Vehicle control method, device, apparatus, and storage medium

Abstract

This application discloses a vehicle control method, device, equipment, and storage medium, belonging to the field of vehicle-mounted computers. The method includes: identifying the width of the road surface ahead; when the road surface width is less than the vehicle's safe width, retracting the vehicle's rearview mirrors, turning on the rear-view camera, and displaying the road condition image captured by the rear-view camera; the rear-view camera is used to capture the road condition image behind and / or to the side of the vehicle, and the safe width is determined based on the vehicle's width; when the road surface width is greater than the safe width, unfolding the vehicle's rearview mirrors and turning off the rear-view camera.

Description

Technical Field

[0001] This application relates to the field of vehicle-mounted computers, and in particular to a vehicle control method, apparatus, device, and storage medium. Background Technology

[0002] When driving on the road, drivers may encounter narrow or winding sections of road, in which it is difficult to judge with the naked eye whether the vehicle can pass. Drivers need to consider not only the width, height, and length of the vehicle, but also factors of the surrounding environment, such as road surface elevation and obstacles in front of and behind the vehicle.

[0003] If a driver is driving on an unfamiliar road, it is difficult to easily pass through a narrow road surface based solely on the driver's visual observation and driving experience. Summary of the Invention

[0004] This application provides a vehicle control method, apparatus, device, and storage medium. The technical solution is as follows:

[0005] According to one aspect of this application, a vehicle control method is provided, the method being executed by an onboard computer, the method comprising:

[0006] Identify the width of the road ahead;

[0007] When the road width is less than the vehicle's safe width, the vehicle's rearview mirrors are folded down, the rear-view camera is activated, and the road condition image captured by the rear-view camera is displayed; the rear-view camera is used to capture the road condition image behind and / or to the side of the vehicle, and the safe width is determined based on the vehicle's width;

[0008] If the road width is greater than the safe width, unfold the vehicle's rearview mirrors and turn off the rear camera.

[0009] According to another aspect of this application, a vehicle control device is provided, the device comprising:

[0010] The recognition module is used to identify the width of the road surface ahead;

[0011] The control module is used to retract the vehicle's rearview mirrors and activate the rear-view camera to display the road condition image captured by the rear-view camera when the road width is less than the vehicle's safe width; the rear-view camera is used to capture the road condition image behind and / or to the side of the vehicle, and the safe width is determined based on the vehicle's width;

[0012] The control module is used to deploy the vehicle's rearview mirrors and deactivate the rear camera when the road width is greater than the safe width.

[0013] According to another aspect of this application, a terminal is provided, the terminal including a processor and a memory, the memory storing at least one instruction, the instruction being loaded and executed by the processor to implement the vehicle control method provided in the embodiments of this application.

[0014] According to another aspect of this application, a computer-readable storage medium is provided, wherein at least one instruction is stored therein, the instruction being loaded and executed by a processor to implement the vehicle control method provided in the embodiments of this application.

[0015] The beneficial effects of the technical solutions provided in this application embodiment may include:

[0016] The onboard computer can automatically identify the width of the road ahead and determine whether the vehicle can safely pass. If the road is narrow and passage is difficult, the computer can automatically retract the side mirrors to shorten the vehicle's width and activate the rear-view camera, allowing the driver to observe the road to the sides and rear. If the road is wide and passage is easy, the computer can automatically deploy the side mirrors, allowing the driver to observe the road to the sides and rear, and deactivate the rear-view camera to conserve battery power. This method assists the driver in navigating narrow roads, making passage through confined spaces easier and more convenient. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of an in-vehicle computer system provided in an exemplary embodiment of this application;

[0019] Figure 2 This is a schematic diagram of a vehicle control method provided in an exemplary embodiment of this application;

[0020] Figure 3 This is a flowchart of a vehicle control method provided in an exemplary embodiment of this application;

[0021] Figure 4This is a structural block diagram of a vehicle control device provided in an exemplary embodiment of this application;

[0022] Figure 5 This is a structural block diagram of an on-board computer provided in an exemplary embodiment of this application. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0024] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. 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.

[0025] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, in the description of this application, unless otherwise stated, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the objects before and after it are in an "or" relationship.

[0026] Figure 1 A schematic diagram of an in-vehicle computer system provided in an exemplary embodiment of this application is shown. The in-vehicle computer system includes: an in-vehicle computer 101, a rearview mirror 102, a rear-facing camera 103, a front-facing camera 104, and a radar sensor 105. The in-vehicle computer is connected to the rearview mirror, the rear-facing camera, the front-facing camera, and the radar sensor, respectively, so as to control the rearview mirror, the rear-facing camera, the front-facing camera, and the radar sensor, and to receive data transmitted by the rear-facing camera, the front-facing camera, and the radar sensor.

[0027] The vehicle-mounted computer includes a recognition module, a control module, and a display module. The rearview mirror includes at least one of the following: a left-side rearview mirror and a right-side rearview mirror. The rear-mounted camera includes at least one of the following: a left-side camera, a right-side camera, and a reversing camera.

[0028] The sensor radar can sense the road conditions in front of the vehicle in real time and transmit road data and obstacle data to the identification module via CAN (Controller Area Network) signals.

[0029] The identification module, also known as the recognition module, is used to calculate road data and obstacle data and identify the vehicle status in real time. The calculation results are then transmitted to the display module. When the road (road surface ahead) width is less than the safe distance (safe width), the display module will warn the driver. When the identification module detects that the vehicle is driving on a road surface that is less than the safe width, the identification module will transmit the CAN signal to the rearview mirror control module and control the rearview mirror to fold or retract.

[0030] The rearview mirror transmits its status to the rear camera in real time. When the rearview mirror is folded or retracted, the rear camera automatically turns on and transmits the data captured by the rear camera to the display module in real time via CAN signal.

[0031] For example, embodiments of this application define several CAN signals as shown in Table 1.

[0032] Table 1

[0033]

[0034] like Figure 2 As shown, the sensing radar 105 can sense the road conditions in front of the vehicle in real time and transmit the "00: Road data" and "01: Obstacle data" data in the radar detection signal to the identification module via CAN signal.

[0035] The recognition module calculates road and obstacle data and identifies vehicle status in real time. When an obstacle is lower than the vehicle's chassis height, allowing it to pass, the module compares the road width with the vehicle width. If the road width is greater than 1.1 times the vehicle width, it's considered greater than the safe width; if less, it's less. When an obstacle is higher than the vehicle's chassis height, preventing passage, the module defines the road width as the original road width minus the obstacle width, and compares this to 1.1 times the vehicle width. If this value is greater than 1.1 times the vehicle width, it's considered greater than the safe width; otherwise, it's less. By assessing both road and vehicle width, the module assists the driver in determining whether the vehicle can pass. This method can also identify road obstacles; if an obstacle affects vehicle movement, its width is included in the road width calculation, further improving adaptability to various road conditions.

[0036] The recognition module transmits the calculation results to the display module via CAN signal. When the road width is less than the safe width, the recognition module transmits "00: No Warning" from the central control warning signal to the display module. At this time, the display module does not take any action. When the road width is less than the safe width, the recognition module transmits "01: Warning" from the central control warning signal to the display module. At this time, the display screen of the display module will display the warning text and a warning sound to warn the driver. By using the dual warning of image and sound from the display module, the driver is alerted, reducing the possibility of the driver accidentally entering a road surface that the vehicle cannot pass.

[0037] When the identification module detects that the vehicle is traveling on a road with a width greater than the safe width, the identification module transmits "00: Safe" from the road width detection signal to the control module via the CAN signal; when the identification module detects that the vehicle is traveling on a road with a width less than the safe width, and the vehicle is in motion, the identification module transmits "01: Warning" from the road width detection signal to the control module via the CAN signal.

[0038] When the control module receives "00: Safe" in the road width detection signal, it transmits "00: NotFold" in the rearview mirror control signal to the rearview mirror. If the rearview mirror is open, no action is taken; if the rearview mirror is closed, it is opened. When the control module receives "01: Warning" in the road width detection signal, it transmits "01: Fold" in the rearview mirror control signal to the rearview mirror. If the rearview mirror is folded at this time, it will fold. The rearview mirror will only fold when it detects that the driver is driving on a road with a width less than the safe width, which reduces the probability of the rearview mirror being scratched and improves safety.

[0039] The rearview mirror 102 transmits its status to the rear camera 103 in real time. When the rearview mirror is folded, it transmits "00: On" from the rear camera control signal to the rear camera via a CAN signal, at which point the rear camera is turned on. When the rearview mirror is folded, it transmits "01: Off" from the rear camera control signal to the rear camera via a CAN signal, at which point the rear camera is turned off. The rear camera can be turned on and off according to the status of the rearview mirror. The rear camera is only turned on when the rearview mirror is folded, thereby reducing the waste of vehicle battery power and reducing the data processing load of the vehicle system.

[0040] Once the rear camera is activated, it transmits the "00: Data" signal from the rear camera to the display module in real time via CAN signal. At this time, the display module will display the situation behind the vehicle on the screen, so the driver does not need to look through the rearview mirror, reducing the chance of the vehicle scraping the rearview mirror when driving on narrow roads.

[0041] Figure 3 This is a flowchart illustrating a vehicle control method provided in an exemplary embodiment of this application. This vehicle control method can be applied to an on-board computer, which can be the method described above. Figure 1 The terminal shown. In Figure 3 In China, vehicle control methods include:

[0042] Step 210: Identify the width of the road surface ahead.

[0043] Onboard computers can identify the width of the road ahead using images captured by radar or a front-facing camera. For example, radar can emit sensing signals to measure road data ahead, and the onboard computer can calculate the road width based on this data. Alternatively, a front-facing camera can capture a depth image of the road ahead, and the onboard computer can use a neural network model to predict the road width based on this depth image.

[0044] Step 220: When the road width is less than the vehicle's safe width, retract the vehicle's rearview mirrors, turn on the rear camera, and display the road condition image captured by the rear camera; the rear camera is used to capture the road condition image behind and / or to the side of the vehicle, and the safe width is determined based on the vehicle's width.

[0045] The safe width is preset based on the vehicle width; for example, the safe width can be 1.1 times the vehicle width.

[0046] Vehicle width can refer to the distance between the farthest points of the side mirrors when they are extended. It can also refer to the distance between the farthest points of the side mirrors when they are folded down. Vehicle width can also refer to the distance between the farthest points of the two front wheels. Finally, vehicle width can refer to the maximum width of the vehicle body.

[0047] The safety width can also be set according to the road surface type. For example, when the road surface type is open, the safety width can be the first safety width; when the road surface type is semi-enclosed, the safety width can be the second safety width; and when the road surface type is closed, the safety width can be the third safety width. The first, second, and third safety widths are all preset values. For example, the first safety width can be the vehicle width, the second safety width can be 1.1 times the vehicle width, and the third safety width can be 1.2 times the vehicle width.

[0048] Rearview mirrors include the left-side rearview mirror and the right-side rearview mirror. Rearview mirrors are mirrors installed on both sides of a vehicle to assist the driver in observing the road surface to the sides and rear. The onboard computer can fold up one or both rearview mirrors to reduce the actual width of the vehicle, making it easier to navigate narrow roads.

[0049] When the vehicle's computer determines that the road ahead is narrow, it can control the side mirrors to fold down and simultaneously activate the rear-view camera via a control module. The rear-view camera can be a reversing camera positioned at the rear of the vehicle, or it can be a left-side camera mounted on one of the side mirrors. The vehicle's display module will then show the road conditions captured by the rear-view camera.

[0050] The vehicle's computer uses a rear-view camera instead of a rearview mirror to help the driver observe road conditions behind and to the sides.

[0051] Step 230: If the road width is greater than the safe width, unfold the vehicle's rearview mirrors and turn off the rear camera.

[0052] When the vehicle's computer determines that the road ahead is wide enough, it can control the side mirrors to unfold via the control module, and simultaneously control the rear-view camera to turn off. The vehicle's display module will then stop displaying road condition images.

[0053] In summary, the vehicle control method provided in this embodiment allows the onboard computer to automatically identify the width of the road ahead and determine whether the vehicle can safely pass through it. If the road is narrow and passage is difficult, the onboard computer can automatically retract the side mirrors to shorten the vehicle's width and simultaneously activate the rear-view camera, allowing the driver to observe the road on both sides and behind. If the road is wide and passage is easy, the onboard computer can automatically deploy the side mirrors, allowing the driver to observe the road on both sides and behind, and deactivate the rear-view camera to conserve battery power. This method assists the driver in navigating narrow roads, making passage through narrow sections easier and more convenient.

[0054] For example, based on Figure 3 The illustrated embodiment describes the vehicle control method provided in this application.

[0055] Step 210: Identify the width of the road surface ahead.

[0056] For example, an onboard computer can identify the width of the road ahead using a front-facing camera or onboard radar. For instance, the onboard computer can use onboard radar to measure the width of the road ahead, or it can use a neural network model to identify the road width based on road images captured by the front-facing camera.

[0057] In one optional embodiment, the vehicle-mounted computer acquires a road surface image of the road ahead via a front-facing camera. The front-facing camera is a depth camera, and the road surface image is a depth image captured by the front-facing camera. The road surface image is input into a type prediction model to obtain the road surface type of the road ahead. The road surface type includes one of open road, semi-closed road, and closed road. An open road is a road surface without obstructions on both sides within a preset distance. A semi-closed road is a road surface with obstructions on one side within a preset distance. A closed road is a road surface with obstructions on both sides within a preset distance. The road surface image is input into a width prediction model to obtain the actual width of the road ahead, which is the ground width of the road ahead. When the road surface type is open, the road surface width of the road ahead is determined as the product of a first coefficient and the actual width. When the road surface type is semi-closed, the road surface width of the road ahead is determined as the product of a second coefficient and the actual width. When the road surface type is closed, the road surface width of the road ahead is determined as the product of a third coefficient and the actual width. Wherein, the third coefficient is less than or equal to 1, the first coefficient is greater than the second coefficient, and the second coefficient is greater than the third coefficient.

[0058] A type prediction model can output the corresponding road surface type based on input data (road surface image). For example, a type prediction model is a neural network model. It may include a feature extraction layer and a fully connected layer. The feature extraction layer extracts image features from the input data (road surface image), and the fully connected layer outputs the road surface type based on these features. Alternatively, the type prediction model may include an encoder and a decoder. The encoder extracts image features from the input data, and the decoder identifies the road surface type based on these features.

[0059] During training, a sample set is used to train the type prediction model. The sample set includes sample road surface images and corresponding sample labels. Sample road surface images can be road surface images captured by a front-facing camera on at least one vehicle. Sample labels can be labels obtained manually by annotating the road surface types on the sample road surface images; one sample road surface image corresponds to one sample label, which can be one of the following: closed road surface, semi-closed road surface, or open road surface. After initializing the type prediction model, the sample road surface images are input into the model to obtain predicted labels. The loss between the predicted labels and the sample labels is used to train the type prediction model until convergence, resulting in a trained type prediction model.

[0060] Road surface types include open roads, closed roads, and semi-closed roads. An open road is one where there are no obstructions on either side. For example, an open road means there are no obstacles within 4 meters above either side's edge. A road with pedestrian walkways on both sides can be considered an open road. A semi-closed road is one where there is an obstruction on one side. For example, a semi-closed road means there is an obstacle within 4 meters above one side's edge, but no obstacles within 4 meters above the other side's edge. A road with a pedestrian walkway on one side and a road divider fence on the other can be considered a semi-closed road. A closed road is one where there are obstructions on both sides. For example, a closed road means there are obstacles within 4 meters above either side's edge. A road with building walls on both sides can be considered a closed road.

[0061] For open roads, the road width can be set to 1.3 times the actual road width; for semi-enclosed roads, the road width can be set to 1.1 times the actual road width; and for enclosed roads, the road width can be set to the actual road width. In other words, the onboard computer can determine the corresponding road width based on the road type ahead and determine the vehicle's traversal method (whether or not to fold in the side mirrors) based on the road width.

[0062] In one optional embodiment, the onboard computer can display a warning message when the actual width is less than the vehicle's wheelbase, indicating that the vehicle cannot pass the road ahead. When the road surface is semi-enclosed, the actual width is greater than the vehicle's wheelbase but less than the warning width, and the left side of the road ahead is obstructed, the vehicle's left side mirror is retracted, the left-side camera is activated, and the road condition image captured by the left-side camera is displayed. When the warning width is greater than the wheelbase but less than the vehicle width, the left-side camera is used to capture the road condition image to the left of the vehicle. When the road surface is semi-enclosed, the actual width is greater than the vehicle's wheelbase but less than the warning width, and the right side of the road ahead is obstructed, the vehicle's right-side mirror is retracted, the right-side camera is activated, and the road condition image captured by the right-side camera is displayed. The right-side camera is used to capture the road condition image to the right of the vehicle.

[0063] The onboard computer can also determine the actual width of the road ahead and the vehicle's wheel track. If the wheel track is smaller than the actual width, it means that the vehicle cannot pass through the road ahead. The onboard computer will promptly display a warning message to remind the driver that the road ahead is impassable.

[0064] If the road ahead is a semi-closed road, the onboard computer can also identify the direction of closure of the semi-closed road. When the direction of closure is to the left, and the vehicle width can pass through the semi-closed road if the side mirror is folded up, the onboard computer can automatically fold up the side mirror on the side of the closed road and turn on the rear camera on that side.

[0065] For example, the warning width is used to determine whether a vehicle can pass through the road surface after retracting one side mirror. The warning width can be determined based on the width of the vehicle after retracting one side mirror. For instance, if the width of the vehicle with both side mirrors extended is 2.2 meters, the width with one side mirror retracted is 2.1 meters, and the wheelbase is 1.8 meters, then the warning width can be 2.1 meters, or it can be a value greater than 1.8 meters but less than 2.2 meters.

[0066] Step 220: When the road width is less than the vehicle's safe width, retract the vehicle's rearview mirrors, turn on the rear camera, and display the road condition image captured by the rear camera; the rear camera is used to capture the road condition image behind and / or to the side of the vehicle, and the safe width is determined based on the vehicle's width.

[0067] For example, the on-board computer can also identify obstacles on the road ahead, and obtain the obstacle's width and height; if the obstacle's height is higher than the vehicle's chassis height and the first width is less than the safe width, the vehicle's rearview mirrors are retracted, the rear-view camera is activated, and the road condition image captured by the rear-view camera is displayed, where the first width is equal to the difference between the road width and the obstacle width; if the obstacle's height is lower than the chassis height and the road width is less than the vehicle's safe width, the vehicle's rearview mirrors are retracted, the rear-view camera is activated, and the road condition image captured by the rear-view camera is displayed.

[0068] For example, the on-board computer can also determine a first distance between the obstacle and the left side of the road ahead, and a second distance between the obstacle and the right side of the road ahead; if the obstacle is higher than the vehicle's chassis height and the second width is less than the safe width, the vehicle's rearview mirrors are retracted, the rear camera is turned on, and the road condition image captured by the rear camera is displayed, where the second width is the larger of the first and second distances.

[0069] Step 230: If the road width is greater than the safe width, unfold the vehicle's rearview mirrors and turn off the rear camera.

[0070] In one optional embodiment, the on-board computer acquires a third distance between the vehicle's centerline and the left side of the road ahead, and a fourth distance between the centerline and the right side of the road ahead. When the road width is less than the safe width, greater than the first minimum width, and the third distance is greater than the fourth distance, the vehicle's right-side mirror is retracted, the right-side camera is activated, and the road condition image captured by the right-side camera is displayed. The first minimum width is equal to the width of the vehicle after retracting one side mirror, and the right-side camera is used to capture the road condition image to the right of the vehicle. When the road width is less than the safe width, greater than the first minimum width, and the third distance is less than the fourth distance, the vehicle's left-side mirror is retracted, the left-side camera is activated, and the road condition image captured by the left-side camera is displayed. The left-side camera is used to capture the road condition image to the left of the vehicle. When the road width is less than the safe width, greater than the second minimum width, both side mirrors are retracted, and both the left and right cameras are activated, displaying the road condition images captured by the left and right cameras respectively. The second minimum width is equal to the width of the vehicle after retracting both side mirrors, and the left-side camera is used to capture the road condition image to the left of the vehicle.

[0071] In summary, the vehicle control method provided in this embodiment allows the onboard computer to determine the road width and vehicle width when passing through narrow roads, and display the results through a display module, thereby assisting the driver in determining whether the vehicle can pass through the road surface.

[0072] The vehicle control method provided in this embodiment can also detect obstacles on the road surface. When an obstacle affects the vehicle's movement, the width of the obstacle will be included in the calculation of the road width. This reduces the possibility that the vehicle will be unable to move forward due to the obstruction of the obstacle after entering the road section and will have to reverse out, thereby further improving the adaptability of the method to various road conditions.

[0073] The vehicle control method provided in this embodiment automatically folds the rearview mirrors when the driver enters a road with a width less than a safe distance. The vehicle displays the rear view through the display module, eliminating the need for the driver to observe through the rearview mirrors and reducing the chance of the car scraping the rearview mirrors while driving on narrow roads.

[0074] The vehicle control method provided in this embodiment allows the rear camera to be turned on and off according to the state of the rearview mirror. The rear camera is only turned on when the rearview mirror is folded, thereby reducing the waste of car battery power and the amount of data processing of the vehicle system, and improving practicality.

[0075] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0076] Please refer to Figure 4 , Figure 4 This is a structural block diagram of a vehicle control device provided in an exemplary embodiment of this application. The vehicle control device can be implemented as all or part of an on-board computer through software, hardware, or a combination of both. The device includes:

[0077] The recognition module 301 is used to recognize the width of the road surface ahead;

[0078] The control module 302 is used to retract the vehicle's rearview mirrors and activate the rear-view camera to display the road condition image captured by the rear-view camera when the road width is less than the vehicle's safe width; the rear-view camera is used to capture the road condition image behind and / or to the side of the vehicle, and the safe width is determined based on the vehicle's width.

[0079] The control module 302 is used to deploy the vehicle's rearview mirrors and turn off the rear camera when the road width is greater than the safe width.

[0080] In an optional embodiment, the identification module 301 is used to identify obstacles on the road surface ahead and obtain the obstacle width and obstacle height;

[0081] The control module 302 is used to retract the rearview mirror of the vehicle, turn on the rear camera, and display the road condition image captured by the rear camera when the height of the obstacle is higher than the chassis height of the vehicle and the first width is less than the safe width. The first width is equal to the difference between the road width and the obstacle width.

[0082] The control module 302 is used to retract the rearview mirror of the vehicle and turn on the rear camera to display the road condition image captured by the rear camera when the height of the obstacle is lower than the height of the chassis and the width of the road surface is less than the safe width of the vehicle.

[0083] In an optional embodiment, the identification module 301 is used to determine a first distance between the obstacle and the left side of the road surface in front, and a second distance between the obstacle and the right side of the road surface in front;

[0084] The control module 302 is used to retract the rearview mirror of the vehicle and turn on the rear camera to display the road condition image captured by the rear camera when the height of the obstacle is higher than the chassis height of the vehicle and the second width is less than the safe width. The second width is the larger value between the first distance and the second distance.

[0085] In an optional embodiment, the identification module 301 is used to obtain a third distance between the centerline of the vehicle and the left side of the road surface in front, and to obtain a fourth distance between the centerline and the right side of the road surface in front.

[0086] The control module 302 is used to retract the right-side rearview mirror of the vehicle and activate the right-side camera to display the road condition image captured by the right-side camera when the road width is less than the safe width, the road width is greater than the first minimum width, and the third distance is greater than the fourth distance; the first minimum width is equal to the width of the vehicle after retracting one side rearview mirror, and the right-side camera is used to capture the road condition image on the right side of the vehicle.

[0087] The control module 302 is used to retract the left side mirror of the vehicle and turn on the left side camera to display the road condition image captured by the left side camera when the road width is less than the safe width, the road width is greater than the first minimum width, and the third distance is less than the fourth distance; the left side camera is used to capture the road condition image on the left side of the vehicle.

[0088] The control module 302 is used to retract the vehicle's dual side mirrors and activate the left and right cameras when the road width is less than the safe width and the road width is greater than the second minimum width, and to display the road condition images captured by the left and right cameras; the second minimum width is equal to the width of the vehicle after the dual side mirrors are retracted, and the left camera is used to capture the road condition image on the left side of the vehicle.

[0089] In an optional embodiment, the recognition module 301 is used to acquire a road surface image of the road surface ahead through a front-facing camera, wherein the front-facing camera is a depth camera, and the road surface image is a depth image captured by the front-facing camera.

[0090] The recognition module 301 is used to input the road surface image into the type prediction model to obtain the road surface type of the road surface ahead. The road surface type includes one of open road surface, semi-closed road surface and closed road surface. The open road surface is a road surface without obstruction on both sides within a preset distance. The semi-closed road surface is a road surface with obstruction on one side within a preset distance. The closed road surface is a road surface with obstruction on both sides within a preset distance.

[0091] The recognition module 301 is used to input the road surface image into the width prediction model to obtain the actual width of the road surface ahead, wherein the actual width is the ground width of the road surface ahead;

[0092] The identification module 301 is used to determine the width of the road surface ahead as the product of a first coefficient and the actual width when the road surface type is the open road surface.

[0093] The identification module 301 is used to determine the width of the road surface ahead as the product of a second coefficient and the actual width when the road surface type is the semi-closed road surface.

[0094] The identification module 301 is used to determine the width of the road surface ahead as the product of a third coefficient and the actual width when the road surface type is the closed road surface.

[0095] Wherein, the third coefficient is less than or equal to 1, the first coefficient is greater than the second coefficient, and the second coefficient is greater than the third coefficient.

[0096] In an optional embodiment, the display module 303 is configured to display a warning message when the actual width is less than the wheelbase of the vehicle, the warning message indicating that the vehicle cannot pass the road ahead.

[0097] In an optional embodiment, the control module 302 is configured to, when the road surface type is the semi-enclosed road surface, the actual width is greater than the vehicle's wheelbase and less than the warning width, and the left side of the road surface ahead is obstructed, retract the vehicle's left-side rearview mirror, activate the left-side camera, and display the road condition image captured by the left-side camera; the warning width is greater than the wheelbase and less than the vehicle width, and the left-side camera is used to capture the road condition image to the left of the vehicle.

[0098] The control module 302 is used to, when the road surface type is the semi-closed road surface, the actual width is greater than the wheel track of the vehicle, and the actual width is less than the warning width, and the right side of the road surface in front is obstructed, fold up the right side mirror of the vehicle, turn on the right side camera, and display the road condition image captured by the right side camera; the right side camera is used to capture the road condition image on the right side of the vehicle.

[0099] It should be noted that the vehicle control device provided in the above embodiments is only illustrated by the division of the above functional modules when executing the vehicle control method. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle control device and the vehicle control method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0100] This application also provides an in-vehicle computer, which includes a processor and a memory. The memory stores at least one instruction, which is loaded and executed by the processor to implement the vehicle control methods provided in the above-described embodiments. It should be noted that the in-vehicle computer can be as follows: Figure 5 The provided vehicle-mounted computer.

[0101] Figure 5 A structural block diagram of an on-board computer 1000 provided in an exemplary embodiment of this application is shown.

[0102] Typically, the vehicle-mounted computer 1000 includes a processor 1001 and a memory 1002.

[0103] Processor 1001 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 1001 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 1001 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 1001 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 1001 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0104] The memory 1002 may include one or more computer-readable storage media, which may be non-transitory. The memory 1002 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 1002 are used to store at least one instruction, which is executed by the processor 1001 to implement the vehicle control method provided in the method embodiments of this application.

[0105] In some embodiments, the vehicle-mounted computer 1000 may optionally include a peripheral device interface 1003 and at least one peripheral device. The processor 1001, memory 1002, and peripheral device interface 1003 can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface 1003 via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of the following: a radio frequency circuit 1004, a display screen 1005, a camera assembly 1006, an audio circuit 1007, and a power supply 1009.

[0106] Peripheral device interface 1003 can be used to connect at least one I / O (Input / Output) related peripheral device to processor 1001 and memory 1002. In some embodiments, processor 1001, memory 1002 and peripheral device interface 1003 are integrated on the same chip or circuit board; in some other embodiments, any one or two of processor 1001, memory 1002 and peripheral device interface 1003 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0107] The radio frequency (RF) circuit 1004 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 1004 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 1004 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Exemplarily, the RF circuit 1004 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user account identity module card, etc. The RF circuit 1004 can communicate with other in-vehicle computers via at least one wireless communication protocol. This wireless communication protocol includes, but is not limited to: the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit 1004 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0108] Display screen 1005 is used to display a UI (User Interface). The UI may include graphics, text, icons, videos, and any combination thereof. When display screen 1005 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 1001 for processing. In this case, display screen 1005 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, there may be one display screen 1005, positioned on the front panel of the vehicle computer 1000; in other embodiments, there may be at least two display screens 1005, respectively positioned on different surfaces of the vehicle computer 1000 or in a folded design; in still other embodiments, display screen 1005 may be a flexible display screen, positioned on a curved or folded surface of the vehicle computer 1000. Furthermore, display screen 1005 may also be configured as a non-rectangular, irregular shape, i.e., a non-rectangular screen. The display screen 1005 can be made of materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0109] The camera assembly 1006 is used to acquire images or videos. Exemplarily, the camera assembly 1006 includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is located on the front panel of the vehicle computer, and the rear-facing camera is located on the back of the vehicle computer. In some embodiments, there are at least two rear-facing cameras, which are any one of a main camera, a depth-sensing camera, a wide-angle camera, and a telephoto camera, to achieve background blurring by fusion of the main camera and the depth-sensing camera, panoramic shooting by fusion of the main camera and the wide-angle camera, VR (Virtual Reality) shooting, or other fusion shooting functions. In some embodiments, the camera assembly 1006 may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm-light flash and a cool-light flash, which can be used for light compensation at different color temperatures.

[0110] The audio circuit 1007 may include a microphone and a speaker. The microphone is used to collect sound waves from the user account and environment, converting the sound waves into electrical signals that are input to the processor 1001 for processing, or input to the radio frequency circuit 1004 for voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, each located at a different part of the vehicle computer 1000. The microphone may also be an array microphone or an omnidirectional microphone. The speaker is used to convert electrical signals from the processor 1001 or the radio frequency circuit 1004 into sound waves. The speaker may be a conventional diaphragm speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement. In some embodiments, the audio circuit 1007 may also include a headphone jack.

[0111] The power supply 1009 is used to supply power to the various components in the vehicle computer 1000. The power supply 1009 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When the power supply 1009 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery that is charged via a wired line, while a wireless rechargeable battery is a battery that is charged via a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0112] Those skilled in the art will understand that Figure 5 The structure shown does not constitute a limitation on the vehicle computer 1000, and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0113] The memory also includes one or more programs stored in the memory, and the one or more programs include methods for performing the vehicle control method provided in the embodiments of this application.

[0114] This application also provides a computer device, which includes a processor and a memory. The storage medium stores at least one instruction, at least one program, code set, or instruction set. The at least one instruction, at least one program, code set, or instruction set is loaded and executed by the processor to implement the vehicle control method provided in the above-described method embodiments.

[0115] This application also provides a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, which is loaded and executed by a processor to implement the vehicle control method provided in the above-described method embodiments.

[0116] This application also provides a computer program product or computer program that includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the vehicle control method provided in the above-described optional implementation.

[0117] 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.

[0118] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0119] The above description is merely an exemplary embodiment that can be implemented in this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0120] It should be noted that this application may display prompt interfaces, pop-ups, or output voice prompts before and during the collection of user data. These prompt interfaces, pop-ups, or voice prompts are used to inform the user that their data is being collected. This ensures that the application only begins the steps for collecting user data after receiving confirmation from the user regarding the prompt interface or pop-up; otherwise (i.e., without user confirmation), the steps for collecting user data end, meaning no user data is collected. In other words, all user data collected in this application is collected with the user's consent and authorization, and the collection, use, and processing of related user data must comply with the relevant laws, regulations, and standards of the relevant countries and regions.

Claims

1. A vehicle control method, characterized in that, The method is executed by an onboard computer and includes: The front-facing camera captures images of the road surface ahead. The road surface image is input into the type prediction model to obtain the road surface type of the road surface ahead. The road surface type includes one of open road surface, semi-closed road surface and closed road surface. The open road surface is a road surface without obstruction on both sides within a preset distance. The semi-closed road surface is a road surface with obstruction on one side within a preset distance. The closed road surface is a road surface with obstruction on both sides within a preset distance. The road surface image is input into the width prediction model to obtain the actual width of the road surface ahead; When the road surface type is the open road surface, the road surface width is determined as the product of the first coefficient and the actual width; When the road surface type is the semi-enclosed road surface, the road surface width is determined as the product of the second coefficient and the actual width; When the road surface type is the closed road surface, the road surface width is determined as the product of a third coefficient and the actual width; the third coefficient is less than or equal to 1, the first coefficient is greater than the second coefficient, and the second coefficient is greater than the third coefficient; When the road width is less than the vehicle's safe width, the vehicle's rearview mirrors are folded down, the rear camera is turned on, and the road condition image captured by the rear camera is displayed; the rear camera is used to capture the road condition image behind and / or to the side of the vehicle, and the safe width is determined based on the vehicle's width; When the road width is greater than the safe width, the rearview mirror is deployed and the rear camera is turned off. When the road surface type is a semi-enclosed road surface, and the actual width is greater than the vehicle's wheelbase but less than the warning width, if there is an obstruction on the left side of the road ahead, the vehicle's left rearview mirror will be folded up, the left camera will be activated, and the road condition image captured by the left camera will be displayed; if there is an obstruction on the right side of the road ahead, the vehicle's right rearview mirror will be folded up, the right camera will be activated, and the road condition image captured by the right camera will be displayed; the warning width is greater than the wheelbase but less than the vehicle width.

2. The method according to claim 1, characterized in that, The method further includes: Identify obstacles on the road ahead and obtain the width and height of the obstacles; When the road width is less than the vehicle's safe width, the vehicle's rearview mirrors are retracted, the rear-view camera is activated, and the road condition image captured by the rear-view camera is displayed, including: When the height of the obstacle is higher than the chassis height of the vehicle and the first width is less than the safe width, the rearview mirror of the vehicle is retracted, the rear camera is turned on, and the road condition image captured by the rear camera is displayed. The first width is equal to the difference between the road width and the obstacle width. When the height of the obstacle is lower than the height of the chassis and the width of the road surface is less than the safe width of the vehicle, the rearview mirrors of the vehicle are retracted, the rear-view camera is turned on, and the road condition image captured by the rear-view camera is displayed.

3. The method according to claim 2, characterized in that, The method further includes: Determine a first distance between the obstacle and the left side of the road surface in front, and a second distance between the obstacle and the right side of the road surface in front; When the height of the obstacle is higher than the chassis height of the vehicle and the first width is less than the safe width, the rearview mirror of the vehicle is retracted, the rear-view camera is activated, and the road condition image captured by the rear-view camera is displayed, including: When the height of the obstacle is higher than the chassis height of the vehicle and the second width is less than the safe width, the rearview mirror of the vehicle is retracted, the rear camera is turned on, and the road condition image captured by the rear camera is displayed. The second width is the larger of the first distance and the second distance.

4. The method according to any one of claims 1 to 3, characterized in that, The method further includes: Obtain the third distance between the centerline of the vehicle and the left side of the road surface in front, and obtain the fourth distance between the centerline and the right side of the road surface in front; When the road width is less than the safe width, the road width is greater than the first minimum width, and the third distance is greater than the fourth distance, the right-side rearview mirror of the vehicle is folded up, the right-side camera is turned on, and the road condition image captured by the right-side camera is displayed; the first minimum width is equal to the width of the vehicle after one side rearview mirror is folded up, and the right-side camera is used to capture the road condition image on the right side of the vehicle; When the road width is less than the safe width, the road width is greater than the first minimum width, and the third distance is less than the fourth distance, the left side mirror of the vehicle is folded up, the left side camera is turned on, and the road condition image captured by the left side camera is displayed; the left side camera is used to capture the road condition image on the left side of the vehicle. When the road width is less than the safe width and the road width is greater than the second minimum width, the vehicle's two side mirrors are retracted, and the left and right cameras are turned on to display the road condition images captured by the left and right cameras; the second minimum width is equal to the width of the vehicle after the two side mirrors are retracted, and the left camera is used to capture the road condition image on the left side of the vehicle.

5. The method according to any one of claims 1 to 3, characterized in that, The method further includes: If the actual width is less than the vehicle's wheelbase, a warning message is displayed to indicate that the vehicle cannot pass the road ahead.

6. A vehicle control device, characterized in that, The device includes: A recognition module is used to acquire a road surface image of the road ahead via a front-facing camera; input the road surface image into a type prediction model to obtain the road surface type, which includes one of open road, semi-enclosed road, and closed road. An open road is a road surface without obstructions on either side within a preset distance; a semi-enclosed road is a road surface with obstructions on one side within a preset distance; and a closed road is a road surface with obstructions on both sides within a preset distance. The road surface image is then input into a width prediction model to obtain the actual width of the road ahead. When the road surface type is open, the road width is determined as the product of a first coefficient and the actual width; when the road surface type is semi-enclosed, the road width is determined as the product of a second coefficient and the actual width; and when the road surface type is closed, the road width is determined as the product of a third coefficient and the actual width. The third coefficient is less than or equal to 1, the first coefficient is greater than the second coefficient, and the second coefficient is greater than the third coefficient. The control module is used to retract the vehicle's rearview mirrors and activate the rear-view camera when the road width is less than the vehicle's safe width, displaying the road condition image captured by the rear-view camera; the rear-view camera is used to capture the road condition image behind and / or to the side of the vehicle, and the safe width is determined based on the vehicle's width; The control module is used to deploy the vehicle's rearview mirrors and deactivate the rear camera when the road width is greater than the safe width. The control module is configured to, when the road surface type is the semi-enclosed road surface, the actual width is greater than the vehicle's wheelbase, and the actual width is less than the warning width, if there is an obstruction on the left side of the road surface ahead, retract the vehicle's left rearview mirror, activate the left camera, and display the road condition image captured by the left camera; if there is an obstruction on the right side of the road surface ahead, retract the vehicle's right rearview mirror, activate the right camera, and display the road condition image captured by the right camera; the warning width is greater than the wheelbase but less than the vehicle width.

7. A computer device, characterized in that, The computer device includes a processor, a memory connected to the processor, and program instructions stored in the memory, wherein the processor executes the program instructions to implement the vehicle control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium storing program instructions, characterized in that, When the program instructions are executed by the processor, they implement the vehicle control method as described in any one of claims 1 to 5.

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