Vehicle control methods, devices, vehicles, storage media and software products

Abstract

This application discloses a driving control method, device, vehicle, storage medium, and program product. The method includes: acquiring the current relative position of objects around the vehicle relative to the vehicle, the current relative position including the current relative orientation and the current relative distance, the current relative orientation including being in front of or behind the vehicle; determining the rate of change of the relative distance between the object and the vehicle based on the current relative distance and historical relative distances; and, if the object is determined to be a target object based on the current relative distance and the rate of change of relative distance, controlling the vehicle based on the vehicle's driving state and the current relative orientation, wherein the target object refers to an object with a collision risk to the vehicle. This application improves driving control safety by controlling the vehicle when the target object is identified.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a driving control method, device, vehicle, storage medium, and program product. Background Technology

[0002] With the development of vehicle technology, in some scenarios, vehicles are usually equipped with gear shifting functions. By monitoring changes in vehicle parameters such as road slope, braking, and accelerator during the vehicle's driving process, the vehicle can automatically switch gears to improve energy efficiency, enhance driving intelligence, and improve the driver's driving experience.

[0003] While the automatic gear shifting method described above can reduce the driver's continuous control over vehicle functions and improve the driving experience, the driver's reliance on this function may increase reaction time in emergency situations, thereby compromising driving safety. Summary of the Invention

[0004] This application provides a vehicle control method, device, vehicle, storage medium, and program product, which can improve the safety of vehicle control. The technical solution is as follows:

[0005] On the one hand, a driving control method is provided, the method comprising:

[0006] Obtain the current relative position of objects around the vehicle relative to the vehicle, the current relative position including the current relative orientation and the current relative distance, the current relative orientation including being in front of the vehicle or being behind the vehicle;

[0007] Based on the current relative distance between the object and the vehicle and the historical relative distance, determine the rate of change of the relative distance between the object and the vehicle;

[0008] If the object is determined to be a target object based on the current relative distance and the rate of change of the relative distance, the vehicle is controlled based on the vehicle's driving state and the current relative orientation. The target object refers to an object that poses a collision risk to the vehicle.

[0009] Optionally, controlling the vehicle based on its driving state and current relative position includes:

[0010] When the vehicle is not in motion, the vehicle's gear is switched based on the current relative position so that the switched gear is the gear required for the vehicle to move away from the object. A first alarm message is sent, and in response to a first control command triggered by the user within a first time period after the first alarm message is sent, the vehicle is controlled. The first control command is an instruction to control the vehicle's driving state.

[0011] When the vehicle is in motion, the power output of the vehicle is adjusted based on the vehicle's direction of travel and its current relative position, so that the adjusted power output can reduce the risk of collision with the object. In response to a second control command triggered by the user within a second time period after the adjustment of the vehicle's power output, the vehicle is controlled. The second control command is a command to control the vehicle's speed.

[0012] Optionally, controlling the vehicle in response to a first control command triggered by the user within a first time period after the first alarm information is sent includes:

[0013] If the first control command matches the current gear of the vehicle, the vehicle is controlled to drive according to the first control command;

[0014] If the first control command does not match the current gear of the vehicle, the vehicle's gear will be switched to neutral, and a second alarm message will be sent.

[0015] Optionally, the first control command includes a reversing command or a forward command, and controlling the vehicle to drive according to the first control command includes:

[0016] When the vehicle's current gear is reverse and the first control command is the reverse command, the vehicle is controlled to move backward based on the reverse command;

[0017] When the vehicle's current gear is forward and the first control command is the forward command, the vehicle is controlled to move forward based on the forward command.

[0018] Optionally, adjusting the vehicle's power output based on the vehicle's driving direction and current relative position includes:

[0019] When the driving direction and the current relative position are the same, reduce the power output of the vehicle to make the vehicle decelerate.

[0020] When the driving direction and the current relative position are not the same, the power output of the vehicle is increased so that the vehicle is in an acceleration state.

[0021] Optionally, controlling the vehicle in response to a second control command triggered by the user within a second time period after adjusting the vehicle's power output includes:

[0022] If the second control command matches the current driving state of the vehicle, the vehicle is controlled to drive according to the second control command;

[0023] If the second control command does not match the current driving state of the vehicle, the adjustment of the vehicle's power output is terminated, and a third alarm message is sent.

[0024] Optionally, the second control command includes a deceleration command or an acceleration command, and controlling the vehicle to move according to the second control command includes:

[0025] When the current driving state of the vehicle is deceleration and the second control command is a deceleration command, the vehicle is controlled to decelerate based on the deceleration command;

[0026] When the vehicle's current driving state is an acceleration state and the second control command is an acceleration command, the vehicle is controlled to accelerate based on the acceleration command.

[0027] Optionally, after reducing the power output of the vehicle, the method further includes:

[0028] If the target conditions are met between the object and the vehicle, the vehicle is shifted to neutral and the vehicle is braked. The target conditions include: the relative distance is less than a target distance threshold, and / or the rate of change of the relative distance is less than a target change threshold.

[0029] Optionally, the method further includes:

[0030] If no first control command triggered by the user is received within the first time period after sending the first alarm message, the vehicle's gear position will be shifted to neutral; or,

[0031] If no second control command triggered by the user is received within the second time period after the power output of the vehicle is adjusted, the vehicle's gear is switched to neutral.

[0032] Optionally, after determining that the object is the target object, the method further includes:

[0033] During the process of controlling the vehicle, the collision risk between the object and the vehicle is determined based on the current relative distance and the rate of change of the relative distance between them.

[0034] If the process of controlling the vehicle includes switching the vehicle's gears, then after there is no risk of collision between the object and the vehicle, the vehicle's gear will be restored to the gear it was in before control.

[0035] On the other hand, a driving control device is provided, the device including a position acquisition module, a distance change determination module and a control module;

[0036] The location acquisition module is used to acquire the current relative position of objects around the vehicle relative to the vehicle. The current relative position includes the current relative orientation and the current relative distance. The current relative orientation includes being in front of the vehicle or being behind the vehicle.

[0037] The distance change determination module is used to determine the rate of change of the relative distance between the object and the vehicle based on the current relative distance between the object and the vehicle and the historical relative distance.

[0038] The control module is used to control the vehicle based on the vehicle's driving state and the current relative orientation when the object is determined to be a target object based on the current relative distance and the rate of change of the relative distance. The target object refers to an object that poses a collision risk to the vehicle.

[0039] Optionally, the control module includes a driving state control submodule and a driving speed control submodule:

[0040] The driving state control submodule is used to switch the vehicle's gear based on the current relative position when the vehicle is not in a driving state, so that the switched gear is the gear required for the vehicle to move away from the object, send a first alarm message, and respond to a first control command triggered by the user within a first time period after the first alarm message is sent, to control the vehicle, wherein the first control command is an instruction to control the driving state of the vehicle.

[0041] The driving speed control submodule is used to adjust the vehicle's power output based on the vehicle's driving direction and current relative position when the vehicle is in motion, so that the vehicle can reduce the risk of collision with the object after adjusting the power output. In response to a second control command triggered by the user within a second time period after adjusting the vehicle's power output, the submodule controls the vehicle, wherein the second control command is a command to control the vehicle's driving speed.

[0042] Optionally, the driving state control submodule is specifically used for:

[0043] If the first control command matches the current gear of the vehicle, the vehicle is controlled to drive according to the first control command;

[0044] If the first control command does not match the current gear of the vehicle, the vehicle's gear will be switched to neutral, and a second alarm message will be sent.

[0045] Optionally, the first control command includes a reversing command or a forward command, and the driving state control submodule is specifically used for:

[0046] When the vehicle's current gear is reverse and the first control command is the reverse command, the vehicle is controlled to move backward based on the reverse command;

[0047] When the vehicle's current gear is forward and the first control command is the forward command, the vehicle is controlled to move forward based on the forward command.

[0048] Optionally, the driving speed control submodule is specifically used for:

[0049] When the driving direction and the current relative position are the same, reduce the power output of the vehicle to make the vehicle decelerate.

[0050] When the driving direction and the current relative position are not the same, the power output of the vehicle is increased so that the vehicle is in an acceleration state.

[0051] Optionally, the driving speed control submodule is specifically used for:

[0052] If the second control command matches the current driving state of the vehicle, the vehicle is controlled to drive according to the second control command;

[0053] If the second control command does not match the current driving state of the vehicle, the adjustment of the vehicle's power output is terminated, and a third alarm message is sent.

[0054] Optionally, the second control command includes a deceleration command or an acceleration command, and the driving speed control submodule is specifically used for:

[0055] When the current driving state of the vehicle is deceleration and the second control command is a deceleration command, the vehicle is controlled to decelerate based on the deceleration command;

[0056] When the vehicle's current driving state is an acceleration state and the second control command is an acceleration command, the vehicle is controlled to accelerate based on the acceleration command.

[0057] Optionally, the driving speed control submodule is further configured to:

[0058] If the target conditions are met between the object and the vehicle, the vehicle is shifted to neutral and the vehicle is braked. The target conditions include: the relative distance is less than a target distance threshold, and / or the rate of change of the relative distance is less than a target change threshold.

[0059] Optionally, the driving state control submodule is further configured to:

[0060] If no first control command triggered by the user is received within the first time period after sending the first alarm message, the vehicle's gear position will be shifted to neutral; or,

[0061] If no second control command triggered by the user is received within the second time period after the power output of the vehicle is adjusted, the vehicle's gear is switched to neutral.

[0062] Optionally, the driving state control submodule is further configured to:

[0063] During the process of controlling the vehicle, the collision risk between the object and the vehicle is determined based on the current relative distance and the rate of change of the relative distance between them.

[0064] If the process of controlling the vehicle includes switching the vehicle's gears, then after there is no risk of collision between the object and the vehicle, the vehicle's gear will be restored to the gear it was in before control.

[0065] On the other hand, a vehicle is provided, the vehicle including a memory and a controller, the memory for storing a computer program, and the controller for executing the computer program stored in the memory to implement the steps of the driving control method described above.

[0066] On the other hand, a computer-readable storage medium is provided, wherein a computer program is stored therein, and when the computer program is executed by a controller, it implements the steps of the driving control method described above.

[0067] On the other hand, a computer program product containing instructions is provided, which, when executed on a computer, cause the computer to perform the steps of the driving control method described above.

[0068] The technical solution provided in this application can bring at least the following beneficial effects:

[0069] By acquiring the relative distance and rate of change of relative distance between objects around the vehicle and the vehicle itself, it is possible to determine whether an object poses a collision risk, thereby monitoring vehicle driving safety. Furthermore, if an object is a target, the vehicle can be controlled based on its driving status and the object's relative position. This allows the vehicle to adjust its driving conditions in a timely manner based on its own driving status and the object's position, reducing the risk of a collision. Thus, even in emergency situations where there is a risk of collision, proactive vehicle control can shorten the time required for the driver to regain control, thereby improving driving safety. Attached Figure Description

[0070] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments 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.

[0071] Figure 1 This is a schematic diagram of an implementation environment provided in an embodiment of this application;

[0072] Figure 2 This is a schematic diagram of another implementation environment provided in the embodiments of this application;

[0073] Figure 3 This is a flowchart of a vehicle control method provided in an embodiment of this application;

[0074] Figure 4 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application;

[0075] Figure 5 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0076] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0077] Before providing a detailed explanation of the driving control method provided in the embodiments of this application, the implementation environment involved in the embodiments of this application will be introduced first.

[0078] Please refer to Figure 1 , Figure 1 This is a schematic diagram illustrating an implementation environment according to an exemplary embodiment. The implementation environment includes an object 101 and a vehicle 102.

[0079] Object 101 can be a moving object, such as a vehicle or pedestrian moving around vehicle 102, or a stationary object, such as a roadside tree or street lamp.

[0080] The vehicle 102 is used to control its gear and power output based on the current relative position of the object 101 to the vehicle 102, so as to avoid collision with the object 101.

[0081] In some embodiments, such as Figure 2 As shown, vehicle 102 may include sensor 201, controller 202 and function implementation unit 203.

[0082] Sensor 201 is used to obtain the current relative position of objects around vehicle 102 relative to vehicle. The type of sensor 201 can be flexibly selected based on actual usage requirements.

[0083] For example, sensor 201 can be a radar sensor to acquire the relative position of surrounding objects relative to the vehicle by detecting radar signals, and send the acquired relative position to controller 202 in real time.

[0084] The controller 202 is used to control the vehicle's gear and power output based on the relative position obtained by the sensor 201.

[0085] Optionally, the controller 202 may generate a control signal based on the relative position obtained by the sensor and send the control signal to the corresponding function implementation unit 203 to control the vehicle based on the function implementation unit 203.

[0086] The function implementation unit 203 is used to control the vehicle status based on the control signals sent by the controller 202.

[0087] Optionally, the control signals sent by the controller 202 may include shift signals and power output signals. The function implementation unit 203 may include a gearbox and a transmitter. The gearbox is used to switch the vehicle's gears based on the shift signals sent by the controller 202; the transmitter is used to adjust operating parameters such as fuel supply and ignition timing based on the power output signals sent by the controller 202, so as to adjust the vehicle's power output.

[0088] The driving control method provided in this application embodiment is executed by the aforementioned controller 202. The controller 202 can be a general-purpose CPU (Central Processing Unit), NP (Network Processor), microprocessor, or one or more integrated circuits used to implement the solution of this application, such as ASIC (Application-Specific Integrated Circuit), PLD (Programmable Logic Device), or a combination thereof. The aforementioned PLD can be CPLD (Complex Programmable Logic Device), FPGA (Field-Programmable Gate Array), GAL (Generic Array Logic), or any combination thereof.

[0089] Those skilled in the art should understand that the above-described sensors, controllers, and functional implementation units are merely examples. Other existing or future sensors, controllers, and functional implementation units that are applicable to the embodiments of this application should also be included within the scope of protection of the embodiments of this application, and are hereby incorporated by reference.

[0090] It should be noted that the application scenarios and implementation environments described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the emergence of new application scenarios and the evolution of implementation environments, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0091] The driving control method provided in the embodiments of this application will now be explained in detail.

[0092] Figure 3 This is a flowchart of a vehicle control method provided in an embodiment of this application. Please refer to it. Figure 3 The method includes the following steps.

[0093] Step 301: Obtain the current relative position of objects around the vehicle relative to the vehicle. The current relative position includes the current relative orientation and the current relative distance. The current relative orientation includes being in front of the vehicle or behind the vehicle.

[0094] Considering that the control time required for a vehicle to move forward or backward is minimized in emergency situations, the vehicle control in this embodiment is primarily forward control or reverse control.

[0095] Based on this, in the embodiments of this application, when determining the relative position of an object to a vehicle, the relative position mainly includes the front and rear of the vehicle, so that in the event of a collision risk between the object and the vehicle, the vehicle can be controlled to move forward or backward in a timely manner based on the position of the objects around the vehicle and the vehicle, thereby reducing the risk of a collision between the vehicle and the object.

[0096] In addition, to improve the comprehensiveness of the perception of objects around the vehicle, the front of the vehicle can include the front of the vehicle and the diagonally in front of the vehicle, and the rear of the vehicle can include the rear of the vehicle and the diagonally behind the vehicle, so as to achieve all-round monitoring of objects around the vehicle.

[0097] Optionally, to improve the accuracy of collision risk assessment, objects around the vehicle can be filtered based on their size. For example, the size of objects around the vehicle, such as their area, can be obtained first, and step 301 can be executed if the area of ​​an object is greater than an area threshold.

[0098] Step 302: Determine the rate of change of the relative distance between the object and the vehicle based on the current relative distance and the historical relative distance between the object and the vehicle.

[0099] Optionally, the controller can periodically acquire the relative positions of objects around the vehicle relative to the vehicle, and determine the rate of change of the relative distance between the objects and the vehicle based on the current relative distance determined in the current cycle and the historical relative distance determined in the previous cycle.

[0100] For example, the controller acquires the relative position of objects around the vehicle to the vehicle once per second. If the current relative distance between the controller and the object is 10 meters in the current cycle and the historical relative distance between the controller and the object is 15 meters in the previous cycle, then the rate of change of the relative distance between the object and the vehicle is 5 meters per second.

[0101] Step 303: If the object is determined to be the target object based on the current relative distance and the rate of change of relative distance, the vehicle is controlled based on the vehicle's driving state and current relative orientation. The target object refers to an object that poses a collision risk to the vehicle.

[0102] In some embodiments, the time required for a collision between an object and a vehicle can be determined based on the relative distance between them and the rate of change of that relative distance. If this time is less than a time threshold, a collision risk is determined between the object and the vehicle; this time threshold can be determined based on actual experimental data.

[0103] For example, if the time threshold is 5 seconds, the relative distance between the object and the vehicle is 20 meters, and the rate of change of the relative distance is 5 meters / second, it can be determined that the time required for the object and the vehicle to collide is 20 / 5 = 4 seconds. At this time, it is considered that there is a risk of collision between the object and the vehicle.

[0104] In some embodiments, the way to control the vehicle may differ in different scenarios, which will be introduced below in conjunction with specific application scenarios.

[0105] Scenario 1: When the vehicle is not in motion, the vehicle's gear is switched based on the current relative position so that the switched gear is the gear required for the vehicle to move away from the object. A first alarm message is sent, and a first control command is triggered by the user within a first time period after the first alarm message is sent to control the vehicle. The first control command is an instruction to control the vehicle's driving state.

[0106] In some embodiments, the driving status of a vehicle can be determined based on its gear position. For example, if the vehicle is currently in park or neutral, it is considered that the vehicle is not in a driving state.

[0107] In some embodiments, if the object is determined to be in front of the vehicle based on the current relative position, the vehicle is switched to reverse gear; if the object is determined to be behind the vehicle based on the current relative position, the vehicle is switched to drive gear.

[0108] It's understandable that when the vehicle is not moving, if an object is in front of the vehicle, and the vehicle needs to move away from the object, it needs to move backward, thus requiring the vehicle to be shifted into reverse. Similarly, if an object is behind the vehicle, and the vehicle needs to move forward, it needs to be shifted into drive.

[0109] Optionally, the first alarm message can be sent in various forms, such as through indicator lights on the vehicle's dashboard, in-vehicle display screen, or in-vehicle audio system.

[0110] For example, when changing the vehicle's gear based on the current relative position, the system can use voice prompts to remind the user that there is a risk of collision and to take precautions.

[0111] The first warning message can vary depending on the relative position of the object. For example, if the object is in front of the vehicle, the first warning message can indicate a risk of collision in front of the vehicle; if the object is behind the vehicle, the first warning message can indicate a risk of collision behind the vehicle.

[0112] In some embodiments, the first alarm information may further include indication information of the vehicle's current gear position. For example, if the vehicle's gear position is switched to a forward gear, the first alarm information may also indicate that the vehicle's current gear position has been switched to a forward gear.

[0113] The first control command may include the user's gear shifting command, such as the command generated based on the user's control of the vehicle's gear shift lever, and the user's accelerator pedal control command, such as the command generated based on the user's control of the accelerator pedal travel.

[0114] It should be noted that the first control command can be understood as the user's intention to operate the vehicle's driving status. After shifting the vehicle's gear based on the current relative position, in order to ensure driving safety and make the vehicle's driving conform to the user's psychological expectations, it is necessary to control the vehicle's driving based on the user's operating intention. Therefore, after shifting the vehicle's gear based on the current relative position, it is necessary to control the vehicle's driving based on the first control command triggered by the user within the first time interval after the first alarm information is sent.

[0115] In some embodiments, if the first control command matches the vehicle's current gear, the vehicle is controlled to drive according to the first control command; if the first control command does not match the vehicle's current gear, the vehicle's gear is switched to neutral, and a second alarm message is sent.

[0116] It should be noted that the vehicle's current gear refers to the gear after shifting gears based on the current relative position. Matching the first control command with the vehicle's current gear can be understood as: the vehicle's driving state after the execution of the first control command is the same as the driving state of the vehicle corresponding to the current gear.

[0117] For example, if the vehicle's current gear is forward, and the first control command is to control the vehicle to move forward, and the first control command is generated based on the user switching the state of the vehicle's gear shift lever to the state corresponding to forward gear and pressing the accelerator pedal, then it is considered that the first control command triggered by the user matches the vehicle's current gear. If the first control command is to control the vehicle to reverse, and the first control command is generated based on the user switching the state of the vehicle's gear shift lever to the state corresponding to reverse gear and pressing the accelerator pedal, then it is considered that the first control command triggered by the user does not match the vehicle's current gear.

[0118] Optionally, if the first control command only includes instructions generated by the user's control of the accelerator pedal travel, then the first control command is considered to match the vehicle's current gear. That is, the first control command is considered to be mismatched with the vehicle's current gear only if the first control command triggered by the user includes instructions generated by the user's control of the gear, and the gear controlled by the user is different from the vehicle's current gear.

[0119] For example, if the current gear of the vehicle after the switch is a forward gear, and the first control command only includes the command generated by the user's control of the accelerator pedal travel, or the first control command includes the command generated by the user's control of the accelerator pedal travel and the command generated by the user switching the vehicle's shift lever position to the shift lever position corresponding to the forward gear, then the first control command is considered to match the vehicle's current gear. If the first control command includes the command generated by the user switching the vehicle's shift lever position to the shift lever position corresponding to the reverse gear, then the first control command is considered not to match the vehicle's current gear.

[0120] In some embodiments, when the vehicle's current gear is reverse and the first control command is a reverse command, the vehicle can be controlled to move backward based on the reverse command; when the vehicle's current gear is forward and the first control command is a forward command, the vehicle can be controlled to move forward based on the forward command.

[0121] Based on the above description, the vehicle's current gear is the gear required for the vehicle to move away from the object. Therefore, if the first control command does not match the vehicle's current gear, it indicates that the user's intention is not to move away from the object. Considering that in an emergency, the user may not accurately express their intention, meaning the intention indicated by the current first control command may not be the user's true intention, in the case of a mismatch between the first control command and the vehicle's current gear, the vehicle can be shifted to neutral, and a second alarm message can be sent. This second alarm message can be used to indicate that the user-triggered first control command poses a safety risk.

[0122] It's important to note that shifting the vehicle into neutral reduces the risk of collision because there's no power output and the vehicle gradually slows down due to road friction. Furthermore, even if a collision does occur, the neutral gear converts the impact force into inertial force, causing the vehicle to move in the opposite direction of the impact. This reduces the internal stress on the vehicle during the collision, thus minimizing the damage.

[0123] Alternatively, the second alarm message can also be sent via voice, dashboard indicator lights, or other means.

[0124] It is understandable that the second warning message is used to alert the user that the currently triggered first control command may lead to a collision with an object, so as to improve the vehicle's driving safety based on the secondary confirmation of the dangerous control command.

[0125] In some embodiments, after the vehicle's gear is switched to neutral, the vehicle can also be controlled to drive based on a third control command triggered by the user. The third control command is an instruction to control the vehicle's driving state.

[0126] If the first control command does not match the vehicle's current gear, in order to further determine the user's true operating intention, the vehicle's gear can be temporarily switched to neutral, and the vehicle can wait for a third control command triggered by the user to control the vehicle's movement based on the third control command triggered by the user.

[0127] Furthermore, as described above, the gear position when the vehicle is not in motion is typically park or neutral. If the first or third control command triggered by the user includes a command generated by the user's control of the gear, the user needs to shift the gear to drive or reverse. Thus, if the first control command does not match the vehicle's current gear, the third control command triggered by the user will either match the vehicle's current gear or be the same as the first control command. In this case, if the third control command matches the vehicle's current gear, the vehicle can be driven directly based on the user-triggered third control command; if the third control command still does not match the vehicle's current gear, it indicates that the third control command is the same as the first control command, and the third control command is considered the user's true intention, and the vehicle can be driven based on the third control command.

[0128] Scenario 2: When the vehicle is in motion, the vehicle's power output is adjusted based on the vehicle's direction of travel and current relative position to reduce the risk of collision with objects. In response to a second control command triggered by the user within a second time period after adjusting the vehicle's power output, the vehicle is controlled. The second control command is a command to control the vehicle's speed.

[0129] In some embodiments, the vehicle may be considered to be in motion if its current gear is forward or reverse.

[0130] In some embodiments, when the driving direction and the current relative position are the same, the vehicle's power output can be reduced to decelerate the vehicle; when the driving direction and the current relative position are different, the vehicle's power output can be increased to accelerate the vehicle.

[0131] If an object is located in front of the vehicle, and the vehicle is traveling forward, the vehicle needs to reduce its speed to prolong the time required for a collision with the object, thereby reducing the risk of a collision. Therefore, when the vehicle is traveling forward, the power output needs to be reduced. Conversely, when the vehicle is traveling backward (i.e., reversing), the vehicle needs to increase its speed to prolong the time required for a collision with the object, thereby reducing the risk of a collision. Therefore, when the vehicle is traveling backward, the power output needs to be increased.

[0132] Similarly, if an object is located behind a vehicle, and the vehicle is traveling forward, the vehicle needs to increase its speed to prolong the time required for a collision with the object, thereby reducing the risk of a collision. Therefore, when the vehicle is traveling forward, the power output needs to be increased. Conversely, when the vehicle is traveling backward (i.e., reversing), the vehicle needs to decrease its speed to prolong the time required for a collision with the object, thereby reducing the risk of a collision. Therefore, when the vehicle is traveling backward, the power output needs to be reduced.

[0133] In some embodiments, when reducing the vehicle's power output, the vehicle's power output can be reduced intermittently to cause the vehicle to decelerate surgingly; when increasing the vehicle's power output, the vehicle's power output can be increased intermittently to cause the vehicle to accelerate surgingly, thereby alerting the user to the risk of collision between the vehicle and an object based on the intermittent changes in the vehicle's speed.

[0134] In some embodiments, while reducing or increasing the vehicle's power output, a warning message may also be sent to further remind the user that there is a risk of collision between the vehicle and an object.

[0135] In some embodiments, if the target conditions between the object and the vehicle are met, the vehicle's gear can be switched to neutral and the vehicle can be braked. The target conditions include: the relative distance is less than a target distance threshold, and / or the rate of change of the relative distance is less than a target change threshold.

[0136] It should be noted that the target condition can refer to the judgment condition that the risk of collision between the object and the vehicle is extremely high. In this case, the vehicle can be shifted into neutral and the vehicle can be braked to reduce the vehicle's acceleration, thereby reducing the risk of collision with the object and reducing the force of the collision, thus reducing the damage to the vehicle.

[0137] It should also be noted that, in the event of a collision risk between an object and a vehicle, the relative distance between them must gradually decrease, meaning the rate of change of relative distance is negative. The smaller the rate of change of relative distance, the faster the object and vehicle approach each other. Therefore, if the rate of change of relative distance is less than the target threshold, it can be considered that the approach speed between the object and vehicle is extremely fast, meaning a collision risk is very high.

[0138] Optionally, the target distance threshold and the target change threshold can be determined based on simulation experimental data. For example, based on multiple driving data, the probability of a collision between a vehicle and an object is determined under different relative distances and relative distance change rates. The relative distance and relative distance change rate corresponding to the case where the probability of a collision between a vehicle and an object is higher, such as greater than 80%, are determined as the target distance threshold and the target change threshold.

[0139] Optionally, the vehicle control method can be determined based on the relationship between the relative position between the object and the vehicle and the target conditions. For example, the target conditions include a relative distance less than a target distance threshold and a relative distance change rate less than a target change threshold. When the relative distance between the object and the vehicle is less than the target distance threshold, or the relative distance change rate between the object and the vehicle is less than the target change threshold, the vehicle's gear is shifted to neutral. When the relative distance between the object and the vehicle is less than the target distance threshold, and the relative distance change rate between the object and the vehicle is less than the target change threshold, the vehicle's gear is shifted to neutral and braking is applied.

[0140] Optionally, the target distance threshold may include a first distance threshold and a second distance threshold, where the first distance threshold is greater than the second distance threshold. Similarly, the target change threshold may include a first change threshold and a second change threshold, where the first change threshold is greater than the second change threshold. The vehicle control method can be determined based on the relationship between the relative position between the object and the vehicle and the first distance threshold, the second distance threshold, the first change threshold, and the second change threshold. For example, if the relative distance between the object and the vehicle is less than the first distance threshold but greater than the second distance threshold, and the rate of change of the relative distance between the object and the vehicle is less than the first change threshold but greater than the second change threshold, the vehicle's gear is shifted to neutral. If the relative distance between the object and the vehicle is less than the second distance threshold, and the rate of change of the relative distance between the object and the vehicle is less than the second change threshold, the vehicle's gear is shifted to neutral and braking is applied.

[0141] In some embodiments, in order to achieve rapid braking of the vehicle, the braking force can be determined based on the vehicle's current speed. The greater the current speed of the vehicle, the greater the corresponding braking force. The vehicle can then be braked based on this braking force to quickly reduce its speed, thereby reducing the risk of collision between the vehicle and the object and the severity of the collision.

[0142] The second control command can be a command generated based on the user's control of the vehicle's pedal travel, used to indicate the user's intention to control the vehicle's power output. For example, the second control command can be a command generated based on the user's control of the accelerator pedal travel, or a command generated based on the user's control of the brake pedal travel.

[0143] In some embodiments, if the second control command matches the current driving state of the vehicle, the vehicle can be controlled to drive according to the second control command; if the second control command does not match the current driving state of the vehicle, the adjustment of the vehicle's power output can be terminated and a third alarm message can be sent.

[0144] It should be noted that the vehicle's current driving state refers to the vehicle's driving state after adjusting the vehicle's power output, i.e., the vehicle's acceleration or deceleration state. Matching the second control command with the vehicle's current driving state can be understood as: the vehicle's driving state after the second control command is executed is the same as the vehicle's current driving state.

[0145] For example, after reducing the vehicle's power output based on the vehicle's driving direction and current relative position, the vehicle is in a deceleration state. At this time, if the second control command triggered by the user is to control the vehicle to decelerate, such as the second control command being generated based on the user pressing the vehicle's brake pedal, then the second control command is considered to match the vehicle's current driving state; if the second control command triggered by the user is to control the vehicle to accelerate, such as the second control command being generated based on the user pressing the vehicle's accelerator pedal, then the second control command is considered to not match the vehicle's current driving state.

[0146] In some embodiments, when the vehicle's current driving state is a deceleration state and the second control command is a deceleration command, the vehicle can be controlled to decelerate based on the deceleration command; when the vehicle's current driving state is an acceleration state and the second control command is an acceleration command, the vehicle can be controlled to accelerate based on the acceleration command.

[0147] For example, if the vehicle's current driving state is deceleration and the second control command is a deceleration command, that is, the second control command is a command generated by the user's control of the brake pedal, the vehicle can be decelerated based on the user's control of the brake pedal, such as the degree of change in the vehicle's brake pedal travel. The greater the change in the vehicle's brake pedal travel, the greater the corresponding braking force, and the greater the deceleration of the vehicle.

[0148] If the second control command does not match the vehicle's current driving state, it indicates that the user's current intention is not to reduce the risk of collision between the vehicle and an object. However, considering that in an emergency, the user may not be able to accurately express their intention, meaning the intention indicated by the current second control command may not be the user's true intention, in cases where the second control command does not match the vehicle's current driving state, control of the vehicle's power output can be terminated first, i.e., the vehicle's gear can be shifted to neutral, and a third warning message can be sent. This third warning message can be used to indicate that the user-triggered second control command poses a safety risk.

[0149] In some embodiments, after the control of the vehicle's power output is terminated, in response to a fourth control command triggered by the user, the vehicle can be controlled to drive based on the fourth control command, wherein the fourth control command is a command to control the vehicle's driving speed.

[0150] It should be noted that, as described above, the gear in which the vehicle is in motion is usually either forward or reverse. If the second or fourth control command triggered by the user includes a command generated by the user to control the driving speed, then the user needs to control the travel of the accelerator pedal or the brake pedal. Thus, if the second control command does not match the current driving state of the vehicle, the fourth control command triggered by the user will either match the current gear of the vehicle or be the same as the second control command. In this case, if the fourth control command triggered by the user matches the current driving state of the vehicle, the vehicle can be controlled directly based on the third control command triggered by the user; if the fourth control command triggered by the user still does not match the current driving state of the vehicle, it means that the fourth control command is the same as the second control command, and the fourth control command is considered to be the user's true operational intention, and the vehicle can be controlled based on the fourth control command.

[0151] In some embodiments, if no user-triggered first control command is received within a first time period after sending the first alarm message, the vehicle's gear is switched to neutral; or, if no user-triggered second control command is received within a second time period after adjusting the vehicle's power output, the vehicle's gear is switched to neutral.

[0152] If no first control command triggered by the user is received within the first time period after sending the first alarm message, or no second control command triggered by the user is received within the second time period after adjusting the vehicle's power output, it indicates that the user's operating intention cannot be recognized after controlling the vehicle. In order to ensure the vehicle's driving safety, the vehicle's gear can be switched to neutral, and the system can continue to detect whether the user triggers the first or second control command.

[0153] Optionally, after shifting the vehicle to neutral, if a first control command or a second control command triggered by the user is detected, the vehicle can be controlled in response to the first or second control command triggered by the user. The specific control method can be combined with the above description of controlling the vehicle in response to the first and second control commands triggered by the user, and will not be repeated here.

[0154] In some embodiments, after determining that the object is the target object, the collision risk between the object and the vehicle can be determined based on the current relative distance and the rate of change of the relative distance between the object and the vehicle during the process of controlling the vehicle; if the process of controlling the vehicle includes switching the vehicle's gears, the vehicle's gears will be restored to the gears before control after there is no collision risk between the object and the vehicle.

[0155] Optionally, simulation data can be used to determine the third distance threshold and the third change threshold when there is no risk of collision between the object and the vehicle. Then, based on the third distance threshold and the third change threshold, it can be determined whether there is a risk of collision between the object and the vehicle. The specific determination method can be combined with the above description of the target distance threshold and the target change threshold, which will not be repeated here.

[0156] It should be noted that the process of controlling the vehicle, including shifting the vehicle's gears, can be understood as follows: shifting the vehicle's gears based on the current relative position; after adjusting the vehicle's power output based on the vehicle's driving direction and current relative position, if the two control commands do not match the vehicle's current driving state, shifting the vehicle's gears because it is necessary to end the adjustment of the vehicle's power output; and shifting the vehicle's gears to neutral if no user-triggered first control command is received within a first time period after sending the first alarm message, or if no user-triggered second control command is received within a second time period after adjusting the vehicle's power output.

[0157] Furthermore, it should be noted that in some scenarios, the control of vehicle gears may involve multiple controls. In this case, the aforementioned restoration of the vehicle's gear to the gear before control after there is no risk of collision between the object and the vehicle refers to restoring the vehicle's gear to the gear before the method of controlling the vehicle's gears based on the embodiments of this application was used.

[0158] Taking a scenario where the vehicle is not in motion as an example, when shifting gears based on the current relative position, as described above, if the user-triggered first control command does not match the vehicle's current gear, the vehicle will be shifted to neutral. In this case, because the control process involves multiple adjustments to the vehicle's gear—shifting to drive or reverse, and shifting to neutral—restoring the vehicle to its pre-control gear position after there is no risk of collision between the vehicle and the object means restoring the vehicle to the gear it was in before the control was initiated.

[0159] For example, if a vehicle is in park and an object is in front of it, shifting the vehicle's gear based on the current relative position means shifting the gear to reverse. If the user triggers a forward command at this point, the vehicle will shift back to neutral because the first control command doesn't match the vehicle's current gear. In this scenario, once there is no risk of collision between the object and the vehicle, the vehicle needs to be shifted back to park.

[0160] In this embodiment, the risk of collision between objects and the vehicle is determined by acquiring the relative positions of objects around the vehicle. Furthermore, when a collision risk exists between an object and the vehicle, the vehicle can be controlled based on its driving status, thereby reducing the risk of collision and the severity of any collision.

[0161] Considering the varying levels of danger in different vehicle usage scenarios, the vehicle usage scenarios are further refined into two categories: stationary and in motion. When the vehicle is stationary, the risk of a collision is lower due to its stationary state. Therefore, only the gear is adjusted to the position required to move the vehicle away from the object, saving the user time spent shifting gears and improving the vehicle's reaction speed to collision risks. Furthermore, for driving safety, to avoid delays in user reaction and potential accidents due to direct vehicle control, after shifting to the required gear, the system monitors the user's first control command and controls the vehicle based on this command. If the first control command matches the vehicle's current gear, the vehicle is controlled accordingly for rapid response to collision risks. If the first command does not match the current gear, a second warning message and a response to a third user-triggered control command provide secondary confirmation of dangerous driving intent. This approach combines vehicle driving safety with the user's subjective control intentions to achieve effective vehicle control.

[0162] When the vehicle is in motion, considering the increased risk of collision due to its speed, and the heightened concentration of the user while the vehicle is moving, directly controlling its movement is also dangerous. Therefore, this approach controls only the vehicle's power output—acceleration or deceleration—to reduce the risk of collisions. This acceleration / deceleration serves as a risk warning to the user, and the vehicle is then controlled based on a third control command triggered by the user. If this third control command matches the vehicle's current driving state, the vehicle is controlled accordingly for a rapid response to collision risks. If the third control command does not match the current driving state, a third warning message and a response to a fourth control command triggered by the user provide a secondary confirmation of dangerous driving intent. This approach combines vehicle safety with the user's subjective control intentions to achieve effective vehicle control.

[0163] In addition, while the vehicle is in motion, it further monitors whether the vehicle is in a dangerous situation based on target conditions. If the vehicle is in a dangerous situation, such as when there is a high risk of collision between the vehicle and an object, it can shift the vehicle to neutral and actively decelerate to reduce the risk of collision and further improve driving safety.

[0164] Furthermore, to further enhance the user experience, the system monitors the risk of collision between objects and vehicles in real time. When shifting gears during vehicle control, the system automatically restores the vehicle's gear once there is no risk of collision between the object and the vehicle. This improves driving safety while reducing the user's perception of vehicle operation, achieving seamless control and enhancing the user experience.

[0165] Figure 4 This is a schematic diagram of a vehicle control device provided in an embodiment of this application. The device includes: a position acquisition module 401, a distance change determination module 402, and a control module 403;

[0166] The location acquisition module 401 is used to acquire the current relative position of objects around the vehicle relative to the vehicle. The current relative position includes the current relative orientation and the current relative distance. The current relative orientation includes being in front of the vehicle or being behind the vehicle.

[0167] The distance change determination module 402 is used to determine the rate of change of the relative distance between the object and the vehicle based on the current relative distance and the historical relative distance between the object and the vehicle.

[0168] The control module 403 is used to control the vehicle based on the vehicle's driving state and current relative orientation when the target object is determined to be an object based on the current relative distance and the rate of change of relative distance. The target object refers to an object that poses a collision risk to the vehicle.

[0169] Optionally, the control module 403 includes a driving state control submodule and a driving speed control submodule:

[0170] The driving status control submodule is used to switch the vehicle's gear based on the current relative position when the vehicle is not in a driving state, so that the switched gear is the gear required for the vehicle to move away from the object, send a first alarm message, and respond to a first control command triggered by the user within a first time period after the first alarm message is sent, to control the vehicle. The first control command is a command to control the vehicle's driving status.

[0171] The driving speed control submodule is used to adjust the vehicle's power output based on the vehicle's driving direction and current relative position when the vehicle is in motion, so that the vehicle can reduce the risk of collision with objects after adjusting the power output. In response to a second control command triggered by the user within a second time period after adjusting the vehicle's power output, the submodule controls the vehicle. The second control command is a command to control the vehicle's driving speed.

[0172] Optionally, the driving status control submodule is specifically used for:

[0173] If the first control command matches the vehicle's current gear, the vehicle will be controlled to move according to the first control command;

[0174] If the first control command does not match the vehicle's current gear, the vehicle's gear will be switched to neutral, and a second alarm message will be sent.

[0175] Optionally, the first control command includes a reversing command or a forward command. The driving state control submodule is specifically used for:

[0176] When the vehicle's current gear is reverse and the first control command is a reverse command, control the vehicle to move backward based on the reverse command;

[0177] When the vehicle's current gear is forward and the first control command is a forward command, the vehicle is controlled to move forward based on the forward command.

[0178] Optionally, the driving speed control submodule is specifically used for:

[0179] When the driving direction and current relative position are the same, reduce the vehicle's power output to make the vehicle decelerate.

[0180] When the driving direction and the current relative position are different, increase the vehicle's power output to make the vehicle accelerate.

[0181] Optionally, the driving speed control submodule is specifically used for:

[0182] If the second control command matches the vehicle's current driving state, the vehicle is controlled to drive according to the second control command;

[0183] If the second control command does not match the vehicle's current driving state, the adjustment of the vehicle's power output will be terminated, and a third warning message will be sent.

[0184] Optionally, the second control command includes a deceleration command or an acceleration command. The driving speed control submodule is specifically used for:

[0185] When the vehicle's current driving state is deceleration and the second control command is a deceleration command, the vehicle is controlled to decelerate based on the deceleration command;

[0186] When the vehicle's current driving state is acceleration and the second control command is an acceleration command, the vehicle is controlled to accelerate based on the acceleration command.

[0187] Optionally, the driving speed control submodule is also used for:

[0188] If the target conditions are met between the object and the vehicle, the vehicle's gear is switched to neutral and the vehicle is braked. The target conditions include: the relative distance is less than the target distance threshold, and / or the rate of change of the relative distance is less than the target change threshold.

[0189] Optionally, the driving status control submodule is also used for:

[0190] If no user-triggered first control command is received within the first time interval after sending the first alarm message, the vehicle's gear will be shifted to neutral; or,

[0191] If no second control command triggered by the user is received within a second time period after adjusting the vehicle's power output, the vehicle's gear will be switched to neutral.

[0192] Optionally, the driving status control submodule is also used for:

[0193] During vehicle control, the collision risk between the object and the vehicle is determined based on the current relative distance and the rate of change of the relative distance between them.

[0194] If the process of controlling the vehicle involves shifting the vehicle's gears, the vehicle's gears will be restored to the gears it was in before control once there is no risk of collision between the object and the vehicle.

[0195] In this embodiment, the risk of collision between objects and the vehicle is determined by acquiring the relative positions of objects around the vehicle. Furthermore, when a collision risk exists between an object and the vehicle, the vehicle can be controlled based on its driving status, thereby reducing the risk of collision and the severity of any collision.

[0196] Considering the varying levels of danger in different vehicle usage scenarios, the vehicle usage scenarios are further refined into two categories: stationary and in motion. When the vehicle is stationary, the risk of a collision is lower due to its stationary state. Therefore, only the gear is adjusted to the position required to move the vehicle away from the object, saving the user time spent shifting gears and improving the vehicle's reaction speed to collision risks. Furthermore, for driving safety, to avoid delays in user reaction and potential accidents due to direct vehicle control, after shifting to the required gear, the system monitors the user's first control command and controls the vehicle based on this command. If the first control command matches the vehicle's current gear, the vehicle is controlled accordingly for rapid response to collision risks. If the first command does not match the current gear, a second warning message and a response to a third user-triggered control command provide secondary confirmation of dangerous driving intent. This approach combines vehicle driving safety with the user's subjective control intentions to achieve effective vehicle control.

[0197] When the vehicle is in motion, considering the increased risk of collision due to its speed, and the heightened concentration of the user while the vehicle is moving, directly controlling its movement is also dangerous. Therefore, this approach controls only the vehicle's power output—acceleration or deceleration—to reduce the risk of collisions. This acceleration / deceleration serves as a risk warning to the user, and the vehicle is then controlled based on a third control command triggered by the user. If this third control command matches the vehicle's current driving state, the vehicle is controlled accordingly for a rapid response to collision risks. If the third control command does not match the current driving state, a third warning message and a response to a fourth control command triggered by the user provide a secondary confirmation of dangerous driving intent. This approach combines vehicle safety with the user's subjective control intentions to achieve effective vehicle control.

[0198] In addition, while the vehicle is in motion, it further monitors whether the vehicle is in a dangerous situation based on target conditions. If the vehicle is in a dangerous situation, such as when there is a high risk of collision between the vehicle and an object, it can shift the vehicle to neutral and actively decelerate to reduce the risk of collision and further improve driving safety.

[0199] Furthermore, to further enhance the user experience, the system monitors the risk of collision between objects and vehicles in real time. When shifting gears during vehicle control, the system automatically restores the vehicle's gear once there is no risk of collision between the object and the vehicle. This improves driving safety while reducing the user's perception of vehicle operation, achieving seamless control and enhancing the user experience.

[0200] It should be noted that the driving control device provided in the above embodiments is only illustrated by the division of the above functional modules when implementing driving control. 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 driving control device and the driving 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.

[0201] Figure 5 This is a structural block diagram of a vehicle 500 provided in an embodiment of this application. Typically, the vehicle 500 includes a controller 501 and a memory 502.

[0202] Controller 501 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Controller 501 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). Controller 501 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, controller 501 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, controller 501 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0203] The memory 502 may include one or more computer-readable storage media, which may be non-transitory. The memory 502 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 502 are used to store at least one instruction, which is executed by the controller 501 to implement the vehicle control method provided in the method embodiments of this application.

[0204] In some embodiments, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a controller, implements the steps of the vehicle control method described above. For example, the computer-readable storage medium may be a ROM, RAM, CD-ROM, magnetic tape, floppy disk, or optical data storage device.

[0205] It is worth noting that the computer-readable storage medium mentioned in the embodiments of this application can be a non-volatile storage medium, in other words, it can be a non-transient storage medium.

[0206] It should be understood that all or part of the steps of the above embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented wholly or partially in the form of a computer program product. The computer program product includes one or more computer instructions. The computer instructions can be stored in the above-described computer-readable storage medium.

[0207] That is, in some embodiments, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to perform the steps of the driving control method described above.

[0208] It should be understood that "at least one" as mentioned herein refers to one or more, and "multiple" refers to two or more. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B; "and / or" in this document is merely a description of 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, and B existing alone. In addition, in order to clearly describe the technical solutions of the embodiments of this application, the terms "first," "second," etc., are used in the embodiments of this application to distinguish identical or similar items with substantially the same function and effect. Those skilled in the art will understand that the terms "first," "second," etc., do not limit the quantity or execution order, and the terms "first," "second," etc., are not necessarily different.

[0209] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, data stored, data displayed, etc.) and signals involved in the embodiments of this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0210] The above descriptions are embodiments provided in this application and are 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.

Claims

1. A vehicle control method, characterized in that, The method includes: Obtain the current relative position of objects around the vehicle relative to the vehicle, the current relative position including the current relative orientation and the current relative distance, the current relative orientation including being in front of the vehicle or being behind the vehicle; Based on the current relative distance between the object and the vehicle and the historical relative distance, determine the rate of change of the relative distance between the object and the vehicle; When the object is determined to be a target object based on the current relative distance and the rate of change of the relative distance, the vehicle is controlled based on the vehicle's driving state and the current relative orientation. The target object refers to an object that poses a collision risk to the vehicle. The step of controlling the vehicle based on its driving state and current relative position includes: When the vehicle is not in motion, the vehicle's gear is switched based on the current relative position so that the switched gear is the gear required for the vehicle to move away from the object. A first alarm message is sent, and in response to a first control command triggered by the user within a first time period after the first alarm message is sent, the vehicle is controlled. The first control command is an instruction to control the vehicle's driving state. When the vehicle is in motion, the power output of the vehicle is adjusted based on the vehicle's direction of travel and its current relative position, so that the adjusted power output can reduce the risk of collision with the object. In response to a second control command triggered by the user within a second time period after the adjustment of the vehicle's power output, the vehicle is controlled. The second control command is a command to control the vehicle's speed.

2. The method as described in claim 1, characterized in that, The control of the vehicle in response to a first control command triggered by the user within a first time period after the first alarm information is sent includes: If the first control command matches the current gear of the vehicle, the vehicle is controlled to drive according to the first control command; If the first control command does not match the current gear of the vehicle, the vehicle's gear will be switched to neutral, and a second alarm message will be sent.

3. The method as described in claim 1, characterized in that, The control of the vehicle in response to a second control command triggered by the user within a second time period after adjusting the vehicle's power output includes: If the second control command matches the current driving state of the vehicle, the vehicle is controlled to drive according to the second control command; If the second control command does not match the current driving state of the vehicle, the adjustment of the vehicle's power output is terminated, and a third alarm message is sent.

4. The method as described in claim 1, characterized in that, The method further includes: If no first control command triggered by the user is received within the first time period after sending the first alarm message, the vehicle's gear position will be shifted to neutral; or, If no second control command triggered by the user is received within the second time period after the power output of the vehicle is adjusted, the vehicle's gear is switched to neutral.

5. The method as described in claim 1, 2, or 4, characterized in that, After determining that the object is the target object, the method further includes: During the process of controlling the vehicle, the collision risk between the object and the vehicle is determined based on the current relative distance and the rate of change of the relative distance between them. If the process of controlling the vehicle includes switching the vehicle's gears, then after there is no risk of collision between the object and the vehicle, the vehicle's gear will be restored to the gear it was in before control.

6. A vehicle control device, characterized in that, The device includes a location acquisition module, a distance change determination module, and a control module; The location acquisition module is used to acquire the current relative position of objects around the vehicle relative to the vehicle. The current relative position includes the current relative orientation and the current relative distance. The current relative orientation includes being in front of the vehicle or being behind the vehicle. The distance change determination module is used to determine the rate of change of the relative distance between the object and the vehicle based on the current relative distance between the object and the vehicle and the historical relative distance. The control module is used to control the vehicle based on the vehicle's driving state and the current relative orientation when the object is determined to be a target object based on the current relative distance and the rate of change of the relative distance. The target object refers to an object that poses a collision risk to the vehicle. The control module includes a driving state control submodule and a driving speed control submodule. The driving state control submodule is used to switch the vehicle's gear based on the current relative position when the vehicle is not in a driving state, so that the switched gear is the gear required for the vehicle to move away from the object, send a first alarm message, and respond to a first control command triggered by the user within a first time period after the first alarm message is sent, to control the vehicle, wherein the first control command is an instruction to control the driving state of the vehicle. The driving speed control submodule is used to adjust the vehicle's power output based on the vehicle's driving direction and current relative position when the vehicle is in motion, so that the vehicle can reduce the risk of collision with the object after adjusting the power output. In response to a second control command triggered by the user within a second time period after adjusting the vehicle's power output, the submodule controls the vehicle, wherein the second control command is a command to control the vehicle's driving speed.

7. A vehicle, characterized in that, The vehicle includes a memory and a controller, the memory being used to store a computer program, and the controller being used to execute the computer program stored in the memory to implement the steps of the method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by the controller, implements the steps of the method according to any one of claims 1-5.

9. A computer program product containing instructions, characterized in that, When the instructions are executed on a computer, the computer performs the steps of the method according to any one of claims 1-5.

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