Control method and device of vehicle, electronic equipment and vehicle

Abstract

The application is suitable for the technical field of intelligent control, and provides a control method and device of a vehicle, an electronic device and the vehicle. The control method of the vehicle comprises: acquiring a current vehicle speed of the vehicle and a current state of the adaptive cruise control system; when the current vehicle speed is less than a vehicle speed threshold and the current state is an activated state, activating a first target sensor, the first target sensor being used for collecting information of a target in each direction of the vehicle; and controlling the vehicle according to the information collected by the first target sensor. The embodiment of the application can improve the convenience of vehicle control.

Description

Technical Field

[0001] This application belongs to the field of intelligent control technology, and in particular relates to a vehicle control method, device, electronic equipment, and vehicle. Background Technology

[0002] With the development of the automotive industry, cars are increasingly integrated into our daily lives and work, appearing in various life scenarios. Automotive safety assistance systems can ensure safer driving and play a preventative role. This is how intelligent driving systems came about.

[0003] The functions achievable by intelligent driving systems can be broadly categorized into two types: The first type includes active safety-related functions, such as forward collision warning (FCW), blind spot detection (BSD), and rear collision warning (RCW). These functions are designed to assist the driver in handling dangerous situations, mostly providing alerts through sound or images without intervening in vehicle control. The second type includes driver assistance functions, such as adaptive cruise control (ACC) and intelligent cruise assist (ICA). These functions are designed to assist the driver in controlling the vehicle.

[0004] For the ACC function, in the starting scenario at an intersection, the relevant technology requires user confirmation before starting, which has a low convenience. Summary of the Invention

[0005] This application provides a vehicle control method, device, electronic device, and vehicle, which can solve the problem of low convenience in current vehicle start-up control.

[0006] The first aspect of this application provides a vehicle control method, wherein the vehicle is equipped with an adaptive cruise control system, and the vehicle control method includes: acquiring the current speed of the vehicle and the current state of the adaptive cruise control system; activating a first target sensor when the current speed is less than a speed threshold and the current state is an active state, the first target sensor being used to collect information on targets in various directions of the vehicle; and controlling the vehicle based on the information collected by the first target sensor.

[0007] A second aspect of this application provides a vehicle control device, wherein the vehicle is equipped with an adaptive cruise control system. The vehicle control device includes: an acquisition unit for acquiring the current vehicle speed and the current state of the adaptive cruise control system; an activation unit for activating a first target sensor when the current vehicle speed is less than a vehicle speed threshold and the current state is an activated state, the first target sensor being used to collect information on targets in various directions of the vehicle; and a control unit for controlling the vehicle based on the information collected by the first target sensor.

[0008] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the vehicle control method described above.

[0009] A fourth aspect of this application provides a vehicle, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the vehicle control method described above.

[0010] A fifth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the vehicle control method described above.

[0011] A sixth aspect of this application provides a computer program product that, when run on an electronic device / vehicle, causes the electronic device / vehicle to execute the vehicle control method described in the first aspect above.

[0012] It should be understood that the vehicle's current speed being less than the speed threshold includes the starting scenario where the vehicle speed is 0. In the embodiments of this application, when the vehicle's current speed is less than the speed threshold and the adaptive cruise control system is in an active state, the first target sensor is activated, and the vehicle is controlled based on the information collected by the first target sensor from targets in various directions. During the vehicle's starting phase, the ACC system can control the vehicle to start based on the information of targets in various directions without requiring user confirmation, thus improving the convenience of vehicle control. At the same time, since the vehicle control references the information of targets in various directions, it is beneficial to improve the safety of vehicle starting. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram illustrating the implementation flow of a vehicle control method provided in an embodiment of this application;

[0015] Figure 2 This is a schematic diagram of the vehicle system provided in the embodiments of this application;

[0016] Figure 3 This is a schematic diagram illustrating the specific implementation flow of a vehicle control method provided in an embodiment of this application;

[0017] Figure 4 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application;

[0018] Figure 5 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application;

[0019] Figure 6 This is a schematic diagram of the vehicle structure provided in the embodiments of this application. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are protected by this application.

[0021] For ACC (Adaptive Cruise Control) functionality, in scenarios involving starting at intersections, existing technologies require user confirmation before starting, which presents a low level of convenience. Therefore, this application proposes a vehicle control method that allows the ACC system to control the vehicle based on sensor information during start-up, eliminating the need for user confirmation.

[0022] To illustrate the technical solution of this application, specific embodiments are described below.

[0023] Figure 1This illustration shows a schematic flowchart of a vehicle control method provided in an embodiment of this application. This method can be applied to electronic devices and is suitable for situations requiring improved vehicle control convenience. In the embodiments of this application, the aforementioned electronic device can refer to intelligent devices with vehicle control functions, such as in-vehicle equipment, or it can refer to a vehicle (including but not limited to fuel vehicles, new energy vehicles, etc.).

[0024] In the embodiments of this application, the vehicle may be equipped with an ACC system, which can be used to control the vehicle.

[0025] Specifically, the control method for the aforementioned vehicle may include the following steps S101 to S103.

[0026] Step S101: Obtain the vehicle's current speed and the current status of the adaptive cruise control system.

[0027] In the embodiments of this application, the current vehicle speed is the current speed of the vehicle, which can characterize the current scene in which the vehicle is located. In some embodiments, the electronic device can obtain the current vehicle speed collected by the speed sensor configured on the vehicle, or it can estimate the current vehicle speed based on the historical vehicle speed within the previous N seconds (N is greater than 0), and this application does not limit this.

[0028] The current status of the ACC system indicates whether it is in use, specifically including an active and inactive state. An active state indicates that the ACC system is enabled, meaning that vehicle control can currently be performed by the ACC system. An inactive state indicates that the ACC system is not activated, meaning that vehicle control currently requires intervention from other control systems / controllers, or manual control by the user.

[0029] In the embodiments of this application, the current state of the ACC system can be changed according to the user's control operations. Specifically, when the user needs to activate the ACC system, they can input a start control signal for the ACC system through touch screen operation, voice control operation, key input operation, etc. The vehicle then activates the ACC system according to the start control signal and sets the current state to active. Similarly, when the user needs to deactivate the ACC system, they can input a deactivation control signal through touch screen operation, voice control operation, key input operation, etc. The vehicle then deactivates the ACC system according to the deactivation control signal and sets the current state to inactive. Correspondingly, the electronic device can obtain the current state of the ACC system recorded by the vehicle.

[0030] Step S102: When the current vehicle speed is less than the vehicle speed threshold and the current state is active, activate the first target sensor.

[0031] Among them, the vehicle speed threshold is greater than 0, and the specific value can be adjusted according to the actual situation. For example, it can be set to 30 kph (that is, 30 kilometers per hour).

[0032] In the embodiments of this application, the current vehicle speed being less than a vehicle speed threshold can encompass various vehicle scenarios. Specifically, the current vehicle speed being less than a vehicle speed threshold includes starting scenarios where the vehicle speed is 0 and congested road scenarios where the vehicle is traveling at a low speed.

[0033] In these scenarios, to ensure safety, if the ACC system is currently active, the first target sensor can be activated through the ACC system. Activating the first target sensor means putting it into working condition. When the first target sensor is active, it can be used to collect information about targets in all directions from the vehicle.

[0034] Step S103: Control the vehicle based on the information collected by the first target sensor.

[0035] Specifically, the information collected by the first target sensor may include, but is not limited to, image information and point cloud information of targets in various directions from the vehicle. This information can characterize the current state and motion trend of the targets. Then, the electronic equipment can analyze the distance between each target and the vehicle, the correlation of the motion trends between each target and the vehicle (e.g., whether a collision will occur), and make control strategy decisions based on the corresponding control strategies to control the vehicle.

[0036] In the embodiments of this application, when the current vehicle speed is less than the vehicle speed threshold and the current state of the adaptive cruise control system is active, the first target sensor is activated, and the vehicle is controlled based on the information collected by the first target sensor from targets in various directions. During the vehicle start-up phase, the ACC system can control the vehicle to start based on the information of targets in various directions without requiring user confirmation, which improves the convenience of vehicle control. At the same time, since the vehicle control refers to the information of targets in various directions, it is beneficial to improve the safety of vehicle start-up.

[0037] Specifically, in related technologies, ACC systems often use connected forward-facing cameras and forward-facing millimeter-wave radars for target detection. While these systems are suitable for long-range detection, they have physical blind spots near the vehicle when detecting targets ahead of the road, and also have limitations in recognizing moving targets crossing the road (limited lateral recognition area). Based on this, please refer to... Figure 2The illustrated vehicle system diagram shows that, in an embodiment of this application, the vehicle may include a parking controller connected to a surround-view camera and a collision avoidance radar. To meet parking requirements, the surround-view camera and collision avoidance radar connected to the parking controller can detect near-field targets in all directions. When the current vehicle speed is less than a speed threshold and the current state is active, the electronic device can send an activation command to the parking controller, which then activates the surround-view camera and collision avoidance radar.

[0038] In other words, the aforementioned first target sensor may include multiple surround-view cameras and a collision avoidance radar. The multiple surround-view cameras can be used to collect information on targets in the vehicle's driving direction (i.e., forward and backward) and targets perpendicular to the driving direction (i.e., left and right sides). Preferably, each surround-view camera has a 360° acquisition range. The collision avoidance radar can be used to collect information on targets in the vehicle's driving direction (i.e., forward and backward), and may specifically refer to ultrasonic radar.

[0039] More specifically, when the aforementioned electronic device is a vehicle, the vehicle can... Figure 2 The vehicle controller shown activates the surround-view camera and collision avoidance radar, and acquires the information collected by the surround-view camera and collision avoidance radar on the target after activation.

[0040] In some implementations, such as Figure 2 As shown, the vehicle described above can be equipped with a braking system, a power system, and a steering system. The braking system and power system are used for longitudinal control of the vehicle; the braking system is used to control vehicle deceleration, and the power system is used to control vehicle acceleration. The steering system is used to control vehicle steering, achieving lateral control of the vehicle.

[0041] Accordingly, the first target sensor may include motion information of the target in various directions of the vehicle, including but not limited to the target's speed, acceleration, and distance between the target and the vehicle. Based on the motion information of the target in various directions of the vehicle collected by the first target sensor, the electronic equipment may control at least one of the braking system, power system, and steering system.

[0042] Specifically, in some implementations, if the target is a vehicle following another vehicle, at least one of the braking system, power system, and steering system can be controlled based on the motion information of the vehicle following another vehicle, so as to keep the distance between the vehicle and the vehicle following another vehicle within a first preset distance range.

[0043] Here, the following target refers to the object that the vehicle is following. In some embodiments, when the ACC system is activated, the electronic equipment can detect the vehicle in front of it using the forward-facing camera and forward-facing millimeter-wave radar connected to the ACC system, and then use that vehicle as the following target. In other embodiments, the user can also select the following target. This application does not impose any limitations on this.

[0044] Once the target vehicle is confirmed, if the first target sensor acquires its motion information, it can determine the necessary motion information to maintain the distance between the vehicle and the target vehicle within a first preset distance range. Based on this motion information, a steering control request, a braking request, and / or a torque request are generated. The steering control request instructs the steering system to perform turning control. The braking request instructs the braking system to control the vehicle's deceleration until it comes to a stop. The torque request adjusts the torque of the electric motor in the powertrain system to control the vehicle's speed.

[0045] It should be understood that the aforementioned first preset distance range can be set according to the actual situation, and can usually be set based on the safe following distance.

[0046] In other embodiments, if the target is an obstacle avoidance target for the vehicle, at least one of the braking system, power system, and steering system can be controlled based on the motion information of the obstacle avoidance target to keep the distance between the vehicle and the obstacle avoidance target within a second preset distance range.

[0047] The obstacle avoidance target can be any target other than the vehicle being followed. Based on the motion information of the obstacle avoidance target, the motion information required for the vehicle to maintain a distance of within a second preset range from the obstacle avoidance target can be determined. Then, based on this motion information, a steering angle control request, a braking request, and / or a torque request are generated. More specifically, by controlling at least one of the braking system, power system, and steering system, the vehicle can be accelerated to prevent the obstacle avoidance target from intersecting between the vehicle and the vehicle being followed, or the vehicle can be decelerated and turned to allow the obstacle avoidance target to pass.

[0048] In addition to following other vehicles and avoiding obstacles, in some other embodiments, the electronic device can also respond to the user's exit operation by controlling the first target sensor to stop working and controlling the ACC system to shut down, thereby allowing the user to control the vehicle autonomously.

[0049] In other embodiments of this application, such as Figure 3 As shown, after obtaining the vehicle's current speed and the current state of the adaptive cruise control system, the electronic device can also execute steps S301 to S302.

[0050] Step S301: When the current vehicle speed is greater than or equal to the vehicle speed threshold and the current state is active, activate the second target sensor.

[0051] In the embodiments of this application, a current vehicle speed greater than or equal to a speed threshold indicates that the vehicle is in a non-congested road segment scenario. In this scenario, the distance between vehicles in front and behind the vehicle in the direction of travel is relatively far. Therefore, the electronic device mainly refers to targets in other lanes when controlling the vehicle. Based on this, when the current vehicle speed is greater than or equal to the speed threshold and the current state is active, the electronic device can activate a second target sensor, which can be used to collect information on targets on the sides (i.e., left and right sides) of the vehicle.

[0052] Specifically, the second target sensor may include multiple surround-view cameras; wherein, the multiple surround-view cameras can be used to collect information on targets in the direction perpendicular to the vehicle's direction of travel.

[0053] Step S302: Control the vehicle based on the information collected by the second target sensor.

[0054] For example, based on information collected by the second target sensor, the electronic device can control the vehicle to avoid lateral targets. Alternatively, based on information collected by the second target sensor, the vehicle can be controlled to leave its current lane and enter another lane while maintaining a safe distance from targets in other lanes.

[0055] In other implementations, when the current vehicle speed is less than the vehicle speed threshold and the ACC system is currently inactive, the electronic device can also control the vehicle based on the signal output by the parking controller, thereby realizing the vehicle's parking function.

[0056] Specifically, the parking controller can also generate steering angle control requests, braking requests, and / or torque requests to control at least one of the steering system, braking system, and power system.

[0057] In the embodiments of this application, different sensors are activated for different functional scenarios based on the vehicle's current speed and the current state of the ACC system, so as to use the information collected by different sensors for vehicle control. At the same time, resource sharing is realized between the driving controller and the parking controller, thereby improving the safety and reliability of vehicle control.

[0058] It should be noted that, for the sake of simplicity, the aforementioned method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders.

[0059] like Figure 4 The diagram shown is a structural schematic of a vehicle control device 400 provided in an embodiment of this application. The vehicle control device 400 is configured on an electronic device / vehicle. The controlled vehicle is equipped with an ACC system.

[0060] Specifically, the vehicle control device 400 may include:

[0061] The acquisition unit 401 is used to acquire the current vehicle speed and the current state of the adaptive cruise control system.

[0062] The activation unit 402 is used to activate the first target sensor when the current vehicle speed is less than the vehicle speed threshold and the current state is the active state. The first target sensor is used to collect information on targets in all directions of the vehicle.

[0063] The control unit 403 is used to control the vehicle based on the information collected by the first target sensor.

[0064] In some embodiments of this application, the first target sensor may include a plurality of surround-view cameras and a collision avoidance radar; wherein, the plurality of surround-view cameras are used to collect information on targets in the driving direction of the vehicle and targets in the direction perpendicular to the driving direction; the collision avoidance radar is used to collect information on targets in the driving direction of the vehicle.

[0065] In some embodiments of this application, the vehicle may be equipped with a braking system, a power system, and a steering system. The braking system can be used to control the deceleration of the vehicle, the power system can be used to control the acceleration of the vehicle, and the steering system can be used to control the steering of the vehicle. The information collected by the first target sensor may include the motion information of targets in various directions of the vehicle. Accordingly, the control unit 403 may be specifically used to control at least one of the braking system, the power system, and the steering system according to the motion information of targets in various directions of the vehicle.

[0066] In some embodiments of this application, the control unit 403 described above can be specifically used to: if the target is a vehicle following the vehicle, control at least one of the braking system, the power system and the steering system according to the motion information of the vehicle following the vehicle, so as to keep the distance between the vehicle and the vehicle following the vehicle within a first preset distance range.

[0067] In some embodiments of this application, the control unit 403 may be specifically used to: if the target is an obstacle avoidance target of the vehicle, control at least one of the braking system, the power system and the steering system according to the motion information of the obstacle avoidance target, so as to keep the distance between the vehicle and the obstacle avoidance target within a second preset distance range.

[0068] In some embodiments of this application, the activation unit 402 may also be specifically used to: activate the second target sensor when the current vehicle speed is greater than or equal to the vehicle speed threshold and the current state is the activation state, the second target sensor being used to collect information on the target in the lateral direction of the vehicle; at this time, the control unit 403 may also be specifically used to: control the vehicle based on the information collected by the second target sensor.

[0069] In some embodiments of this application, the second target sensor may include a plurality of surround-view cameras; wherein the plurality of surround-view cameras are used to collect information on targets in the direction perpendicular to the vehicle's driving direction.

[0070] In some embodiments of this application, the vehicle is further equipped with a parking controller; the control unit 403 may also be specifically used to control the vehicle according to the signal output by the parking controller when the current vehicle speed is less than the vehicle speed threshold and the current state is an inactive state.

[0071] It should be noted that, for the sake of convenience and brevity, the specific working process of the vehicle's control device 400 can be found by referring to... Figures 1 to 3 The corresponding process of the method will not be described in detail here.

[0072] like Figure 5 The diagram shown is a schematic representation of an electronic device according to an embodiment of this application. The electronic device 5 may include: a processor 50, a memory 51, and a computer program 52 stored in the memory 51 and executable on the processor 50, such as a vehicle control program. When the processor 50 executes the computer program 52, it implements the steps described in the various vehicle control method embodiments above, for example... Figure 1 Steps S101 to S103 are shown. Alternatively, when the processor 50 executes the computer program 52, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 4 The functions of the acquisition unit 401, activation unit 402, and control unit 403 are shown.

[0073] The computer program can be divided into one or more modules / units, which are stored in the memory 51 and executed by the processor 50 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the electronic device.

[0074] For example, the computer program can be divided into: an acquisition unit, an activation unit, and a control unit. The specific functions of each unit are as follows: the acquisition unit is used to acquire the current vehicle speed and the current state of the adaptive cruise control system; the activation unit is used to activate a first target sensor when the current vehicle speed is less than a speed threshold and the current state is active, the first target sensor being used to collect information on targets in all directions of the vehicle; the control unit is used to control the vehicle based on the information collected by the first target sensor.

[0075] The electronic device may include, but is not limited to, a processor 50 and a memory 51. Those skilled in the art will understand that... Figure 5 This is merely an example of an electronic device and does not constitute a limitation on the electronic device. It may include more or fewer components than illustrated, or combine certain components, or different components. For example, the electronic device may also include input / output devices, network access devices, buses, etc.

[0076] The processor 50 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0077] The memory 51 can be an internal storage unit of the electronic device, such as a hard drive or memory. The memory 51 can also be an external storage device of the electronic device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, the memory 51 can include both internal and external storage units. The memory 51 is used to store the computer program and other programs and data required by the electronic device. The memory 51 can also be used to temporarily store data that has been output or will be output.

[0078] like Figure 6 As shown, this application also provides a vehicle, the vehicle including a processor 60, a memory 61, and a computer program 62 stored in the memory 61 and executable on the processor 60, such as a vehicle control program.

[0079] It should be understood that the aforementioned vehicle may also include multiple sensors, wheels, shell, chassis, motor, transmission device, seats and other common vehicle components, which are not limited in this application.

[0080] Furthermore, for the sake of convenience and brevity, the specific methods by which the above-mentioned vehicles achieve vehicle control can be found in [reference needed]. Figure 5 The specific methods by which the electronic devices shown implement vehicle control are not described in detail in this application.

[0081] It should be noted that, for the sake of convenience and brevity, the structure of the above-mentioned electronic device / vehicle can also be referred to the specific description of the structure in the method embodiment, which will not be repeated here.

[0082] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0083] In the above embodiments, the descriptions of each embodiment 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.

[0084] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for various specific applications, but such implementations should not be considered beyond the scope of this application.

[0085] In the embodiments provided in this application, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings or direct couplings or communication connections may be through some interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0086] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0087] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0088] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0089] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for controlling a vehicle, characterized in that, The vehicle is equipped with an adaptive cruise control system and a parking controller, and the vehicle control method includes: Obtain the current vehicle speed and the current state of the adaptive cruise control system; When the current vehicle speed is less than a speed threshold and the adaptive cruise control system is currently in an active state, an activation command is sent to the parking controller, which then activates the first target sensor. The first target sensor collects information on targets in all directions of the vehicle. The first target sensor includes multiple surround-view cameras and a collision avoidance radar connected to the parking controller. The multiple surround-view cameras collect information on targets in the vehicle's driving direction and targets perpendicular to the driving direction. The collision avoidance radar collects information on targets in the vehicle's driving direction. Based on the information collected by the first target sensor, the vehicle is controlled. When the current vehicle speed is greater than or equal to the vehicle speed threshold and the current state of the adaptive cruise control system is the active state, the second target sensor is activated. The second target sensor is used to collect information on targets on the side of the vehicle. The vehicle is controlled according to the information collected by the second target sensor.

2. The vehicle control method as described in claim 1, characterized in that, The vehicle is equipped with a braking system, a power system, and a steering system. The braking system is used to control the vehicle's deceleration, the power system is used to control the vehicle's acceleration, and the steering system is used to control the vehicle's steering. The information collected by the first target sensor includes the motion information of targets in various directions of the vehicle. The step of controlling the vehicle based on the information collected by the first target sensor includes: Based on the motion information of targets in various directions of the vehicle, at least one of the braking system, the power system, and the steering system is controlled.

3. The vehicle control method as described in claim 2, characterized in that, The step of controlling at least one of the braking system, the power system, and the steering system based on the motion information of targets in various directions of the vehicle includes: If the target is a vehicle following another vehicle, then at least one of the braking system, the power system, and the steering system is controlled according to the motion information of the vehicle following another vehicle, so that the distance between the vehicle and the vehicle following another vehicle is maintained within a first preset distance range. If the target is an obstacle avoidance target for the vehicle, then based on the motion information of the obstacle avoidance target, at least one of the braking system, the power system, and the steering system is controlled to keep the distance between the vehicle and the obstacle avoidance target within a second preset distance range.

4. The vehicle control method according to any one of claims 1 to 3, characterized in that, After obtaining the current vehicle speed and the current state of the adaptive cruise control system, the vehicle control method further includes: When the current vehicle speed is less than the vehicle speed threshold and the current state is inactive, the vehicle is controlled according to the signal output by the parking controller.

5. A vehicle control device, characterized in that, The vehicle is equipped with an adaptive cruise control system and a parking controller, and the vehicle's control device includes: The acquisition unit is used to acquire the current vehicle speed and the current state of the adaptive cruise control system; An activation unit is configured to send an activation command to the parking controller when the current vehicle speed is less than a vehicle speed threshold and the current state is the activated state of the adaptive cruise control system. The parking controller then activates a first target sensor. The first target sensor is configured to collect information on targets in various directions of the vehicle. The first target sensor includes multiple surround-view cameras and a collision avoidance radar connected to the parking controller. The multiple surround-view cameras are configured to collect information on targets in the vehicle's driving direction and targets perpendicular to the driving direction. The collision avoidance radar is configured to collect information on targets in the vehicle's driving direction. The control unit is used to control the vehicle based on the information collected by the first target sensor. The activation unit is further configured to activate a second target sensor when the current vehicle speed is greater than or equal to the vehicle speed threshold and the current state of the adaptive cruise control system is the activated state. The second target sensor is configured to collect information on targets on the side of the vehicle. The control unit is also used to control the vehicle based on the information collected by the second target sensor.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the vehicle control method as described in any one of claims 1 to 4.

7. A vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the vehicle control method as described in any one of claims 1 to 4.

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