Control method, device and equipment of vehicle sentry mode and storage medium

Abstract

The application provides a control method, device and equipment of a vehicle sentry mode and a storage medium. The method comprises the following steps: in response to a start instruction of the sentry mode issued by an intelligent driving domain controller or an intelligent cabin domain controller, a container of a service corresponding to the sentry mode is pulled up to activate the sentry mode and turn on a sensor corresponding to the sentry mode; when a state feedback by the service corresponding to the sentry mode indicates that the sentry mode is successfully started, services opened by the intelligent driving or the intelligent cabin are closed; and based on data collected by the sensor corresponding to the sentry mode, vehicle early warning and / or recording of vehicle environment data are performed. The services corresponding to the intelligent driving or the intelligent cabin are closed after the sentry mode is started, the sentry mode is decoupled, a minimum system of the sentry mode is realized, system power consumption during running of the sentry mode is reduced, and the power of the vehicle is saved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a control method, device, equipment, and storage medium for a vehicle sentry mode. Background Technology

[0002] Vehicle safety becomes a major concern after the driver parks and leaves the vehicle, with issues such as scratches and collisions becoming commonplace. To address these safety concerns after the driver leaves the vehicle, Sentinel Mode has been introduced. In Sentinel Mode, sensors on the vehicle detect its safety status and issue warnings and record the detected data upon the occurrence of predefined events, such as notifying the owner to protect their rights and minimize potential losses.

[0003] In related technologies, sentry mode is typically implemented using sensors and analytics capabilities from intelligent driving systems (referred to as intelligent driving domain). Because it reuses the algorithms of intelligent driving systems, running sentry mode requires running those same algorithms, resulting in high computational and power consumption. For electric vehicles, running sentry mode overnight can significantly reduce driving range and lead to a poor user experience.

[0004] Therefore, there is an urgent need to provide a low-power sentinel mode. Summary of the Invention

[0005] This application provides a control method, device, equipment, and storage medium for a vehicle sentry mode. It does not rely on the algorithm module of intelligent driving to implement the sentry mode, and achieves decoupling of the sentry mode from other functions. When running the sentry mode, other running functions can be shut down, which greatly reduces the power consumption of the sentry mode.

[0006] Firstly, this application provides a control method for a vehicle sentry mode, including:

[0007] In response to the start command of Sentinel Mode issued by the Intelligent Driving Domain Controller or the Intelligent Cockpit Domain Controller, the container of the service corresponding to the Sentinel Mode is pulled up to activate the Sentinel Mode and turn on the sensor corresponding to the Sentinel Mode.

[0008] When the status feedback from the service corresponding to the sentry mode indicates that the sentry mode has been successfully started, the service that enables intelligent driving or intelligent cockpit is turned off, and vehicle warnings and / or vehicle environmental data are recorded based on the data collected by the sensors corresponding to the sentry mode.

[0009] Secondly, this application provides a control device for a vehicle sentry mode, comprising:

[0010] The Sentinel Mode Activation Module is used to respond to the Sentinel Mode Activation Command issued by the Intelligent Driving Domain Controller or the Intelligent Cockpit Domain Controller, pull up the container of the service corresponding to the Sentinel Mode to activate the Sentinel Mode and turn on the sensor corresponding to the Sentinel Mode.

[0011] The Sentinel Mode Operation Module is used to disable the intelligent driving or intelligent cockpit services when the status feedback from the service corresponding to the Sentinel Mode indicates that the Sentinel Mode has been successfully started, and to perform vehicle warnings and / or record vehicle environmental data based on the data collected by the sensors corresponding to the Sentinel Mode.

[0012] Thirdly, this application provides a control device for a vehicle sentry mode, comprising:

[0013] A processor, and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the vehicle sentry mode control method provided in any aspect of this application.

[0014] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the vehicle sentry mode control method provided in any aspect of this application.

[0015] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the vehicle sentry mode control method provided in any aspect of this application.

[0016] The vehicle sentry mode control method, device, equipment, and storage medium provided in this application issue a sentry mode start command through the intelligent driving domain controller or intelligent cockpit domain controller, entering the sentry mode activation phase. This involves launching the container of the service corresponding to the sentry mode, activating the sentry mode, and turning on the corresponding sensors, such as radar and vehicle vibration sensors. After the status feedback from the service corresponding to the sentry mode indicates that the sentry mode has started or started successfully, the sentry mode operation phase begins. To save power, services enabled by intelligent driving or intelligent cockpit are disabled, thus only the service corresponding to the sentry mode runs. Data collected by the sensors corresponding to the sentry mode is used to detect the presence of predefined events and perform corresponding warnings, environmental data recording, and other processing. This achieves a sentry mode that does not depend on intelligent driving or intelligent cockpit operation. By shutting down computationally intensive algorithm modules of intelligent driving or intelligent cockpit during sentry mode operation, the system power consumption of sentry mode operation is greatly reduced, vehicle power consumption is reduced, and user experience is improved. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0018] Figure 1 A block diagram of a sentinel-mode software service provided in related technologies;

[0019] Figure 2 A flowchart illustrating a vehicle sentry mode control method provided in an embodiment of this application;

[0020] Figure 3 A schematic diagram of the lightweight container corresponding to the Sentinel mode provided in the embodiments of this application;

[0021] Figure 4 For this application Figure 2 A flowchart illustrating step S202 in the illustrated embodiment;

[0022] Figure 5 A structural block diagram of the sentinel mode system provided in the embodiments of this application;

[0023] Figure 6 A flowchart illustrating another vehicle sentry mode control method provided in this application embodiment;

[0024] Figure 7 This is a schematic diagram of the structure of the event notification unit provided in an embodiment of this application;

[0025] Figure 8 A schematic diagram illustrating the sentinel mode domain control configuration process provided in an embodiment of this application;

[0026] Figure 9 A schematic diagram of the structure of a vehicle sentry mode control device provided in an embodiment of this application;

[0027] Figure 10 This is a schematic diagram of the structure of a vehicle sentry mode control device provided in an embodiment of this application.

[0028] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concepts of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0029] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0030] First, let me explain the terms used in this application:

[0031] Domain controller: A domain controller centralizes the functions of multiple traditional ECUs (Electronic Control Units) into a single, powerful controller, such as a Microcontroller Unit (MCU). Intelligent driving domain controllers utilize vehicle sensors (such as cameras, inertial sensors, radar, and ultrasonic sensors) to perform environmental perception and make intelligent driving-related decisions. Intelligent cockpit domain controllers, on the other hand, perform controls related to the intelligent cockpit.

[0032] Sentry Mode: While the vehicle is parked, the system uses sensors on the vehicle to detect its security status. If the system detects any risks such as damage or intrusion, it will notify the owner and record relevant environmental information.

[0033] Figure 1 A block diagram of a sentinel-mode software service provided in related technologies, such as Figure 1 As shown, in related technologies, Sentinel mode relies on a smart driving SoC (System on a Chip) to achieve this. Specifically, it utilizes smart driving sensors, such as... Figure 1 The system uses cameras, ultrasonic radar (USS), inertial measurement units (IMU), and GNSS (Global Navigation Satellite System), as well as intelligent driving middleware, to achieve environmental perception. It then uses the corresponding application in sentry mode to provide early warnings and record environmental data, thereby enabling sentry mode services.

[0034] The operating system of intelligent driving SoC is usually Linux, on which a large number of other services run.

[0035] The design of the aforementioned Sentinel Mode service consumes a significant amount of computing power due to the reuse of intelligent driving algorithm modules. Furthermore, since Sentinel Mode runs on the intelligent driving middleware and the Linux operating system, some services that are useless to Sentinel Mode but are essential for the intelligent driving middleware or the Linux operating system are started when Sentinel Mode is activated. These services result in additional power consumption. Additionally, keeping the camera on during environmental perception will shorten the camera's lifespan.

[0036] To reduce power consumption during Sentry Mode operation, this application provides a control method for vehicle Sentry Mode. Based on the design principle of a minimum system, it disables services that enable intelligent driving or intelligent cockpit when Sentry Mode is activated. In some embodiments, services unrelated to Sentry Mode can be disabled, retaining only services, sensors, operating systems, etc., related to Sentry Mode functionality. This decouples Sentry Mode from intelligent driving or intelligent cockpit, eliminating the need to activate the algorithm modules of intelligent driving or intelligent cockpit during Sentry Mode operation, thus significantly reducing power consumption during Sentry Mode operation.

[0037] In some embodiments, the camera can be activated only after a preset event is detected, thereby shortening the camera's usage time in sentry mode and extending the camera's lifespan.

[0038] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0039] Figure 2 This is a flowchart illustrating a vehicle sentry mode control method provided in an embodiment of this application. The vehicle sentry mode control method can be executed by an electronic device with corresponding data processing capabilities, such as a sentry mode system, a sentry mode domain controller, a SoC, etc.

[0040] like Figure 2 As shown, the control method for the vehicle's sentry mode includes the following steps:

[0041] Step S201: In response to the start command of Sentinel Mode issued by the Intelligent Driving Domain Controller or the Intelligent Cockpit Domain Controller, the container of the service corresponding to the Sentinel Mode is pulled up to activate the Sentinel Mode and turn on the sensor corresponding to the Sentinel Mode.

[0042] Specifically, users, such as vehicle owners, drivers, or other users, can activate the vehicle's Sentinel Mode via their user terminal or relevant buttons on the vehicle. Once Sentinel Mode is activated and the vehicle is locked, a Sentinel Mode activation command is generated. This command is transmitted to the Intelligent Driving Domain Controller or Intelligent Cockpit Domain Controller via the gateway. The Intelligent Driving Domain Controller or Intelligent Cockpit Domain Controller then forwards this command to the virtual machine or SoC corresponding to Sentinel Mode. Upon receiving the Sentinel Mode activation command, the corresponding virtual machine or SoC enters the Sentinel Mode activation phase.

[0043] In some embodiments, before receiving the start command for Sentinel Mode and launching the container of the service corresponding to Sentinel Mode, a series of configurations can be performed to make the operating environment of the vehicle system suitable for the operation of Sentinel Mode. Specifically, this may include adjusting the software state machine corresponding to functions such as the cockpit and intelligent driving to a dormant state, so that after Sentinel Mode is started or running, it will not be disturbed by other modules still running, such as erroneously triggering preset events, resulting in false warnings.

[0044] Optionally, the Sentinel Mode runs on a different virtual machine than the Intelligent Driving or Intelligent Cockpit.

[0045] Because Sentinel Mode runs on a different virtual machine than Intelligent Driving and Intelligent Cockpit, it is possible to disable Intelligent Driving and Intelligent Cockpit functions by shutting down the virtual machines corresponding to Intelligent Driving and Intelligent Cockpit during the operation of Sentinel Mode, thus decoupling Sentinel Mode from Intelligent Driving and Intelligent Cockpit.

[0046] Optionally, the operating system corresponding to the Sentinel Mode is a Real-Time Operating System (RTOS), and the operating system corresponding to the Intelligent Driving or the Intelligent Cockpit is a Linux operating system or a Security-Enhanced Linux (SELinux) operating system.

[0047] Using an RTOS as the operating system for running Sentinel mode provides a foundation for a minimal system implementation in Sentinel mode, since RTOS is designed based on the microkernel concept and system services exist as application threads. This allows unnecessary services, containers, or threads to be shut down or removed when running in Sentinel mode, reducing the power consumption of the operating system.

[0048] The container for the service corresponding to Sentinel mode is a lightweight container, which is mainly responsible for starting the corresponding system service or interface based on the needs of Sentinel mode (determined by the Sentinel mode application). The corresponding system service or interface includes at least one or more of the following: network time synchronization interface, system time management interface or service, event and data upload interface, local data recording interface, HSM (Hardware Security Module) call interface, file system, SoC power management service, etc.

[0049] The SoC power management service is responsible for shutting down unnecessary processor cores and related SoC hardware resources to reduce power consumption. The file system can be a simplified file system, also known as a simple file system, supporting data writing and reading.

[0050] Figure 3 This is a schematic diagram of the lightweight container structure corresponding to the Sentinel mode provided in the embodiments of this application, as shown below. Figure 3 As shown, the lightweight container includes a sentinel mode application, a network time synchronization interface, a system time management interface or service, an event and data cloud service interface, a local data logging interface, an HSM call interface, a file system, and a SoC power management service.

[0051] The containers for services in Sentinel mode are built using the Sentinel mode application image. When the container starts, the application image is launched to deploy and manage the Sentinel mode application. The Sentinel mode application image is a software package or file that protects the components required to run Sentinel mode, including code and operating system, ensuring that the same runtime environment is created and consistent execution results are obtained when the application image is launched on different devices.

[0052] After successfully activating Sentry Mode, turn on the sensors that need to be activated in Sentry Mode, that is, turn on the sensors corresponding to Sentry Mode, and turn off other sensors (excluding outdoor sensors such as the sensors corresponding to Sentry Mode), such as cameras.

[0053] The sensors corresponding to Sentinel Mode are those that need to be activated when Sentinel Mode is started.

[0054] In some embodiments, the sensors corresponding to Sentry Mode include at least one of a vehicle vibration sensor, radar, and a positioning system. The vehicle vibration sensor is used to collect the vibration amplitude of the vehicle. The radar is used to detect the presence of a target object approaching the vehicle; the radar can be millimeter-wave radar, ultrasonic radar, or other types of radar. The positioning system, such as GNSS, is used to locate the vehicle and collect its positioning information, such as coordinates.

[0055] After activating Sentinel Mode, based on the Sentinel Mode's sensor configuration information, the corresponding sensors (vehicle vibration sensor, radar, and positioning system) are turned on or kept on, while other sensors (such as cameras, inertial sensors, etc.) are turned off.

[0056] After receiving a user command from the gateway, the intelligent driving domain MCU, which instructs the activation of sentry mode, forwards the user command to the Hypervisor (virtual machine monitor) deployed on the SoC. The Hypervisor then performs a series of configuration processes to provide the environment for the operation of sentry mode, such as putting the software state machine of the cockpit and intelligent driving functions into a dormant state and starting the container of the service corresponding to sentry mode to activate sentry mode. After the sentry mode is activated, the relevant sensors are turned on or off, so that only the sensors corresponding to sentry mode are turned on.

[0057] Step S202: When the status feedback of the service corresponding to the sentry mode indicates that the sentry mode has been successfully started, the service of intelligent driving or intelligent cockpit is turned off, and the vehicle warning and / or vehicle environment data is recorded based on the data collected by the sensor corresponding to the sentry mode.

[0058] Vehicle environmental data may include the vehicle's location and / or images / videos of the vehicle's surrounding environment. Images / videos of the vehicle's surrounding environment may be acquired by image acquisition devices on the vehicle.

[0059] Vehicle alerts may include sending a response notification to a user terminal and / or the cloud, where the user terminal may be the vehicle owner's terminal or other terminals linked to the vehicle.

[0060] In some embodiments, if the data collected by the sensor corresponding to the sentry mode meets the preset trigger conditions, the vehicle environment data is recorded. When specific trigger conditions are met, vehicle warnings can also be issued, such as controlling the vehicle to issue sound or light warnings, or sending warning notifications to the user terminal.

[0061] Specifically, the trigger condition monitoring module can determine whether any preset event has been triggered based on data collected by vehicle vibration sensors, radar, and positioning systems. If so, it will issue an event warning or notification for the triggered preset event. Simultaneously, it will control cameras to capture images of the vehicle's surrounding environment and combine this with the vehicle's positioning information, such as coordinates, collected by the positioning system to obtain vehicle environmental data recorded during the preset event triggering period. This vehicle environmental data will be stored locally and can be uploaded to the cloud if necessary. Furthermore, if the triggered preset event is a specific preset event, a vehicle warning can also be issued.

[0062] There are multiple preset events, and the actions taken when different preset events are triggered are not entirely the same. The actions taken may include recording vehicle environmental data, and may also include vehicle warnings. The vehicle warning methods corresponding to different preset events are also not entirely the same.

[0063] Vehicle warnings can be issued in several ways, such as generating an event notification for a preset event and sending the notification to the user, or providing audible and visual warnings to control the vehicle.

[0064] Based on the status feedback from the service corresponding to Sentinel Mode, once it is confirmed that Sentinel Mode has started successfully, such as after entering Working Mode or Running Mode, other virtual machines (excluding the virtual machine where Sentinel Mode is located), including the virtual machine where Intelligent Driving and / or Intelligent Cockpit are located, are shut down, thereby turning off the services enabled by Intelligent Driving or Intelligent Cockpit, reducing the number of services running in the system when Sentinel Mode is running, and thus reducing system power consumption.

[0065] In some embodiments, after the Sentinel mode is successfully started, virtual machines other than the virtual machine where the Sentinel mode is located are shut down, as well as containers and threads unrelated to the Sentinel mode running on the operating system (such as RTOS) corresponding to the Sentinel mode are shut down. This allows the SoC to retain only the services, containers, and RTOS corresponding to the Sentinel mode, further reducing the resources the system runs when the Sentinel mode is running and reducing system power consumption.

[0066] The hypervisor waits for status feedback from the service corresponding to the sentinel mode. After the status feedback indicates that the sentinel mode has started successfully, entered running mode, or entered working mode, it shuts down all virtual machines except the virtual machine where the sentinel mode is located, as well as containers and threads unrelated to the sentinel mode running on the RTOS (the operating system running the sentinel mode).

[0067] After the above shutdown steps are successfully executed, the system enters sentry monitoring mode. In sentry monitoring mode, vehicle status is monitored and alerts are issued based on data collected by sensors activated in sentry mode.

[0068] Specifically, based on pre-set event triggering conditions and data collected by sensors corresponding to Sentinel Mode, it can determine whether a preset event has been triggered. If so, vehicle warnings and / or vehicle environmental data recording can be performed based on the triggered preset event.

[0069] The vehicle sentry mode control method provided in this embodiment issues a sentry mode activation command through the intelligent driving domain controller or intelligent cockpit domain controller, entering the sentry mode activation phase. This involves launching the container of the service corresponding to the sentry mode, activating the sentry mode, and turning on the corresponding sensors, such as radar and vehicle vibration sensors. After the status feedback from the service corresponding to the sentry mode indicates that the sentry mode has been started or successfully activated, the sentry mode operation phase begins. To save power, services enabled by intelligent driving or intelligent cockpit are disabled, thus only the service corresponding to the sentry mode runs. Data collected by the sensors corresponding to the sentry mode is used to detect the presence of predefined events and perform corresponding warnings, environmental data recording, and other processing. This achieves a sentry mode that does not depend on intelligent driving or intelligent cockpit operation. By shutting down computationally intensive algorithm modules of intelligent driving or intelligent cockpit during sentry mode operation, the system power consumption of sentry mode operation is greatly reduced, vehicle power consumption is reduced, and user experience is improved.

[0070] Optional, Figure 4 For this application Figure 2 The flowchart of step S202 in the illustrated embodiment is shown. This embodiment takes the operating system corresponding to the sentry mode as an RTOS, and the sensors corresponding to the sentry mode as a vehicle vibration sensor, radar, and positioning system as an example. Figure 4 As shown, step S202 may specifically include the following steps:

[0071] Step S401: When the status feedback from the service corresponding to the sentinel mode indicates that the sentinel mode has been successfully started, shut down other virtual machines and containers and threads running on the RTOS that are unrelated to the sentinel mode.

[0072] In this step, by shutting down other virtual machines, as well as other containers and threads on the RTOS, only the containers and threads related to Sentinel mode are retained on the SoC, which greatly reduces the resources enabled on the SoC when Sentinel mode is running, and reduces the power consumption of the SoC.

[0073] Step S402: Based on the data collected by the vehicle vibration sensor, radar and positioning system, determine whether the preset event has been triggered.

[0074] Specifically, trigger conditions for triggering corresponding preset events can be configured for the data collected by each sensor (including vehicle vibration sensor, radar and positioning system). If the data collected by any sensor meets the corresponding trigger conditions, the corresponding preset event will be triggered.

[0075] Step S403: If yes, control the image acquisition device on the vehicle to acquire images and / or videos of the vehicle's surrounding environment and record the acquired images and / or videos of the vehicle's surrounding environment.

[0076] The image acquisition device is a vision sensor used to acquire images and / or videos of the vehicle's surrounding environment.

[0077] If any preset event is triggered, an event notification will be sent, the image acquisition device on the vehicle will be activated, and images / videos of the vehicle's surrounding environment will be acquired and stored locally.

[0078] For example, the image acquisition device can be a camera, such as an AVM camera (Around View Monitor Camera).

[0079] In some embodiments, after any preset event is triggered, the vehicle's location information collected by the positioning system can also be obtained, and the vehicle's location information collected during the preset event triggering period, as well as images and / or videos of the vehicle's surrounding environment, can be used as vehicle environment data and stored locally.

[0080] In some embodiments, locally recorded vehicle environment data can also be uploaded to the cloud via a gateway so that users can view the vehicle environment data stored in the cloud.

[0081] The termination condition for a preset event trigger can be that the newly collected data from the vehicle vibration sensor, radar, and positioning system does not meet the corresponding trigger condition.

[0082] Step S404: If the triggered preset event includes the target preset event, then a vehicle warning is issued.

[0083] The target preset event is a subset of preset events. If the triggered preset event is the target preset event, in addition to recording vehicle environmental data, vehicle warnings are also required, such as generating event notifications to inform the user of the vehicle's current status.

[0084] If the triggered preset event does not include the target preset event, then only the vehicle environment data needs to be recorded, and no event notification is required.

[0085] Preset events can be categorized by sensor type into vehicle vibration events, object proximity events, and position offset events. Vehicle vibration events are triggered when data collected by the vehicle vibration sensor meets corresponding trigger conditions. Object proximity events are triggered when data collected by the radar meets corresponding trigger conditions. Position offset events are triggered when data collected by the positioning system meets corresponding trigger conditions. Target preset events can include vehicle vibration events and position offset events.

[0086] If a preset event is triggered, an event notification for the triggered preset event is generated. The image acquisition device is controlled to record images / videos of the vehicle's surrounding environment during the preset event triggering period, and the positioning system is also controlled to record images / videos of the vehicle's surrounding environment during the preset event triggering period. The collected vehicle environment data is stored locally and then uploaded to the cloud, such as a cloud server. If the triggered preset event includes either a vehicle vibration event or a position deviation event, a vehicle warning is also required, such as generating a warning notification and sending it to the user's device to alert the user to the abnormal state of the vehicle.

[0087] If the preset events triggered only include position offset events, there is no need to issue a vehicle warning; instead, the collected vehicle environmental data is stored locally and uploaded to the cloud.

[0088] In some embodiments, multiple preset events may be triggered. In such cases, vehicle environmental data can be recorded and uploaded during the period when any preset event is triggered, and corresponding vehicle warnings can be issued when each target preset event is triggered.

[0089] In this embodiment, the image acquisition device is activated to collect surrounding environmental data only after the data sensed in the sentry mode determines that a predefined preset event has been triggered. In addition to providing vehicle environmental data as a basis, this greatly reduces the working time of the image acquisition device and extends its service life. At the same time, different processing strategies are set for different preset events, which enriches the sentry mode. Meanwhile, the algorithm module has low computing power and low system power consumption.

[0090] For example, Figure 5 This is a structural block diagram of the sentinel mode system provided in the embodiments of this application, such as... Figure 5 As shown, the Sentinel Mode system includes a vehicle vibration sensor, millimeter-wave radar, GNSS, surround-view camera, Sentinel Mode application, gateway, and local storage.

[0091] In Sentinel Mode, the containers running or corresponding to the applications are lightweight containers. The operating system running on the virtual machines in Sentinel Mode is an RTOS. These lightweight containers are containers under the RTOS. In addition to running the lightweight containers corresponding to Sentinel Mode, the RTOS also runs other threads. Besides the virtual machines in Sentinel Mode, the vehicle system also runs other virtual machines (VMs), which are managed by the Hypervisor.

[0092] RTOS is specifically an operating system that supports functional safety for vehicles. Sentinel mode runs as a runtime environment through a container on the RTOS, namely a lightweight container.

[0093] A vehicle system can include multiple operating systems, which can be categorized by function into operating systems serving intelligent driving, operating systems serving the cockpit or intelligent cockpit, operating systems corresponding to the instrument cluster, and operating systems supporting functional safety. The last operating system is an RTOS, while the rest can be SELinux.

[0094] See also Figure 5 The Sentinel Mode application includes a trigger condition monitoring unit, an event notification unit, and an environmental data recording unit. The trigger condition monitoring unit monitors trigger conditions and records triggered preset events and timestamps. The event notification unit categorizes triggered preset events and notifies the environmental data recording unit to record and upload vehicle environmental data. The event notification unit also generates warning notifications or alerts to inform the user of abnormal vehicle conditions. The environmental data recording unit collects, records, and stores vehicle environmental data.

[0095] The Sentinel Mode application is equipped with trigger conditions. Based on data collected by vehicle vibration sensors, millimeter-wave radar, and GNSS, these trigger conditions are monitored. When the collected data meets the trigger conditions, a corresponding preset event is triggered, and an event notification for the triggered preset event is sent. This controls the surround-view camera and GNSS to collect and record the collected vehicle environmental data, storing it locally. The recorded vehicle environmental data can also be uploaded to a cloud server via a gateway, and warning notifications can be sent to the vehicle owner's terminal via the gateway as well.

[0096] Figure 6 This is a flowchart illustrating another vehicle sentry mode control method provided in this application embodiment. Figure 4 Based on the illustrated embodiment, steps S402 and S404 are further refined, and a step of stopping the recording of vehicle environmental data is added.

[0097] like Figure 6 As shown, after the Sentry Mode is successfully activated and the intelligent driving or intelligent cockpit service is deactivated, the vehicle Sentry Mode control method provided in this embodiment may include the following steps:

[0098] Step S601: Based on the data collected by the radar, determine whether there is a target object within a preset distance of the vehicle. If yes, proceed to step S604; otherwise, return to repeat this step to determine whether there is a target object based on subsequent radar data.

[0099] The target object is an object that is less than a preset distance from the vehicle, and the target object does not include objects that are less than a preset distance from the vehicle when the Sentry mode is activated.

[0100] For example, the preset distance can be 1m, 3m, 5m or other smaller distances.

[0101] The radar is used to detect objects approaching the vehicle. If the distance between the approaching object and the vehicle is less than a preset distance, the radar's corresponding triggering condition is met, triggering the preset event of the object approaching the vehicle.

[0102] During vehicle parking, data collected by radar is used to identify objects that are close to the vehicle and within a preset distance. By comparing these objects with those collected by radar when the sentry mode is activated or started, newly identified objects that are close to the vehicle and within a preset distance are obtained, which are the aforementioned target objects.

[0103] In some embodiments, when the sentry mode is activated or started, objects that are less than a preset distance from the vehicle collected by the radar are identified as the first object. Based on the data collected by the radar afterward, approaching objects that are close to the vehicle are identified, and the first object is deleted from the approaching objects. If there are objects among the remaining objects that are less than a preset distance from the vehicle, that is, there is a target object, then the corresponding triggering condition of the radar is met, and the object approach event is triggered.

[0104] Step S602: Based on the data collected by the vehicle vibration sensor, determine whether the vehicle vibration meets the vibration warning conditions. If yes, proceed to step S605; otherwise, return to re-execute this step to determine whether the subsequent data collected by the vehicle vibration sensor meets the vibration warning conditions.

[0105] Vibration warning conditions (trigger conditions corresponding to vehicle vibration sensors) can be abnormal vehicle vibration, such as excessive vibration amplitude or excessive vibration frequency. Vibration warning conditions can also include vibration duration conditions, such as abnormal vehicle vibration lasting for at least a period of time, such as 30s, 45s, 1min, 100s, etc.

[0106] When the data collected by the vehicle vibration sensor determines that the vehicle vibration meets the vibration warning conditions, the preset event of the vehicle vibration event is triggered.

[0107] Step S603: Based on the vehicle's location information collected by the positioning system, determine whether the distance between the vehicle's current position and its original position is greater than a first distance. If yes, proceed to step S606; otherwise, return to re-execute this step to determine whether the distance between the vehicle's current position and its original position is greater than the first distance based on the vehicle's location information subsequently collected by the positioning system.

[0108] The original position refers to the position of the vehicle when the Sentinel mode is activated.

[0109] For example, the first distance can be 50m, 100m, 150m or other larger distances.

[0110] Specifically, the vehicle's coordinate offset can be determined based on the vehicle's coordinates collected by the positioning system and the coordinates of its original position. If the coordinate offset is greater than the first distance, a preset event, the position offset event, is triggered.

[0111] When Sentinel mode is activated, the vehicle's current position is located through the positioning system to obtain its original position. Data collected by radar is used to identify the first object, providing data support for the triggering of subsequent preset events.

[0112] When any preset event is triggered, the image acquisition device on the vehicle is controlled to acquire images and / or videos of the vehicle's surrounding environment to obtain vehicle environment data. Specifically, the vehicle environment data may include images and / or videos of the vehicle's surrounding environment acquired after the preset event is triggered, as well as the vehicle's location information acquired after the preset event is triggered.

[0113] Step S604: Trigger an object approach event, record the vehicle environment data and upload it to the cloud.

[0114] After an object proximity event is triggered, the corresponding marker position can be set, and the environmental data recording service can be invoked to store the data (i.e., vehicle environmental data) collected by the camera and positioning system after the object proximity event is triggered locally. At the same time, the vehicle environmental data is uploaded to the cloud through the gateway.

[0115] Step S605: Trigger a vehicle vibration event, record the vehicle environmental data and upload it to the cloud, and issue a vehicle vibration warning.

[0116] After a vehicle vibration event is triggered, the corresponding marker position can be located, and a vehicle vibration warning can be issued immediately, such as generating a vibration warning notification to the vehicle owner's terminal. At the same time, the environmental data recording service is invoked to store the data (i.e., vehicle environmental data) collected by the camera and positioning system after the vehicle vibration event is triggered locally, and the vehicle environmental data is uploaded to the cloud through the gateway.

[0117] If the amplitude and frequency of vehicle vibration meet the preset conditions and the duration reaches the third time, the triggering condition corresponding to the vehicle vibration sensor is met, and the vehicle vibration event is triggered.

[0118] For example, the third time can be 45s, 1min, 100s, or other durations.

[0119] For example, the warning information for vehicle vibration warning may include a text reminder such as "Please note that your vehicle is experiencing abnormal vibration." The warning information corresponding to vehicle vibration warning may also include a timestamp when the vehicle vibration event was triggered and the vehicle's location when the vehicle vibration event was triggered.

[0120] Step S606: Trigger a position offset event, record the vehicle environment data and upload it to the cloud, and issue a vehicle position offset warning.

[0121] After a position offset event is triggered, if the vehicle coordinates deviate from the original coordinates by more than 100m, the corresponding marker position can be immediately used to issue a vehicle position offset warning. For example, a deviation warning notification can be generated and sent to the vehicle owner's terminal. At the same time, the environmental data recording service can be called to store the data (i.e., vehicle environmental data) collected by the camera and positioning system after the vehicle vibration event is triggered locally, and the vehicle environmental data can be uploaded to the cloud through the gateway.

[0122] The flag being set indicates the triggering of a corresponding preset event. After the preset event's stop triggering conditions are met, the corresponding flag can be reset, thereby stopping the recording and uploading of vehicle environmental data.

[0123] For example, the warning information for a vehicle position deviation warning may include a text reminder such as "Please note that your vehicle has moved abnormally." The warning information corresponding to the vehicle position deviation warning may also include a timestamp when the position deviation event was triggered and the vehicle's position when the position deviation event was triggered.

[0124] In some embodiments, after the vehicle environment data corresponding to a preset event (such as an object approach event, a vehicle vibration event, or a position offset event) stops recording, the vehicle environment data corresponding to the preset event can be uploaded to the cloud, such as a cloud server.

[0125] Step S607: If the object approach event stops triggering for the first time, then stop recording the vehicle environment data.

[0126] For an object approach event, the stopping triggering condition is: the object approach event stops triggering and continues for the first time.

[0127] The object proximity event stops triggering when no target object is found within a preset distance of the vehicle. This preset time can be 3 seconds, 5 seconds, or another short period. If the object proximity event's triggering condition is met, the corresponding flag for the object proximity event is reset, and the recording of vehicle environment data related to the object proximity event ceases, thus obtaining the vehicle environment data during the period in which the object proximity event was triggered.

[0128] If the only preset event triggered is an object approach event, the recording of vehicle environment data will stop after the object approach event stops triggering conditions are met; if other preset events are triggered, the recording of vehicle environment data will continue.

[0129] In some embodiments, when the flag is set and reset, a corresponding timestamp may also be recorded to determine the vehicle environment data during the period when the corresponding preset event is triggered, so that users such as vehicle owners can review the status of the vehicle and the surrounding environment.

[0130] Step S608: If the vehicle vibration event stops triggering and continues for a second time, then stop recording the vehicle environmental data.

[0131] The second time is shorter than the third time. For example, the second time can be 20s, 30s, 45s, or other durations.

[0132] The vehicle vibration event stops triggering, meaning the vehicle vibration no longer meets the vibration warning conditions.

[0133] If the vehicle vibration event stops triggering and continues for a second time, that is, the stopping triggering condition of the vehicle vibration event is met, then the flag bit corresponding to the vehicle vibration event is reset, the recording of vehicle environmental data due to the vehicle vibration event is stopped, and the vehicle environmental data during the vehicle vibration event triggering period is obtained.

[0134] If the only preset event triggered is a vehicle vibration event, the recording of vehicle environmental data will stop after the vehicle vibration event stops triggering conditions are met; if other preset events are triggered after the vehicle vibration event stops triggering conditions are met, the recording of vehicle environmental data will continue.

[0135] Step S609: If, based on the vehicle's location information collected by the positioning system, it is determined that the distance between the vehicle's current location and its original location is less than a second distance, then the recording of the vehicle's environmental data is stopped.

[0136] The second distance is less than the first distance. For example, the second distance can be 8m, 10m, 12m, 15m, or other distances.

[0137] For example, the first distance is 100m and the second distance is 10m.

[0138] After a position offset event is triggered, the vehicle's positioning information continues to be monitored. When the distance between the vehicle's position indicated by the positioning information and its original position is less than a second distance, the stop triggering condition for the position offset event is met. Then, the flag corresponding to the position offset event is reset, and the recording of vehicle environmental data due to the position offset event is stopped, thus obtaining the vehicle environmental data during the position offset event triggering period.

[0139] If the only preset event triggered is a position offset event, vehicle environment data recording will stop after the position offset event's stop triggering condition is met; if other preset events are triggered after the position offset event's stop triggering condition is met, vehicle environment data recording will continue.

[0140] When uploading vehicle environment data to the cloud, it can be done in real time, or the vehicle environment data corresponding to a preset event can be packaged and then uploaded to the cloud.

[0141] By rationally determining the trigger conditions for each sensor, the monitoring of intrusion events or other risk events is improved, thereby enhancing the security of parked vehicles. While ensuring sufficient vehicle environmental data is stored for reference during the preset event triggering period, the setting of trigger stop conditions avoids storing excessive vehicle environmental data, reducing the demand of Sentinel Mode on local and cloud storage.

[0142] In some embodiments, after a preset event is triggered and stopped, a link to the vehicle environment data corresponding to the preset event stored in the cloud can be generated and sent to the user's terminal so that the user can view the vehicle environment data corresponding to the preset event through the link.

[0143] In some embodiments, a preset event can be triggered and recorded by an event notification unit, and after the preset event is triggered, the vehicle environment data can be stored and uploaded, and a warning notification can be issued.

[0144] Figure 7 For this application Figure 5 The schematic diagram of the event notification unit in the embodiment shown is as follows: Figure 7 As shown, the event notification unit classifies triggered events based on the monitoring results output by the trigger condition monitoring unit, including the trigger source and corresponding data. The trigger source can include various sensors activated in sentry mode, such as vehicle vibration sensors, radar, and positioning systems. Triggered events can be classified based on the trigger source and timestamp to obtain the preset events that have been triggered. After obtaining the preset events, an event ID can be assigned to each preset event. Each event ID corresponds to a flag bit. If the flag bit of the preset event is reset, it indicates that the triggering of the preset event has ended; if the flag bit of the preset event is set, it indicates that the preset event has been triggered.

[0145] The triggering events can be divided into three main categories: position offset events, vehicle vibration events, and object proximity events. The corresponding triggering conditions are: the coordinates deviate from the original coordinates by more than 100m, the vehicle meets the vibration warning conditions and continues for more than 1 minute, and the distance between the target object and the vehicle is less than 3m.

[0146] The trigger and stop conditions for the position offset event, vehicle vibration event, and object approach event are as follows: the coordinate offset from the original coordinate is less than 10m, the vehicle stops vibrating and the event lasts for 30s, and the target object moves away and the event lasts for 1s.

[0147] Specifically, the vehicle stop vibration trigger is manifested when the vehicle does not meet the vibration warning conditions, and the target object is an object that was originally detected to be less than 3m away from the vehicle. In the subsequent process, the target object moves away from the vehicle, specifically manifested as a distance greater than or equal to 3m from the vehicle.

[0148] During the period from the triggering of a preset event to the fulfillment of the triggering and stopping conditions of the preset event, vehicle environmental data is recorded, including data collected by the surround-view camera and the positioning system, and uploaded to the cloud through the gateway.

[0149] In some embodiments, when an object proximity event is triggered, the recorded vehicle environment data can be stored locally without uploading it to the cloud.

[0150] When either a position offset event or a vehicle vibration event is triggered at any time, a corresponding warning message needs to be generated and sent to the vehicle owner's terminal or other terminals bound to the vehicle to notify the vehicle of its abnormal status.

[0151] The environmental data recording unit can record vehicle environmental data. Based on the received environmental data recording request and timestamp, the environmental data recording unit can start or stop the GNSS and surround view camera status.

[0152] Environmental data recording requests are generated by the event notification unit when a preset event is triggered (triggered when the data collected by the sensor meets the triggering conditions) and when the preset event triggering stops (triggered stops when the data collected by the sensor meets the triggering stop conditions).

[0153] The environmental data recording unit continuously records data from GNSS and surround-view cameras, and after synchronizing with timestamps, marks the timeline of the data, completing the packaging of vehicle environmental data. Then, the packaged vehicle environmental data is matched and encapsulated with corresponding preset events. Data security processing, such as anonymization and encryption, can also be performed. The cloud data upload interface and local storage interface are then called to transmit the processed vehicle environmental data to the cloud server and local storage, respectively.

[0154] Figure 8 This is a schematic diagram of the sentinel mode domain control configuration process provided in the embodiments of this application, such as... Figure 8As shown, after the vehicle is parked, the user sends a user command to lock the vehicle and activate Sentry Mode via the user client. This user command is sent to the Intelligent Driving Domain MCU through the gateway. The Intelligent Driving Domain MCU forwards the user command to the Hypervisor. The Hypervisor responds to the user command by activating and starting Sentry Mode. Specifically, this includes: starting the container of the service corresponding to Sentry Mode and shutting down other virtual machines (except those corresponding to Sentry Mode), as well as shutting down other containers and threads on the RTOS corresponding to Sentry Mode, so that only the container and the corresponding RTOS for Sentry Mode remain on the SoC. Simultaneously, based on the sensor configuration in Sentry Mode, the sensors corresponding to Sentry Mode are kept active, including GNSS, millimeter-wave radar, and vehicle vibration sensors, while the IMU, USS, LiDAR (Light Detection and Range), and forward-facing camera are turned off, and the surround-view cameras are set to standby mode. After the above process, Sentry Mode is successfully activated, and the vehicle enters Sentry Monitoring mode.

[0155] If the vehicle is equipped with other sensors besides those mentioned above, then those other sensors can also be turned off.

[0156] Figure 9 This is a schematic diagram of the structure of a vehicle sentry mode control device provided in an embodiment of this application, as shown below. Figure 9 As shown, the control device for the vehicle's sentry mode includes: a sentry mode activation module 910 and a sentry mode operation module 920.

[0157] The Sentinel Mode Activation Module 910 is used to respond to the Sentinel Mode Activation Command issued by the Intelligent Driving Domain Controller or the Intelligent Cockpit Domain Controller, to pull up the container of the service corresponding to the Sentinel Mode to activate the Sentinel Mode and turn on the sensor corresponding to the Sentinel Mode; the Sentinel Mode Operation Module 920 is used to turn off the services enabled by Intelligent Driving or Intelligent Cockpit after the status feedback from the service corresponding to the Sentinel Mode indicates that the Sentinel Mode has been successfully started, and to perform vehicle warnings and / or record vehicle environmental data based on the data collected by the sensor corresponding to the Sentinel Mode.

[0158] Optionally, vehicle environmental data includes images / videos of the vehicle's surroundings. The Sentry Mode operating module 920 includes:

[0159] Other service shutdown unit, used to shut down the intelligent driving or intelligent cockpit services when the status feedback of the service corresponding to the sentry mode indicates that the sentry mode has been successfully started; event triggering unit, used to determine whether a preset event has been triggered based on data collected by vehicle vibration sensors, radar and positioning system; environmental data recording unit, used to control the image acquisition device on the vehicle to collect images and / or videos of the vehicle's surrounding environment if the preset event is triggered, and to store the collected images and / or videos of the vehicle's surrounding environment; warning unit, used to issue a vehicle warning if the triggered preset event includes a target preset event.

[0160] Optionally, preset events include vehicle vibration events, object proximity events, and position offset events. The event triggering unit is specifically used for:

[0161] Based on radar data, it is determined whether there is a target object within a preset distance of the vehicle. If so, an object approach event is triggered. The target object does not include objects within a preset distance of the vehicle when the sentry mode is activated. Based on data collected by the vehicle vibration sensor, it is determined whether the vehicle vibration meets the vibration warning conditions. If so, a vehicle vibration event is triggered. Based on the vehicle positioning information collected by the positioning system, it is determined whether the distance between the vehicle's current position and its original position is greater than a first distance. If so, a position offset event is triggered. The original position is the vehicle's position when the sentry mode is activated.

[0162] Optional, early warning unit, specifically used for:

[0163] If the triggered preset event includes a vehicle vibration event, the vehicle environmental data is recorded and uploaded to the cloud, and a vehicle vibration warning is issued; if the triggered preset event includes a position offset event, the vehicle environmental data is recorded and uploaded to the cloud, and a vehicle position offset warning is issued.

[0164] Optionally, the device further includes a stop trigger module for:

[0165] If the triggered preset event is an object approach event, after recording the vehicle environment data, if the object approach event stops triggering for a first time, then the recording of the vehicle environment data stops, and the vehicle environment data corresponding to the object approach event is obtained. If the triggered preset event is a vehicle vibration event, after recording the vehicle environment data and uploading it to the cloud, and after issuing a vehicle vibration warning, if the vehicle vibration event stops triggering for a second time, then the recording of the vehicle environment data stops, and the vehicle environment data corresponding to the vehicle vibration event is obtained. And if the triggered preset event is a position offset event, after recording the vehicle environment data and uploading it to the cloud, and after issuing a vehicle position offset warning, if based on the vehicle's positioning information collected by the positioning system, it is determined that the distance between the vehicle's current position and its original position is less than a second distance, then the recording of the vehicle environment data stops, and the vehicle environment data corresponding to the position offset event is obtained, where the second distance is less than the first distance.

[0166] The vehicle sentry mode control device provided in this application embodiment can be used to execute the technical solution of the vehicle sentry mode control method provided in any embodiment of this application. Its implementation principle and technical effect are similar, and will not be repeated here.

[0167] Figure 10 This is a schematic diagram of the structure of a vehicle sentry mode control device provided in an embodiment of this application, as shown below. Figure 10 As shown, the vehicle sentry mode control device 1000 provided in this embodiment includes:

[0168] At least one processor 1010; and a memory 1020 communicatively connected to the at least one processor; wherein the memory 1020 stores computer-executable instructions; the at least one processor 1010 executes the computer-executable instructions stored in the memory to cause the vehicle sentry mode control device 1000 to perform the method provided in any of the foregoing embodiments.

[0169] Optionally, the memory 1020 can be either standalone or integrated with the processor 1010.

[0170] The implementation principle and technical effects of the vehicle sentry mode control device 1000 provided in this embodiment can be found in the foregoing embodiments, and will not be repeated here.

[0171] This application also provides a computer-readable storage medium storing computer-executable instructions. When the computer-executable instructions are executed by a processor, the methods provided in any of the foregoing embodiments can be implemented.

[0172] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the method provided in any of the foregoing embodiments.

[0173] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed.

[0174] The integrated modules implemented as software functional modules described above can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application.

[0175] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor. The memory may include high-speed memory, and may also include non-volatile memory, such as at least one disk storage device, and may also be a USB flash drive, external hard drive, read-only memory, disk, or optical disc, etc.

[0176] The aforementioned storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory, electrically erasable programmable read-only memory, erasable programmable read-only memory, programmable read-only memory, read-only memory, magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0177] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. The processor and storage medium can reside within an application-specific integrated circuit (ASIC). Alternatively, the processor and storage medium can exist as discrete components in an electronic device or a vehicle's sentry-mode control device.

[0178] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0179] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0180] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods provided in the various embodiments of this application.

[0181] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0182] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A control method for a vehicle sentry mode, characterized in that, include: In response to the start command of Sentinel Mode issued by the Intelligent Driving Domain Controller or the Intelligent Cockpit Domain Controller, the container of the service corresponding to the Sentinel Mode is pulled up to activate the Sentinel Mode and turn on the sensor corresponding to the Sentinel Mode. When the status feedback of the service corresponding to the sentry mode indicates that the sentry mode has been successfully started, the service that enables intelligent driving or intelligent cockpit is turned off, so that only the service corresponding to the sentry mode runs on the vehicle, and the vehicle warning and / or vehicle environment data is recorded based on the data collected by the sensor corresponding to the sentry mode. The Sentinel Mode and the Intelligent Driving or Intelligent Cockpit run on different virtual machines; the operating system corresponding to the Sentinel Mode is a real-time operating system, while the operating system corresponding to the Intelligent Driving or Intelligent Cockpit is a Linux operating system or a security-enhanced Linux operating system.

2. The method according to claim 1, characterized in that, Vehicle environmental data includes images / videos of the vehicle's surroundings. Based on data collected by sensors corresponding to the sentry mode, vehicle warnings and / or recording of vehicle environmental data are performed, including: Based on data collected by vehicle vibration sensors, radar, and positioning systems, it is determined whether a preset event is triggered; If so, control the image acquisition device on the vehicle to acquire images and / or videos of the vehicle's surrounding environment, and store the acquired images and / or videos of the vehicle's surrounding environment; If the triggered preset event includes the target preset event, a vehicle warning will be issued.

3. The method according to claim 2, characterized in that, The preset events include vehicle vibration events, object proximity events, and positional offset events. Based on data collected by vehicle vibration sensors, radar, and positioning systems, it is determined whether the preset events are triggered, including: Based on radar data, it is determined whether there is a target object that is less than a preset distance from the vehicle. If so, an object approach event is triggered. The target object does not include objects that are less than a preset distance from the vehicle when the sentry mode is activated. Based on the data collected by the vehicle vibration sensor, it is determined whether the vehicle vibration meets the vibration warning conditions; if so, a vehicle vibration event is triggered. Based on the vehicle's location information collected by the positioning system, it is determined whether the distance between the vehicle's current position and its original position is greater than a first distance. If so, a position offset event is triggered, where the original position is the vehicle's position when the sentry mode is activated.

4. The method according to claim 3, characterized in that, The target preset events include vehicle vibration events and position offset events. If the triggered preset event includes the target preset event, a vehicle warning is issued, including: If the preset events that are triggered include vehicle vibration events, then the vehicle environmental data is recorded and uploaded to the cloud, and a vehicle vibration warning is issued. If the preset events that are triggered include a position offset event, the vehicle environmental data will be recorded and uploaded to the cloud, and a vehicle position offset warning will be issued.

5. The method according to claim 4, characterized in that, If the triggered preset event is an object approach event, after recording the vehicle environment data, the method further includes: If the object approach event stops triggering immediately, then the recording of the vehicle environment data will stop. If the triggered preset event is a vehicle vibration event, after recording the vehicle environmental data and uploading it to the cloud, and after issuing a vehicle vibration warning, the method further includes: If the vehicle vibration event stops triggering and continues for a second time, then the recording of the vehicle environmental data will stop. If the triggered preset event is a position offset event, after recording the vehicle environment data and uploading it to the cloud, and issuing a vehicle position offset warning, the method further includes: If, based on the vehicle's location information collected by the positioning system, it is determined that the distance between the vehicle's current location and its original location is less than a second distance, then recording the vehicle's environmental data will stop, where the second distance is less than the first distance.

6. A control device for a vehicle sentry mode, characterized in that, include: The Sentinel Mode Activation Module is used to respond to the Sentinel Mode Activation Command issued by the Intelligent Driving Domain Controller or the Intelligent Cockpit Domain Controller, pull up the container of the service corresponding to the Sentinel Mode to activate the Sentinel Mode and turn on the sensor corresponding to the Sentinel Mode. The Sentinel Mode Operation Module is used to disable the intelligent driving or intelligent cockpit services when the status feedback from the service corresponding to the Sentinel Mode indicates that the Sentinel Mode has been successfully started, so that only the service corresponding to the Sentinel Mode runs on the vehicle, and to perform vehicle warnings and / or record vehicle environmental data based on the data collected by the sensors corresponding to the Sentinel Mode. The Sentinel Mode and the Intelligent Driving or Intelligent Cockpit run on different virtual machines; the operating system corresponding to the Sentinel Mode is a real-time operating system, while the operating system corresponding to the Intelligent Driving or Intelligent Cockpit is a Linux operating system or a security-enhanced Linux operating system.

7. A control device for a vehicle sentry mode, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement the method as described in any one of claims 1-5.

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