A vehicle-mounted control system, a vehicle, and a control method of the vehicle-mounted control system

Abstract

The application provides a vehicle-mounted control system, a vehicle and a control method of the vehicle-mounted control system, relates to the technical field of vehicles, and is used for prompting pedestrians around the vehicle to pay attention to the vehicle. The vehicle-mounted control system comprises an external speaker, a shooting device, a vehicle external V2X communication device and a controller. The controller is electrically connected with the external speaker, the shooting device and the V2X communication device respectively. The V2X communication device is configured to listen to a V2X wireless signal, analyze the V2X wireless signal after listening to the V2X wireless signal, and transmit pedestrian information to the controller if the pedestrian information is obtained by analyzing the V2X wireless signal. The controller is configured to acquire an image of the environment around the vehicle through the shooting device after receiving the pedestrian information transmitted by the V2X communication device, judge whether there is a traffic signal lamp in the environment around the vehicle based on the image, and control the external speaker to issue prompt information for prompting pedestrians to pay attention to the vehicle in the case that there is a traffic signal lamp in the environment around the vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to the technical field of human-vehicle interaction, and specifically to a vehicle-mounted control system, a vehicle, and a control method of the vehicle-mounted control system. BACKGROUND

[0002] At present, with the progress of the times, the use scenarios of vehicles have also increased. There are a large number of vehicles driving whether in the daytime, at night, in the city, or in the countryside. Therefore, conflicts between vehicles and pedestrians occur from time to time.

[0003] The current Advanced Driving Assistance System (ADAS) is an active safety technology that uses various sensors installed on the vehicle to collect environmental data inside and outside the vehicle in the first time, and performs static and dynamic object recognition, detection, and tracking, so that the driver can perceive the potential danger in the shortest time to attract attention and improve safety. However, the ADAS technology has a limited recognition coverage distance for pedestrians (the ADAS camera of the vehicle element can achieve 120 meters of sensing), and the ADAS coverage area is fan-shaped, having a blind area. This also leads to a blind area in the recognition of pedestrians in the front road by the ADAS during vehicle driving, and the recognition distance is short, which cannot effectively remind pedestrians to pay attention to the vehicle. SUMMARY

[0004] The embodiments of the present application provide a vehicle-mounted control system, a vehicle, and a control method of the vehicle-mounted control system, which are used to remind pedestrians around the vehicle to pay attention to the passing vehicle.

[0005] In a first aspect, a vehicle-mounted control system includes an external speaker, a shooting device, a vehicle external V2X communication device, and a controller. The controller is electrically connected with the external speaker, the shooting device, and the V2X communication device. The V2X communication device is configured to listen to a V2X wireless signal, analyze the V2X wireless signal after listening to the V2X wireless signal, and transmit pedestrian information to the controller if the pedestrian information is obtained by analyzing the V2X wireless signal. The controller is configured to acquire an image of the environment around the vehicle by the shooting device after receiving the pedestrian information transmitted by the V2X communication device, determine whether there is a traffic signal in the environment around the vehicle based on the image, and control the external speaker to issue a prompt information for prompting pedestrians to pay attention to the vehicle if there is a traffic signal in the environment around the vehicle.

[0006] According to the technical means, the vehicle wireless communication technology V2X used by the application obtains the road traffic condition through the way of automobile and all things interconnection, and has stronger detection capability through low delay and high reliable network connection interaction. Based on the strong detection capability of V2X, in the case that the received V2X wireless signal includes pedestrian information, the vehicle surrounding environment is combined with image recognition, and in the case that the vehicle surrounding environment includes traffic signal lights, the pedestrian is prompted by using the external loudspeaker. The problems of limited recognition range or recognition blind area are avoided, the pedestrians in the vehicle surrounding environment cannot be recognized, and the pedestrians cannot be prompted in time and in an appropriate way.

[0007] In some embodiments, the vehicle-mounted control system described above further comprises a vehicle-mounted host electrically connected with the controller; and the controller is further configured to control the vehicle-mounted host to issue prompt information for prompting the driver to pay attention to the pedestrian after receiving the pedestrian information transmitted by the V2X communication device.

[0008] According to the technical means, the vehicle-mounted host is controlled to prompt the driver that there are pedestrians passing by in a timely manner in the case that the pedestrian information transmitted by the V2X communication device is received, and traffic accidents caused by the driver not paying attention to the pedestrians are avoided.

[0009] In some embodiments, the vehicle-mounted control system described above further comprises an ambient light sensor and a vehicle light system, and the controller is electrically connected with the ambient light sensor and the vehicle light system respectively; the ambient light sensor is used to collect the ambient light brightness value of the vehicle surrounding environment and transmit the ambient light brightness value to the controller; and the controller is further configured to control the vehicle light system to project a sidewalk image to the front of the vehicle in the case that there is no traffic signal light in the vehicle surrounding environment and the ambient light brightness value is less than a threshold value.

[0010] According to the technical means, the vehicle light system is controlled to project a sidewalk image to guide the pedestrians in the case that there is no traffic signal light in the vehicle surrounding environment and the brightness is low, and traffic accidents caused by the pedestrians being unable to see the road condition clearly in a low brightness environment are avoided.

[0011] In some embodiments, the controller is further configured to control the vehicle light system to project an image and / or text for prompting the rear vehicle to pay attention to the pedestrian to the left front and / or right front of the vehicle in the case that there is no traffic signal light in the vehicle surrounding environment and the ambient light brightness value is less than a threshold value.

[0012] According to the technical means, the visibility distance of the vehicle driver is limited in the case that there is no traffic signal light in the vehicle surrounding environment and the brightness is low. The image and / or text for prompting the rear vehicle to pay attention to the pedestrian are projected to the left front and / or right front of the vehicle, and the situation of traffic accidents caused by the rear driver not paying attention to the pedestrians is avoided.

[0013] In some embodiments, the vehicle-mounted control system further comprises a rear display electrically connected to the controller; and the controller is further configured to control the rear display to display the prompt information for prompting the rear vehicle to pay attention to the pedestrian when there is no traffic signal lamp in the vehicle surrounding environment.

[0014] According to the above technical means, the vehicle-mounted control system can prompt the rear vehicle to pay attention to the pedestrian when there is a traffic signal lamp in the vehicle surrounding environment, so as to avoid traffic accidents caused by the blocked view of the rear vehicle.

[0015] In a second aspect, a vehicle is provided, which comprises the vehicle-mounted control system of the first aspect.

[0016] In a third aspect, a control method of a vehicle-mounted control system is provided, which controls a V2X communication device to listen to a V2X wireless signal and analyze the listened V2X wireless signal; when the listened V2X wireless signal includes pedestrian information, controls an imaging device to acquire an image of a vehicle surrounding environment; judges whether there is a traffic signal lamp in the vehicle surrounding environment based on the image; and when there is a traffic signal lamp in the vehicle surrounding environment, controls an external loudspeaker to emit prompt information for prompting the pedestrian to pay attention to the vehicle.

[0017] In some embodiments, when the listened V2X wireless signal includes pedestrian information, the vehicle-mounted host is controlled to emit prompt information for prompting the driver to pay attention to the pedestrian.

[0018] In some embodiments, an ambient light brightness value of the vehicle surrounding environment collected by an ambient light sensor is acquired; and when there is no traffic signal lamp in the vehicle surrounding environment and the ambient light brightness value is less than a threshold value, a pedestrian walkway image is projected to the front of the vehicle by a vehicle lamp system.

[0019] In some embodiments, when there is no traffic signal lamp in the vehicle surrounding environment and the ambient light brightness value is less than a threshold value, an image and / or text for prompting the rear vehicle to pay attention to the pedestrian are projected to the left front and / or right front of the vehicle by the vehicle lamp system.

[0020] In some embodiments, when there is no traffic signal lamp in the vehicle surrounding environment, the rear display is controlled to display prompt information for prompting the rear vehicle to pay attention to the pedestrian.

[0021] In a fourth aspect, a controller is provided, which comprises one or more processors and one or more memories; the one or more memories are configured to store computer program codes, the computer program codes comprise computer instructions, and when the one or more processors execute the computer instructions, the controller performs the control method of the vehicle-mounted control system provided in the second aspect and possible implementation manners.

[0022] In a fifth aspect, the present application provides a computer readable storage medium, which comprises computer instructions, when the computer instructions are executed on a computer, the computer is caused to execute the control method of the vehicle-mounted control system provided in the second aspect and possible implementation manners.

[0023] In a sixth aspect, the present application provides a computer program product, which can be directly loaded into a memory and contains software codes, and the computer program product can realize the control method of the vehicle-mounted control system provided in the second aspect and possible implementation manners after being loaded and executed by a computer.

[0024] Therefore, the above technical features of the present application have the following beneficial effects:

[0025] (1) The vehicle wireless communication technology V2X obtains the road traffic situation through the way of automobile and everything interconnection, and interacts through low delay and high reliable network connection, and has stronger detection ability. Based on the strong detection ability of V2X, when the received V2X wireless signal includes pedestrian information, the vehicle surrounding environment is identified by combining image recognition, and when the vehicle surrounding environment includes traffic signal lights, the pedestrian is prompted by using the external loudspeaker. Avoiding the problems of limited identification range or identification blind area, etc., the pedestrians in the vehicle surrounding environment cannot be identified, and the pedestrians cannot be prompted in time and in an appropriate way.

[0026] (2) When the pedestrian information transmitted by the V2X communication device is received, the vehicle-mounted host is controlled to prompt the driver that pedestrians pass by in time, avoiding traffic accidents caused by the driver not paying attention to the pedestrians.

[0027] (3) When there is no traffic signal light around the vehicle and the brightness is low, the vehicle lamp system is controlled to project a sidewalk image for pedestrians to guide, avoiding traffic accidents caused by pedestrians being unable to clearly see the road conditions in a low brightness environment.

[0028] (4) When there is no traffic signal light around the vehicle and the brightness is low, the visibility distance of the vehicle driver is limited. The image and / or text for prompting the rear vehicle to pay attention to the pedestrians are projected in the left front and / or right front of the vehicle, avoiding the situation that traffic accidents are caused by the rear vehicle driver not paying attention to the pedestrians.

[0029] (5) When there is a traffic signal light in the vehicle surrounding environment, the rear vehicle is prompted by using the rear display, avoiding the situation that traffic accidents are caused by the rear vehicle because of the blocked view.

[0030] It should be noted that the computer instructions described above can be stored in whole or in part on a computer readable storage medium. The computer readable storage medium can be packaged with the processor of the controller or packaged separately from the processor of the controller, and the present application does not limit this.

[0031] The beneficial effects of the second aspect to the sixth aspect described in the present application can be analyzed with reference to the beneficial effects of the first aspect, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 A structural schematic diagram of a vehicle-mounted control system provided by an embodiment of the present application is provided.

[0033] Figure 2 A flowchart of a control method of a vehicle-mounted control system provided by an embodiment of the present application is provided. Figure 1

[0034] Figure 3 A flowchart of a control method of a vehicle-mounted control system provided by an embodiment of the present application is provided. Figure 2

[0035] Figure 4 A flowchart of a control method of a vehicle-mounted control system provided by an embodiment of the present application is provided.

[0036] Figure 5 A hardware structure schematic diagram of a controller provided by an embodiment of the present application is provided. DETAILED DESCRIPTION

[0037] The embodiments of the present application will be described below with reference to the accompanying drawings and preferred embodiments, and other advantages and effects of the present application can be easily understood by those skilled in the art from the disclosure herein. The present application can also be implemented or applied by different specific embodiments, and various modifications or changes can be made to the details herein based on different views and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, and are not intended to limit the protection scope of the present application.

[0038] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. In addition, when describing the pipeline, the "connected" and "connected" used in the present application have the meaning of conducting. The specific meaning needs to be understood in combination with the context.

[0039] ​​In the embodiments of the present application, the word "exemplary" or "for example" is used to mean serving as an example, instance, or illustration. Any embodiment or design described in the embodiments of the present application as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the word "exemplary" or "for example" is used to present concepts in a concrete manner.

[0040] It should be noted that the drawings provided in the following embodiments only schematically illustrate the basic concept of the present application, and only the components related to the present application are shown in the drawings, not the number, shape and size of the components when actually implemented. The actual implementation of each component may be a random change, and the component layout pattern may be more complex.

[0041] At present, with the progress of the times, the use scene of the vehicle also increases. Whether it is day, night, or downtown, rural areas, there are a large number of vehicles driving. Therefore, the conflict between the vehicle and the pedestrian occurs from time to time.

[0042] The current advanced driving assistance system (ADAS) is to use various sensors installed on the car to collect environmental data inside and outside the car in the first time, and to perform static and dynamic object recognition, detection and tracking and other technical processing, so that the driver can perceive the possible danger in the shortest time to attract attention and improve the active safety technology of the safety. But the ADAS technology has a limited coverage distance for pedestrian recognition (the ADAS camera of the car element can realize 120 meters of sensing), and the ADAS coverage area is fan-shaped, and there is a blind area. This also leads to the fact that in the process of driving the vehicle, the ADAS has a blind area for pedestrian recognition in the front road, and the recognition distance is short, and cannot effectively remind the pedestrian to pay attention to the vehicle; and cannot prompt the rear vehicle that a pedestrian has passed.

[0043] Based on this, the embodiments of the present application provide a vehicle control system and a control method thereof. The vehicle control system uses the vehicle wireless communication technology V2X to obtain the road traffic condition through the way of automobile and everything interconnection, and interacts through low-latency and high-reliability network connection, and has stronger detection capability. Based on the strong detection capability of V2X, in the case that the received V2X wireless signal includes pedestrian information, the vehicle surrounding environment is recognized in combination with image recognition, in the case that the vehicle surrounding environment includes traffic signal lights, the pedestrian is prompted by using an external loudspeaker. Avoid the problems of limited recognition range or recognition blind area, and cannot recognize the pedestrian in the vehicle surrounding environment, and cannot timely and appropriately prompt the pedestrian.

[0044] Referring to Figure 1As shown, the vehicle-mounted control system provided by the embodiment of the present application can include an external speaker 101, a shooting device 102, and a vehicle external V2X communication device 103.

[0045] In some embodiments, the external speaker 101 is configured to send prompt information for prompting pedestrians to pay attention to the vehicle. The working principle of the external speaker 101 is that audio electric energy is converted into sound through electromagnetic, piezoelectric or electrostatic effect, so that the cone or diaphragm vibrates and resonates with the surrounding air to produce sound. The vehicle-mounted speaker can use a cone speaker, a horn speaker, etc. according to requirements, and the embodiment of the present application does not make specific limitations.

[0046] In some embodiments, the shooting device 102 is configured to acquire images of the environment around the vehicle.

[0047] In some embodiments, the vehicle external V2X communication device 103 is configured to listen to V2X wireless signals and analyze the listened V2X wireless signals.

[0048] Optionally, referring to Figure 1 As shown, the vehicle-mounted control system provided by the embodiment of the present application can further include a vehicle-mounted host 104, an ambient light sensor 105, a vehicle light system 106, and a rear display 107.

[0049] In some embodiments, the vehicle-mounted host 104 is configured to send prompt information for prompting the driver to pay attention to the pedestrian.

[0050] In some embodiments, the ambient light sensor 105 is configured to collect ambient light brightness values of the environment around the vehicle.

[0051] In some embodiments, the vehicle light system 106 is configured to project a sidewalk image to the front of the vehicle, and is further configured to project an image and / or text for prompting the rear vehicle to pay attention to the pedestrian to the left front and / or right front of the vehicle.

[0052] In some embodiments, the rear display 107 is configured to display prompt information for prompting the rear vehicle to pay attention to the pedestrian.

[0053] Referring to Figure 1 As shown, the vehicle-mounted control system further includes a controller 108, which is electrically connected with the external speaker 101, the shooting device 102, the vehicle external V2X communication device 103, the vehicle-mounted host 104, the ambient light sensor 105, the vehicle light system 106, and the rear display 107, respectively.

[0054] In some embodiments, the controller 108 refers to a device that can generate operation control signals according to instruction operation codes and timing signals, instructing the vehicle-mounted control system to execute control instructions. Exemplarily, the controller 108 can be a central processing unit (CPU), a general-purpose processor network processor (NP), a digital signal processing (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. The controller 108 can also be other devices with processing functions, such as a circuit, a device, or a software module, and the embodiments of the present application do not make any limitation in this regard.

[0055] In some embodiments, the controller 108 is configured to, after receiving the pedestrian information transmitted by the V2X communication device 103, acquire an image of the environment around the vehicle through the imaging device 102; determine whether there is a traffic signal lamp in the environment around the vehicle based on the image; and control the external loudspeaker 101 to issue prompt information for prompting the pedestrian to pay attention to the vehicle in the case that there is a traffic signal lamp in the environment around the vehicle.

[0056] According to the above technical means, the vehicle wireless communication technology V2X used in the present application has stronger detection capability through the way of automobile and everything interconnection to acquire the road traffic condition and interact through low-latency and high-reliability network connection. Based on the strong detection capability of V2X, in the case that the received V2X wireless signal includes pedestrian information, the environment around the vehicle is identified in combination with image recognition, and in the case that the environment around the vehicle includes a traffic signal lamp, the pedestrian is prompted by using the external loudspeaker. The problems such as limited recognition range or recognition blind area are avoided, and the pedestrian in the environment around the vehicle cannot be identified, and the pedestrian cannot be prompted in a timely and appropriate manner.

[0057] In some embodiments, the controller 108 is configured to, after receiving the pedestrian information transmitted by the V2X communication device 103, control the vehicle-mounted host 104 to issue prompt information for prompting the driver to pay attention to the pedestrian.

[0058] According to the above technical means, in the case that the pedestrian information transmitted by the V2X communication device is received, the vehicle-mounted host is controlled to prompt the driver that the pedestrian passes by in a timely manner, and the traffic accident caused by the driver not paying attention to the pedestrian is avoided.

[0059] In some embodiments, the controller 108 is further configured to, in the case that there is no traffic signal lamp in the environment around the vehicle, and the ambient light brightness value is less than a threshold value, control the vehicle lamp system 106 to project a sidewalk image to the front of the vehicle.

[0060] According to the above technical means, in the case that there is no traffic signal around the vehicle and the brightness is low, the vehicle lamp system is controlled to project a pedestrian image to guide the pedestrian, avoiding traffic accidents caused by the pedestrian being unable to clearly see the road conditions in a low brightness environment.

[0061] In some embodiments, the controller 108 is further configured to: in the case that there is no traffic signal around the vehicle and the ambient light brightness value is less than a threshold value, control the vehicle lamp system to project an image and / or text for prompting the rear vehicle to pay attention to the pedestrian to the left front and / or right front of the vehicle.

[0062] According to the above technical means, in the case that there is no traffic signal around the vehicle and the brightness is low, the visibility distance of the vehicle driver is limited. The image and / or text for prompting the rear vehicle to pay attention to the pedestrian is projected to the left front and / or right front of the vehicle, avoiding the case that a traffic accident is caused by the rear driver not paying attention to the pedestrian.

[0063] In some embodiments, the controller 108 is further configured to: in the case that there is no traffic signal around the vehicle, control the vehicle rear display to display prompt information for prompting the rear vehicle to pay attention to the pedestrian.

[0064] According to the above technical means, in the case that there is a traffic signal around the vehicle, the rear vehicle is prompted using the vehicle rear display, avoiding the case that a traffic accident is caused by the rear vehicle due to the line of sight being blocked.

[0065] Based on the above vehicle-mounted control system, as shown in Figure 2 The embodiment of the application provides a control method of a vehicle-mounted control system, and the method comprises the following steps:

[0066] S101, a V2X communication device is controlled to listen to a V2X wireless signal, and the V2X wireless signal listened to is analyzed.

[0067] S102, in the case that the V2X wireless signal listened to by the V2X communication device includes pedestrian information, an image of the environment around the vehicle is obtained through a shooting device.

[0068] Based on the above S102, in some embodiments, in the case that the V2X wireless signal listened to by the V2X communication device includes pedestrian information, the method further comprises the following step: controlling a vehicle-mounted host to issue prompt information for prompting the driver to pay attention to the pedestrian.

[0069] For example, the prompt information can be a video animation including the content of "pay attention to pedestrians". If the V2X wireless signal listened by the V2X communication device of the vehicle A includes the pedestrian information, at this time, the vehicle host of the vehicle A is controlled to play the video animation including the content of "pay attention to pedestrians" to prompt the driver to pay attention to the pedestrians.

[0070] For example, the prompt information can also be a text content including "pedestrians are passing by in front".

[0071] According to the above technical means, after receiving the pedestrian information transmitted by the V2X communication device, the vehicle host is controlled to issue the prompt information prompting the driver to pay attention to the pedestrians, which avoids the situation that the traffic accident is caused because the driver does not pay attention to the pedestrians.

[0072] S103, judging whether there is a traffic signal lamp in the surrounding environment of the vehicle based on the image.

[0073] S104, in the case that there is a traffic signal lamp in the surrounding environment of the vehicle, controlling the external speaker to issue the prompt information for prompting the pedestrians to pay attention to the vehicle.

[0074] For example, the prompt information for prompting the pedestrians to pay attention to the vehicle can be the voice content of "please pay attention to the vehicle".

[0075] As can be seen from the above, in the above method of the embodiment of the application, the vehicle wireless communication technology V2X is used to obtain the road traffic condition through the way of automobile and all things interconnection, and the low-latency and high-reliability network connection interaction is used, which has stronger detection capability. Based on the strong detection capability of V2X, in the case that the pedestrian information is included in the received V2X wireless signal, the surrounding environment of the vehicle is identified in combination with the image, in the case that the traffic signal lamp is included in the surrounding environment of the vehicle, the pedestrians are prompted by using the external speaker. Avoiding the problems that the pedestrians in the surrounding environment of the vehicle cannot be identified due to the limited identification range or the identification blind area, and the pedestrians cannot be prompted in time in an appropriate way.

[0076] In some embodiments, in the case that there is no traffic signal lamp in the surrounding environment of the vehicle, the rear display is controlled to display the prompt information for prompting the rear vehicle to pay attention to the pedestrians.

[0077] For example, the prompt information for prompting the rear vehicle to pay attention to the pedestrians can be the text content of "pedestrians are passing by in front".

[0078] For example, the prompt information for prompting the rear vehicle to pay attention to the pedestrians can also be the sign image of "pay attention to pedestrians".

[0079] According to the above technical means, the vehicle can control the rear display of the vehicle to display the prompt information for prompting the rear vehicle to pay attention to the pedestrian in the case that there is a traffic signal lamp in the surrounding environment of the vehicle, so as to avoid the case that the rear vehicle causes a traffic accident due to the blocked view.

[0080] As shown in Figure 3 the control method of the vehicle-mounted control system provided by the embodiment of the application further includes the following steps:

[0081] S201, in the case that there is no traffic signal lamp in the surrounding environment of the vehicle, acquiring the ambient light brightness value collected by the ambient light sensor in the surrounding environment of the vehicle.

[0082] S202, in the case that there is no traffic signal lamp in the surrounding environment of the vehicle and the ambient light brightness value is less than a threshold value, controlling the vehicle lamp system to project a sidewalk image to the front of the vehicle.

[0083] The case that the ambient light brightness value is less than the threshold value can be set according to the ambient light brightness value when the evening visible distance is short, and the embodiment of the application does not make any limitation on this.

[0084] For example, the threshold value is 100 cd / m 2 . There is no traffic signal lamp in the surrounding environment of the vehicle A; the ambient light brightness value of the surrounding environment of the vehicle A is 80 cd / m 2 , that is, the ambient light brightness value of the surrounding environment of the vehicle A is less than the threshold value. At this time, the vehicle lamp system is controlled to project a sidewalk image to the front of the vehicle to guide the pedestrian to pass the road.

[0085] From the above content, it can be known that in the above method provided by the embodiment of the application, in the case that there is no traffic signal lamp in the surrounding environment of the vehicle and the low-visibility environment with low brightness, the sidewalk image is projected to guide the pedestrian, so as to avoid the traffic accident caused by the pedestrian who cannot clearly see the road condition.

[0086] In some embodiments, in the case that there is no traffic signal lamp in the surrounding environment of the vehicle and the ambient light brightness value is less than the threshold value, the vehicle lamp system is controlled to project an image and / or text for prompting the rear vehicle to pay attention to the pedestrian to the left front and / or right front of the vehicle.

[0087] For example, the threshold value is 100 cd / m 2 , and the prompt information is the text content of "pedestrian in front". There is no traffic signal lamp in the surrounding environment of the vehicle A; the ambient light brightness value of the surrounding environment of the vehicle A is 90 cd / m 2 , that is, the ambient light brightness value of the surrounding environment of the vehicle A is less than the threshold value. At this time, the vehicle lamp system is controlled to project the text content of "pedestrian in front" to the left front and right front of the vehicle to prompt the rear vehicle to pay attention to the pedestrian.

[0088] For example, the threshold value is 100 cd / m 2 The prompt information is the text content of "pay attention to pedestrians" and the image content of "pay attention to pedestrian sign". There is no traffic signal lamp in the surrounding environment of vehicle A; the ambient brightness value of the surrounding environment of vehicle A is 40 cd / m 2 , that is, the ambient brightness value of the surrounding environment of vehicle A is less than the threshold value. At this time, the vehicle lamp system is controlled to project the text content of "pedestrian in front" and the image content of "pay attention to pedestrian sign" to the right front of the vehicle to prompt the rear vehicle to pay attention to pedestrians.

[0089] From the above, in the above method provided by the embodiments of the present application, in the case that there is no traffic signal lamp in the surrounding environment of the vehicle and the ambient brightness is less than the threshold value, the rear vehicle is prompted in a projection manner, avoiding traffic accidents caused by the rear vehicle not observing pedestrians.

[0090] In some embodiments, in the case that there is no traffic signal lamp in the surrounding environment and the ambient brightness value is less than the threshold value, the shooting device is controlled to identify the position where the pedestrians are located, and the vehicle lamp system is controlled to illuminate the position where the pedestrians are located.

[0091] According to the above technical means, in the case that there is no traffic signal lamp in the surrounding environment of the vehicle and the ambient brightness is less than the threshold value, the position where the pedestrians are located is illuminated, avoiding traffic accidents caused by unclear vision of the pedestrians.

[0092] Hereinafter, the above method provided by the embodiments of the present application is further described according to the content shown in Figure 4 .

[0093] Firstly, the V2X communication device is controlled to listen to the V2X wireless signal, and in the case that the V2X communication device detects the V2X wireless signal, the V2X communication device is controlled to analyze the V2X wireless signal.

[0094] Secondly, if the V2X wireless signal includes pedestrian information, the image of the surrounding environment of the vehicle is acquired through the shooting device. And if the V2X wireless signal includes pedestrian information, the vehicle-mounted host is controlled to issue prompt information for prompting the driver to pay attention to pedestrians.

[0095] Further, based on the image, it is judged whether there is a traffic signal lamp in the surrounding environment of the vehicle.

[0096] Further, in the case that there is a traffic signal lamp in the surrounding environment of the vehicle, the vehicle external loudspeaker is controlled to issue prompt information for prompting pedestrians to pay attention to the vehicle. And in the case that there is no traffic signal lamp in the surrounding environment of the vehicle, the rear display is controlled to display prompt information for prompting the rear vehicle to pay attention to pedestrians.

[0097] Further, in the case that there is no traffic signal around the vehicle, the ambient light brightness value around the vehicle collected by the ambient light sensor is acquired. In the case that there is no traffic signal around the vehicle and the ambient light brightness value is less than a threshold value, the vehicle lamp system is controlled to project a sidewalk image to the front of the vehicle. In the case that there is no traffic signal around the vehicle and the ambient light brightness value is less than a threshold value, the vehicle lamp system is controlled to project an image and / or text for prompting the rear vehicle to pay attention to the pedestrian to the left front and / or right front of the vehicle. In the case that there is no traffic signal around the vehicle and the ambient light brightness value is less than a threshold value, the camera is controlled to identify the position of the pedestrian, and the vehicle lamp system is controlled to illuminate the position of the pedestrian.

[0098] It can be seen that the above mainly introduces the scheme provided by the embodiments of the present application from the perspective of method. In order to realize the above functions, the embodiments of the present application provide the corresponding hardware structure and / or software module for executing each function. Those skilled in the art should easily realize that the modules and algorithm steps of each example described in combination with the embodiments disclosed in the present text can be realized in the form of hardware or the combination of hardware and computer software. Whether a certain function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. The professional technicians can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0099] The embodiments of the present application also provide a vehicle comprising the vehicle-mounted control system described above.

[0100] The embodiments of the present application also provide a hardware structure schematic diagram of a controller, as shown in the figure, the controller 108 comprises a processor 111, and optionally further comprises a memory 112 and a communication interface 113 connected with the processor 111. The processor 111, the memory 112 and the communication interface 113 are connected through a bus 114. Figure 5

[0101] ​The processor 111 can be a central processing unit (CPU), a general-purpose processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. The processor 111 can also be other devices with processing capabilities, such as a circuit, a device, or a software module. The processor 111 can also include multiple CPUs, and the processor 111 can be a single-CPU processor or a multi-CPU processor. The processor herein can refer to one or more devices, circuits, or processing cores for processing data (e.g., computer program instructions).

[0102] The memory 112 can be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, a magnetic disk storage or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and that can be accessed by a computer, without limitation. The memory 112 can exist independently or be integrated with the processor 111. The memory 112 can include computer program code. The processor 111 is configured to execute the computer program code stored in the memory 112, thereby implementing the control method provided by the embodiments of the present application.

[0103] The communication interface 113 can be configured to communicate with other devices or communication networks (e.g., Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc.). The communication interface 113 can be a module, a circuit, a transceiver, or any device capable of communication.

[0104] The bus 114 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus 114 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the figure to represent the bus, but it does not mean that there is only one bus or only one type of bus.

[0105] The embodiment of the present application further provides a computer readable storage medium, which comprises computer execution instructions, and when the computer execution instructions are executed on a computer, the computer is caused to execute any control method provided by the above-mentioned embodiment.

[0106] The embodiment of the present application further provides a computer program product comprising computer execution instructions, and when the computer execution instructions are executed on a computer, the computer is caused to execute any control method provided by the above-mentioned embodiment.

[0107] In the above-mentioned embodiment, all or part of the embodiment can be realized by software, hardware, firmware or any combination thereof. When realized by a software program, all or part of the embodiment can be realized in the form of a computer program product. The computer program product comprises one or more computer execution instructions. When the computer execution instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiment of the present application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer execution instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer execution instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through a wired (for example, coaxial cable, optical fiber, digital subscriber line (DSL) or wireless (for example, infrared, wireless, microwave, etc.)) way. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device comprising one or more servers, data centers, etc. integrated with the medium. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD) or a semiconductor medium (for example, a solid state disk (SSD)) and the like.

[0108] Although this application has been described herein in conjunction with various embodiments, those skilled in the art, by reviewing the accompanying drawings, the disclosure, and the appended claims, will understand and implement other variations of the disclosed embodiments in carrying out the claimed application. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude multiple instances. A single processor or other unit can implement several functions listed in the claims. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce good results. Although this application has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made without departing from the spirit and scope of this application. Accordingly, this specification and drawings are merely exemplary illustrations of the application as defined by the appended claims and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from the spirit and scope of this application. Therefore, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.

[0109] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An in-vehicle control system characterized by comprising: The vehicle-mounted control system comprises an external speaker, a shooting device, a vehicle external V2X communication device, a controller, and a vehicle-mounted host electrically connected to the controller. The controller is electrically connected to the external speaker, the shooting device, and the V2X communication device respectively. The V2X communication device is configured to listen to a V2X wireless signal. After listening to the V2X wireless signal, the V2X communication device analyzes the V2X wireless signal and transmits pedestrian information to the controller if the V2X wireless signal contains the pedestrian information. The controller is configured to acquire an image of the surrounding environment of the vehicle through the shooting device after receiving the pedestrian information transmitted by the V2X communication device, and determine whether there is a traffic signal lamp in the surrounding environment of the vehicle based on the image. If there is the traffic signal lamp in the surrounding environment of the vehicle, the controller controls the external speaker to issue prompt information for prompting pedestrians to pay attention to the vehicle. The controller is further configured to control the vehicle-mounted host to issue prompt information for prompting the driver to pay attention to the pedestrians after receiving the pedestrian information transmitted by the V2X communication device. The vehicle-mounted control system further comprises an ambient light sensor and a vehicle light system, and the controller is electrically connected to the ambient light sensor and the vehicle light system respectively. The ambient light sensor is used to collect an ambient light brightness value of the surrounding environment of the vehicle and transmit the ambient light brightness value to the controller. The controller is further configured to control the vehicle light system to project a sidewalk image to the front of the vehicle if there is no traffic signal lamp in the surrounding environment of the vehicle and the ambient light brightness value is less than a threshold value. The controller is further configured to control the vehicle light system to project an image and / or text for prompting the rear vehicle to pay attention to the pedestrians to the left front and / or right front of the vehicle if there is no traffic signal lamp in the surrounding environment of the vehicle and the ambient light brightness value is less than a threshold value. The vehicle-mounted control system further comprises a rear display electrically connected to the controller.

2. The in-vehicle control system according to claim 1, characterized by, The controller is further configured to control the rear display to display prompt information for prompting the rear vehicle to pay attention to the pedestrians if there is no traffic signal lamp in the surrounding environment of the vehicle. The vehicle-mounted control system comprises the vehicle-mounted control system according to claim 1 or 2.

3. A vehicle characterized by comprising: The method comprises:

4. A control method of an in-vehicle control system characterized by controlling a V2X communication device to listen to a V2X wireless signal and analyze the V2X wireless signal; acquiring an image of the surrounding environment of the vehicle through a shooting device if the V2X wireless signal listened to by the V2X communication device contains pedestrian information; determining whether there is a traffic signal lamp in the surrounding environment of the vehicle based on the image; controlling an external speaker to issue prompt information for prompting pedestrians to pay attention to the vehicle if there is the traffic signal lamp in the surrounding environment of the vehicle. ​ In the case that the V2X wireless signal listened to by the V2X communication device includes pedestrian information, the vehicle-mounted host is controlled to issue prompt information for prompting the driver to pay attention to pedestrians; an ambient light brightness value of the vehicle surroundings collected by an ambient light sensor is obtained; In the case that the traffic signal lamp does not exist in the vehicle surroundings and the ambient light brightness value is less than a threshold value, the vehicle lamp system is controlled to project a sidewalk image to the front of the vehicle; In the case that the traffic signal lamp does not exist in the vehicle surroundings and the ambient light brightness value is less than a threshold value, the vehicle lamp system is controlled to project an image and / or text for prompting the rear vehicle to pay attention to pedestrians to the left front and / or right front of the vehicle.

5. The method of claim 4, wherein, The method further comprises: In the case that the traffic signal lamp does not exist in the vehicle surroundings, the rear display of the vehicle is controlled to display prompt information for prompting the rear vehicle to pay attention to pedestrians.

6. A computer-readable storage medium, characterized in that, When the computer-executable instructions stored in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device can perform the method of claim 4 or 5.

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