Vehicle control method, evasive warning device, vehicle, and storage medium

Abstract

The application provides a vehicle control method, an avoidance warning device, a vehicle and a storage medium. The vehicle control method comprises the following steps: in response to a microphone collecting a preset warning sound, positioning a driving position of a target vehicle corresponding to the preset warning sound; generating an alarm signal corresponding to the target vehicle according to the driving position; when the target vehicle and a current vehicle are in the same lane, starting a navigation device to establish an avoidance route according to the alarm signal to prompt the current vehicle to change lanes. The vehicle control method, the avoidance warning device, the vehicle and the storage medium provided by the application can prompt the driver to avoid the target vehicle when the target vehicle is located in the same lane as the current vehicle, and can provide avoidance methods and routes through the navigation device, so that the driver can be fully and quickly reminded to avoid the emergency vehicle, and the application is more humanized.

Description

Technical Field

[0001] This application relates to the field of automotive driver assistance technology, specifically to a vehicle control method, a collision avoidance warning device, a vehicle, and a storage medium. Background Technology

[0002] With the continuous development of the automotive industry's "new four modernizations" (electrification, connectivity, intelligence, and sharing), driver assistance functions are developing rapidly. Simultaneously, the vehicle's hardware is also constantly evolving, leading to a continuous improvement in its intelligence level. However, when drivers encounter emergency vehicles (ambulances, fire trucks, etc.) while driving on the road, they may be unable to detect or avoid these vehicles in time due to factors such as the vehicle's excellent sealing, the driver being engrossed in loud music, or the driver using a Bluetooth headset to answer a phone call.

[0003] In the process of conceiving and implementing this application, the inventors discovered at least the following problems: the current emergency vehicle avoidance scheme can only alert the driver that there are emergency vehicles around the vehicle, but cannot comprehensively and quickly alert the driver how to avoid emergency vehicles.

[0004] The preceding description is intended to provide general background information and does not necessarily constitute prior art. Summary of the Invention

[0005] This application provides a vehicle control method, a collision avoidance warning device, a vehicle, and a storage medium to alleviate the problem that current collision avoidance schemes cannot comprehensively and quickly alert drivers to avoid emergency vehicles.

[0006] In one aspect, this application provides a vehicle control method, specifically comprising:

[0007] In response to the microphone picking up a preset warning sound, the driving position of the target vehicle corresponding to the preset warning sound is located;

[0008] Based on the driving location, an alarm signal corresponding to the target vehicle is generated;

[0009] When the target vehicle and the current vehicle are in the same lane, the navigation device is activated to establish an avoidance route based on the alarm signal to prompt the current vehicle to change lanes.

[0010] Optionally, the vehicle control method includes a first microphone and a second microphone located at different positions when the microphone is used; the step of locating the driving position of the target vehicle corresponding to the preset warning sound in response to the microphone collecting a preset warning sound includes:

[0011] In response to the first microphone picking up a first warning sound corresponding to the preset warning sound, the second microphone picks up a second warning sound corresponding to the preset warning sound.

[0012] Calculate the target direction and target distance of the preset warning sound based on the first warning sound and the second warning sound;

[0013] The driving position of the target vehicle is located based on the target direction and the target distance.

[0014] Optionally, after performing the step of generating an alarm signal corresponding to the target vehicle based on the driving position, the vehicle control method includes:

[0015] Based on the alarm signal, activate the sound system and / or speaker to play a warning audio.

[0016] Optionally, after performing the step of generating an alarm signal corresponding to the target vehicle based on the driving position, the vehicle control method includes:

[0017] Based on the alarm signal, activate the head-up display and / or instrument to display the warning graphic and text.

[0018] Optionally, the vehicle control method, when executing the step of activating the navigation device to establish an avoidance route to prompt the current vehicle to change lanes based on the alarm signal when the target vehicle and the current vehicle are in the same lane, includes:

[0019] The target vehicle is marked with a first-color flashing dot in the navigation device, and the target vehicle's driving lane is marked with a second color.

[0020] Optionally, the vehicle control method, when performing the step of activating the navigation device to establish an avoidance route to prompt the current vehicle to change lanes when the target vehicle and the current vehicle are in the same lane, includes:

[0021] The navigation device uses a lane-change arrow of the third color to indicate that the current vehicle is changing lanes to the adjacent lane of the target vehicle's lane.

[0022] On the other hand, this application provides a collision avoidance warning device, specifically including a first microphone, a second microphone, a third microphone, a fourth microphone and a controller, wherein the first microphone is disposed on the left rearview mirror of the current vehicle, the second microphone is disposed on the right rearview mirror of the current vehicle, the third microphone is disposed on the left bumper of the current vehicle and the fourth microphone is disposed on the right bumper of the current vehicle.

[0023] The controller is connected to the first microphone, the second microphone, the third microphone, and the fourth microphone respectively, and is used to implement the vehicle control method described above.

[0024] Optionally, the avoidance warning device may also include a head-up display, audio, speaker, instrument and navigation device connected to the controller.

[0025] On the other hand, this application provides a vehicle, specifically, including the avoidance warning device as described above.

[0026] On the other hand, this application also provides a storage medium, specifically, the storage medium storing a computer program, which, when executed by a processor, implements the steps of the vehicle control method as described above.

[0027] As described above, the vehicle control method, avoidance warning device, vehicle, and storage medium provided in this application are based on a microphone installed outside the vehicle. By picking up the alarm sound of an emergency vehicle outside the vehicle, the location of the emergency vehicle is determined, thereby reminding the driver of the driving vehicle that there is an emergency vehicle nearby. When the emergency vehicle is traveling in the same lane as the vehicle, the navigation device also provides avoidance methods and routes, which can comprehensively and quickly remind the driver to avoid the emergency vehicle, making it more user-friendly. Attached Figure Description

[0028] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0029] Figure 1 This is a flowchart of a vehicle control method according to an embodiment of this application.

[0030] Figure 2 This is a structural diagram of an obstacle avoidance warning device according to an embodiment of this application.

[0031] Figure 3 This is a flowchart illustrating vehicle operation according to an embodiment of this application.

[0032] The realization of the objectives, functional features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. The accompanying drawings have illustrated specific embodiments of this application, which will be described in more detail below. These drawings and textual descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concepts of this application to those skilled in the art through reference to specific embodiments. Detailed Implementation

[0033] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0034] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, components, features, and elements with the same names in different embodiments of this application may have the same meaning or different meanings, the specific meaning of which must be determined by its interpretation in that specific embodiment or further in conjunction with the context of that specific embodiment.

[0035] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0036] First Embodiment

[0037] On one hand, this application provides a vehicle control method. Figure 1 This is a flowchart of a vehicle control method according to an embodiment of this application.

[0038] Please see Figure 1 In one embodiment, the vehicle control method includes:

[0039] S10: In response to the microphone picking up a preset warning sound, locate the driving position of the target vehicle corresponding to the preset warning sound.

[0040] Optionally, the vehicle control method can collect preset warning sounds on the road through multiple microphones on the outside of the current vehicle, and locate the driving position of the target vehicle corresponding to the preset warning sound. The preset warning sound can be a specific audio sound of emergency vehicles such as 119 / 120.

[0041] For example, the preset warning sound can be a special warning sound for fire trucks, emergency vehicles, repair vehicles, or public security vehicles as stipulated by law, or it can be a pre-set special warning sound, such as a pre-agreed special siren rhythm.

[0042] For example, the sound source localization algorithm based on multi-point microphone measurement can be a beamforming method, a high-resolution spectrum estimation method, or a sound arrival time delay difference method.

[0043] S20: Generate an alarm signal for the corresponding target vehicle based on the driving location.

[0044] For example, the distribution of the target vehicle's driving position and the current vehicle's location on the map can reflect the positional relationship between the two vehicles. Based on lane recognition technology, the driving relationship of the corresponding target vehicle can be obtained. Optionally, the vehicle control method, by locating information such as the target vehicle's position, driving direction, and lane relative to the current vehicle, generates an alarm signal when the target vehicle's driving position is within the range that the current vehicle's microphone can capture. Based on the alarm signal, the driver can be notified in advance of the target vehicle's presence.

[0045] S30: When the target vehicle and the current vehicle are in the same lane, activate the navigation device to establish an avoidance route based on the alarm signal and prompt the current vehicle to change lanes.

[0046] Optionally, when the target vehicle and the current vehicle are traveling in the same direction and in the same lane, the navigation device can be triggered to generate an avoidance route to prompt the current vehicle to change lanes, so as to give way to the target vehicle in a timely manner.

[0047] In this embodiment, the vehicle control method is based on a microphone installed in the current vehicle. By picking up the preset warning sound of the target vehicle outside the vehicle, the location of the target vehicle is determined, thereby reminding the driver of the current vehicle that there is a target vehicle nearby. When the target vehicle is traveling in the same lane as the current vehicle, the navigation device also provides avoidance methods and routes, which can comprehensively and quickly remind the driver to avoid the target vehicle, making it more user-friendly.

[0048] In one embodiment, the microphone includes a first microphone and a second microphone disposed at different locations.

[0049] Optionally, multiple microphones can be arranged in different locations on the vehicle to form a microphone array. For example, microphones can be installed on the side mirrors and the rear bumpers on both sides of the vehicle.

[0050] The vehicle control method, in executing S10: responding to the microphone acquiring a preset warning tone, locates the driving position of the target vehicle corresponding to the preset warning tone, including the following steps:

[0051] S11: In response to the first alarm sound corresponding to the preset alarm sound being collected by the first microphone, acquire the second alarm sound corresponding to the preset alarm sound collected by the second microphone;

[0052] S12: Calculate the target direction and target distance of the preset warning sound based on the first and second warning sounds;

[0053] S13: Locate the driving position of the target vehicle based on the target direction and target distance.

[0054] In this embodiment, the vehicle control method locates the position of the target vehicle by receiving preset warning sounds from microphones placed at different locations outside the vehicle at different times.

[0055] For example, based on microphone detection at multiple sound detection points, the location of the sound source is determined by measuring the phase difference of the sound waves arriving at each sound detection point within a certain spatial distance, according to the phased array principle. The amplitude of the sound source is measured, and the spatial distribution of the sound source is displayed as an image, thus obtaining a spatial sound field distribution map and establishing a sound image. The point with the highest intensity in the sound image is likely the location of the sound source.

[0056] In one embodiment, after performing step S20: generating an alarm signal corresponding to the target vehicle based on the driving position, the vehicle control method includes:

[0057] S21: Based on the alarm signal, activate the audible system and / or speaker to play a warning audio.

[0058] In this embodiment, the vehicle control method alerts the user to the passing of the target vehicle by broadcasting an alarm signal through the vehicle's audio system and / or loudspeaker, and to take evasive action.

[0059] In one embodiment, after performing step S20: generating an alarm signal corresponding to the target vehicle based on the driving position, the vehicle control method includes:

[0060] S22: Based on the alarm signal, activate the head-up display and / or instrument to display warning graphics and text.

[0061] In this embodiment, the vehicle control method uses the alarm signal to display graphic and textual prompts on the instrument panel and / or head-up display (HUD) to alert the user that the target vehicle is approaching and to take evasive action.

[0062] In one embodiment, the vehicle control method, when performing S30: when the target vehicle and the current vehicle are in the same lane, activates the navigation device to establish an avoidance route based on the alarm signal to prompt the current vehicle to change lanes, includes the following steps:

[0063] S31: Mark the target vehicle with a first-color flashing dot in the navigation device, and mark the target vehicle's driving lane with a second color.

[0064] In this embodiment, when navigation is initiated, the vehicle control method adds the target vehicle's location to the ongoing navigation path, planning avoidance routes and paths for the driver. In the navigation map, the real-time location of the target vehicle is marked with a first-color flashing dot, while the target vehicle's lane is marked with a second color, thereby prompting the driver to avoid emergency vehicles. For example, in the navigation map, the real-time location and lane of vehicles other than emergency rescue vehicles are marked with red flashing dots, while the lane of emergency vehicles is marked orange, thereby prompting the driver to avoid emergency vehicles.

[0065] In one embodiment, the vehicle control method, when performing S30: when the target vehicle and the current vehicle are in the same lane, activates the navigation device to establish an avoidance route based on the alarm signal to prompt the current vehicle to change lanes, includes the following steps:

[0066] S32: In the navigation device, a lane change arrow of the third color is used to indicate that the current vehicle is changing lanes to the adjacent lane of the target vehicle's lane.

[0067] In this embodiment, the vehicle control method uses a lane-changing arrow of the second color on the navigation map to guide the current vehicle to change lanes to the adjacent lane of the target vehicle's driving lane, thereby avoiding the target vehicle and providing the current vehicle with a drivable avoidance lane and route, achieving a win-win situation.

[0068] Optionally, this application does not limit the first color, second color, and third color; the first and second colors can be red, and the third color can be blue. For example, in the lane adjacent to an emergency vehicle, a blue lane-changing arrow guides the vehicle to change lanes.

[0069] In another embodiment, when the vehicle control method finishes avoiding an emergency vehicle and the user turns off the engine and gets out of the car, it can also issue a voice broadcast reward to the user through the vehicle's speaker. The broadcast content includes, but is not limited to, "Dear car owner, thank you for actively avoiding emergency vehicles in accordance with the route and method of the vehicle automatic recognition system during this driving cycle. Your civilized driving is commendable."

[0070] Second Embodiment

[0071] On the other hand, this application provides a collision avoidance warning device. Figure 2 This is a structural diagram of an obstacle avoidance warning device according to an embodiment of this application.

[0072] Please see Figure 2In one embodiment, the obstacle avoidance warning device includes a first microphone 10, a second microphone 11, a third microphone 12, a fourth microphone 13, and a controller 20. The first microphone 10 is located in the left rearview mirror of the current vehicle, the second microphone 11 is located in the right rearview mirror of the current vehicle, the third microphone 12 is located in the left bumper of the current vehicle, and the fourth microphone 13 is located in the right bumper of the current vehicle. The controller 20 is connected to the first microphone 10, the second microphone 11, the third microphone 12, and the fourth microphone 13 respectively, for implementing the vehicle control method described above.

[0073] In this embodiment, the four microphones and controller 20 only operate when the vehicle is in motion. When the vehicle is parked in Park and locked, the microphones and controller 20 are in sleep mode to prevent excessive drain on the vehicle's 12V battery. When the driver unlocks and gets back into the vehicle for the next driving cycle, the microphones and controller 20 automatically activate and begin operation, remaining in standby mode. Only when a target vehicle is detected by sound while the vehicle is in motion will the microphones and control unit switch to alarm mode, initiating the automatic emergency vehicle avoidance procedure. Optionally, considering that the four microphones are located outside the vehicle, they must meet an IP69 waterproof and dustproof rating.

[0074] Please continue reading. Figure 2 In one embodiment, the avoidance warning device further includes a head-up display 30, an audio system 40, a speaker 50, an instrument panel 60, and a navigation device 70 connected to the controller 20.

[0075] In this embodiment, the controller 20 sends an emergency vehicle approach signal via the in-vehicle CAN network. Upon receiving this signal, the vehicle instrument panel 60 and head-up display 30 prompt the driver in text: "Emergency vehicle approaching, please give way." Simultaneously, the in-vehicle audio system 40 and speaker 50 broadcast the same message: "Emergency vehicle approaching, please give way." After receiving the text and voice prompts, the controller 20 guides the driver to avoid the emergency vehicle according to the path planned by the navigation device 70.

[0076] Third Embodiment

[0077] On the other hand, this application also provides a vehicle that includes the avoidance warning device as described above.

[0078] Figure 3 For a flowchart illustrating vehicle movement according to an embodiment of this application, please refer to [link / reference]. Figure 3 In one embodiment, the vehicle performs the following steps during operation:

[0079] Step 1: The vehicle is driving normally on the road with navigation enabled.

[0080] Step 2: Emergency vehicles (119 / 120, etc.) appear near the road of this vehicle and sound their emergency sirens;

[0081] Step 3: The microphone installed on the outside of this vehicle receives the emergency vehicle alarm sound;

[0082] Step 4: The microphones located on the outside of the vehicle calculate and lock the location of the emergency vehicle based on the different times of the received emergency vehicle alarm sounds.

[0083] Step 5: The positioning controller adds the location of the emergency vehicle to the planned route on the navigation map, and formulates an avoidance route based on the specific location of the emergency vehicle.

[0084] Step 6: The positioning controller sends an emergency vehicle approach signal through the vehicle's CAN network. After receiving this signal, the vehicle's instrument panel / HUD will prompt the driver in a text message: "Emergency vehicle approaching, please give way"; at the same time, it will also announce through the vehicle's speakers: "Emergency vehicle approaching, please give way".

[0085] Step 7: After receiving the text and voice prompts from the instrument panel / HUD, the driver should follow the route planned by the navigation system to give way to emergency vehicles and change lanes from lane one to lane two.

[0086] External microphone placement: FL / FR microphones are mounted on the exterior rearview mirrors, while RL / RR microphones are mounted on the outer side of the D-pillar. Considering the external placement of the microphones, they must meet an IP69 waterproof and dustproof rating.

[0087] On the other hand, this application also provides a storage medium, specifically, a computer program stored on the storage medium, which, when executed by a processor, implements the steps of the vehicle control method as described above.

[0088] As described above, the vehicle control method, avoidance warning device, vehicle, and storage medium provided in this application promptly detect emergency vehicles on the road by picking up a dedicated alarm sound through a microphone. Simultaneously, based on the location identification of the emergency vehicle relative to the vehicle, including its position, direction of travel, and lane, the system uses both verbal and audible alerts to notify the driver of the emergency vehicle's presence. If the external microphone positioning system identifies an emergency vehicle traveling in the same direction and lane as the vehicle, it triggers the navigation system to provide the user with suggested alternative routes. This effectively identifies emergency vehicles and, based on their actual location, provides alerts and appropriate avoidance, ensuring a necessary green channel for emergency vehicles.

[0089] It should be noted that step designations such as S10 and S20 are used in this application for the purpose of more clearly and concisely describing the corresponding content, and do not constitute a substantial limitation on the order. In specific implementation, those skilled in the art may execute S20 first and then S10, etc., but these should all be within the protection scope of this application.

[0090] In the embodiments of the collision avoidance warning device, vehicle, and storage medium provided in this application, all the technical features of any of the above-described method embodiments may be included. The extended and explanatory content of the specification is basically the same as that of the embodiments of the above methods, and will not be repeated here.

[0091] This application also provides a computer program product, which includes computer program code. When the computer program code is run on a computer, it causes the computer to perform the methods described in the various possible implementations above.

[0092] This application also provides a chip, including a memory and a processor. The memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that a device with the chip installed performs the methods described in the various possible implementations above.

[0093] It is understood that the above scenarios are merely examples and do not constitute a limitation on the application scenarios of the technical solutions provided in the embodiments of this application. The technical solutions of this application can also be applied to other scenarios. For example, as those skilled in the art will know, with the evolution of system architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0094] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0095] The steps in the method of this application embodiment can be adjusted, combined, or deleted according to actual needs.

[0096] The units in the device of this application embodiment can be merged, divided, and deleted according to actual needs.

[0097] In this application, the same or similar terms, concepts, technical solutions and / or application scenario descriptions are generally described in detail only when they appear for the first time. When they appear again, they are generally not repeated for the sake of brevity. When understanding the technical solutions and other contents of this application, the same or similar terms, concepts, technical solutions and / or application scenario descriptions that are not described in detail later can be referred to their previous relevant detailed descriptions.

[0098] In this application, the descriptions of the various embodiments have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0099] The technical features of the present application can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of the present application.

[0100] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A vehicle control method, characterized in that, include: In response to the microphone picking up a preset warning sound, the driving position of the target vehicle corresponding to the preset warning sound is determined based on the phased array principle. The microphone includes a first microphone and a second microphone set at different positions. The step of determining the driving position of the target vehicle corresponding to the preset warning sound based on the phased array principle in response to the microphone collecting the preset warning sound includes: In response to the first warning tone collected by the first microphone and the second warning tone collected by the second microphone, corresponding to the preset warning tone, the phase difference between the first warning tone and the second warning tone is calculated; Based on the phase difference, the sound source location of the preset warning sound is obtained through the phase array principle; The amplitudes of the first warning sound signal and the second warning sound signal are measured, and a spatial sound field distribution map is generated based on the sound source location and the amplitude. The point with the highest sound source intensity is determined from the spatial sound field distribution map as the driving position of the target vehicle corresponding to the preset warning sound; Based on the driving location, an alarm signal corresponding to the target vehicle is generated; When the target vehicle and the current vehicle are in the same lane, the navigation device is activated to establish an avoidance route based on the alarm signal to prompt the current vehicle to change lanes.

2. The vehicle control method as described in claim 1, characterized in that, The step of generating an alarm signal corresponding to the target vehicle based on the driving location includes: Based on the alarm signal, activate the sound system and / or speaker to play a warning audio.

3. The vehicle control method as described in claim 1, characterized in that, The step of generating an alarm signal corresponding to the target vehicle based on the driving location includes: Based on the alarm signal, activate the head-up display and / or instrument to display the warning graphic and text.

4. The vehicle control method as described in claim 1, characterized in that, The step of activating the navigation device when the target vehicle and the current vehicle are in the same lane, and establishing an avoidance route based on the alarm signal to prompt the current vehicle to change lanes, includes: The target vehicle is marked with a first-color flashing dot in the navigation device, and the target vehicle's driving lane is marked with a second color.

5. The vehicle control method as described in claim 1, characterized in that, The step of activating the navigation device to establish an avoidance route and prompt the current vehicle to change lanes when the target vehicle and the current vehicle are in the same lane includes: The navigation device uses a lane-change arrow of the third color to indicate that the current vehicle is changing lanes to the adjacent lane of the target vehicle's lane.

6. A collision avoidance warning device, characterized in that, It includes a first microphone, a second microphone, a third microphone, a fourth microphone, and a controller. The first microphone is located in the left rearview mirror of the current vehicle, the second microphone is located in the right rearview mirror of the current vehicle, the third microphone is located in the left bumper of the current vehicle, and the fourth microphone is located in the right bumper of the current vehicle. The controller is connected to the first microphone, the second microphone, the third microphone, and the fourth microphone respectively, and is used to implement the vehicle control method as described in any one of claims 1-5.

7. The obstacle avoidance warning device as described in claim 6, characterized in that, It also includes a head-up display, audio system, speakers, instruments, and navigation devices connected to the controller.

8. A vehicle, characterized in that, Includes the obstacle avoidance warning device as described in any one of claims 6-7.

9. A storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the steps of the vehicle control method as described in any one of claims 1-5.

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