Vehicle control method, device, system and vehicle

Abstract

The present application relates to a vehicle control method, device, system and vehicle, which obtain environmental data of a parking area where a vehicle is located; determine a target shooting unit from the shooting units of the vehicle based on the environmental data; and control the target shooting unit on the vehicle to shoot, thereby reducing the power consumption consumed by the vehicle when it is in sentry mode.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, device, system and vehicle. Background Art

[0002] At present, with the development of intelligent vehicles, vehicles are used more and more widely in people's lives. In order to ensure the safety of vehicles, the vehicles are equipped with a sentry mode. After the sentry mode is turned on, the surroundings of the vehicle are automatically photographed through cameras installed around the vehicle body, so that the owner can understand the safety of the vehicle through the pictures taken by the cameras.

[0003] When the vehicle is in sentry mode, the scenes around the vehicle may be different at different times, and the corresponding images to be viewed belong to different cameras. However, the cameras installed on the vehicle are always shooting, which results in more power consumption when the vehicle is in sentry mode. Summary of the invention

[0004] An embodiment of the present application provides a vehicle control method to reduce the power consumption of the vehicle when it is in sentry mode, so as to at least partially solve the above technical problems.

[0005] In order to achieve the above object, according to a first aspect of the present application, a vehicle control method is provided, comprising:

[0006] Obtaining environmental data of the parking area where the vehicle is located;

[0007] Determine a target photographing unit from photographing units of the vehicle according to the environmental data;

[0008] The target shooting unit on the vehicle is controlled to shoot.

[0009] Optionally, a passive sensor is provided at at least one position of the vehicle; and the step of obtaining environmental data of the parking area where the vehicle is located includes:

[0010] Acquire corresponding environmental signals from each of the above passive sensors respectively;

[0011] The environmental data of the parking area where the vehicle is located is determined according to the environmental signals corresponding to the passive sensors.

[0012] Optionally, the determining of the target shooting unit from the shooting units of the vehicle according to the environmental data includes:

[0013] Determining a relative position between at least one detection object in the parking area and the vehicle according to the environmental data;

[0014] If there is a target detection object among the detection objects whose relative position meets the preset shooting unit activation condition, a target shooting unit for shooting the target detection object is determined from the shooting units of the vehicle.

[0015] Optionally, determining a target capturing unit for capturing the target detection object from the capturing units of the vehicle includes:

[0016] From the photographing units of the vehicle, a photographing unit whose photographing range includes the target detection object is determined as the target photographing unit.

[0017] Optionally, if there is a target detection object among the detection objects whose relative position meets the preset shooting unit start condition, determining a target shooting unit for shooting the target detection object from the shooting units of the vehicle includes:

[0018] Determining the distance between each of the detection objects and the vehicle according to the relative position of each of the detection objects;

[0019] If there is a target detection object whose distance is less than the first preset distance threshold among the detection objects, a target shooting unit for shooting the target detection object is determined from the shooting units of the vehicle.

[0020] Optionally, controlling the target shooting unit on the vehicle to shoot includes:

[0021] If the distance of the target detection object is less than a second preset distance threshold, the target shooting unit on the vehicle is controlled to shoot, and the second preset distance threshold is less than the first preset distance threshold.

[0022] Optionally, before controlling the target shooting unit on the vehicle to shoot, the method further includes:

[0023] If the target shooting unit is in an off state, the target shooting unit is turned on, and the turning-on time of the target shooting unit is accumulated;

[0024] If the target photographing unit is in the on state, the on time of the target photographing unit is continuously accumulated based on the on time of the target photographing unit.

[0025] Optionally, the distance between the target detection object and the vehicle, the first passive sensor is a sensor that collects environmental data corresponding to the target detection object, including: the distance between the target detection object and the first passive sensor; before controlling the target shooting unit on the vehicle to shoot, it also includes:

[0026] When the on time is greater than the first preset time threshold, if the target detection object is in a moving state and the distance of the target detection object is less than the first preset distance threshold and greater than the second preset distance threshold, determine the distance between the target detection object and the other passive sensors;

[0027] The other passive sensors are passive sensors other than the first passive sensor among the passive sensors;

[0028] If there is a second passive sensor among the other passive sensors, the distance between the second passive sensor and the target detection object is less than the first preset distance threshold, then the shooting unit corresponding to the second passive sensor is determined as a new target shooting unit.

[0029] Optionally, it also includes:

[0030] When the activation time is not greater than the first preset time threshold, if the distance of the detection object in the area where the target detection object is located is not less than the first preset distance threshold, the target shooting unit is controlled to be in a non-activation state;

[0031] or

[0032] When the above-mentioned opening time is not greater than the above-mentioned first preset time threshold, if the cumulative static time of the detection object in the area where the above-mentioned target detection object is located in a static state reaches the second preset time threshold, the above-mentioned target shooting unit is controlled to be in a non-opened state.

[0033] Optionally, after controlling the target shooting unit on the vehicle to shoot, the method further includes:

[0034] If the first preset distance threshold is greater than the third preset distance threshold, the first preset distance threshold is reduced to obtain a new first preset threshold;

[0035] The process returns to the step of acquiring the environmental data of the parking area where the vehicle is located and subsequent steps until the latest first preset distance threshold is not greater than the third preset distance threshold.

[0036] According to a second aspect of the present application, a vehicle control device is provided, comprising:

[0037] A data acquisition module, used to acquire environmental data of the parking area where the vehicle is located;

[0038] A unit determination module, used to determine a target shooting unit from the shooting units of the vehicle according to the environmental data;

[0039] The shooting module is used to control the target shooting unit on the above-mentioned vehicle to shoot.

[0040] According to a third aspect of the present application, a vehicle control system is provided, comprising a state detection module, a signal processing module, at least one passive sensor and at least two shooting units, wherein the passive sensor and the shooting unit are correspondingly arranged on the vehicle, and the passive sensor is used to detect environmental signals of at least a part of the parking area where the vehicle is located;

[0041] The above-mentioned state detection module is used to send a received signal instruction to the signal processing module after detecting that the vehicle has turned on the sentry mode;

[0042] The signal processing module is used to receive the signal receiving instruction, obtain the corresponding environmental signal from each of the passive sensors according to the signal receiving instruction, determine the target shooting unit from the shooting units according to the external environmental signal corresponding to each of the passive sensors, and send the unit control signal to the target shooting unit;

[0043] The target shooting unit is used to receive the unit control signal and shoot according to the unit control signal.

[0044] According to a fourth aspect of the present application, a vehicle is provided, comprising the above-mentioned vehicle control system.

[0045] According to a fifth aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and the computer program is suitable for loading by a processor to execute any vehicle control method provided in the embodiments of the present application.

[0046] According to the sixth aspect of the present application, an embodiment of the present application also provides a computer program product, including a computer program, and when the above computer program is executed by a processor, it implements any vehicle control method provided in the embodiment of the present application.

[0047] In the vehicle control method of the embodiment of the present application, by acquiring the environmental data of the parking area where the vehicle is located, and based on the above environmental data, determining the target shooting unit from the shooting units of the above vehicle, so as to control the target shooting unit on the above vehicle to shoot, thereby determining the target shooting unit to be shot according to the environment of the parking area where the vehicle is located, so as to only control the target shooting unit to shoot, thereby reducing the power consumption consumed when the vehicle is in sentry mode.

[0048] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0050] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same figure numbers represent the same parts in the following description.

[0051] Figure 1 is a flow chart of a vehicle control method provided in an exemplary embodiment of the present disclosure;

[0052] Figure 2 is a schematic diagram of a vehicle provided in an exemplary embodiment of the present disclosure;

[0053] Figure 3 is a schematic diagram of a moving process of a target detection object provided in an exemplary embodiment of the present disclosure;

[0054] Figure 4 is a schematic structural diagram of a vehicle control device provided in an exemplary embodiment of the present disclosure;

[0055] Figure 5 is a schematic structural diagram of a vehicle control system provided in an exemplary embodiment of the present disclosure;

[0056] Figure 6 It is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0058] The embodiments of the present application provide a vehicle control method, device, system and vehicle. The vehicle control device can be integrated in a vehicle.

[0059] In addition, the term "plurality" in the embodiments of the present application refers to two or more than two. The terms "first" and "second" in the embodiments of the present application are used to distinguish descriptions and should not be understood as implying relative importance.

[0060] It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments.

[0061] See also Figure 1 , Figure 1 FIG. 1 is a flow chart of a vehicle control method provided by an embodiment of the present application. The vehicle control method may include:

[0062] S101. Acquire environmental data of a parking area where a vehicle is located.

[0063] Among them, the acquisition of environmental data of the parking area where the above-mentioned vehicle is located can be obtained after the vehicle turns on the sentry mode. The sentry mode can be triggered to start by a sentry mode trigger mechanism preset in the vehicle. For example, the sentry mode can be set to start automatically, so that the sentry mode is automatically turned on each time the vehicle stops driving; the above-mentioned sentry mode can also be controlled by the user whether to control the vehicle to turn on the sentry mode. For example, the user can perform control operations in the control device used to control the vehicle, such as remote control through a mobile device that has pre-established contact with the vehicle, control through a car screen integrated in the vehicle, or the user can perform control operations through voice control, such as pre-establishing an association between the vehicle sentry mode and a preset keyword. When the corresponding keyword for voice output is recognized, the vehicle is controlled to turn on the sentry mode according to the keyword.

[0064] It is understandable that, since the cameras installed on the vehicle are always shooting when the vehicle is in sentry mode, the power consumption of the vehicle in sentry mode is relatively high. In this regard, in this embodiment, by acquiring the environmental data of the parking area where the vehicle is located, the situation around the vehicle is judged based on the environmental data to clarify the current scene of the vehicle, for example, to judge whether there is an object approaching the vehicle.

[0065] In some embodiments, a passive sensor is provided at at least one position of the above-mentioned vehicle, and the passive sensor is used to detect environmental signals of at least a part of the parking area where the vehicle is located, that is, it is equivalent to detecting the external environment of the vehicle, sensing the detection object within a certain range of the vehicle, and the detection object includes but is not limited to people, cars or other charged objects, so as to obtain corresponding environmental signals.

[0066] It is understandable that, since different passive sensors can detect different areas, the passive sensor provided on the vehicle can at least detect at least a portion of the parking area where the vehicle is located.

[0067] Among them, the number and location of the above-mentioned passive sensors on the vehicle can be determined according to the detection range of the passive sensors and the key positions of the vehicle, for example, passive sensors are set at the doors on both sides of the vehicle, and passive sensors are set at the front and rear of the vehicle.

[0068] Correspondingly, the above-mentioned acquisition of environmental data of the parking area where the vehicle is located includes: respectively acquiring corresponding environmental signals from each of the above-mentioned passive sensors, and then determining the environmental data of the parking area where the above-mentioned vehicle is located according to the environmental signals corresponding to each of the passive sensors, that is, generating corresponding environmental data according to characteristic information of the environmental signals, so as to judge whether an object is detected, whether the detected object is close to the vehicle, the relative position between the detected object and the vehicle, etc. according to the environmental data.

[0069] It can be understood that the passive sensor can generate different environmental signals according to the motion state and distance of external charged objects (such as human bodies or other vehicles that carry static electricity). Different passive sensors will generate different environmental signals when detecting the environment. According to the different relative positions between the detection object and the vehicle, the generated environmental signals will have corresponding changes. Therefore, the corresponding environmental data can be obtained based on the characteristic information of the environmental signal, so as to make subsequent judgments based on the environmental data, such as judging the motion state, relative position, relative distance, relative angle, etc. of the charged object.

[0070] Among them, the above-mentioned passive sensor can be a self-powered non-contact sensor. Based on its unique material and structure, the self-powered non-contact sensor can be self-powered without the need for an on-board power supply or other external power supply integrated in the vehicle to power it. It can generate a response signal to the external environment, thereby achieving the effect of not consuming the on-board power supply, thereby reducing the amount of on-board power consumed when the vehicle is in sentinel mode, avoiding unnecessary waste.

[0071] Optionally, the location of the passive sensor mentioned above can also be replaced by other types of sensors, such as an active sensor. The active sensor can be a millimeter wave radar, which requires a vehicle-mounted power supply to be powered. The specific setting can be made according to demand and is not made here.

[0072] In some embodiments, in order to process the data in the sentinel mode more accurately, before the vehicle turns on the sentinel mode, the data, units and modules used to implement the above-mentioned vehicle control method need to be initialized, so as to control the vehicle to enter the sentinel mode after the initialization is completed. The initialization operation includes but is not limited to: specific thresholds set in the preset shooting unit startup conditions for judging environmental data, such as specific distance thresholds, specific angle thresholds, etc., signal processing units, timers for recording the start-up time, initialization of the shooting unit, so that it enters a low-power standby unopened state, etc., which can be set according to needs and are not limited here.

[0073] S102: Determine a target shooting unit from the shooting units of the vehicle according to the environmental data.

[0074] The above-mentioned shooting unit may be a camera, such as at least one camera connected to the vehicle and installed on the vehicle, or a camera built into the vehicle, such as a 360-degree panoramic camera installed around the vehicle. The number and position of the above-mentioned shooting units installed on the vehicle may be determined according to the shooting range of the shooting units and key positions of the vehicle, for example, shooting units may be installed at the doors on both sides of the vehicle, and shooting units may be installed at the front and rear of the vehicle.

[0075] The above-mentioned photographing unit may be arranged on the vehicle correspondingly to the above-mentioned passive sensor, or the above-mentioned photographing unit may not be arranged on the vehicle correspondingly to the above-mentioned passive sensor.

[0076] In this embodiment, the above-mentioned environmental data is used to determine whether at least one detection object is detected in the parking area, that is, whether there are other objects around the vehicle. If there is a detection object, and when the position of the detection object meets the preset trigger mechanism, the target shooting unit for shooting the detection object can be determined from the shooting unit of the vehicle, so that when there may be certain abnormal scenes, only the target shooting unit is controlled to shoot, without all passive sensors on the vehicle always shooting, so as to reduce the power consumption consumed when the vehicle is in sentinel mode.

[0077] Specifically, the above-mentioned determination of the target shooting unit from the shooting units of the above-mentioned vehicle according to the above-mentioned environmental data may include: first, determining the relative position between at least one detection object and the above-mentioned vehicle in the above-mentioned parking area according to the above-mentioned environmental data. Then, it can be judged whether the relative position of each detection object meets the preset shooting unit activation condition, so as to determine the shooting unit to be activated based on the judgment result, and the shooting unit to be activated is the above-mentioned target shooting unit, that is, if there is a target detection object whose relative position meets the preset shooting unit activation condition among the above-mentioned detection objects, then the target shooting unit used to shoot the above-mentioned target detection object is determined from the shooting units of the above-mentioned vehicle to activate the target shooting unit; and if there is no detection object whose relative position meets the preset shooting unit activation condition, there is no need to determine the target shooting unit from the shooting units, and the above-mentioned step of obtaining the environmental data of the parking area where the vehicle is located is returned.

[0078] The relative position of the detection object can be used to determine the association information between the detection object and the vehicle, such as the distance between the detection object and the vehicle, the relative angle between the detection object and the vehicle, etc. Accordingly, when judging whether the relative position of the detection object meets the preset shooting unit start condition, the association information between the detection object and the vehicle determined based on the relative position of the detection object can be judged, that is, whether the association information meets the preset shooting unit start condition.

[0079] Among them, the above-mentioned preset shooting unit start-up condition is used to indicate the condition for triggering the start of a shooting unit. The preset shooting unit start-up condition may be different according to different judgment information. For example, if the preset shooting unit start-up condition is used to judge the distance between the detection object and the vehicle, then the preset shooting unit start-up condition may limit the distance between the detection object and the vehicle. For example, when the distance between the detection object and the vehicle is less than a specific distance threshold, it is determined that the preset shooting unit start-up condition is met; for another example, the preset shooting unit start-up condition is used to judge the angle between the detection object and the vehicle, then the preset shooting unit start-up condition may limit the angle between the detection object and the vehicle. For example, when the angle between the detection object and the vehicle is less than a specific angle, it is determined that the preset shooting unit start-up condition is met.

[0080] In some embodiments, determining the target capturing unit for capturing the target detection object from the capturing units of the vehicle may include: determining, from the capturing units of the vehicle, a capturing unit whose capturing range includes the target detection object as the target capturing unit.

[0081] In some embodiments, since the above-mentioned shooting unit has a certain shooting range corresponding to it, and the above-mentioned passive sensor has a certain detection range corresponding to it, when the shooting unit and the passive sensor are set correspondingly, the corresponding shooting unit can be determined based on the passive sensor, that is, at least two of the above-mentioned shooting units on the above-mentioned vehicle are correspondingly set with passive sensors, and for the corresponding passive sensors and shooting units, the sensor detection range and the shooting range at least partially overlap. The above-mentioned determination of the target shooting unit used to shoot the above-mentioned target detection object from the shooting units of the above-mentioned vehicle may include: determining from the shooting units of the above-mentioned vehicle that the shooting unit corresponding to the first passive sensor is the above-mentioned target shooting unit, and the above-mentioned first passive sensor is a sensor that collects environmental data corresponding to the above-mentioned target detection object.

[0082] Among them, one shooting unit may correspond to at least one passive sensor, or one passive sensor may correspond to at least one shooting unit. The specific setting can be made according to the requirements and is not limited here.

[0083] For example, Figure 2 The vehicle schematic diagram shown is from Figure 2It can be seen that four shooting units are arranged at different positions on the vehicle, namely, "camera 1" arranged at the front windshield, "camera 2" arranged at the right rearview mirror, "camera 3" arranged at the left rearview mirror and "camera 4" arranged at the trunk, and four passive sensors are arranged at different positions on the vehicle, namely, "sensor 1" arranged at the front position, "sensor 2" arranged at the right door position, "sensor 3" arranged at the left door position and "sensor 4" arranged at the trunk position.

[0084] exist Figure 2 From the layout of different shooting units and passive sensors on the vehicle, it can be seen that "camera 1" and "sensor 1" are set correspondingly on the vehicle, "camera 2" and "sensor 2" are set correspondingly on the vehicle, "camera 3" and "sensor 3" are set correspondingly on the vehicle, and "camera 4" and "sensor 4" are set correspondingly on the vehicle.

[0085] based on Figure 2 In the scenario shown, the vehicle environment is detected by "Sensor 1", and a detection object at "position A" is detected. The distance between the detection object and the vehicle is L1, and a specific distance threshold n1 is defined in the preset shooting unit start condition. Since L1 is less than n1, the detection object at "position A" is determined as the target detection object, and since Figure 2 In the shooting unit of the vehicle shown, "Sensor 1" is a sensor that collects environmental data corresponding to the detection object located at "Position A", so "Camera 1" corresponding to "Sensor 1" is used as the target shooting unit.

[0086] In some embodiments, if there is a target detection object whose relative position meets the preset shooting unit start condition among the detection objects, determining a target shooting unit for shooting the target detection object from the shooting units of the vehicle may include:

[0087] First, according to the relative positions of the above-mentioned detection objects, the distances between the above-mentioned detection objects and the above-mentioned vehicles are determined, so as to compare the distances of the detection objects with the first preset distance threshold, so as to clarify whether there are target detection objects whose relative positions meet the preset shooting unit start conditions based on the comparison results, and the first preset distance threshold is a specific distance threshold in the above-mentioned preset shooting unit start conditions.

[0088] Finally, if there is a target detection object whose distance is less than the first preset distance threshold among the above-mentioned detection objects, it means that the detection object whose distance is less than the first preset distance threshold is a target detection object that meets the preset shooting unit startup condition, then the target shooting unit used to shoot the above-mentioned target detection object is determined from the shooting unit of the above-mentioned vehicle; and if there is no detection object whose distance is less than the first preset distance threshold, there is no need to determine the target shooting unit from the shooting unit, and return to execute the above-mentioned step of obtaining the environmental data of the parking area where the vehicle is located.

[0089] In some embodiments, the distance between the target detection object and the vehicle includes: the distance between the target detection object and the first passive sensor, and the distance obtained by using the environmental data of the target detection object detected by the first passive sensor as the distance between the target detection object and the first passive sensor, that is, the distance between the target detection object and the vehicle.

[0090] S103, controlling the target shooting unit on the vehicle to shoot.

[0091] In this embodiment, after determining the target shooting unit, the target shooting unit can be controlled to shoot the environment around the vehicle, so that a specific area is only photographed when there is an abnormal situation. For example, when someone approaches the vehicle, the shooting unit in the nearby area is used to shoot the nearby area, thereby reducing unnecessary working time of the shooting unit, enabling the shooting unit to be turned on and used immediately in the sentry mode, thereby reducing the power consumption consumed in the sentry mode.

[0092] It should be noted that after obtaining multimedia data such as pictures or videos taken by the target shooting unit, the multimedia data can be transmitted to terminal devices such as the vehicle control terminal or mobile terminal. The mobile terminal includes but is not limited to computers, mobile phones and other networked devices.

[0093] In some embodiments, since there are often some pedestrians passing by the vehicle, in order to reduce the number of times the target shooting unit is activated due to pedestrians passing by, the distance between the target detection object and the vehicle can be further limited, that is, the above-mentioned control of the target shooting unit on the above-mentioned vehicle to shoot can include: judging the distance between the target detection object and the vehicle, if the distance of the above-mentioned target detection object is less than a second preset distance threshold, then controlling the target shooting unit on the above-mentioned vehicle to shoot, and the above-mentioned second preset distance threshold is less than the above-mentioned first preset distance threshold.

[0094] It can be understood that the necessary safety distance for the vehicle in the sentry mode is set by setting the second preset distance threshold, that is, if the distance is less than the necessary safety distance, the target shooting unit needs to be directly started and shooting needs to be performed.

[0095] In some embodiments, in order to further reduce the power consumption of the sentry mode, before controlling the target shooting unit on the above-mentioned vehicle to take pictures, the target shooting unit needs to be turned on, that is, after determining the target shooting unit, the target shooting unit is awakened so that when there is a need, such as when the distance of the target detection object is less than the second preset distance threshold, the awakened target shooting unit can be directly used to take pictures.

[0096] Specifically, after determining the target shooting unit, the target shooting unit needs to be started. At this time, it is necessary to judge whether the target shooting unit is turned on. If the target shooting unit is not turned on, the target shooting unit is turned on and the turning-on time of the target shooting unit is accumulated; if the target shooting unit is turned on, the turning-on time of the target shooting unit continues to be accumulated based on the turning-on time of the target shooting unit.

[0097] It is understandable that, since the target shooting unit consumes a certain amount of power when it is in the on state, if the target shooting unit is in the on state for a long time but no shooting is performed, it will undoubtedly consume a lot of meaningless power. Therefore, in this embodiment, the on time duration of the on state of the target shooting unit is recorded, so as to determine whether to turn off the on state of the target shooting unit based on the on time duration, so as to control the target shooting unit to enter the non-on state, that is, to put the target shooting unit in a low power consumption mode, thereby reducing the power consumption of the target shooting unit.

[0098] It should be noted that if the target shooting unit is in an off state, the target shooting unit is turned on and a timer is started to record the duration of the target shooting unit being on; if the target shooting unit is in an on state, the timer that is started when the target shooting unit is started continues to record the duration of the target shooting unit being on.

[0099] In some embodiments, the first passive sensor is a sensor that collects environmental data corresponding to the target detection object, and the distance between the target detection object and the vehicle includes: the distance between the target detection object and the first passive sensor. In addition, since after the target shooting unit is started, the target detection object may move for a long time in the parking area and move from the detection range of one passive sensor to the detection range of another passive sensor, before controlling the target shooting unit on the vehicle to shoot, it is necessary to judge the current scene based on the recorded start-up time.

[0100] Specifically, when the above-mentioned turn-on time is greater than the first preset time threshold, if the above-mentioned target detection object is in a moving state, and the distance of the above-mentioned target detection object is less than the first preset distance threshold and greater than the second preset distance threshold, it means that the target detection object has been moving in the parking area and has not triggered a mechanism for shooting using the target shooting unit, then the distance between the above-mentioned target detection object and other passive sensors is determined to determine whether the target detection object goes to the detection area corresponding to other sensors; the above-mentioned other passive sensors are passive sensors other than the above-mentioned first passive sensor among the above-mentioned passive sensors.

[0101] Correspondingly, if there is a second passive sensor among the other passive sensors whose distance to the target detection object is less than the first preset distance threshold, it means that the target detection object has entered the detection area of ​​the other sensors, and the shooting unit corresponding to the second passive sensor is determined to be a new target shooting unit, so that the new target shooting unit is directly used for shooting; and if there is no other passive sensor whose distance to the target detection object is less than the first preset distance threshold, it means that the target detection object has not entered the detection area of ​​the other sensors, then continue to detect whether the distance between the target detection object and the first passive sensor is less than the second preset distance threshold, that is, detect whether the distance between the target detection object and the vehicle triggers the target shooting unit to shoot, or continue to detect whether the distance between the target detection object and the other passive sensors is less than the first preset distance threshold.

[0102] For example, Figure 3 The moving process diagram of the target detection object shown in FIG. Figure 3 It can be seen that four shooting units are arranged at different positions on the vehicle, namely, "camera a" arranged at the front windshield, "camera b" arranged at the right rearview mirror, "camera c" arranged at the left rearview mirror and "camera d" arranged at the trunk, and four passive sensors are arranged at different positions on the vehicle, namely, "sensor a" arranged at the front position, "sensor b" arranged at the right door position, "sensor c" arranged at the left door position and "sensor d" arranged at the trunk position.

[0103] exist Figure 3 From the layout of different shooting units and passive sensors on the vehicle, it can be seen that "camera a" and "sensor a" are set correspondingly on the vehicle, "camera b" and "sensor b" are set correspondingly on the vehicle, "camera c" and "sensor c" are set correspondingly on the vehicle, and "camera d" and "sensor d" are set correspondingly on the vehicle.

[0104] based on Figure 3In the scenario shown, the vehicle environment is detected by "sensor a", and a detection object at "position A" is detected. The distance between the detection object and the vehicle is La, and a specific distance threshold n1 is defined in the preset shooting unit start condition. The n1 is the first preset distance threshold. Since La is less than n1, the detection object at "position A" is determined as the target detection object, and since Figure 3 In the shooting unit of the vehicle shown, "Sensor a" is a sensor that collects environmental data corresponding to the detection object located at "Position A", so the "Camera a" corresponding to "Sensor a" is used as the target shooting unit, and "Camera a" is started.

[0105] When the "camera a" is turned on for a time greater than the above-mentioned first preset time threshold, if the detection object at the "A position" is in a moving state, and at this time the distance La of the detection object at the "A position" is less than n1 and greater than the second preset distance threshold, then the distance between the detection object at the "A position" and other passive sensors is determined, such as the distance Lb between the detection object and the "sensor c". Since Lb is greater than n1, the distance between the detection object at the "A position" and the "sensor a", as well as the distance between the detection object at the "A position" and other passive sensors are continued to be detected and judged.

[0106] If the detection object at "A position" passes Figure 3 The moving route in , moves to the "B position", and at this time, the distance Lc between the detection object moved to the "B position" and the "sensor c" is less than n1, so the "camera c" set corresponding to the "sensor c" is determined to be the new target shooting unit.

[0107] In some embodiments, it also includes:

[0108] When the above-mentioned opening time is not greater than the first preset time threshold, if the distance of the detection object in the area where the above-mentioned target detection object is located is not less than the above-mentioned first preset distance threshold, the above-mentioned target shooting unit is controlled to be in a non-open state, indicating that the detection objects in the area where the target detection object is located have all left, and the target shooting unit can be controlled to re-enter the low power consumption mode, that is, the above-mentioned non-open state;

[0109] or

[0110] When the above-mentioned turn-on time is not greater than the above-mentioned first preset time threshold, if the cumulative static time of the detection objects in the area where the above-mentioned target detection objects are located in a static state reaches the second preset time threshold, the above-mentioned target shooting unit is controlled to be in a non-turned-on state, indicating that the detection objects in the area where the target detection objects are located are in a static state for a long time, and the target shooting unit can be controlled to re-enter the low power consumption mode, that is, the above-mentioned non-turned-on state, wherein the above-mentioned second preset time threshold is less than the above-mentioned first preset time threshold.

[0111] The static state may refer to that the environmental signal received by the sensor has no obvious change, or the change is within a preset range of change. It is understandable that by setting the static state, after the vehicle parked in the parking lot turns on the sentinel mode, it will not monitor the normal parking actions of other vehicles in nearby parking spaces, thereby saving vehicle energy and reducing the loss of the vehicle when it is in sentinel mode. If there is a detection object in the area where the target detection object is located that is not in a static state, it is considered that the target shooting unit needs to be in the on state.

[0112] In some embodiments, after controlling the target shooting unit on the vehicle to shoot, it also includes: continuing to obtain new environmental data of the parking area where the vehicle is located, so as to continue to make judgments based on the new environmental data.

[0113] In some embodiments, after controlling the target shooting unit on the vehicle to shoot, the method may further include: if the first preset distance threshold is greater than the third preset distance threshold, the first preset distance threshold is reduced to obtain a new first preset threshold; and the step of obtaining the environmental data of the parking area where the vehicle is located and subsequent steps are returned to execute until the latest first preset distance threshold is not greater than the third preset distance threshold, that is, the first preset distance threshold that is not greater than the third preset distance threshold is used to judge the processing result of the environmental data. Among them, the third preset distance threshold must be greater than the second preset distance threshold.

[0114] It is understandable that if the vehicle is parked in a road section with heavy pedestrian flow (such as commercial centers, near amusement parks, etc.), pedestrians will continue to pass by the vehicle at a close distance. In order to avoid photographing too many unnecessary pedestrians, the first preset distance threshold will be reduced after each shooting to shorten the perception range of the sentry mode, thereby reducing the shooting frequency to a certain extent and reducing the power consumption of the sentry mode.

[0115] As can be seen from the above, by acquiring the environmental data of the parking area where the vehicle is located, and according to the above environmental data, determining the target shooting unit from the shooting units of the above vehicle, so as to control the target shooting unit on the above vehicle to shoot, thereby determining the target shooting unit to be shot according to the environment in the parking area where the vehicle is located, so as to only control the target shooting unit to shoot, thereby reducing the power consumption consumed by the vehicle in sentinel mode.

[0116] In order to better implement the vehicle control method provided in the embodiment of the present application, the embodiment of the present application also provides a device based on the above vehicle control method. The meanings of the terms are the same as those in the above vehicle control method, and the specific implementation details can refer to the description in the method embodiment.

[0117] For example, Figure 4 As shown, the vehicle control device may include:

[0118] The data acquisition module 401 is used to acquire the environmental data of the parking area where the vehicle is located;

[0119] A unit determination module 402, configured to determine a target shooting unit from the shooting units of the vehicle according to the environmental data;

[0120] The shooting module 403 is used to control the target shooting unit on the above vehicle to shoot.

[0121] In one embodiment of the present application, a passive sensor is provided at at least one position of the vehicle; the data acquisition module 401 is specifically used for:

[0122] Acquire corresponding environmental signals from each of the above passive sensors respectively;

[0123] The environmental data of the parking area where the vehicle is located is determined according to the environmental signals corresponding to the passive sensors.

[0124] In some embodiments, the unit determination module 402 is specifically used to:

[0125] Determining a relative position between at least one detection object in the parking area and the vehicle according to the environmental data;

[0126] If there is a target detection object among the detection objects whose relative position meets the preset shooting unit activation condition, a target shooting unit for shooting the target detection object is determined from the shooting units of the vehicle.

[0127] In some embodiments, the unit determination module 402 is specifically used to:

[0128] From the photographing units of the vehicle, a photographing unit whose photographing range includes the target detection object is determined as the target photographing unit.

[0129] In some embodiments, the unit determination module 402 is specifically used to:

[0130] Determining the distance between each of the detection objects and the vehicle according to the relative position of each of the detection objects;

[0131] If there is a target detection object whose distance is less than the first preset distance threshold among the detection objects, a target shooting unit for shooting the target detection object is determined from the shooting units of the vehicle.

[0132] In some embodiments, the above-mentioned shooting module 403 is specifically used for:

[0133] If the distance of the target detection object is less than a second preset distance threshold, the target shooting unit on the vehicle is controlled to shoot, and the second preset distance threshold is less than the first preset distance threshold.

[0134] In some embodiments, the vehicle control device further includes a unit start module, and the unit start module is specifically used to:

[0135] If the target shooting unit is in an off state, the target shooting unit is turned on, and the turning-on time of the target shooting unit is accumulated;

[0136] If the target photographing unit is in the on state, the on time of the target photographing unit is continuously accumulated based on the on time of the target photographing unit.

[0137] In some embodiments, the first passive sensor is a sensor that collects environmental data corresponding to the target detection object, and the distance between the target detection object and the vehicle includes: the distance between the target detection object and the first passive sensor; the vehicle control device also includes a unit update module, and the unit update module is specifically used to:

[0138] When the on time is greater than the first preset time threshold, if the target detection object is in a moving state and the distance of the target detection object is less than the first preset distance threshold and greater than the second preset distance threshold, determine the distance between the target detection object and the other passive sensors;

[0139] The other passive sensors are passive sensors other than the first passive sensor among the passive sensors;

[0140] If there is a second passive sensor among the other passive sensors, the distance between the second passive sensor and the target detection object is less than the first preset distance threshold, then the shooting unit corresponding to the second passive sensor is determined as a new target shooting unit.

[0141] In some embodiments, the vehicle control device further includes a control module, and the control module is specifically used to:

[0142] When the activation time is not greater than the first preset time threshold, if the distance of the detection object in the area where the target detection object is located is not less than the first preset distance threshold, the target shooting unit is controlled to be in a non-activation state;

[0143] or

[0144] When the above-mentioned opening time is not greater than the above-mentioned first preset time threshold, if the cumulative static time of the detection object in the area where the above-mentioned target detection object is located in a static state reaches the second preset time threshold, the above-mentioned target shooting unit is controlled to be in a non-opened state.

[0145] In some embodiments, the vehicle control device further includes a threshold updating module, and the threshold updating module is specifically used to:

[0146] If the first preset distance threshold is greater than the third preset distance threshold, the first preset distance threshold is reduced to obtain a new first preset threshold;

[0147] The process returns to the step of acquiring the environmental data of the parking area where the vehicle is located and subsequent steps until the latest first preset distance threshold is not greater than the third preset distance threshold.

[0148] The vehicle control device proposed in the present application obtains environmental data of the parking area where the vehicle is located, and determines the target shooting unit from the shooting units of the above-mentioned vehicle based on the above-mentioned environmental data, so as to control the target shooting unit on the above-mentioned vehicle to shoot, thereby determining the target shooting unit to be shot according to the environment of the parking area where the vehicle is located, so as to only control the target shooting unit to shoot, thereby reducing the power consumption consumed when the vehicle is in sentry mode.

[0149] In specific implementation, the above modules can be implemented as independent entities, or can be arbitrarily combined and implemented as the same or several entities. The specific implementation methods and corresponding beneficial effects of the above modules can be found in the previous method embodiments, which will not be repeated here.

[0150] The present application embodiment provides a vehicle control system, such as Figure 5As shown, it includes a state detection module 501, a signal processing module 502, at least one passive sensor 503 and at least two shooting units, and the passive sensor 503 and the shooting units are correspondingly arranged on the vehicle;

[0151] The state detection module 501 is used to send a received signal instruction to the signal processing module 502 after detecting that the vehicle turns on the sentry mode;

[0152] The signal processing module 502 is used to receive the signal receiving instruction, obtain the corresponding environmental signal from each of the passive sensors 503 according to the signal receiving instruction, determine the target shooting unit 504 from the shooting units according to the environmental signal corresponding to each of the passive sensors 503, and send the unit control signal to the target shooting unit 504;

[0153] The target photographing unit 504 is used to receive the unit control signal and perform photographing according to the unit control signal.

[0154] Specifically, the vehicle may be integrated with a vehicle status and environment perception unit and a signal processing module 502. The vehicle status and environment perception unit may include a status detection module 501, a sensor, and a shooting unit. The status detection module 501 is used to detect whether the vehicle has turned on the sentry mode. The status detection module 501 may be integrated in the system-on-chip (SoC) of the vehicle's central computing unit, or in the multi-point control unit (MCU) of the vehicle's domain controller. The signal processing module 502 may also be integrated in the system-on-chip (SoC) of the vehicle's central computing unit, or in the multi-point control unit (MCU) of the vehicle's domain controller.

[0155] After the state detection module 501 detects that the vehicle turns on the sentry mode, it can generate and send a signal receiving instruction to the signal processing module 502 to instruct the signal processing module 502 to receive the signal detected by the sensor.

[0156] Then, after the signal processing module 502 receives the receive signal instruction, it can trigger the signal detected by the receiving sensor according to the receive signal instruction, and analyze the signal detected by the sensor, such as determining the environmental data of the parking area where the vehicle is located according to the signal obtained from the sensor, and determining the relative position between the detection object and the vehicle according to the environmental data, and judging whether the relative position needs to determine the target shooting unit 504 from the shooting unit, and sending the corresponding unit control signal to the target shooting unit 504. The unit control signal can be to control the target shooting unit 504 to start, or to control the target shooting unit 504 to shoot, or to control the target shooting unit 504 to enter an unopened state, that is, to control the target shooting unit 504 to turn off.

[0157] In some embodiments, the above-mentioned vehicle control system also includes an image transmission unit connected to the shooting unit, which can obtain multimedia data such as pictures or videos taken by the target shooting unit 504, and can transmit the multimedia data to terminal devices such as the vehicle control terminal or the mobile terminal. The mobile terminal includes but is not limited to computers, mobile phones and other Internet-connected devices.

[0158] The embodiment of the present application also provides a vehicle, which includes the structure mentioned in the above-mentioned vehicle control system. In addition, the vehicle may also include other structures, such as Figure 6 As shown, it shows a schematic diagram of the structure of a vehicle involved in an embodiment of the present application, specifically:

[0159] The vehicle may include components such as a processor 601 of one or more processing cores, a memory 602 of one or more computer-readable storage media, a power supply 603, and an input unit 604. Those skilled in the art will appreciate that Figure 6 The vehicle structure shown in the figure does not constitute a limitation on the vehicle, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently. Among them:

[0160] The processor 601 is the control center of the vehicle, and uses various interfaces and lines to connect various parts of the entire vehicle. It executes various functions of the vehicle and processes data by running or executing computer programs and / or modules stored in the memory 602, and calling data stored in the memory 602. Optionally, the processor 601 may include one or more processing cores; preferably, the processor 601 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 601.

[0161] The memory 602 can be used to store computer programs and modules. The processor 601 executes various functional applications and data processing by running the computer programs and modules stored in the memory 602. The memory 602 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, a computer program required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the vehicle, etc. In addition, the memory 602 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 602 can also include a memory controller to provide the processor 601 with access to the memory 602.

[0162] The vehicle further includes a power supply 603 for supplying power to various components. Preferably, the power supply 603 can be logically connected to the processor 601 through a power management system, so as to manage charging, discharging, and power consumption through the power management system. The power supply 603 can also include any components such as one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, and power status indicators.

[0163] The vehicle may further include an input unit 604, which may be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0164] Although not shown, the vehicle may further include a display unit, etc., which will not be described in detail herein. Specifically in this embodiment, the processor 601 in the vehicle will load the executable files corresponding to the processes of one or more computer programs into the memory 602 according to the following instructions, and the processor 601 will run the computer programs stored in the memory 602, thereby realizing various functions, such as:

[0165] Obtaining environmental data of the parking area where the vehicle is located;

[0166] Determine a target photographing unit from photographing units of the vehicle according to the environmental data;

[0167] The target shooting unit on the vehicle is controlled to shoot.

[0168] The specific implementation methods and corresponding beneficial effects of the above operations can be found in the detailed description of the vehicle control method above, which will not be elaborated here.

[0169] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by a computer program, or by controlling related hardware through a computer program. The computer program may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0170] To this end, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored, and the computer program can be loaded by a processor to execute the steps in any vehicle control method provided in the embodiment of the present application. For example, the computer program can execute the following steps:

[0171] Obtaining environmental data of the parking area where the vehicle is located;

[0172] Determine a target photographing unit from photographing units of the vehicle according to the environmental data;

[0173] The target shooting unit on the vehicle is controlled to shoot.

[0174] The specific implementation methods and corresponding beneficial effects of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0175] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0176] Since the computer program stored in the computer-readable storage medium can execute the steps in any vehicle control method provided in the embodiments of the present application, the beneficial effects that can be achieved by any vehicle control method provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0177] According to one aspect of the present application, a computer program product or computer program is provided, the computer program product or computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the above-mentioned vehicle control method.

[0178] The above is a detailed introduction to a vehicle control method, device, system and vehicle provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: Acquiring environmental data of a parking area where a vehicle is located, wherein a passive sensor is disposed at at least one position of the vehicle; determining a target photographing unit from photographing units of the vehicle according to the environmental data; If the target shooting unit is in an off state, the target shooting unit is turned on, and the turning-on time of the target shooting unit is accumulated; If the target shooting unit is in the on state, based on the on time of the target shooting unit, the on time of the target shooting unit continues to be accumulated; When the on time is greater than a first preset time threshold, if the target detection object is in a moving state, and the distance between the target detection object and the first passive sensor is less than a first preset distance threshold and greater than a second preset distance threshold, then determining the distance between the target detection object and the other passive sensors; The other passive sensors are passive sensors other than the first passive sensor among the passive sensors; If there is a second passive sensor among the other passive sensors, the distance between the second passive sensor and the target detection object is less than the first preset distance threshold, determining the shooting unit corresponding to the second passive sensor as a new target shooting unit; Controlling the target shooting unit on the vehicle to shoot; Among them, determining a target shooting unit for shooting the target detection object from the shooting units of the vehicle includes: determining a shooting unit corresponding to a first passive sensor as the target shooting unit, wherein the first passive sensor is a sensor that collects environmental data corresponding to the target detection object.

2. The vehicle control method according to claim 1, characterized in that: The step of obtaining environmental data of a parking area where the vehicle is located includes: Acquire corresponding environmental signals from each of the passive sensors respectively; Environmental data of a parking area where the vehicle is located is determined according to environmental signals corresponding to the passive sensors.

3. The vehicle control method according to claim 2, characterized in that: The step of determining a target shooting unit from the shooting units of the vehicle according to the environmental data comprises: determining a relative position between at least one detection object and the vehicle in the parking area based on the environmental data; If there is a target detection object among the detection objects whose relative position meets the preset shooting unit activation condition, a target shooting unit for shooting the target detection object is determined from the shooting units of the vehicle.

4. The vehicle control method according to claim 3, characterized in that: If there is a target detection object whose relative position meets the preset shooting unit start condition among the detection objects, determining a target shooting unit for shooting the target detection object from the shooting units of the vehicle, including: Determining the distance between each of the detection objects and the vehicle according to the relative position of each of the detection objects; If there is a target detection object whose distance is less than a first preset distance threshold among the detection objects, a target shooting unit for shooting the target detection object is determined from the shooting units of the vehicle.

5. The vehicle control method according to claim 4, characterized in that: The controlling the target shooting unit on the vehicle to shoot includes: If the distance of the target detection object is less than a second preset distance threshold, the target shooting unit on the vehicle is controlled to shoot, and the second preset distance threshold is less than the first preset distance threshold.

6. The vehicle control method according to claim 5, characterized in that: The distance between the target detection object and the vehicle includes: the distance between the target detection object and the first passive sensor.

7. The vehicle control method according to claim 5, characterized in that: Also includes: When the activation time is not greater than a first preset time threshold, if the distance of the detection object in the area where the target detection object is located is not less than the first preset distance threshold, the target shooting unit is controlled to be in a non-activation state; or When the on time is not greater than the first preset time threshold, if the accumulated static time of the detection object in the area where the target detection object is located reaches the second preset time threshold, the target shooting unit is controlled to be in a non-on state.

8. The vehicle control method according to claim 3, characterized in that: After controlling the target shooting unit on the vehicle to shoot, the method further includes: If the first preset distance threshold is greater than the third preset distance threshold, the first preset distance threshold is reduced to obtain a new first preset threshold; The process returns to the step of acquiring the environmental data of the parking area where the vehicle is located and subsequent steps until the latest first preset distance threshold is not greater than the third preset distance threshold.

9. A vehicle control device, characterized in that: The device comprises: A data acquisition module, used to acquire environmental data of a parking area where a vehicle is located, wherein a passive sensor is provided at at least one position of the vehicle; a unit determination module, configured to determine a target shooting unit from the shooting units of the vehicle according to the environmental data; a unit activation module, configured to activate the target shooting unit if the target shooting unit is not activated, and accumulate the activation time of the target shooting unit; if the target shooting unit is activated, continue to accumulate the activation time of the target shooting unit based on the activation time of the target shooting unit; A unit updating module, for determining the distance between the target detection object and other passive sensors when the on time is greater than a first preset time threshold, if the target detection object is in a moving state, and the distance between the target detection object and the first passive sensor is less than a first preset distance threshold and greater than a second preset distance threshold; the other passive sensors are passive sensors other than the first passive sensor among the passive sensors; if there is a second passive sensor among the other passive sensors, the distance between the second passive sensor and the target detection object is less than the first preset distance threshold, determining that the shooting unit corresponding to the second passive sensor is a new target shooting unit; A shooting module, used to control the target shooting unit on the vehicle to shoot; Among them, determining a target shooting unit for shooting the target detection object from the shooting units of the vehicle includes: determining a shooting unit corresponding to a first passive sensor as the target shooting unit, wherein the first passive sensor is a sensor that collects environmental data corresponding to the target detection object.

10. A vehicle control system, characterized in that: It includes a state detection module, a signal processing module, at least one passive sensor and at least two shooting units, wherein the passive sensor and the shooting unit are arranged on the vehicle correspondingly, and the passive sensor is arranged at at least one position of the vehicle; The state detection module is used to send a received signal instruction to the signal processing module after detecting that the vehicle turns on the sentry mode; The signal processing module is used to receive the signal receiving instruction, obtain the corresponding environmental signal from each of the passive sensors according to the signal receiving instruction, determine the target shooting unit from the shooting units according to the environmental signal corresponding to each passive sensor, and send the unit control signal to the target shooting unit; wherein, if the target shooting unit is in an unactivated state, the target shooting unit is activated, and the activation time of the target shooting unit is accumulated; if the target shooting unit is in an activated state, the activation time of the target shooting unit is continuously accumulated based on the activation time of the target shooting unit; when the activation time is greater than a first preset time threshold, if the target detection object is in a moving state, and the distance between the target detection object and the first passive sensor is less than 0.05, the activation time of the target shooting unit is accumulated; If the distance between the target detection object and the other passive sensors is less than a first preset distance threshold and greater than a second preset distance threshold, the distance between the target detection object and the other passive sensors is determined; the other passive sensors are passive sensors other than the first passive sensor among the passive sensors; if there is a second passive sensor among the other passive sensors whose distance to the target detection object is less than the first preset distance threshold, the shooting unit corresponding to the second passive sensor is determined to be a new target shooting unit; wherein, determining the target shooting unit for shooting the target detection object from the shooting units of the vehicle includes: determining the shooting unit corresponding to the first passive sensor as the target shooting unit, and the first passive sensor is a sensor that collects the environmental signal corresponding to the target detection object; The target shooting unit is used to receive the unit control signal and shoot according to the unit control signal.

11. A vehicle, characterized in that: Comprising a vehicle control system as claimed in claim 10.

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