Vehicle control method, device, apparatus and computer readable storage medium

Abstract

The embodiment of the application relates to the technical field of vehicle technology, and discloses a vehicle control method, device, equipment and computer readable storage medium, the method comprises the following steps: acquiring vehicle information of the vehicle; generating an environment feature enhanced image of the vehicle based on environment information in the vehicle information; and displaying the environment feature enhanced image through a window of the vehicle. According to the technical scheme of the application, the environment feature enhanced image can be superimposed and displayed with an external environment, so that the visual effect of the external environment is enhanced, different driving scenes are formed, and the demand of users for different driving scenes is met.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, specifically to a vehicle control method, device, equipment, and computer-readable storage medium. Background Technology

[0002] Currently, intelligent vehicles are increasingly equipped with advanced hardware and software features, with driving mode switching becoming a fundamental function. However, current driving mode switching typically only affects the vehicle's performance and cannot meet the needs of users in different driving scenarios. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention provide a vehicle control method, apparatus, device, and computer-readable storage medium to solve the problem that vehicles in the prior art cannot meet the needs of vehicle users for different driving scenarios.

[0004] According to one aspect of the present invention, a vehicle control method is provided, the method comprising:

[0005] Obtain the vehicle information of the vehicle;

[0006] An enhanced environmental feature image of the vehicle is generated based on the environmental information in the vehicle information;

[0007] The enhanced image of the environment is displayed through the vehicle's windows.

[0008] According to another aspect of the present invention, a vehicle control device is provided, comprising:

[0009] The acquisition module is used to acquire vehicle information of the vehicle.

[0010] The generation module is used to generate an environmental feature-enhanced image of the vehicle based on the environmental information in the vehicle information;

[0011] A display module is used to display the enhanced environmental feature image through the vehicle's windows.

[0012] According to another aspect of the present invention, a vehicle control device is provided, including: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other through the communication bus;

[0013] The memory is used to store at least one executable instruction that causes the processor to perform operations as described above in the vehicle control method.

[0014] According to another aspect of the present invention, a computer-readable storage medium is provided, the storage medium storing at least one executable instruction that causes a vehicle control device / apparatus to perform the following operations:

[0015] Obtain the vehicle information of the vehicle;

[0016] An enhanced environmental feature image of the vehicle is generated based on the environmental information in the vehicle information;

[0017] The enhanced image of the environment is displayed through the vehicle's windows.

[0018] This invention generates an enhanced environmental feature image of the vehicle by combining environmental information from the acquired vehicle information, and then displays the enhanced environmental feature image on the vehicle window. Since the enhanced environmental feature image is generated based on the vehicle's environmental information, when a person observes the external environment through the window displaying the enhanced environmental feature image, the enhanced environmental feature image corresponds to the external environment. That is, the enhanced environmental feature image is superimposed on the external environment, thereby enhancing the visual effect of the external environment, creating different driving scenarios, meeting the user's needs for different driving scenarios, and enriching the vehicle's functionality.

[0019] The above description is merely an overview of the technical solutions of the embodiments of the present invention. In order to better understand the technical means of the embodiments of the present invention and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0020] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0021] Figure 1 A flowchart illustrating a first embodiment of the vehicle control method provided by the present invention is shown.

[0022] Figure 2 A flowchart illustrating a second embodiment of the vehicle control method provided by the present invention is shown;

[0023] Figure 3 A flowchart illustrating a third embodiment of the vehicle control method provided by the present invention is shown;

[0024] Figure 4 A flowchart illustrating a fourth embodiment of the vehicle control method provided by the present invention is shown;

[0025] Figure 5 A schematic diagram of an authorized scenario of the vehicle control method provided by the present invention is shown;

[0026] Figure 6 A schematic diagram of the structure of a first embodiment of the vehicle control device provided by the present invention is shown.

[0027] Figure 7 A schematic diagram of an embodiment of the vehicle control device provided by the present invention is shown. Detailed Implementation

[0028] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0029] Figure 1 A flowchart of a first embodiment of the vehicle control method of the present invention is shown, which is executed by a vehicle control device. Figure 1 As shown, the method includes the following steps:

[0030] Step 110: Obtain the vehicle information of the vehicle.

[0031] It should be noted that in actual driving, in addition to the need to switch vehicle performance requirements, occupants also have different needs regarding the driving scenario itself. However, the driving scenario is determined by the external environment of the vehicle, so it can only be changed when the vehicle travels to different locations. This application, through the aforementioned vehicle control method, combines the vehicle's environment to switch the atmosphere inside the vehicle during driving. By changing the interior atmosphere, different driving scenarios are provided, such as racing, sightseeing, and warning scenarios, thereby meeting user needs.

[0032] The acquired vehicle information can be images or 3D point cloud information of the vehicle's surrounding environment. For example, it can be obtained through the vehicle's perception modules, including vision sensors and vehicle radar, or it can be information about the vehicle itself, such as vehicle speed and driving direction, which can be obtained directly through the vehicle's communication network, such as a CAN network (Controller Area Network).

[0033] It should also be noted that the steps for obtaining the vehicle information described above can be triggered by the driver setting the vehicle to a preset driving mode. For example, users can set or select the vehicle to enter a preset driving mode through voice, the vehicle's central control screen, or a mobile device associated with the vehicle, and drivers can also select specific driving scenarios, such as the racing scenario mentioned above.

[0034] Step 120: Generate an enhanced environmental feature image of the vehicle based on the environmental information in the vehicle information.

[0035] The environmental information can be an environmental image, or the position and outline of objects around the vehicle perceived by the perception module. The environmental feature enhancement image can be a feature enhancement image obtained by processing the image or outline according to the processing method selected by the driver. For example, the processing method may include abstracting the environmental image or outline, including style transfer, highlighting, and text addition. The specific processing method is not limited in this embodiment.

[0036] Step 130: Display the enhanced environmental feature image through the vehicle's windows.

[0037] The vehicle windows can be the windshield, side windows, and rear windows. The display method can be projection onto the windows, for example, using HUD (Head-Up Display) technology to display enhanced environmental images. For instance, the HUD can project enhanced environmental images onto the windows using the principle of optical reflection. HUD components can be integrated into the vehicle's center console or the inside of the doors to achieve projection onto each window. When occupants observe the outside world through the windows displaying enhanced environmental images, they can experience different driving atmospheres, thus creating different driving scenarios.

[0038] Understandably, in this embodiment, an enhanced environmental feature image of the vehicle is generated by combining the environmental information from the acquired vehicle information, and then the enhanced environmental feature image is displayed on the vehicle window. Since the enhanced environmental feature image itself is generated from the vehicle's environmental information, when occupants observe the external environment through the window displaying the enhanced environmental feature image, the enhanced environmental feature image can correspond to the external environment, that is, the enhanced environmental feature image is superimposed on the external environment to achieve atmosphere switching, meet the user's needs for different driving scenarios, and enrich the vehicle's functions.

[0039] In one feasible implementation, the environmental information is an environmental image, and step 120 generates an enhanced environmental feature image of the vehicle based on the environmental information in the vehicle information, including steps 121-122:

[0040] Step 121: Extract the target image region of the target feature object from the environmental image;

[0041] Step 122: Perform feature enhancement processing on the target image region to obtain the environmental feature enhanced image.

[0042] It should be noted that in practical applications, in order to avoid the environmental feature enhancement images from affecting the normal driving of the vehicle too much, in this embodiment, the target feature objects in the environmental image will be extracted, that is, only the target feature objects will be processed.

[0043] For example, target image regions of target feature objects are extracted from environmental images. These target feature objects can be roadside trees, road signs, pedestrians, and other vehicles, or they can be defined by technicians based on objects that may appear during actual driving. The extraction of target image regions can be performed using image recognition models. For instance, the image recognition model can be pre-trained with different image samples based on different target feature objects, enabling it to recognize each target feature object. The area where the target feature object is located in the environmental image is the target image region. After extracting the target image region, feature enhancement is performed on the target image region in the environmental image. For example, texture features of the target image region are extracted, and then the texture features are highlighted, resulting in an enhanced environmental feature image with highlighted contours. In practical applications, the specific environmental feature enhancement method can be determined based on the driving scenario type selected by the user; different driving scenarios can correspond to different environmental feature enhancement methods.

[0044] In one feasible implementation, step 130 displays the enhanced environmental feature image through the vehicle's window, including steps 131-132:

[0045] Step 131: For any environmental feature enhancement image, generate a projection position based on the location of the target image region in the environmental image from which the environmental feature enhancement image is generated;

[0046] Step 132: Project the enhanced environmental feature image onto the display area of ​​the vehicle window based on the projection position.

[0047] For example, in practical applications, since there may be multiple target feature objects in the environmental image, multiple environmental feature enhancement images can be generated accordingly. For any given environmental feature enhancement image, the projection position of the environmental feature enhancement image can be generated by the location (i.e., relative position) of the target image region in the environmental image. Then, the corresponding environmental feature enhancement image is projected onto the display area on the car window based on this projection position. For example, if the target feature object for generating a certain environmental feature enhancement image is located at the upper left corner of the environmental image (or it can be a specific coordinate), then the projection position can be the upper left corner, projecting the environmental feature enhancement image onto the upper left corner of the car window display area.

[0048] Furthermore, it should be noted that, taking the driver's perspective as an example, for the same target object in the vehicle's external environment, the driver's viewing angle and the environmental image acquisition angle may differ. Therefore, the projection position of the environmental feature enhancement image is not consistent with the position of the target image region that generates the environmental feature enhancement image in the environmental image. The conversion relationship between the position of the target image region in the environmental image and the projection position can be constructed by the relative position between the visual sensor that acquires the environmental image and the driver's seat. In order to further ensure the accuracy of the projection position, a height coefficient, which is the driver's height, can be added to the conversion relationship.

[0049] It is understood that in this embodiment, for any given environmental feature enhancement image, the projection position of the environmental feature enhancement image on the window display area is generated based on the position of the environmental feature enhancement image in the environmental image. This ensures that when occupants observe the external environment through the window, the overlap between the environmental feature enhancement image on the window and the target feature objects in the external environment is high, guaranteeing the visual effect of environmental feature enhancement and improving the immersion of occupants in the driving scene.

[0050] Figure 2 A flowchart of a second embodiment of the vehicle control method of the present invention is shown, which is executed by vehicle equipment. Figure 2 As shown, the vehicle window includes a first window facing the driver of the vehicle, and the types of target feature objects include road signs and obstacles. Step 121 extracts the target image region of the target feature object from the environmental image, including steps 11-12:

[0051] Step 11, if the display window of the enhanced environmental image is the first window, identify the road sign and / or the obstacle from the environmental image.

[0052] It should be noted that in actual driving, vehicle occupants can be divided into two categories: drivers and passengers. The needs of these different groups will vary, and consequently, the content displayed will also differ. For example, a vehicle window includes a first window facing the driver (such as the windshield), and the content displayed on this first window is intended for the driver. Furthermore, the types of target features include road signs and obstacles.

[0053] For example, when the display window of the environmental feature enhancement image is the first window, road signs and / or obstacles are identified from the environmental image. Road signs can be speed limit signs, directional signs, and geographical signs on the roadside, or lane lines and directional arrows on the ground; while obstacles can be rocks, pedestrians, guardrails, and various roadblocks placed along the driving path.

[0054] Step 12: The area formed by the outline of the road sign and / or the outline of the obstacle in the environmental image is taken as the target image area.

[0055] For example, the region formed by the outlines of road signs and / or obstacles in the environmental image is designated as the target image region. For instance, if a circular speed limit sign is identified in the environmental image, the region formed by the circular outer outline of the speed limit sign in the environmental image is designated as the target image region. Furthermore, it should be noted that feature enhancement of the target image regions of target features such as road signs and obstacles can highlight key road information during driving, thereby assisting the driver. In some recreational driving scenarios, such as racing scenarios, the feature enhancement of the aforementioned target features can be a racing-style appearance overlay. For example, after extracting the target image regions of target features such as lane lines or guardrails, the target image regions can be filled with black and white squares, thereby simulating the external environment as a racetrack to construct the driving scenario. To further enhance the fun of driving, a score can also be generated based on driving records in racing scenarios as a criterion for judging driving achievements.

[0056] It is understood that in this embodiment, when enhancing the environmental features of the external environment, the target image areas of road signs and / or obstacles will be identified for the car window facing the driver, and feature enhancement processing will be performed. On the one hand, the visual effect of observing the outside world from inside the car can be changed through environmental feature enhancement, thereby achieving the purpose of switching driving scenes. On the other hand, feature enhancement of road signs and / or obstacles can highlight road condition information during driving, thereby assisting the driver and ensuring driving safety.

[0057] Figure 3 A flowchart of a third embodiment of the vehicle control method of the present invention is shown, which is executed by vehicle equipment. Figure 3 As shown, the vehicle window also includes a second window facing the passengers of the vehicle, the types of target feature objects also include preset marker objects, the vehicle information also includes the vehicle's location information, and step 121, which extracts the target image region of the target feature object from the environmental image, further includes steps 21-22:

[0058] Step 21: If the display window of the enhanced environmental image is the second window, determine the preset marker object within the vehicle's field of vision based on the location information.

[0059] It should be noted that the vehicle window also includes a second window facing the passengers of the vehicle (such as a rear side window), and the second window facing the passengers means that the environmental feature content displayed on this window is targeted at the passengers. The types of target feature objects also include preset landmark objects, and vehicle information also includes the vehicle's location information. It should be noted that, unlike the driver, passengers do not need to perform driving duties; therefore, the enhanced environmental feature content displayed on the second window can be any feature object in the environmental image. In this embodiment, to meet the personalized scenario needs of passengers, the preset landmark objects can be landmark buildings or scenic spots in the area where the vehicle is located.

[0060] For example, when the display window of the environmental feature enhancement image is the second window, the preset landmark objects within the vehicle's field of vision can be determined based on the vehicle's location information. For instance, the preset landmark objects such as landmark buildings or scenic spots around the vehicle's location can be determined through network search. Alternatively, road sections where the preset landmark objects can be viewed can be marked in advance, and then the vehicle's location information can be used to determine whether the road section where the vehicle is located is marked with preset landmark objects. If so, the preset landmark objects marked on that road section can be obtained directly.

[0061] Step 22: Identify the preset marker object from the environmental image, and use the region formed by the outline of the preset marker object in the environmental image as the target image region, wherein the environmental feature enhancement image generated based on the target image region of the preset marker object is associated with the brief information of the preset marker object.

[0062] For example, a preset sign object is identified from an environmental image, and the area formed by the outline of the preset sign object in the environmental image is used as the target image area. For vehicle passengers, visual obstruction or distraction can be disregarded. Therefore, the environmental feature enhancement image generated based on the target image area of ​​the preset sign object can be associated with the brief information of the preset sign object. When the environmental feature enhancement image generated from the target image area of ​​the preset sign object is displayed on the second window, the brief information of the preset sign object can be displayed on the second window in association with the environmental feature enhancement image for passengers to view.

[0063] It is understood that in this embodiment, when enhancing the environmental features of the external environment, the target image area of ​​the preset marker object will be identified for the passenger-facing window, and feature enhancement processing will be performed to enhance the passenger's enjoyment during the ride as much as possible.

[0064] Figure 4 A flowchart of a fourth embodiment of the vehicle control method of the present invention is shown, which is executed by vehicle equipment. Figure 4As shown, the vehicle information also includes vehicle motion information. After obtaining the vehicle information in step 110, the method further includes steps 111-112:

[0065] Step 111: Determine the suspension adjustment mode of the vehicle based on the environmental information and the motion information.

[0066] For example, the vehicle adjustment scenario can be determined based on environmental and motion information, and the adjustment method can be determined based on the adjustment scenario. The environmental information can be an environmental image, while the motion information can be the vehicle's speed, vibration amplitude, or steering amplitude, etc. The suspension adjustment methods include raising the suspension base height and lowering the suspension base height.

[0067] Step 112: Adjust the suspension of the vehicle based on the suspension adjustment method.

[0068] For example, the vehicle suspension's base height can be adjusted by a defined suspension adjustment method, such as raising or lowering it. The vehicle suspension can be an air suspension, where the base height is adjusted by regulating the pressure inside the air springs. For instance, decreasing the pressure inside the air springs lowers the base height, while increasing the pressure increases it. The specific adjustment range can be set by technicians based on the vehicle type (e.g., sedan, sports car, and SUV), and is not limited here. In this embodiment, the vehicle suspension will be adjusted in conjunction with vehicle information to further enhance the immersive experience for drivers and passengers, thereby improving the scene feature enhancement effect.

[0069] In one feasible adjustment method, step 111 determines the suspension adjustment method of the vehicle based on the environmental information and the motion information, including steps 101-102:

[0070] Step 101: Generate adjustment scenarios for the vehicle based on the environmental information and the motion information, wherein the types of adjustment scenarios include at least the following: getting into the vehicle, starting, complex road conditions, and cornering.

[0071] For example, the types of adjustment scenarios include at least the following: boarding scenario, starting scenario, complex road condition scenario, and cornering scenario. For the boarding scenario, it can be determined based on the vehicle speed in the motion information, as well as the vehicle's unlock status and door opening / closing status in the vehicle information (e.g., if the vehicle speed is 0 and the vehicle is unlocked and the door is in the process of opening, it is determined to be a boarding scenario). For the starting scenario, it can be determined based on the vehicle speed in the motion information and the throttle opening in the vehicle information (e.g., if the vehicle speed is less than a preset threshold and the throttle opening increases, it is determined to be a starting scenario). For complex road condition scenarios, it can be determined based on the vibration in the motion information or through environmental images (e.g., if the vehicle vibration amplitude is greater than a preset amplitude threshold, or if the ground is identified as uneven terrain through environmental images, it is determined to be a complex road condition scenario). For the cornering scenario, it can be determined based on the vehicle speed and steering angle in the motion information (e.g., if the vehicle speed is greater than a preset speed threshold and the steering angle is greater than a preset steering angle, it is determined to be a cornering scenario).

[0072] Step 102: Determine the adjustment method of the suspension based on the adjustment scenario. In the case that the adjustment scenario is the starting scenario and the complex road condition scenario, the adjustment method is to raise the suspension base height. In the case that the adjustment scenario is the cornering scenario, the adjustment method is to lower the suspension base height. In the case that the adjustment scenario is the getting on the vehicle scenario, the base height is lowered or raised.

[0073] For example, the suspension adjustment method can be determined based on the adjustment scenario, such as by pre-setting a mapping relationship between the adjustment scenario and the adjustment method. This mapping relationship could be that in a starting scenario or a complex road condition scenario, the adjustment method is to raise the suspension base height. In a starting scenario, raising the suspension base height allows the vehicle to exhibit a nose-up posture when starting, matching the driving experience of a racing scenario. In a complex road condition scenario, raising the suspension base height provides more buffer space, improving passenger comfort. In a cornering scenario, the adjustment method is to lower the suspension base height, thereby lowering the vehicle's center of gravity and improving cornering performance. In a getting-in scenario, the base height can be lowered or raised. It should be noted that different types of vehicles have different initial suspension heights. For example, sports cars have a lower chassis, so the suspension base height can be raised for easier entry, while off-road vehicles have a higher chassis, so the suspension base height can be lowered for easier entry as well.

[0074] It is understood that in this embodiment, different suspension adjustment methods will be determined based on vehicle information, including lowering or raising the basic suspension height, so that the vehicle suspension performance can match the suspension height requirements of non-driving scenarios, thereby further enhancing the immersive experience of driving scenarios.

[0075] Furthermore, all user-related data involved in this application (such as environmental information data of user vehicles, user geographical location information, and user personal height information) were obtained with the user's permission or consent; that is to say, when this application is applied to specific products or technologies, user permission is required to obtain and process the relevant data, and the processing of the relevant data must comply with the relevant laws, regulations and regulatory standards of the relevant countries and regions.

[0076] For example, refer to Figure 5 This application is an authorized scenario illustration. When it is necessary to obtain the user's current geographical location, a location acquisition prompt can be displayed on the user's terminal. After receiving the user's confirmation operation for the location acquisition prompt, the terminal can obtain the user's current geographical location.

[0077] Figure 6 A schematic diagram of an embodiment of the vehicle control device of the present invention is shown. Figure 6 As shown, the device 300 includes: an acquisition module 310, a generation module 320, and a display module 330.

[0078] In one alternative embodiment, the acquisition module 310 is used to acquire vehicle information of the vehicle; the generation module 320 is used to generate an environmental feature enhancement image of the vehicle based on environmental information in the vehicle information; and the display module 330 is used to display the environmental feature enhancement image through the vehicle's windows.

[0079] In one alternative approach, the environmental information is an environmental image, and the generation module 320 is further configured to: extract a target image region of a target feature object from the environmental image; and perform feature enhancement processing on the target image region to obtain the environmental feature-enhanced image.

[0080] In an alternative embodiment, the display module 330 is further configured to: for any environmental feature enhancement image, generate a projection position based on the location of the target image region in the environmental image where the environmental feature enhancement image is generated; and project the environmental feature enhancement image onto the display area on the vehicle window based on the projection position.

[0081] In one alternative embodiment, the window includes a first window facing the driver of the vehicle, and the types of target feature objects include road signs and obstacles. The generation module 320 is further configured to: identify the road signs and / or the obstacles from the environmental image when the display window of the enhanced environmental image is the first window; and use the area formed by the outlines of the road signs and / or the outlines of the obstacles in the environmental image as the target image area.

[0082] In one alternative embodiment, the vehicle window further includes a second window facing the passengers of the vehicle, the type of target feature object further includes a preset sign object, the vehicle information further includes the location information of the vehicle, and the generation module 320 is further configured to: when the display window of the environmental feature enhancement image is the second window, determine the preset sign object within the field of view of the vehicle based on the location information; identify the preset sign object from the environmental image, and use the area formed by the outline of the preset sign object in the environmental image as the target image area, wherein the environmental feature enhancement image generated based on the target image area of ​​the preset sign object is associated with the brief information of the preset sign object.

[0083] In an alternative embodiment, the device 300 further includes an adjustment module 340, which is configured to: determine the suspension adjustment mode of the vehicle based on the environmental information and the motion information; and adjust the suspension of the vehicle based on the suspension adjustment mode.

[0084] In an optional embodiment, the adjustment module 340 is further configured to: generate an adjustment scenario for the vehicle based on the environmental information and the motion information, wherein the types of adjustment scenarios include at least a vehicle entry scenario, a starting scenario, a complex road condition scenario, and a cornering scenario; determine the adjustment method of the suspension based on the adjustment scenario, wherein the adjustment method is to raise the suspension base height when the adjustment scenario is the starting scenario and the complex road condition scenario, the adjustment method is to lower the suspension base height when the adjustment scenario is the cornering scenario, and the base height is lowered or raised when the adjustment scenario is the vehicle entry scenario.

[0085] The vehicle control device provided in this application employs the vehicle control method described in the above embodiments, aiming to solve the technical problem that vehicles cannot meet the needs of vehicle users for different driving scenarios. Compared with the prior art, the beneficial effects of the electronic device provided in this application are the same as those of the vehicle control method provided in Embodiment 1 above, and other technical features in this vehicle control device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0086] Figure 7 The diagram shows a structural schematic of an embodiment of the vehicle control device of the present invention. The specific embodiments of the present invention do not limit the specific implementation of the vehicle control device.

[0087] like Figure 7 As shown, the vehicle control device may include: a processor 402, a communications interface 404, a memory 406, and a communications bus 408.

[0088] The processor 402, communication interface 404, and memory 406 communicate with each other via communication bus 408. Communication interface 404 is used to communicate with other network elements such as clients or other servers. The processor 402 executes program 410, specifically performing the relevant steps described above in the vehicle control method embodiment.

[0089] Specifically, program 410 may include program code, which includes computer-executable instructions.

[0090] Processor 402 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. The vehicle control device may include one or more processors of the same type, such as one or more CPUs; or it may include processors of different types, such as one or more CPUs and one or more ASICs.

[0091] Memory 406 is used to store program 410. Memory 406 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0092] Specifically, program 410 can be called by processor 402 to cause the vehicle control device to perform the following operations:

[0093] Obtain the vehicle information of the vehicle;

[0094] An enhanced environmental feature image of the vehicle is generated based on the environmental information in the vehicle information;

[0095] The enhanced image of the environment is displayed through the vehicle's windows.

[0096] In an alternative manner, the program 410 is invoked by the processor 402 to cause the vehicle control device to perform the following operations:

[0097] The environmental information is an environmental image, and the step of generating an enhanced environmental feature image of the vehicle based on the environmental information in the vehicle information includes:

[0098] Extract the target image region of the target feature object from the environmental image;

[0099] The target image region is subjected to feature enhancement processing to obtain the environmental feature enhanced image.

[0100] In an alternative manner, the program 410 is invoked by the processor 402 to cause the vehicle control device to perform the following operations:

[0101] The display of the enhanced environmental feature image through the vehicle window includes:

[0102] For any environmental feature enhancement image, a projection position is generated based on the location of the target image region in the environmental image from which the environmental feature enhancement image is generated;

[0103] The enhanced image of the environmental features is projected onto the display area of ​​the vehicle window based on the projection position.

[0104] In an alternative manner, the program 410 is invoked by the processor 402 to cause the vehicle control device to perform the following operations:

[0105] The vehicle window includes a first window facing the driver of the vehicle; the types of target feature objects include road signs and obstacles; and the target image region for extracting target feature objects from the environmental image includes:

[0106] When the display window of the enhanced environmental image is the first window, the road sign and / or the obstacle are identified from the environmental image;

[0107] The area formed by the outlines of the road signs and / or the outlines of the obstacles in the environmental image is taken as the target image area.

[0108] In an alternative manner, the program 410 is invoked by the processor 402 to cause the vehicle control device to perform the following operations:

[0109] The vehicle window also includes a second window facing the passengers of the vehicle; the types of target feature objects also include preset marker objects; the vehicle information also includes the vehicle's location information; and the target image region for extracting target feature objects from the environmental image further includes:

[0110] When the display window of the enhanced environmental image is the second window, a preset marker object within the vehicle's field of vision is determined based on the location information;

[0111] The preset marker object is identified from the environmental image, and the region formed by the outline of the preset marker object in the environmental image is taken as the target image region. The environmental feature enhancement image generated based on the target image region of the preset marker object is associated with the brief information of the preset marker object.

[0112] In an alternative manner, the program 410 is invoked by the processor 402 to cause the vehicle control device to perform the following operations:

[0113] The vehicle information also includes vehicle motion information. After obtaining the vehicle information, the method further includes:

[0114] The suspension adjustment mode of the vehicle is determined based on the environmental information and the motion information;

[0115] The suspension of the vehicle is adjusted based on the aforementioned suspension adjustment method.

[0116] In an alternative manner, the program 410 is invoked by the processor 402 to cause the vehicle control device to perform the following operations:

[0117] Determining the vehicle's suspension adjustment mode based on the environmental information and the motion information includes:

[0118] The vehicle adjustment scenario is generated based on the environmental information and the motion information, wherein the types of adjustment scenarios include at least the vehicle entry scenario, the starting scenario, the complex road condition scenario, and the cornering scenario.

[0119] The adjustment method of the suspension is determined based on the adjustment scenario. Specifically, when the adjustment scenario is the starting scenario and the complex road condition scenario, the adjustment method is to raise the suspension base height. When the adjustment scenario is the cornering scenario, the adjustment method is to lower the suspension base height. When the adjustment scenario is the getting on the vehicle scenario, the base height is either lowered or raised.

[0120] The specific implementation of the vehicle control device in this application is basically the same as the various embodiments of the vehicle control method described above, and will not be repeated here.

[0121] This invention provides a computer-readable storage medium storing at least one executable instruction that, when executed on a vehicle control device, causes the vehicle control device to perform the vehicle control method in any of the above-described method embodiments.

[0122] Specifically, the executable instructions can be used to cause the vehicle control equipment / devices to perform the following operations:

[0123] Obtain the vehicle information of the vehicle;

[0124] An enhanced environmental feature image of the vehicle is generated based on the environmental information in the vehicle information;

[0125] The enhanced image of the environment is displayed through the vehicle's windows.

[0126] In one alternative approach, the executable instructions cause the vehicle control device / apparatus to perform the following operations:

[0127] The environmental information is an environmental image, and the step of generating an enhanced environmental feature image of the vehicle based on the environmental information in the vehicle information includes:

[0128] Extract the target image region of the target feature object from the environmental image;

[0129] The target image region is subjected to feature enhancement processing to obtain the environmental feature enhanced image.

[0130] In one alternative approach, the executable instructions cause the vehicle control device / apparatus to perform the following operations:

[0131] The display of the enhanced environmental feature image through the vehicle window includes:

[0132] For any environmental feature enhancement image, a projection position is generated based on the location of the target image region in the environmental image from which the environmental feature enhancement image is generated;

[0133] The enhanced image of the environmental features is projected onto the display area of ​​the vehicle window based on the projection position.

[0134] In one alternative approach, the executable instructions cause the vehicle control device / apparatus to perform the following operations:

[0135] The vehicle window includes a first window facing the driver of the vehicle; the types of target feature objects include road signs and obstacles; and the target image region for extracting target feature objects from the environmental image includes:

[0136] When the display window of the enhanced environmental image is the first window, the road sign and / or the obstacle are identified from the environmental image;

[0137] The area formed by the outlines of the road signs and / or the outlines of the obstacles in the environmental image is taken as the target image area.

[0138] In one alternative approach, the executable instructions cause the vehicle control device / apparatus to perform the following operations:

[0139] The vehicle window also includes a second window facing the passengers of the vehicle; the types of target feature objects also include preset marker objects; the vehicle information also includes the vehicle's location information; and the target image region for extracting target feature objects from the environmental image further includes:

[0140] When the display window of the enhanced environmental image is the second window, a preset marker object within the vehicle's field of vision is determined based on the location information;

[0141] The preset marker object is identified from the environmental image, and the region formed by the outline of the preset marker object in the environmental image is taken as the target image region. The environmental feature enhancement image generated based on the target image region of the preset marker object is associated with the brief information of the preset marker object.

[0142] In one alternative approach, the executable instructions cause the vehicle control device / apparatus to perform the following operations:

[0143] The vehicle information also includes vehicle motion information. After obtaining the vehicle information, the method further includes:

[0144] The suspension adjustment mode of the vehicle is determined based on the environmental information and the motion information;

[0145] The suspension of the vehicle is adjusted based on the aforementioned suspension adjustment method.

[0146] In one alternative approach, the executable instructions cause the vehicle control device / apparatus to perform the following operations:

[0147] Determining the vehicle's suspension adjustment mode based on the environmental information and the motion information includes:

[0148] The vehicle adjustment scenario is generated based on the environmental information and the motion information, wherein the types of adjustment scenarios include at least the vehicle entry scenario, the starting scenario, the complex road condition scenario, and the cornering scenario.

[0149] The adjustment method of the suspension is determined based on the adjustment scenario. Specifically, when the adjustment scenario is the starting scenario and the complex road condition scenario, the adjustment method is to raise the suspension base height. When the adjustment scenario is the cornering scenario, the adjustment method is to lower the suspension base height. When the adjustment scenario is the getting on the vehicle scenario, the base height is either lowered or raised.

[0150] The specific implementation of the computer-readable storage medium in this application is basically the same as the embodiments of the vehicle control method described above, and will not be repeated here.

[0151] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Furthermore, the embodiments of this invention are not directed to any particular programming language.

[0152] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. Similarly, for the sake of brevity and to aid in understanding one or more aspects of the invention, in the description of exemplary embodiments of the invention above, various features of the embodiments are sometimes grouped together in a single embodiment, figure, or description thereof. The claims, which follow the detailed description, are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of the invention.

[0153] Those skilled in the art will understand that the modules in the device of the embodiment can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiment can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components, except that at least some of such features and / or processes or units are mutually exclusive.

[0154] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. A vehicle control method, characterized in that, The method includes: Obtain the vehicle information of the vehicle; An enhanced environmental feature image of the vehicle is generated based on the environmental information in the vehicle information; The enhanced image of the environment is displayed through the vehicle's windows; The environmental information is an environmental image, and the step of generating an enhanced environmental feature image of the vehicle based on the environmental information in the vehicle information includes: Extract the target image region of the target feature object from the environmental image; The target image region is subjected to feature enhancement processing to obtain the environmental feature enhanced image. The environmental feature enhancement method corresponding to the target image region is determined according to the driving scenario type selected by the user.

2. The method according to claim 1, characterized in that, The display of the enhanced environmental feature image through the vehicle window includes: For any environmental feature enhancement image, a projection position is generated based on the location of the target image region in the environmental image from which the environmental feature enhancement image is generated; The enhanced image of the environmental features is projected onto the display area of ​​the vehicle window based on the projection position.

3. The method according to claim 1, characterized in that, The vehicle window includes a first window facing the driver of the vehicle; the types of target feature objects include road signs and obstacles; and the target image region for extracting target feature objects from the environmental image includes: When the display window of the enhanced environmental image is the first window, the road sign and / or the obstacle are identified from the environmental image; The area formed by the outlines of the road signs and / or the outlines of the obstacles in the environmental image is taken as the target image area.

4. The method according to claim 1, characterized in that, The vehicle window also includes a second window facing the passengers of the vehicle; the types of target feature objects also include preset marker objects; the vehicle information also includes the vehicle's location information; and the target image region for extracting target feature objects from the environmental image further includes: When the display window of the enhanced environmental image is the second window, a preset marker object within the vehicle's field of vision is determined based on the location information; The preset marker object is identified from the environmental image, and the region formed by the outline of the preset marker object in the environmental image is taken as the target image region. The environmental feature enhancement image generated based on the target image region of the preset marker object is associated with the brief information of the preset marker object.

5. The method according to claim 1, characterized in that, The vehicle information also includes vehicle motion information. After obtaining the vehicle information, the method further includes: The suspension adjustment mode of the vehicle is determined based on the environmental information and the motion information; The suspension of the vehicle is adjusted based on the aforementioned suspension adjustment method.

6. The method according to claim 5, characterized in that, Determining the vehicle's suspension adjustment mode based on the environmental information and the motion information includes: The vehicle adjustment scenario is generated based on the environmental information and the motion information, wherein the types of adjustment scenarios include at least the vehicle entry scenario, the starting scenario, the complex road condition scenario, and the cornering scenario. The adjustment method of the suspension is determined based on the adjustment scenario. Specifically, when the adjustment scenario is the starting scenario and the complex road condition scenario, the adjustment method is to raise the suspension base height. When the adjustment scenario is the cornering scenario, the adjustment method is to lower the suspension base height. When the adjustment scenario is the getting on the vehicle scenario, the base height is either lowered or raised.

7. A vehicle control device, characterized in that, The device includes: The acquisition module is used to acquire vehicle information of the vehicle. The generation module is used to generate an environmental feature-enhanced image of the vehicle based on the environmental information in the vehicle information; A display module is used to display the enhanced environmental feature image through the vehicle's windows; The environmental information is an environmental image, and the generation module is further used for: Extract the target image region of the target feature object from the environmental image; The target image region is subjected to feature enhancement processing to obtain the environmental feature enhanced image. The environmental feature enhancement method corresponding to the target image region is determined according to the driving scenario type selected by the user.

8. A vehicle control device, characterized in that, include: The processor, memory, communication interface, and communication bus are provided, wherein the processor, memory, and communication interface communicate with each other via the communication bus. The memory is used to store at least one executable instruction that causes the processor to perform the operation of the vehicle control method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The storage medium stores at least one executable instruction, which, when executed on the vehicle control device / apparatus, causes the vehicle control device / apparatus to perform the operation of the vehicle control method as described in any one of claims 1-6.

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