image definition can be established in advance, and the correspondence can include a calculation relationship or a mapping relationship, etc. Based on the correspondence, the image definition corresponding to the current weather status information can be determined.

[0130] Specifically, different weather conditions can be divided into three categories in advance: first-category weather (such as rainy, foggy or snowy days), second-category weather (such as cloudy days) and third-category weather (such as sunny days). The environmental visibility corresponding to the first-category weather is less than that corresponding to the second-category weather, and the environmental visibility corresponding to the second-category weather is less than that corresponding to the third-category weather.

[0131] When the weather status information indicates that the vehicle's current area is in the first category of weather, the first definition may be determined as the image definition. When the weather status information indicates that the vehicle's current area is in the second category of weather, the second definition corresponding to that weather may be determined as the image definition, with different second definitions corresponding to different weather conditions within the same second category. When the weather status information indicates that the vehicle's current area is in the third category of weather, the third definition may be determined as the image definition. The first definition may be less than or equal to a first preset threshold, the third definition may be greater than or equal to a second preset threshold, and the second definition may be greater than the first preset threshold and less than the second preset threshold.

[0132] In this embodiment, the first preset value, the second preset value, the third preset value, and the fourth preset value are all pre-set fixed values. For example, the first preset value is 100%, the second preset value is 0, the third preset value is 20%, and the fourth preset value is 80%. In other embodiments, the first preset value, the second preset value, the third preset value, and the fourth preset value can also be set to other values ​​according to actual conditions.

[0133] In this embodiment, the ratio of the second difference to the first difference is determined, and the first and second weights are determined based on the ratio. Specifically, the first weight is the product m of the ratio and the preset weight, and the second weight is 1-m. In other embodiments, the first and second weights may also be determined based on the difference between the second difference and the first difference.

[0134] In this embodiment, the clarity of the target position image captured by the camera on the vehicle is determined based on weather information, and the first weight and the second weight are determined based on the environmental visibility height represented by the relationship between the clarity and the first preset threshold and the second preset threshold. This is beneficial to improving the accuracy of the motion trajectory of the risk target predicted in the current driving scenario, thereby further improving the accuracy of vehicle collision risk identification.

[0135] Furthermore, based on any of the above embodiments, another embodiment of the vehicle control method of the present application is proposed. In this embodiment, the risk target is a moving target that is not equipped with the V2X function in the dangerous area on the driving path, referring to Figure 4 The step of obtaining the current scene information monitored by the detection module on the vehicle includes:

[0136] Step S11, obtaining a historical trajectory of the risk target before a current moment, where the historical trajectory is determined based on detection data of the risk target by the target device received through the V2X communication before the current moment;

[0137] Specifically, the location information of risky targets detected by the target device is periodically obtained before the current moment, and multiple locations are obtained. The historical trajectory is generated based on the multiple locations. If the target device is a mobile device (such as a vehicle equipped with V2X functionality), the target device's own location information and speed information can be obtained, and the historical trajectory is generated based on the target device's own location information, speed information, and multiple locations.

[0138] Multiple locations can be stored in memory, from which the stored locations can be read to generate a historical trajectory. When the target device is a mobile device (e.g., a vehicle equipped with V2X functionality), the multiple locations are associated with the target device's own positioning and speed information at the corresponding moment. Based on this, the data in the memory can be read to generate a historical trajectory.

[0139] Specifically, the historical trajectory is a trajectory generated by data obtained from the target device based on V2X communication when the detection module does not detect information corresponding to the risk target.

[0140] Step S12, determining the location information of the risk target according to the historical trajectory;

[0141] Specifically, the current direction and / or distance of the risk target relative to the vehicle may be determined based on the historical trajectory as positioning information.

[0142] Step S13: Control the detection module to track the risk target according to the positioning information, and obtain the current scene information monitored by the detection module.

[0143] According to the positioning information and the target tracking algorithm, the location information of the risk target is tracked in the data detected by the detection module. Based on this, the scene information monitored by the detection module is obtained as the current scene information during the tracking process.

[0144] In this embodiment, the above-mentioned method is conducive to accurately positioning the risk target based on the historical trajectory, thereby improving the accuracy of the vehicle's own perception of the risk target, so as to facilitate the application of the vehicle's own timely and accurate perception data of the risk target to the prediction of the risk target's motion trajectory, thereby facilitating further improving the accuracy of vehicle collision risk identification.

[0145] Further, based on the above embodiments, in one embodiment, before the step of obtaining the historical trajectory of the risk target before the current moment, it also includes: when the detection module does not detect the target scene information corresponding to the dangerous area, periodically obtaining the third motion information of the risk target in the dangerous area detected by the target device; and determining the historical trajectory based on the third motion information.

[0146] In this embodiment, the third motion information includes moving position, moving speed, moving direction and / or acceleration, etc. The historical trajectory is calculated based on the third motion information and a trajectory fitting algorithm.

[0147] In this embodiment, through the above method, it is beneficial for the vehicle itself to quickly detect the motion information of the risk target when switching from a state of not perceiving the risk target to a state of perceiving the risk target, thereby ensuring that the motion information of the risk target is combined with the first motion information to determine the motion trajectory of the risk target, which can effectively improve the accuracy of the motion trajectory, thereby helping to further improve the accuracy of vehicle collision risk identification.

[0148] Furthermore, based on the above embodiment, another embodiment of the vehicle control method of the present application is proposed. In this embodiment, the target device includes a first device and a second device, referring to Figure 5 The step of periodically acquiring the third motion information of the risk target in the dangerous area detected by the target device includes:

[0149] Step S01: establishing a blockchain using at least two V2X devices within a first preset range as blockchain nodes, where the first preset range includes a set of locations within the danger zone and whose distance from the danger zone is less than or equal to a set distance;

[0150] In this embodiment, all V2X devices within the first preset range are used as blockchain nodes.

[0151] The at least two V2X devices include a vehicle equipped with a V2X function and / or a road test device equipped with a V2X function.

[0152] It should be noted that the blockchain nodes in the blockchain can change with the changes in the detection status of the V2X device within the first preset range. When the V2X device enters the first preset range, the corresponding blockchain node is added to the blockchain; when the V2X device leaves the first preset range, the corresponding blockchain node is deleted from the blockchain.

[0153] Step S02: periodically obtaining the third motion information detected by a first device among the at least two V2X devices, and saving the obtained third motion information to the blockchain node corresponding to the first device;

[0154] The first device is one of the at least two V2X devices.

[0155] Each time a third motion information is obtained, the third motion information is added and saved to the blockchain node of the first device in the blockchain, and new third motion information is obtained again after a preset period of time after saving.

[0156] Step S03: When the first device does not detect the scene information of the dangerous area, identifying the V2X device that detects the scene information of the dangerous area among the at least two V2X devices as the second device;

[0157] In the process of periodically obtaining the third motion information detected by the first device, if the first device fails to detect scene information of the dangerous area, it indicates that the first device has left the first preset range and cannot continue to monitor the risk target, and the first device is re-searched for another device among the at least two V2X devices that detects scene information of the dangerous area as the second device.

[0158] Step S04: saving all third motion information in the blockchain node corresponding to the first device to the blockchain node corresponding to the second device;

[0159] Step S05: periodically obtain the third motion information detected by the second device, and save the obtained third motion information to the blockchain node corresponding to the second device.

[0160] Each time a third motion information is obtained, the third motion information is added and saved to the blockchain node of the second device in the blockchain, and new third motion information is obtained again at a preset period after saving.

[0161] In this embodiment, periodically acquired third-motion information is stored in a blockchain node, which helps prevent the leakage or malicious tampering of vehicle information, improves vehicle information security, and ensures the accuracy of risk identification using this third-motion information. Furthermore, if the original V2X device is unable to monitor hazardous area scene information, a new V2X device that can monitor it is replaced. During the replacement process, the third-motion information stored in the original blockchain node is updated and saved in the blockchain node of the new device. This ensures that even if the V2X device within the first preset range changes its voice, the risk target information is not lost. This ensures that the historical trajectory of the risk target can be accurately determined based on the information in the blockchain, thereby accurately identifying vehicle collision risks based on this historical trajectory, effectively improving the accuracy of vehicle collision risk identification.

[0162] Furthermore, based on any of the above embodiments, another embodiment of the vehicle control method of the present application is proposed. In this embodiment, the risk target is a moving target that is not equipped with the V2X function in the dangerous area on the driving path, referring to Figure 6 , defining the step of obtaining the current scene information monitored by the detection module on the vehicle as step S101, then after step S101, it also includes

[0163] Step S102: When the vehicle searches for the target device, executing the step of acquiring first motion information of the risk target corresponding to the driving path of the vehicle detected by the target device based on V2X communication;

[0164] Step S103: When the vehicle fails to search for the target device, current driving characteristic information of the vehicle is obtained, and prompt information is output according to the driving characteristic information.

[0165] Among them, searching for vehicles equipped with V2X functions or road test devices equipped with V2X functions within a first preset range, when neither is found, it can be considered that the vehicle has not searched for the target device; when one of them is found, it can be considered that the vehicle has searched for the target device.

[0166] The driving characteristic information is specifically information characterizing the road conditions of the vehicle during driving and / or the driving requirements of the vehicle.

[0167] Driving characteristic information can be determined by obtaining map information, vehicle motion parameters (such as speed, etc.), operating parameters of the vehicle's drive device, operating parameters of the vehicle's signal lights (such as whether the turn signal is on) and / or operating parameters of the vehicle's steering wheel (such as steering wheel torque, etc.).

[0168] The prompt information may include light, vibration and / or sound, etc. The prompt information can be used to remind the driver inside the vehicle, and can also be used to remind pedestrians, motor vehicle drivers or non-motor vehicle drivers outside the vehicle of collision risks.

[0169] The prompt information can be output by a terminal on board the vehicle, a terminal carried by a person in the vehicle, or a terminal carried by a person outside the vehicle.

[0170] Different driving characteristic information can correspond to the output of different prompt information, so that users can distinguish the safety risks of the current vehicle through the prompt information.

[0171] In one implementation of this embodiment, when the driving characteristic information indicates that the vehicle has a need to overtake in the opposite direction, the straight distance of the road the vehicle is currently traveling on is obtained. When the straight distance is greater than a target distance threshold, a first prompt message is output, indicating that overtaking is permitted. When the straight distance is less than or equal to the target distance threshold, a second prompt message is output, indicating that overtaking is not permitted. The straight distance can be obtained by acquiring navigation data. The target distance threshold can be a preset fixed value or a value determined based on the vehicle's current motion parameters. In this embodiment, the vehicle's speed is obtained, and the distance required for the vehicle to brake is calculated based on the speed. The target distance threshold is then calculated based on this distance and a preset safety distance. In this embodiment, when a risk target in a dangerous area on the driving path cannot be detected by other V2X devices, if the user needs to overtake in the opposite direction, the straight distance is used to determine whether there is a collision risk when overtaking in the opposite direction, and different prompt messages are output accordingly. This ensures that the driver can safely and accurately execute the opposite direction overtaking maneuver based on the prompt information, thereby improving vehicle driving safety.

[0172] In another implementation of this embodiment, when the driving characteristic information indicates that the vehicle is on a curve and has a lane change requirement, a third prompt message is output, wherein the third prompt message indicates that a lane change is not recommended. When the driving characteristic information indicates that the vehicle is at an intersection and the vehicle speed is greater than a set speed, a fourth prompt message is output, wherein the fourth prompt message is a horn or a prompt to decelerate the vehicle to below the set speed. Furthermore, when the vehicle is a non-autonomous driving vehicle, when the driving characteristic information indicates that the vehicle is at an intersection and the vehicle speed is greater than the set speed and the duration of the horn does not reach a preset time, a fourth prompt message is output to prompt the vehicle to decelerate to below the set speed. When the vehicle is a non-autonomous driving vehicle, when the driving characteristic information indicates that the vehicle is at an intersection and the vehicle speed is greater than the set speed and the duration of the horn reaches a preset time, the fourth prompt message is determined to be a horn, and the vehicle is controlled to honk. In this embodiment, when other V2X devices cannot monitor risk targets in dangerous areas on the driving path, the output of the third prompt information when the vehicle needs to change lanes on a curve is helpful in reducing the user's collision risk when driving on a curve; when the vehicle is speeding too fast at an intersection, the horn prompt is helpful in reminding pedestrians, motor vehicles or non-motor vehicles other than the vehicle to give way, and the speed reduction prompt is helpful in avoiding collisions caused by excessive vehicle speed. Based on this, vehicle driving safety can be effectively improved.

[0173] In this embodiment, when it is impossible to monitor the risk target situation in the dangerous area through other V2X devices outside the vehicle, prompt information is output based on the risks existing in the vehicle driving scene represented by the driving characteristic information, thereby effectively ensuring the vehicle driving safety.

[0174] Furthermore, based on any of the above embodiments, another embodiment of the vehicle control method of the present application is proposed. In this embodiment, the risk target is a moving target that is not equipped with the V2X function in the dangerous area on the driving path, referring to Figure 7 The target device includes a plurality of V2X devices, and the step of obtaining first motion information of a risk target corresponding to the driving path of the vehicle detected by the target device based on V2X communication includes:

[0175] Step S10a: acquiring first motion information corresponding to all the risk targets detected by the multiple V2X devices based on the V2X communication;

[0176] The multiple V2X devices here may be all V2X devices searched by the vehicle, and may specifically be devices for building the above-mentioned blockchain.

[0177] Each V2X device can detect scene information within the road range where it is located based on its own installed detection device, perform target identification based on the detected scene information, obtain at least one risk target and its corresponding first motion information, and send it to the vehicle based on V2X communication.

[0178] The step of predicting the motion trajectory of the risk target according to the first motion information and the current scene information includes:

[0179] Step S201, determining, based on multiple first motion information and the current scene information, the risk target that meets the set conditions among all the risk targets as a dangerous target, and determining the trajectory of the dangerous target as the motion trajectory; wherein, the set conditions include that the risk target is not perceived by the detection module and the distance between the risk target and the predicted driving path of the vehicle is less than the set distance.

[0180] Specifically, a position layout map of risk targets (pedestrians, non-motor vehicles, and motor vehicles without V2X functions, etc.) can be constructed based on multiple first motion information. The vehicle's predicted driving path is determined based on the vehicle's historical trajectory and driving parameters. The positions of risk targets in the position layout map whose distance from the predicted driving path is less than a set distance are marked. Based on the current scene information, risk targets that the detection module fails to perceive among the marked risk targets are screened as dangerous targets. A dangerous target is a risk target whose probability of expansion with the vehicle is greater than a preset threshold. The motion trajectory of the dangerous target is determined based on its position in the position layout map, and the obtained motion trajectory is used to identify the collision risk of subsequent vehicles.

[0181] In this embodiment, the above-mentioned method is conducive to accurately identifying the motion trajectory of targets without V2X functions located in the vehicle's blind spot near the vehicle's driving path with the assistance of multiple V2X devices. Based on this, even if there is a blind spot during vehicle driving, the assistance of multiple V2X devices can be used to perceive dangerous targets in the blind spot, thereby effectively improving the accuracy of vehicle collision risk identification.

[0182] It should be noted that before step S10, it is possible to identify whether there is a danger zone in the vehicle's current direction of travel. If so, the risk target can be determined to be a moving target not equipped with the V2X function within the danger zone on the travel path. The target device is one of all V2X devices connected to the vehicle that detects the risk target's motion information. Based on this, the motion trajectory can be determined for risk identification according to the relevant methods described in the above embodiments. If there is no danger zone, the target device is one of multiple V2X devices connected to the vehicle. The risk target can be any target not equipped with the V2X function identified by the V2X device. The motion trajectory can be determined for risk identification according to the methods described in this embodiment.

[0183] Further, based on the above embodiments, in one embodiment, when the motion direction corresponding to the motion trajectory is toward the predicted driving path of the vehicle and the angle between the motion trajectory and the predicted driving path is less than a preset angle, it is determined that the vehicle is at risk of collision and the vehicle is controlled to perform anti-collision operations.

[0184] The preset angle here can be a fixed value set in advance, or a value determined according to the actual operation scenario of the vehicle. In this embodiment, the range of the preset angle is [30 degrees, 150 degrees].

[0185] The anti-collision operation includes any operation that helps prevent the vehicle from colliding with a dangerous target, such as a prompt operation and / or a vehicle operation restriction operation.

[0186] In one implementation of this embodiment, the estimated collision time between the vehicle and the dangerous target is determined based on the motion trajectory and the predicted driving path; and the terminal in the vehicle is controlled to output the fifth prompt information based on the estimated collision time. The fifth prompt information may be output in the form of sound, light and / or vibration. In this embodiment, the fifth prompt information is vibration prompt information, and the vibration intensity corresponding to the vibration prompt information is negatively correlated with the estimated collision time. The fifth prompt information can be output by the vehicle-mounted terminal, or by a mobile terminal (such as a mobile phone, etc.) carried by the driver of the vehicle. Based on this, it is ensured that the driver can accurately know the collision risk between the current vehicle and the dangerous target in the blind spot based on the fifth prompt information, which is conducive to the driver's timely response and ensures the safety of vehicle driving.

[0187] In another implementation of this embodiment, the current speed of the vehicle is obtained; when the speed is greater than a preset speed, the vehicle is controlled to decelerate to below the preset speed and the vehicle is controlled to sound a horn; when the speed is less than or equal to the preset speed, the terminal in the vehicle is controlled to output a sixth prompt message, and the sixth prompt message is used to prompt the existence of the dangerous target. The sixth prompt message may be output in the form of sound, light and / or vibration. The sixth prompt message may be output by the vehicle-mounted terminal or by a mobile terminal (such as a mobile phone, etc.) carried by the driver of the vehicle. Here, when the speed is relatively high, controlling the vehicle to decelerate and sound the horn is beneficial for prompting the driver to avoid the dangerous target while limiting the speed to not be too high to further prevent the vehicle from colliding with the dangerous target; when the speed is relatively low, the output of the sixth prompt message is beneficial for the driver to be aware of the risk situation in the blind spot, drive carefully, and reduce the collision risk of the vehicle.

[0188] In this embodiment, when the movement direction and angle meet the above conditions, it may indicate that the dangerous target in the vehicle's blind spot is moving toward the vehicle and the collision risk is very high. At this time, controlling the vehicle to perform anti-collision operations is beneficial to reducing the vehicle's collision risk.

[0189] Furthermore, in this embodiment, while or after the step of controlling the vehicle to perform the anti-collision operation is performed, it also includes: controlling the vehicle to send a collision warning instruction and the positioning information of the dangerous target to a cloud server based on V2X communication, so that the cloud server sends the collision warning instruction to the mobile terminal of the dangerous target according to the positioning information.

[0190] After receiving the collision prompt instruction and the positioning information, the cloud server can search for the mobile terminal in the corresponding position as the mobile terminal of the dangerous target based on the positioning information.

[0191] The collision prompt instruction can output corresponding prompt information in the form of sound, vibration and / or light on the mobile terminal.

[0192] In this embodiment, the mobile terminal is a mobile phone that is a dangerous target, and the vibration and ringing of the mobile phone can be used to remind the user that there is a collision risk on the road, so that the user can avoid it.

[0193] In this embodiment, in addition to the vehicle itself responding to the collision risk, a collision prompt is also issued through the mobile terminal of the dangerous target, so that the dangerous target can also respond to the collision risk in a timely manner, which is conducive to further reducing the risk of vehicle collision through double prevention.

[0194] In addition, an embodiment of the present invention further provides a storage medium on which a vehicle control program is stored. When the vehicle control program is executed by a processor, the relevant steps of any embodiment of the above vehicle control method are implemented.

[0195] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0196] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0197] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, vehicle, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0198] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A vehicle control method, characterized in that: The vehicle control method comprises the following steps: obtaining current scene information monitored by a detection module on the vehicle, and obtaining, based on V2X communication, first motion information of a risk target corresponding to the vehicle's travel path detected by a target device, where the target device is a device other than the vehicle equipped with a V2X function, and the risk target is a target not equipped with the V2X function; predicting a motion trajectory of the risk target based on the first motion information and the current scene information; determining a risk identification result based on the motion trajectory, and controlling the operation of the vehicle based on the risk identification result, wherein the risk identification result includes whether the vehicle has a collision risk; The step of predicting the motion trajectory of the risk target according to the first motion information and the current scene information includes: When the current scene information contains the second motion information of the risk target, obtaining state information, where the state information represents the visibility of the environment where the vehicle is located; determining, according to the state information, a first weight corresponding to the first motion information and a second weight corresponding to the second motion information; The motion trajectory is predicted according to the first motion information and the corresponding first weight, and the second motion information and the corresponding second weight.

2. The vehicle control method according to claim 1, wherein: The risk target is a moving target in a dangerous area on the driving path that is not equipped with the V2X function. The step of predicting the movement trajectory of the risk target based on the first movement information and the current scene information includes: When the second motion information of the risk target does not exist in the current scene information, the motion trajectory is predicted according to the first motion information.

3. The vehicle control method according to claim 2, wherein: The detection module includes a camera, the status information includes weather status information, and the step of predicting the motion trajectory based on the first motion information and the corresponding first weight, and the second motion information and the corresponding second weight includes: determining, based on the weather status information, the clarity of an image of a target location captured by the camera, the target location being spaced a preset distance from the vehicle; When the image clarity is less than or equal to a first preset threshold, determining a first preset value as the first weight, determining a second preset value as the second weight, and the first preset value is greater than the second preset value; When the image clarity is greater than or equal to a second preset threshold, determining a third preset value to be the first weight, determining a fourth preset value to be the second weight, and the third preset value to be less than the fourth preset value; When the image clarity is greater than the first preset threshold and less than the second preset threshold, determining the first weight and the second weight according to a first difference between the second preset threshold and the first preset threshold, and a second difference between the image clarity and the first preset threshold; The first preset threshold is smaller than the second preset threshold.

4. The vehicle control method according to claim 1, wherein: The risk target is a moving target that is not equipped with the V2X function and is located in a dangerous area on the driving path. The step of obtaining current scene information monitored by a detection module on the vehicle includes: Obtaining a historical trajectory of the risk target before a current moment, where the historical trajectory is determined based on detection data of the risk target by the target device received through the V2X communication before the current moment; Determining the location information of the risk target based on the historical trajectory; The detection module is controlled to track the risk target according to the positioning information, and the current scene information monitored by the detection module is obtained.

5. The vehicle control method according to claim 4, wherein: Before the step of obtaining the historical trajectory of the risk target before the current moment, the method further includes: When the detection module fails to detect the target scene information corresponding to the dangerous area, periodically obtaining third motion information of the risk target in the dangerous area detected by the target device; The historical trajectory is determined according to the third motion information.

6. The vehicle control method according to claim 5, wherein: The target device includes a first device and a second device, and the step of periodically acquiring third motion information of the risk target in the dangerous area detected by the target device includes: Establishing a blockchain using at least two V2X devices within a first preset range as blockchain nodes, where the first preset range includes a set of locations within the danger zone and whose distance from the danger zone is less than or equal to a set distance; periodically obtaining the third motion information detected by a first device among the at least two V2X devices, and saving the obtained third motion information to the blockchain node corresponding to the first device; When the first device does not detect the scene information of the dangerous area, identifying a V2X device that detects the scene information of the dangerous area among the at least two V2X devices as the second device; Saving all third motion information in the blockchain node corresponding to the first device to the blockchain node corresponding to the second device; Periodically obtain the third motion information detected by the second device, and save the obtained third motion information to the blockchain node corresponding to the second device.

7. The vehicle control method according to any one of claims 1 to 6, characterized in that: The risk target is a moving target in a dangerous area on the driving path that is not equipped with the V2X function. After the step of obtaining the current scene information monitored by the detection module on the vehicle, it also includes When the vehicle searches for the target device, performing the step of acquiring, based on V2X communication, first motion information of the risk target corresponding to the driving path of the vehicle detected by the target device; When the vehicle fails to search for the target device, obtaining current driving characteristic information of the vehicle; Outputting prompt information according to the driving characteristic information.

8. The vehicle control method according to claim 7, wherein: The step of outputting prompt information according to the driving characteristic information comprises: When the driving characteristic information indicates that the vehicle has a reverse overtaking demand, obtaining a straight distance on the road the vehicle is currently traveling; When the straight distance is greater than a target distance threshold, outputting a first prompt message, wherein the first prompt message indicates that overtaking is allowed; When the straight distance is less than or equal to the target distance threshold, a second prompt message is output, where the second prompt message indicates that overtaking is not allowed.

9. The vehicle control method according to claim 7, wherein: The step of outputting prompt information according to the driving characteristic information comprises: When the driving characteristic information indicates that the vehicle is on a curve and has a lane change requirement, outputting a third prompt information, wherein the third prompt information indicates that lane change is not recommended; and / or, When the driving characteristic information indicates that the vehicle is at an intersection and the speed of the vehicle is greater than a set speed, a fourth prompt message is output, where the fourth prompt message is a horn or a prompt to slow down the vehicle to below the set speed.

10. The vehicle control method according to claim 1, wherein: The target device includes a plurality of V2X devices, and the step of obtaining first motion information of a risk target corresponding to the driving path of the vehicle detected by the target device based on V2X communication includes: acquiring, based on the V2X communication, first motion information corresponding to all the risk targets detected by the plurality of V2X devices; The step of predicting the motion trajectory of the risk target according to the first motion information and the current scene information includes: Determining, based on the plurality of first motion information and the current scene information, the risk target that meets a set condition among all the risk targets as a dangerous target, and determining the trajectory of the dangerous target as the motion trajectory; The set conditions include that the risk target is not sensed by the detection module and the distance between the risk target and the predicted driving path of the vehicle is less than a set distance.

11. The vehicle control method according to claim 10, wherein: The step of determining a risk identification result according to the motion trajectory and controlling the operation of the vehicle according to the risk identification result includes: When the motion direction corresponding to the motion trajectory is toward the predicted driving path and the angle between the motion trajectory and the predicted driving path is less than a preset angle, it is determined that the vehicle has a collision risk and the vehicle is controlled to perform an anti-collision operation.

12. The vehicle control method according to claim 11, wherein: The step of controlling the vehicle to perform the anti-collision operation includes: Determining an estimated collision time between the vehicle and the dangerous target based on the motion trajectory and the predicted driving path; The terminal in the vehicle is controlled to output fifth prompt information according to the expected collision time.

13. The vehicle control method according to claim 11, wherein: The step of controlling the vehicle to perform the anti-collision operation includes: Obtaining the current speed of the vehicle; When the vehicle speed is greater than a preset speed, controlling the vehicle to decelerate to below the preset speed and controlling the vehicle to sound a horn; When the vehicle speed is less than or equal to the preset speed, the terminal in the vehicle is controlled to output a sixth prompt message, where the sixth prompt message is used to prompt the existence of the dangerous target.

14. The vehicle control method according to any one of claims 10 to 13, wherein: At the same time as or after the step of controlling the vehicle to perform the anti-collision operation is performed, the method further includes: The vehicle is controlled to send a collision warning instruction and the positioning information of the dangerous target to a cloud server based on V2X communication, so that the cloud server sends the collision warning instruction to the mobile terminal of the dangerous target according to the positioning information.

15. The vehicle control method according to any one of claims 1 to 6 and 10 to 13, characterized in that: The target device includes a motor vehicle equipped with a V2X function other than the vehicle and / or a road test device equipped with a V2X function other than the vehicle.

16. A vehicle, characterized in that: The vehicle comprises: A detection module, the detection module is used to detect current scene information in the vehicle driving scene; a communication module, configured to establish V2X communication between the vehicle and an external device; A control device, wherein the detection module and the communication module are both connected to the control device, and the control device includes: a memory, a processor, and a vehicle control program stored in the memory and executable on the processor, wherein the vehicle control program, when executed by the processor, implements the steps of the vehicle control method as described in any one of claims 1 to 15.

17. A storage medium, characterized in that: The storage medium stores a vehicle control program, which, when executed by a processor, implements the steps of the vehicle control method according to any one of claims 1 to 15.

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